Internal supporting type mechanical arm

Abstract

A center shaft is fixedly installed on the upper portion of an installation base, a plurality of opening mechanisms are installed on the surface of the center shaft at equal intervals, the upper portions of inner supporting plates of the opening mechanisms are hinged to the center shaft through two hinged supporting rods which are arranged in parallel up and down, and a sliding chain base is movably installed on the lower portion of the center shaft. The lower portion of an inner supporting plate of the opening mechanism is hinged to a sliding chain base through a control supporting arm, a telescopic air cylinder is fixedly installed in the installation base, and the telescopic end of the telescopic air cylinder is fixedly connected with the sliding chain base through a control plate and a guide shaft. Accordingly, the hinged supporting rods and the supporting arms are controlled to drive the inner supporting plates, synchronous opening and contracting are achieved, the workpiece is supported from the inner side of the workpiece, meanwhile, the soft protection layer makes contact with the workpiece, the surface of the workpiece is protected, the workpiece can be stably grabbed, it is guaranteed that the outer supporting force is uniform, and the surface of the workpiece can be effectively prevented from being damaged or damaged.

Description

TECHNICAL FIELD

[0001] The utility model relates to a mechanical hand clamp, concretely is inner bracing type mechanical hand. BACKGROUND

[0002] In the field of industrial automation, the mechanical hand clamp is a key component for robots to perform grabbing tasks, and its performance directly affects the efficiency and precision of automated operations. Diamond wire rollers have a wide range of applications in stone processing, glass cutting, semiconductor material processing, and other fields due to their high strength and high wear resistance. Traditional roller clamps mostly use an external clamping method, which fixes the workpiece in the clamp through external clamping force. However, this method can easily cause scratches on the surface of the wire roller during clamping, and it has poor adaptability to wire rollers of different diameters and lengths. In addition, for some high-precision or special material workpieces, the external clamping method may cause damage to their surfaces, affecting the quality of the workpieces. Furthermore, the radial force generated during clamping of the external clamping method can cause deformation or damage to the workpiece, thereby affecting the quality of the workpiece.

[0003] Currently, the utility model with patent publication number CN210061172U discloses a mechanical hand device for robot grabbing, which includes a U-shaped plate, a servo motor, a worm, a worm gear, a first connecting rod, a clamping arm, a second connecting rod, a rotating block, and a clamping plate. The U-shaped plate has a servo motor fixed on one side, and the output end of the servo motor is fixed with a worm through the U-shaped plate, and the worm is rotationally connected with the U-shaped plate. The inner wall of the U-shaped plate is symmetrically rotationally connected with a worm gear through a bearing, and the two worm gears on the inner wall of the U-shaped plate are meshingly connected with the worm. The surface of the worm gear is fixed with a first connecting rod, and the first connecting rod is rotationally connected with a clamping arm at one end through a hinge. The U-shaped plate is symmetrically rotationally connected with a second connecting rod through a bearing at one end, and the end of the second connecting rod away from the U-shaped plate is rotationally connected with the middle part of the clamping arm through a hinge. This mechanical hand device for robot grabbing facilitates control of the clamping force of the clamping plate, and can adjust the angle of the clamping plate to improve adaptability and facilitate use.

[0004] From the above-mentioned technical content, as prior art, the utility model with publication number CN210061172U controls the clamping force through a servo motor and adjusts the angle of the clamping plate to improve adaptability and facilitate use, but does not solve the problem of damage to the surface of the workpiece and the impact on the quality of the workpiece caused by the external clamping method. UTILITY MODEL CONTENTS

[0005] In view of the problems existing in the above-mentioned prior art, the utility model provides an inner bracing type mechanical hand, which can stably grab the workpiece and ensure uniform external bracing force, effectively avoiding damage or damage to the surface of the workpiece.

[0006] In order to achieve the above object, the utility model discloses, inner support type mechanical hand, including articulated support rod, inner support board, control support arm, center shaft, sliding chain seat, keep spring, guide shaft, telescopic cylinder, control board, installation base, safety device, soft protective layer and workpiece, the installation base upper portion fixed mounting center shaft is installed a plurality of support open mechanism on the surface of center shaft, and the inner support board upper portion of support open mechanism is articulated center shaft through two upper and lower parallel arrangement articulated support rod, and the sliding chain seat is movably installed to the lower portion of center shaft, and the inner support board lower portion of support open mechanism is articulated sliding chain seat through control support arm, and the telescopic cylinder is fixedly installed in the inside of installation base, and the telescopic end of telescopic cylinder is fixedly connected sliding chain seat through control board and guide shaft.

[0007] In addition, the inner support type mechanical hand according to the above embodiment of the utility model can also have the following additional technical features.

[0008] As a further improved scheme of the utility model, the center shaft is sleeved with a keep spring, one end of the keep spring abuts against the sliding chain seat, and the other end abuts against the installation base.

[0009] As a further improved scheme of the utility model, the installation base is fixedly installed with a safety device on the outside.

[0010] As a further improved scheme of the utility model, the inner support board is installed with a soft protective layer on the surface.

[0011] As a further improved scheme of the utility model, the soft protective layer has a small elastic protrusion.

[0012] Through the above scheme, the utility model has at least the following advantages: compared with a conventional mechanical hand, the sliding chain seat is controlled to slide along the center shaft by the telescopic cylinder, the guide shaft and the control board, so that the articulated support rod and the control support arm drive the inner support board, synchronous support opening and contraction are realized, the workpiece is supported from the inside, the soft protective layer contacts the workpiece at the same time, the workpiece surface is protected, the workpiece can be stably gripped and uniform support force is ensured, and the workpiece surface can be effectively prevented from being damaged or broken. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is the stair structure schematic view of inner support type mechanical hand;

[0014] Figure 2 It is the front view of inner support type mechanical hand;

[0015] Figure 3 It is the side view of inner support type mechanical hand;

[0016] Figure 4 It is the working state schematic view of inner support type mechanical hand;

[0017] Figure: 1, articulated support rod, 2, inner support plate, 3, control support arm, 4, center shaft, 5, sliding chain seat, 6, retaining spring, 7, guide shaft, 8, telescopic cylinder, 9, control plate, 10, mounting base, 11, safety device, 12, soft protective layer, 13, workpiece. DETAILED DESCRIPTION

[0018] The inner support type mechanical hand of the present application is described below in conjunction with the drawings.

[0019] In the first embodiment of the present application, as shown in the figure, Figures 1 to 3 The inner support type mechanical hand (hereinafter referred to as "the present application") includes articulated support rod 1, inner support plate 2, control support arm 3, center shaft 4, sliding chain seat 5, retaining spring 6, guide shaft 7, telescopic cylinder 8, control plate 9, mounting base 10, safety device 11, soft protective layer 12, and workpiece 13. The mounting base 10 is fixedly installed with center shaft 4 at the upper part, and a plurality of support opening mechanisms are installed at equal intervals on the surface of center shaft 4. The upper part of the inner support plate 2 of the support opening mechanism is hinged to center shaft 4 through two articulated support rods 1 arranged in parallel. The lower part of the inner support plate 2 of the support opening mechanism is hinged to sliding chain seat 5 through control support arm 3. Telescopic cylinder 8 is fixedly installed inside mounting base 10. The telescopic end of telescopic cylinder 8 is fixedly connected to sliding chain seat 5 through control plate 9 and guide shaft 7.

[0020] The mechanical hand device for robot grabbing (hereinafter referred to as "the patent") of Patent No. CN210061172U can control the clamping force through a servo motor and adjust the angle of the clamping plate, which improves the adaptability and is convenient for people to use. However, it does not solve the problem that the outer clamping fixture may cause damage to the surface of the workpiece and affect the quality of the workpiece. The present application controls sliding chain seat 5 to slide along center shaft 4 through telescopic cylinder 8, guide shaft 7, and control plate 9, thereby controlling articulated support rod 1 and control support arm 3 to drive inner support plate 2 to realize synchronous opening and contraction, and to support the workpiece evenly from the inside of the workpiece, effectively preventing the surface of the workpiece from being damaged and the workpiece from being deformed, and ensuring the stability of the quality of the workpiece.

[0021] The second embodiment is basically the same as the first embodiment, and the difference is that, as shown in the figure, Figures 1 to 4 The center shaft 4 is sleeved with a retaining spring 6. One end of the retaining spring 6 abuts against the sliding chain seat 5, and the other end abuts against the mounting base 10. The retaining spring 6 can keep the clamp in an open state at all times, ensuring that the clamp will not be accidentally loosened due to external force during clamping, thereby improving safety. The safety device 11 is fixedly installed on the outside of the mounting base 10. The safety device 11 is an electromagnetic valve. The electromagnetic valve is kept on to prevent the cylinder from retracting after sudden gas failure.

[0022] To further optimize the working efficiency of this application and reduce friction and damage to the inner wall of the wire roller, a soft protective layer 12 is installed on the surface of the inner support plate 2. To increase the contact area with the inner wall of the wire roller and improve clamping stability, the soft protective layer 12 has tiny elastic protrusions.

[0023] To use the equipment, simply install the internal support robotic arm and connect the corresponding pipelines, and the equipment is ready for operation.

[0024] When this utility model is used, its specific operation is as follows:

[0025] When opening and gripping workpiece 13, if Figure 4 As shown, the retracted inner support plate 2 extends into the workpiece 13, and the telescopic cylinder 8 extends its telescopic end, pushing the control plate 9, guide shaft 7, and sliding chain seat 5. The sliding chain seat 5 drives the control support arm 3, which in turn lifts the inner support plate 2. When the inner support plate 2 is lifted, the two parallel hinged support rods 1 on it can limit the inner support plate 2, allowing it to open. The opened inner support plate 2 adheres to the inner side of the workpiece 13 through the soft protective layer 12, thus gripping the workpiece 13. The robotic arm can then begin transporting the workpiece. After the workpiece is in place, the telescopic cylinder 8 retracts, pushing the control plate 9, guide shaft 7, and sliding chain seat 5. The sliding chain seat 5 drives the control support arm 3, which in turn radially retracts the inner support plate 2. The soft protective layer 12 of the inner support plate 2 separates from the inner wall of the roller, releasing the roller. The degree of opening of the inner support plate 2 is adjusted by controlling the stroke of the telescopic cylinder 8, thereby enabling the clamping of workpieces of different diameters.

[0026] In summary, the internal support manipulator of this utility model uses the telescopic cylinder 8, guide shaft 7, and control plate 9 to control the sliding chain seat 5 to slide along the central axis 4, thereby controlling the hinged support rod 1 and control support arm 3 to drive the internal support plate 2, achieving synchronous opening and closing, supporting the workpiece from the inside, and at the same time using the soft protective layer 12 to contact the workpiece and protect the workpiece surface. It can stably grasp the workpiece and ensure uniform external support force, effectively avoiding damage to the workpiece surface.

[0027] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity. Any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A mechanical hand of the endoskeletal type comprising a mounting base (10) characterized in that, The mounting base (10) is fixedly installed with a central shaft (4) on the upper portion, a plurality of expansion mechanisms are installed on the surface of the central shaft (4) at equal intervals, the inner support plate (2) of the expansion mechanism is hingedly connected to the central shaft (4) through two hinge support rods (1) arranged in parallel, the lower portion of the central shaft (4) is movably installed with a sliding chain seat (5), the lower portion of the inner support plate (2) of the expansion mechanism is hingedly connected to the sliding chain seat (5) through a control support arm (3), a telescopic cylinder (8) is fixedly installed inside the mounting base (10), and the telescopic end of the telescopic cylinder (8) is fixedly connected to the sliding chain seat (5) through a control plate (9) and a guide shaft (7).

2. The in-line mechanical hand of claim 1, wherein, The central shaft (4) is sleeved with a retaining spring (6), one end of the retaining spring (6) abuts against the sliding chain seat (5), and the other end abuts against the mounting base (10).

3. The in-line mechanical hand of claim 2, wherein, The mounting base (10) is fixedly installed with a safety device (11) on the outer side.

4. The in-line handler of claim 1, wherein, The inner support plate (2) is installed with a soft protective layer (12) on the surface.

5. The in-line handler according to claim 4, wherein, The soft protective layer (12) has a small elastic protrusion.

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