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两抓爪臂6的前端各装有抓爪A、B,后端各装有作滚子用的轴承2,中间支点1固定在机座5上。气缸(4)活塞杆前连一滑杆3。因为弹簧7的作用,与两轴承紧靠。气缸活塞杆及滑杆往复运动时,两轴承与滑杆锥形段小端接触时,抓爪打开,当从小端到大端时,抓爪逐步抓紧工件。为了防止气缸活塞达到顶点,气压为零时,轴承处于滑杆锥形段大端的不稳定状态,抓爪有松开的可能,故在滑杆锥形段大端后面作成一段圆柱,这样即使气缸内压力为零时,机械手也不会打开。
The front ends of the two gripper arms 6 are respectively provided with grippers A, B, and the rear end is respectively provided with bearings 2 for the rollers, and the intermediate fulcrum 1 is fixed on the base 5 . The cylinder (4) has a slide bar 3 in front of the piston rod. Because of the action of the spring 7, it is in close contact with both bearings. When the cylinder piston rod and the slide rod reciprocate, the gripper is opened when the two bearings are in contact with the small end of the slide rod conical section, and the gripper gradually grips the workpiece when it is from the small end to the large end. In order to prevent the cylinder piston from reaching its apex, when the air pressure is zero, the bearing is in an unstable state at the big end of the tapered section of the slide bar, and the gripper may be released. Therefore, a section of cylinder is formed behind the large end of the slide bar conical section, so that even if the pressure in the cylinder is When it is zero, the robot won’t open.