CN102009411A - Improved manipulator paw - Google Patents

Improved manipulator paw Download PDF

Info

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
Authority
CN
China
Prior art keywords
paw
connecting rod
rod
push rod
hinged
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN 201010540521
Other languages
Chinese (zh)
Inventor
高付生
姚龙元
范云朦
郭晓颖
刘运娇
孙国艳
路超
张平
郭祥乾
尹纪省
李朋
Original Assignee
高付生
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 高付生 filed Critical 高付生
Priority to CN 201010540521 priority Critical patent/CN102009411A/en
Publication of CN102009411A publication Critical patent/CN102009411A/en
Pending legal-status Critical Current

Links

Images

Landscapes

  • Actuator (AREA)

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

A kind of modified manipulator paw
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.
CN 201010540521 2010-11-11 2010-11-11 Improved manipulator paw Pending CN102009411A (en)

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

Family

ID=43839836

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201010540521 Pending CN102009411A (en) 2010-11-11 2010-11-11 Improved manipulator paw

Country Status (1)

Country Link
CN (1) CN102009411A (en)

Cited By (34)

* Cited by examiner, † Cited by third party
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 overturning 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
CN107932547A (en) * 2017-12-30 2018-04-20 南通市恒达机械制造有限公司 A kind of novel brick clamping device
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
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
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
CN113371430A (en) * 2020-02-25 2021-09-10 富鼎电子科技(嘉善)有限公司 Feeding device
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

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 (43)

* Cited by examiner, † Cited by third party
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 overturning 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
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
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
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
CN106272518B (en) * 2015-05-13 2019-12-13 深圳市创客工场科技有限公司 Manipulator device
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
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
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
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
CN107932547A (en) * 2017-12-30 2018-04-20 南通市恒达机械制造有限公司 A kind of novel brick clamping device
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
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
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
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
CN113371430A (en) * 2020-02-25 2021-09-10 富鼎电子科技(嘉善)有限公司 Feeding device
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
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
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
CN114558956B (en) * 2022-03-29 2023-12-15 常州纺织服装职业技术学院 Wire shaping tool for wire pinching
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

Similar Documents

Publication Publication Date Title
CN102009411A (en) Improved manipulator paw
CN202971412U (en) Integrated miniature electro-hydraulic actuator
CN201009239Y (en) Hacking machine brick clamping mechanism with retraction mechanism
CN105643885A (en) Multi-direction sequential combined core-pulling device for single slide block of injection mould
CN202540635U (en) Front mould sliding block core-pulling structure of injection mould with self-locking mechanism
CN202450497U (en) Hoisting mechanism of radial gate
CN201485232U (en) Multifunctional control device for universal clamp
CN114148494A (en) Underwater outboard release device
CN211438166U (en) Pneumatic chuck
CN101195218A (en) Hacking machine brick clamping mechanism with retraction mechanism
CN203476505U (en) Fuel oil engine with three crankshafts
CN203754285U (en) Heavy-load type container front-side hoisting crane
CN102294769B (en) Synchronous backlash-eliminating spiral contracting brake
CN205096455U (en) Multi -cored forging press of large -tonnage horizontal force
CN104552840B (en) One kind etc. is accommodating to change internal recycling vertical pressing formula clamping apparatus
CN212352690U (en) Rotating cavity plate type efficient double-color injection mold
CN202370741U (en) Hydraulic cylinder type automobile engine
CN203383726U (en) Power head lifting device of portal frame type core drill
CN203697307U (en) Supplementary volumetric constant-volume displacement internal cycle mode locking device
CN103848352A (en) Heavy-load-type container reach stacker crane
CN107984788A (en) A kind of quick pressure setting of high speed stamping hydraulic press
CN108249324B (en) A kind of sequential telescopic mechanism of the gib arm of crane
CN219362568U (en) Cylinder body lifting driving stacker crane
CN207106511U (en) A kind of tunnel multifunctional intellectual emergency management and rescue rail mounted robot
CN218838753U (en) Quick die changing device for vertical oil press

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C02 Deemed withdrawal of patent application after publication (patent law 2001)
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20110413