High-precision and high-load manipulator mechanism

Abstract

The utility model discloses a high-precision and high-load manipulator mechanism which comprises a cylinder body provided with an inner cavity, two finger clamping blocks symmetrically arranged at the top of the cylinder body, a piston assembly arranged in the inner cavity of the cylinder body, a piston rod with the bottom end connected with the piston assembly, and a wedge-shaped driving block connected to the top end of the piston rod and located between the two finger clamping blocks. A wedge-shaped structure is formed between the wedge-shaped driving block and each finger clamping block; the cross section of each finger clamping block is of an inverted-T-shaped structure, and inverted-T-shaped sliding grooves matched with the two finger clamping blocks are formed in the top of the cylinder body. Sawtooth structures are arranged on the two opposite outer side walls of each finger clamping block, and sawtooth sliding grooves matched with the sawtooth structures are formed in the side walls of the inverted-T-shaped sliding grooves. The sawtooth structures are arranged to be matched with the sawtooth sliding grooves, the friction area is increased in the sliding process of the finger clamping blocks, the finger clamping blocks can slide in the inverted-T-shaped sliding grooves more accurately and flexibly, and meanwhile the sawtooth structures can share higher loads.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic technology field especially relates to a high-precision high load's mechanical hand mechanism. BACKGROUND

[0002] With the high -speed development of today's science and technology, production level unceasing promotion, automation technology is increasingly widely used in various industries, put forward higher requirements to automation equipment. Product gradually to miniaturization, fine direction development, automation production line is also unceasingly reducing volume, towards the goal of high integration, high precision. This development trend brings new challenges to various non-standard pneumatic products.

[0003] Mechanical hand mechanism is imitated human hand action, according to the given program realizes automatic grabbing, handling and operation automatic device. The existing mechanical hand mechanism has some limitations: 1) clamping precision is not enough, leading to unable accurate grabbing various workpieces;2) can bear lower load, cannot satisfy the demand;3) structure is not compact enough, leading to in the handling process interference profile is larger, easy to collide with other equipment or workpiece. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a kind of high-precision high load's mechanical hand mechanism, by setting sawtooth structure and sawtooth sliding groove cooperation, increase friction area in the sliding process of finger clamping block, so that finger clamping block can be more accurate, more flexible sliding in inverted T sliding groove, simultaneously sawtooth structure can share higher load.

[0005] To achieve the above object, the following technical scheme is adopted:

[0006] A kind of high-precision high load's mechanical hand mechanism, including the cylinder body with inner cavity, two finger clamping blocks being symmetrically arranged at the top of cylinder body, piston assembly being arranged in the inner cavity of cylinder body, piston rod being connected with piston assembly at bottom end, and wedge-shaped drive block being connected to the top end of piston rod and being located between two finger clamping blocks;A wedge-shaped structure is formed between the wedge-shaped drive block and each finger clamping block;The cross section of the finger clamping block is inverted T type structure, and inverted T type sliding groove that matches the two finger clamping blocks is arranged at the top of cylinder body;Sawtooth structure is arranged on the opposite two outer side walls of the finger clamping block, and sawtooth sliding groove that matches the sawtooth structure is arranged on the side wall of inverted T type sliding groove;When piston rod drives wedge-shaped drive block to move upwards, two finger clamping blocks slide through inverted T type sliding groove to move away from each other;When piston rod drives wedge-shaped drive block to move downwards, two finger clamping blocks slide through inverted T type sliding groove to move close to each other.

[0007] Preferably, the sawtooth structure is arranged on the inverted T type transverse end outer side wall of the finger clamping block.

[0008] Preferably, a dovetail guide rail is arranged on the wedge-shaped driving block, and a dovetail sliding groove matched with the dovetail guide rail is arranged on the finger clamping block.

[0009] Preferably, a dustproof cover is arranged on the middle top of the length direction of the inverted T-shaped sliding groove, and the dustproof cover is arranged above the two finger clamping blocks.

[0010] Preferably, the inverted T-shaped sliding groove is arranged through the top of the cylinder body.

[0011] Preferably, a lubricant groove is arranged in the bottom of the inverted T-shaped sliding groove corresponding to each finger clamping block, and the lubricant groove is arranged through the end of the cylinder body.

[0012] With the above scheme, the beneficial effects of the utility model are as follows:

[0013] The utility model discloses a high-precision high-load mechanical hand mechanism, 1) through setting up the finger clamping block and inverted T-shaped sliding groove of inverted T-shaped structure, the support area is increased, can absorb greater force and moment, also guarantee that the mechanical hand mechanism has higher flexibility, stability, reliability when carrying, grabbing, 2) through setting up the sawtooth structure and sawtooth sliding groove cooperation, increase the friction area in the sliding process of the finger clamping block, so that the finger clamping block can slide more accurately, more flexibly in the inverted T-shaped sliding groove, and the sawtooth structure can share higher load, 3) the wedge-shaped structure design between the wedge-shaped driving block and the finger clamping block can enhance the driving contact area, realize high -power delivery and synchronous stable workpiece and catch, reduce the degree of wear, guarantee high precision also guarantee that higher load can be carried, 4) compact overall structure can keep the interference profile in carrying smaller. BRIEF DESCRIPTION OF DRAWINGS

[0014] Fig. 1 It is the perspective view of the utility model;

[0015] Fig. 2 It is the sectional view of the utility model;

[0016] Fig. 3 It is the internal perspective view of the utility model;

[0017] Among them, the drawing mark explanation is as follows:

[0018] 1 - cylinder, 2 - finger clamping block,

[0019] 3 - piston assembly, 4 - piston rod,

[0020] 5 - wedge-shaped driving block, 6 - sawtooth structure,

[0021] 7 - dovetail guide rail, 8 - dustproof cover,

[0022] 9 - lubricant groove. DETAILED DESCRIPTION

[0023] The utility model will be described in further detail below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the utility model, and not limit the utility model. In addition, it should be noted that only the parts related to the utility model are shown in the drawings, not all the structures.

[0024] In the utility model, unless otherwise expressly specified and limited, the first feature is "on" or "under" the second feature, which can include direct contact between the first and second features, or indirect contact between the first and second features through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes the first feature directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "under", "below" and "below" the second feature includes the first feature directly below and obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0025] In the description of the embodiment, the terms "up", "down", "left", "right" and other orientation or position relationship are based on the orientation or position relationship shown in the drawings, only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" are only used to distinguish in description, and have no special meaning.

[0026] Referring to Figs. 1 to 3 As shown in the drawings, the utility model provides a high-precision high-load mechanical hand mechanism, including the cylinder body 1 that is equipped with inner chamber, two finger clamping blocks 2 that are symmetrically arranged on the top of cylinder body 1, piston assembly 3 that is arranged in the inner chamber of cylinder body 1, piston rod 4 that is connected with piston assembly 3 at the bottom end, and wedge-shaped driving block 5 that is connected to the top end of piston rod 4 and is located between two finger clamping blocks 2, a wedge-shaped structure is formed between wedge-shaped driving block 5 and each finger clamping block 2. The high-precision high-load mechanical hand mechanism provided by the utility model is mainly applied to the cleaning and slightly dusty environment in the manufacturing industry, assembly and handling industry and automobile industry of mechanical equipment. When the cylinder drives piston assembly 3 to drive piston rod 4 to move up and down, two finger clamping blocks 2 present opening, clamping action. Please continue to refer to Fig. 1 The top of finger clamping block 2 is provided with mounting hole and positioning hole, in actual application, different size finger parts can be installed on the top of finger clamping block 2, so as to play the role of clamping workpiece.

[0027] The cross section of the finger clamping block 2 is in inverted T-shaped structure, and the top of the cylinder body 1 is provided with an inverted T-shaped sliding groove matched with the two finger clamping blocks 2. The inverted T-shaped sliding groove is provided through the top of the cylinder body 1. The middle bottom of the length direction of the inverted T-shaped sliding groove is provided with a movable hole communicated to the inner cavity of the cylinder body 1, and the piston rod 4 is arranged through the movable hole. The inverted T-shaped sliding groove is provided through the top of the cylinder body 1. Since the finger clamping block 2 needs to bear the force from top to bottom during use, the friction coefficient of the friction surface is ensured, and according to the principle of triangular support, the finger clamping block 2 is arranged in inverted T-shaped structure, so that the cross section bottom of the finger clamping block 2 plays a supporting effect, increases the supporting area, can absorb larger force and torque, and also ensures that the mechanical hand mechanism has high flexibility, stability and reliability during carrying and grabbing.

[0028] In addition, the opposite two outer side walls of the finger clamping block 2 are provided with sawtooth structures 6, and the side wall of the inverted T-shaped sliding groove is provided with a sawtooth sliding groove matched with the sawtooth structure 6. Specifically, the sawtooth structure 6 is arranged on the outer side wall of the inverted T-shaped transverse end of the finger clamping block 2. By arranging the sawtooth structure 6 matched with the sawtooth sliding groove, the friction area can be increased, so that the finger clamping block 2 can slide more accurately and flexibly in the inverted T-shaped sliding groove, and the sawtooth structure 6 can share higher load to meet the high load demand.

[0029] When the piston rod 4 drives the wedge-shaped driving block 5 to move upward, the two finger clamping blocks 2 slide away from each other through the inverted T-shaped sliding groove; when the piston rod 4 drives the wedge-shaped driving block 5 to move downward, the two finger clamping blocks 2 slide to each other through the inverted T-shaped sliding groove.

[0030] In the wedge-shaped structure, the wedge-shaped driving block 5 is provided with a dovetail guide rail 7, and the finger clamping block 2 is provided with a dovetail sliding groove matched with the dovetail guide rail 7. By arranging the dovetail guide rail 7 matched with the dovetail sliding groove structure, when the wedge-shaped driving block 5 retreats (that is, when the two finger clamping blocks 2 move away from each other), the dovetail guide rail 7 hooks the dovetail sliding groove to drive the two finger clamping blocks 2 to move close to each other.

[0031] Since the wedge-shaped driving block 5 is located between the two finger clamping blocks 2, and a gap is left after the two finger clamping blocks 2 move away from each other, a dust cover 8 is arranged on the middle top of the length direction of the inverted T-shaped sliding groove, and the dust cover 8 is located above the two finger clamping blocks 2 to prevent dust and other foreign matters from falling into the inside of the mechanical hand mechanism.

[0032] During clamping, due to the friction between the finger clamping block 2 and the inverted T-shaped sliding groove, the sawtooth structure 6 and the sawtooth sliding groove, etc., it is necessary to apply lubricant on the friction surface. After a period of use, the side of the finger clamping block 2 can be added with lubricant from top to bottom, but it is difficult to add lubricant to the bottom of the finger clamping block 2. Therefore, a lubricant groove 9 is formed at the bottom of the inverted T-shaped sliding groove corresponding to each finger clamping block 2, and the lubricant groove 9 penetrates to the end of the cylinder body 1, so as to realize the addition of lubricant to the bottom of the finger clamping block 2.

[0033] The wedge-shaped structure design between the wedge-shaped driving block 5 and the finger clamping block 2, the inverted T-shaped structure design of the finger clamping block 2 and the inverted T-shaped sliding groove matching structure design, and the sawtooth structure 6 and the sawtooth sliding groove matching structure design can make the mechanical hand mechanism have stronger stability and greater output.

[0034] The above is only a preferred embodiment of the utility model, and is not used to limit the utility model, and any modification, equivalent replacement and improvement within the spirit and principle of the utility model should be included in the protection scope of the utility model. Obviously, the above embodiment of the utility model is only for clear illustration, and is not limited to the implementation mode of the utility model. For ordinary skilled in the art, various obvious changes, re-adjustment and replacement can be made without departing from the protection scope of the utility model. It is unnecessary and impossible to enumerate all the implementation modes. Any modification, equivalent replacement and improvement within the spirit and principle of the utility model should be included in the protection scope of the utility model claim.

Claims

1. A high-precision, high-load-bearing robotic arm mechanism, characterized in that, The device includes a cylinder with an inner cavity, two finger gripping blocks symmetrically positioned at the top of the cylinder, a piston assembly located within the inner cavity of the cylinder, a piston rod connected to the piston assembly at its bottom end, and a wedge-shaped drive block connected to the top of the piston rod and positioned between the two finger gripping blocks. A wedge-shaped structure is formed between the wedge-shaped drive block and each finger gripping block. The cross-section of each finger gripping block is inverted T-shaped, and the top of the cylinder has an inverted T-shaped groove that matches the two finger gripping blocks. Both opposite outer walls of the finger gripping blocks have serrated structures, and the side walls of the inverted T-shaped grooves have serrated grooves that match these serrated structures. When the piston rod drives the wedge-shaped drive block upwards, the two finger gripping blocks slide along the inverted T-shaped grooves to move away from each other; when the piston rod drives the wedge-shaped drive block downwards, the two finger gripping blocks slide along the inverted T-shaped grooves to move closer together.

2. The high-precision, high-load-bearing robotic arm mechanism according to claim 1, characterized in that, The serrated structure is located on the outer wall of the inverted T-shaped horizontal end of the finger gripper block.

3. The high-precision, high-load-bearing robotic arm mechanism according to claim 1, characterized in that, In the wedge structure, the wedge drive block is provided with a dovetail guide rail, and the finger gripper block is provided with a dovetail groove that matches the dovetail guide rail.

4. The high-precision, high-load-bearing robotic arm mechanism according to claim 1, characterized in that, The inverted T-shaped slide is provided with a dust cover at the top center along its length, and the dust cover is located above the two finger gripping blocks.

5. The high-precision, high-load-bearing robotic arm mechanism according to claim 1, characterized in that, The inverted T-shaped groove is opened at both ends of the top of the cylinder.

6. The high-precision, high-load-bearing robotic arm mechanism according to claim 5, characterized in that, The bottom of the inverted T-shaped slide groove has a lubricant groove corresponding to each finger gripping block, and the lubricant groove extends through to the end of the cylinder.

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