CN102009411A - Improved manipulator paw - Google Patents
Improved manipulator paw Download PDFInfo
- Publication number
- CN102009411A CN102009411A CN 201010540521 CN201010540521A CN102009411A CN 102009411 A CN102009411 A CN 102009411A CN 201010540521 CN201010540521 CN 201010540521 CN 201010540521 A CN201010540521 A CN 201010540521A CN 102009411 A CN102009411 A CN 102009411A
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- paw
- connecting rod
- rod
- push rod
- hinged
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Abstract
The invention relates to an improved manipulator paw and belongs to the field of mechanical manufacturing. The improved manipulator paw comprises a driving hydraulic cylinder and a paw assembly, wherein the driving hydraulic cylinder comprises a cylinder body, a piston, a push rod and a fixing plate; the inner cavity of the cylinder body is divided into a rod cavity and a rodless cavity by the piston; the bottom end of the push rod is fixed on the piston, and the top end of the push rod extends out of the cylinder body; the paw assembly comprises a paw, a paw connection plate and six connecting rods; the paw connection plate is fixed on the fixing plate; the four connecting rods are hinged in parallel on the paw and the paw connection plate; the one end of each of the other two connecting rods is hinged to the top end of the push rod, and the other ends are hinged to ends of the connecting rods on the sides adjacent to the two connecting rods respectively; and a groove is formed on a clamping surface of the paw. Acting in a diametrically opposite way, the improved manipulator paw is driven to close in the oil-taking process of the rodless cavity and is driven to open in the oil-taking process of the rod cavity. Due to the design of the improved manipulator paw, the driving force of the paw during closing is improved, the technical requirements of selecting the driving hydraulic cylinder and other driving elements are reduced, and the cost is reduced.
Description
Technical field
The present invention relates to a kind of modified manipulator paw, is exactly to utilize the motive force that drives hydraulic cylinder to drive the modified manipulator paw of paw assembly specifically.
Technical background
In the industry now, because improving constantly of automaticity, the automatic control of manipulator is of common occurrence, because the restriction of problems such as driving force and stroke, wherein major part all is hydraulically powered manipulator, but drive the paw closure during normally in the rod chamber oil-feed in the design at paw position, open and drive paw during the rodless cavity oil-feed, this design has reduced the driving force when paw is closed, make and the requirement that when selecting hydraulic cylinder and other driving elements for use, will be higher than driving caused the raising of cost.
Summary of the invention
At above-mentioned deficiency, the invention provides a kind of modified manipulator paw, it drives the paw closure when the rodless cavity oil-feed, drive paw and open when the rod chamber oil-feed, thereby impel manipulator paw to carry out work.
The technical scheme that above-mentioned technical problem adopted that the present invention will solve is achieved in that a kind of modified manipulator paw, comprise and drive hydraulic cylinder and connected paw assembly, described driving hydraulic cylinder comprises cylinder block, piston, push rod, fixed head, described cylinder block inner chamber is divided into rod chamber and rodless cavity by piston, described push rod bottom end is fixed on the piston, top end is stretched out the gas cylinder outside at the fixed head end, it is characterized in that: described is that the paw assembly of center symmetric arrangement comprises paw with the push rod, the paw connecting plate, six connecting rods, described paw connecting plate is fixed on the fixed head that drives hydraulic cylinder, four connecting rods are hinged on paw and the paw connecting plate abreast, two other connecting rod one end is hinged on the push rod top end, and the other end is hinged on an end of the close paw connecting plate of connecting rod that is adjacent a side respectively.Two relative clamping faces of paw 7 are provided with the groove that is suitable for body form.In use, hold a square object, the object of different shape such as circular object, cylindrical objects.Also can set out anti-skid structure, so that paw clamping object is more firm at groove.
The invention has the beneficial effects as follows that it is acted in a diametrically opposite way, realize driving the paw closure in the rodless cavity oil-feed process, drive paw during the rod chamber oil-feed and open.This design has improved the driving force when paw is closed, has reduced the specification requirement of selecting hydraulic cylinder and other driving elements for use, thereby has reduced cost.The object of different shapes such as it holds a square object, circular object, cylindrical objects, easy to use.
Description of drawings
The invention will be further described below in conjunction with the drawings and specific embodiments:
Fig. 1 is a cross-sectional view of the present invention;
Among the figure: 1 gas cylinder, 2 pistons, 3 push rods, 4 fixed heads, 5 rod chambers, 6 rodless cavities, 7 paws, 8 paw connecting plates, 91 first connecting rods, 92 second connecting rods, 93 third connecting rods, 94 the 4th connecting rods, 95 the 5th connecting rods, 96 the 6th connecting rods.
The specific embodiment
As shown in Figure 1, this kind modified manipulator paw, it comprises driving hydraulic cylinder and connected paw assembly, wherein, described driving hydraulic cylinder comprises cylinder block 1, piston 2, push rod 3, fixed head 4, cylinder block 1 inner chamber is divided into rod chamber 5 and rodless cavity 6 by piston 2, and push rod 3 bottom end are fixed on the piston 2, and top end is stretched out gas cylinder 1 outside at fixed head 4 ends; Described is that the paw assembly of center symmetric arrangement comprises paw 7 with the push rod, paw connecting plate 8, first connecting rod 91, second connecting rod 92, third connecting rod 93, the 4th connecting rod 94, the 5th connecting rod 95, the 6th connecting rod 96, paw connecting plate 8 is fixed on the fixed head 4 that drives hydraulic cylinder, third connecting rod 93, the 4th connecting rod 94, the 5th connecting rod 95, the 6th connecting rod 96 is hinged on paw 7 and the paw connecting plate 8 abreast, first connecting rod 91, second connecting rod 92 1 ends are hinged on push rod 3 top end, and the other end is hinged on an end of third connecting rod 93 and the 4th connecting rod 94 close paw connecting plates respectively.Two relative clamping faces of paw 7 are provided with the groove that is suitable for body form, in use, hold a square object, the object of different shape such as circular object, cylindrical objects.
During application, when rodless cavity 6 oil-feeds, the piston 2 that drives hydraulic cylinder advances, for push rod 3 provides a bigger thrust, push ahead, make first connecting rod 91, second connecting rod 92 be hinged on push rod top end one end and travel forward, the end that drive third connecting rod 93, the 4th connecting rod 94, the 5th connecting rod 95, the 6th connecting rod 96 are connected with paw 7 inwardly moves, paw 7 is inwardly moved, thereby finish the action of paw 7 closures.Driving hydraulic cylinder piston 2 when rod chamber 5 oil-feeds retreats, push rod moves backward, drive first connecting rod 91, second connecting rod 92 are hinged on push rod top end one end and move backward, the end that drive third connecting rod 93, the 4th connecting rod 94, the 5th connecting rod 95, the 6th connecting rod 96 are connected with paw 7 outwards moves, paw 7 is outwards moved, thereby finish the action that paw is opened.
The present invention acts in a diametrically opposite way, and realizes driving the paw closure in the rodless cavity oil-feed process, drives paw during the rod chamber oil-feed and opens.This design has improved the driving force when paw is closed, has reduced the specification requirement of selecting hydraulic cylinder and other driving elements for use, thereby has reduced cost.
Claims (1)
1. modified manipulator paw, comprise and drive hydraulic cylinder and connected paw assembly, described driving hydraulic cylinder comprises cylinder block (1), piston (2), push rod (3), fixed head (4), described cylinder block (1) inner chamber is divided into rod chamber (5) and rodless cavity (6) by piston (2), described push rod (3) bottom end is fixed on the piston (2), top end is stretched out gas cylinder (1) outside at fixed head (4) end, it is characterized in that: described is that the paw assembly of center symmetric arrangement comprises paw (7) with the push rod, paw connecting plate (8), connecting rod (91), connecting rod (92), connecting rod (93), connecting rod (94), connecting rod (95), connecting rod (96), described paw connecting plate (8) is fixed on the fixed head (4) that drives hydraulic cylinder, described connecting rod (93), connecting rod (94), connecting rod (95), connecting rod (96) is parallel to be hinged on paw (7) and the paw connecting plate (8), described connecting rod (91), connecting rod (92) one ends are hinged on push rod (3) top end, and the other end is hinged on an end of connecting rod (93) and the close paw connecting plate of connecting rod (94) respectively; Two relative clamping faces of described paw (7) are provided with groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010540521 CN102009411A (en) | 2010-11-11 | 2010-11-11 | Improved manipulator paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010540521 CN102009411A (en) | 2010-11-11 | 2010-11-11 | Improved manipulator paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102009411A true CN102009411A (en) | 2011-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010540521 Pending CN102009411A (en) | 2010-11-11 | 2010-11-11 | Improved manipulator paw |
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| CN (1) | CN102009411A (en) |
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102241013A (en) * | 2011-07-04 | 2011-11-16 | 中南大学 | Multifunctional gantry type manipulator |
| CN102967453A (en) * | 2012-11-09 | 2013-03-13 | 中北大学 | Rotor test bed with online torque excitation and torque measurement function |
| CN103029133A (en) * | 2011-10-06 | 2013-04-10 | 李志超 | Automatic installation attaching plug manipulator |
| CN103272347A (en) * | 2013-06-28 | 2013-09-04 | 秦利明 | Rescue device for small-bore deep well |
| CN103302566A (en) * | 2012-03-08 | 2013-09-18 | 威鸿(厦门)光学有限公司 | Gripping device and workpiece processing system |
| CN103495985A (en) * | 2013-10-24 | 2014-01-08 | 太仓市高泰机械有限公司 | Simple anti-skidding mechanical arm |
| CN104290101A (en) * | 2014-09-15 | 2015-01-21 | 南通凯迪自动机械有限公司 | Manipulator used for gripping yarn rolls |
| CN104339363A (en) * | 2013-07-24 | 2015-02-11 | 财团法人工业技术研究院 | Clamping mechanism with overturn function and method for overturning and translating workpiece |
| CN104440882A (en) * | 2014-12-03 | 2015-03-25 | 江南大学 | Calipers for transferring safety valves |
| CN104690739A (en) * | 2013-12-06 | 2015-06-10 | 中国科学院沈阳自动化研究所 | Clamping mechanism of underwater hydraulic manipulator |
| CN104786214A (en) * | 2015-04-14 | 2015-07-22 | 山东交通学院 | Full-automatic bidirectional stacker robot |
| CN104889801A (en) * | 2015-07-03 | 2015-09-09 | 台州伟立机电设备有限公司 | Automatic loading-unloading device of machine tool |
| CN105033983A (en) * | 2015-08-17 | 2015-11-11 | 苏州速腾电子科技有限公司 | Device for picking up workpieces |
| CN105345828A (en) * | 2015-11-30 | 2016-02-24 | 内蒙古包钢钢联股份有限公司 | Hydraulic clamping device of parallel jaw |
| CN105563510A (en) * | 2014-10-13 | 2016-05-11 | 北京自动化控制设备研究所 | Multifunctional tail end gripper |
| CN105583820A (en) * | 2016-03-11 | 2016-05-18 | 山东建筑大学 | Pneumatic manipulator for clamping steel bar |
| CN105619156A (en) * | 2016-03-25 | 2016-06-01 | 苏州倍特罗智能科技有限公司 | Sucker type feeding and discharging manipulator of vertical punching machine |
| CN105666515A (en) * | 2016-03-28 | 2016-06-15 | 苏州倍特罗智能科技有限公司 | Improved manipulator |
| CN105773574A (en) * | 2014-12-24 | 2016-07-20 | 鼎汉科技(厦门)有限公司 | Automatic film gripping mechanical hand |
| CN106272518A (en) * | 2015-05-13 | 2017-01-04 | 深圳市创客工场科技有限公司 | A kind of robot device |
| CN107309890A (en) * | 2017-07-27 | 2017-11-03 | 安徽工程大学 | A kind of manipulator clamping mechanism of robot |
| CN108890507A (en) * | 2018-07-20 | 2018-11-27 | 广州尚儒自控系统工程有限公司 | A kind of polissoir |
| CN108889749A (en) * | 2018-06-21 | 2018-11-27 | 明光康诚伟业机电设备有限公司 | A kind of clamping device for mobile phone camera glass cleaning |
| CN108908080A (en) * | 2018-07-20 | 2018-11-30 | 广州尚儒自控系统工程有限公司 | A kind of automatic cleaning equipment |
| CN108942622A (en) * | 2018-07-20 | 2018-12-07 | 广州尚儒自控系统工程有限公司 | A kind of efficient cleaning equipment |
| CN108972182A (en) * | 2018-07-20 | 2018-12-11 | 广州尚儒自控系统工程有限公司 | A kind of advanced cleaning equipment |
| CN110712219A (en) * | 2019-10-08 | 2020-01-21 | 太原理工大学 | Full hydraulic drive five-degree-of-freedom transfer robot |
| CN111360361A (en) * | 2020-03-26 | 2020-07-03 | 诚联电源股份有限公司 | Electronic circuit board fixing device for switching power supply production |
| CN113605848A (en) * | 2021-08-11 | 2021-11-05 | 无锡智瀚智能机器技术有限公司 | Pipe pole grabbing device applicable to various pipe pole diameter specifications |
| CN113718635A (en) * | 2021-08-28 | 2021-11-30 | 中交一公局集团有限公司 | Main arch structure of overpass bridge |
| CN114558956A (en) * | 2022-03-29 | 2022-05-31 | 常州纺织服装职业技术学院 | Wire inlay drawing metal wire shaping tool |
| CN115635446A (en) * | 2022-10-12 | 2023-01-24 | 常州市创联电源科技股份有限公司 | Electronic circuit board assembly device for switching power supply production |
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| CN2822901Y (en) * | 2005-08-17 | 2006-10-04 | 彭春容 | Improvement of clamping device of drawing-out machine |
| CN201288523Y (en) * | 2008-11-07 | 2009-08-12 | 江苏如石机械有限公司 | Clamping manipulator for centralizing casing tube, oil passage, and drill rod |
| CN201483399U (en) * | 2009-08-20 | 2010-05-26 | 浙江柏腾光电科技有限公司 | Center hole snatching paw |
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2010
- 2010-11-11 CN CN 201010540521 patent/CN102009411A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2822901Y (en) * | 2005-08-17 | 2006-10-04 | 彭春容 | Improvement of clamping device of drawing-out machine |
| CN201288523Y (en) * | 2008-11-07 | 2009-08-12 | 江苏如石机械有限公司 | Clamping manipulator for centralizing casing tube, oil passage, and drill rod |
| CN201483399U (en) * | 2009-08-20 | 2010-05-26 | 浙江柏腾光电科技有限公司 | Center hole snatching paw |
Cited By (40)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102241013A (en) * | 2011-07-04 | 2011-11-16 | 中南大学 | Multifunctional gantry type manipulator |
| CN103029133A (en) * | 2011-10-06 | 2013-04-10 | 李志超 | Automatic installation attaching plug manipulator |
| CN103302566A (en) * | 2012-03-08 | 2013-09-18 | 威鸿(厦门)光学有限公司 | Gripping device and workpiece processing system |
| CN103302566B (en) * | 2012-03-08 | 2017-01-11 | 威鸿(厦门)光学有限公司 | Gripping device and workpiece processing system |
| CN102967453B (en) * | 2012-11-09 | 2015-06-10 | 中北大学 | Rotor test bed with online torque excitation and torque measurement function |
| CN102967453A (en) * | 2012-11-09 | 2013-03-13 | 中北大学 | Rotor test bed with online torque excitation and torque measurement function |
| CN103272347A (en) * | 2013-06-28 | 2013-09-04 | 秦利明 | Rescue device for small-bore deep well |
| CN104339363A (en) * | 2013-07-24 | 2015-02-11 | 财团法人工业技术研究院 | Clamping mechanism with overturn function and method for overturning and translating workpiece |
| CN103495985A (en) * | 2013-10-24 | 2014-01-08 | 太仓市高泰机械有限公司 | Simple anti-skidding mechanical arm |
| CN104690739A (en) * | 2013-12-06 | 2015-06-10 | 中国科学院沈阳自动化研究所 | Clamping mechanism of underwater hydraulic manipulator |
| CN104290101B (en) * | 2014-09-15 | 2015-12-23 | 南通凯迪自动机械有限公司 | For the manipulator of gripping yarn group |
| CN104290101A (en) * | 2014-09-15 | 2015-01-21 | 南通凯迪自动机械有限公司 | Manipulator used for gripping yarn rolls |
| CN105563510A (en) * | 2014-10-13 | 2016-05-11 | 北京自动化控制设备研究所 | Multifunctional tail end gripper |
| CN104440882A (en) * | 2014-12-03 | 2015-03-25 | 江南大学 | Calipers for transferring safety valves |
| CN105773574A (en) * | 2014-12-24 | 2016-07-20 | 鼎汉科技(厦门)有限公司 | Automatic film gripping mechanical hand |
| CN104786214A (en) * | 2015-04-14 | 2015-07-22 | 山东交通学院 | Full-automatic bidirectional stacker robot |
| CN106272518A (en) * | 2015-05-13 | 2017-01-04 | 深圳市创客工场科技有限公司 | A kind of robot device |
| CN106272518B (en) * | 2015-05-13 | 2019-12-13 | 深圳市创客工场科技有限公司 | Manipulator device |
| CN104889801A (en) * | 2015-07-03 | 2015-09-09 | 台州伟立机电设备有限公司 | Automatic loading-unloading device of machine tool |
| CN104889801B (en) * | 2015-07-03 | 2018-08-17 | 台州伟立智能设备有限公司 | A kind of automatic loading and unloading device of lathe |
| CN105033983A (en) * | 2015-08-17 | 2015-11-11 | 苏州速腾电子科技有限公司 | Device for picking up workpieces |
| CN105345828A (en) * | 2015-11-30 | 2016-02-24 | 内蒙古包钢钢联股份有限公司 | Hydraulic clamping device of parallel jaw |
| CN105583820A (en) * | 2016-03-11 | 2016-05-18 | 山东建筑大学 | Pneumatic manipulator for clamping steel bar |
| CN105619156A (en) * | 2016-03-25 | 2016-06-01 | 苏州倍特罗智能科技有限公司 | Sucker type feeding and discharging manipulator of vertical punching machine |
| CN105666515A (en) * | 2016-03-28 | 2016-06-15 | 苏州倍特罗智能科技有限公司 | Improved manipulator |
| CN107309890A (en) * | 2017-07-27 | 2017-11-03 | 安徽工程大学 | A kind of manipulator clamping mechanism of robot |
| CN108889749A (en) * | 2018-06-21 | 2018-11-27 | 明光康诚伟业机电设备有限公司 | A kind of clamping device for mobile phone camera glass cleaning |
| CN108908080A (en) * | 2018-07-20 | 2018-11-30 | 广州尚儒自控系统工程有限公司 | A kind of automatic cleaning equipment |
| CN108942622A (en) * | 2018-07-20 | 2018-12-07 | 广州尚儒自控系统工程有限公司 | A kind of efficient cleaning equipment |
| CN108972182A (en) * | 2018-07-20 | 2018-12-11 | 广州尚儒自控系统工程有限公司 | A kind of advanced cleaning equipment |
| CN108890507A (en) * | 2018-07-20 | 2018-11-27 | 广州尚儒自控系统工程有限公司 | A kind of polissoir |
| CN110712219A (en) * | 2019-10-08 | 2020-01-21 | 太原理工大学 | Full hydraulic drive five-degree-of-freedom transfer robot |
| CN111360361A (en) * | 2020-03-26 | 2020-07-03 | 诚联电源股份有限公司 | Electronic circuit board fixing device for switching power supply production |
| CN111360361B (en) * | 2020-03-26 | 2021-09-07 | 诚联电源股份有限公司 | Electronic circuit board fixing device for switching power supply production |
| CN113605848A (en) * | 2021-08-11 | 2021-11-05 | 无锡智瀚智能机器技术有限公司 | Pipe pole grabbing device applicable to various pipe pole diameter specifications |
| CN113605848B (en) * | 2021-08-11 | 2023-08-29 | 无锡智瀚智能机器技术有限公司 | Pipe rod grabbing device applicable to various pipe rod diameter specifications |
| CN113718635A (en) * | 2021-08-28 | 2021-11-30 | 中交一公局集团有限公司 | Main arch structure of overpass bridge |
| CN113718635B (en) * | 2021-08-28 | 2022-11-18 | 中交一公局集团有限公司 | Main arch structure of overpass bridge |
| CN114558956A (en) * | 2022-03-29 | 2022-05-31 | 常州纺织服装职业技术学院 | Wire inlay drawing metal wire shaping tool |
| CN115635446A (en) * | 2022-10-12 | 2023-01-24 | 常州市创联电源科技股份有限公司 | Electronic circuit board assembly device for switching power supply production |
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Application publication date: 20110413 |