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通用工业机械手夹持器，它具有夹持物件和剪切缆索的双重功能，适用于有这两种功能需要的机械手，特别适用于水下机械手，可以顺利进行水下作业。本实用新型是在一种普通的通用工业机械手夹持器臂上安装一对能剪切的刀片，当手掌闭合运动时，刀片作剪切运动，达到在夹持的同时完成剪切动作。
本文采用手指式夹持器，执行动作为抓紧—放松所要抓紧的工件直径为60-80mm 放松时的两抓的最大距离为150mm，1s抓紧，夹持速度10-20mm/s；工件的最大重量为5kg，材质为45#钢。主要研究内容是分析通用工业机械手夹持器的原理；确定夹持器与伸缩臂总体方案；完成驱动结构的设计方案；对总体结构设计、主要部件的受力分析和强度校核；对驱动结构设计方案，原理图，整体结构装配图的设计。
关键词：机械手；夹持器；装配图；
Abstract
Robot gripper, it has the object and cut the rope holding the dual function for these two functions need to have the robot, especially for underwater robot that can successfully carry out underwater operations. The utility model is a common robot gripper arm to be able to install a cutting blade, when the hand closing movement, the blade for cutting exercise, to complete the cut in the same clamping action.
In this paper, finger-type gripper, perform an action to seize - seize the workpiece to be relaxed for the 60-80mm in diameter when relaxed grasp of the maximum distance of two 150mm, 1s step, clamping speed 10-20mm / s; the maximum weight of workpiece to 5kg, made of 45 # steel. Main research is to analyze the robot gripper principle; determine the telescopic holder with the overall program; complete design-driven structure; the overall structural design, stress analysis and strength of the main components of the check; structural design of the drive , schematics, assembly drawings of the overall structure of the design.
Keywords: robot; holder; assembly drawings;
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