CN103057955B - Carrying gripper and application of carrying gripper in three-way valve carrying - Google Patents
Carrying gripper and application of carrying gripper in three-way valve carrying Download PDFInfo
- Publication number
- CN103057955B CN103057955B CN201310012962.4A CN201310012962A CN103057955B CN 103057955 B CN103057955 B CN 103057955B CN 201310012962 A CN201310012962 A CN 201310012962A CN 103057955 B CN103057955 B CN 103057955B
- Authority
- CN
- China
- Prior art keywords
- double end
- carrying
- stud
- shifting bar
- clamping limb
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- 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.)
- Expired - Fee Related
Links
- 210000000078 Claw Anatomy 0.000 claims abstract description 31
- 210000003414 Extremities Anatomy 0.000 claims description 32
- 230000004323 axial length Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 210000000214 Mouth Anatomy 0.000 claims description 3
- 230000000875 corresponding Effects 0.000 claims description 3
- 230000002093 peripheral Effects 0.000 claims description 3
- 210000001847 Jaw Anatomy 0.000 abstract description 7
- 230000001105 regulatory Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000001141 propulsive Effects 0.000 description 2
- 239000000969 carrier Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Abstract
Disclosed are a carrying gripper and application of the carrying gripper in three-way valve carrying. The carrying gripper comprises a gripping arm hinged to a gripper seat. The gripping arm is connected with a claw through a first stud. An upper pull rod is hinged in the middle of the gripping arm. The upper pull rod is connected with a lower pull rod through a second stud. The end of the lower pull rod is hinged to a movable rod which is driven by a power mechanism to move up and down along the self-axial direction. By adjusting the first stud and the second stud, a jaw of the claw can be adjusted, the movable rod can be guaranteed to be pressed on to-be-carried objects when the claw grips to-be-carried objects of different shapes, and gripping stability and reliability are increased. When the carrying gripper is used for carrying three-way valves, the carrying gripper is provided with three claws which grips three pipe orifices of the three-way valves respectively.
Description
Technical field
The present invention relates to component of machine field, be specifically related to a kind of carrying clamping device and application process thereof.
Background technology
In the course of processing of existing machinery parts, the transfer of mechanical component between each operation, except leaning on a dead lift, existing manipulator is existing application in actual production process, thus alleviate workman labour intensity, improve production efficiency, but the adjustment of the openings of sizes of manipulator involved in prior art is inconvenient, and clamped parts size is limited to, simultaneously when clamping parts, its safe reliability, stability are not easy to ensure.
Summary of the invention
The object of this invention is to provide a kind of clamping dimension adjustable to a certain extent, and improve the carrying clamping device to parts clamping stability.
For achieving the above object, present invention employs following technical scheme: a kind of carrying clamping device, the claw comprising actuating unit, clamper seat, clamping limb and arrange with described clamping limb one_to_one corresponding.
Also comprise the first double end stud, top rod, the second double end stud, lower link and can be driven by described actuating unit, the shifting bar moved up and down vertically.
One end of described multiple clamping limb is hinged on described clamper seat respectively, and the same surface of revolution that it is rotation axis that multiple clamping limb is all positioned at the axis of described shifting bar; The other end of described clamping limb is threaded one end of described first double end stud, and the other end of described first double end stud is threaded described claw.
One end of the hinged described top rod in middle part of described clamping limb, the other end of described top rod is threaded one end of described second double end stud, the other end of described second double end stud is threaded one end of described lower link, and the other end of described lower link is hinged on described shifting bar.
Owing to adopting technique scheme, actuating unit drives shifting bar axially to move up and down along shifting bar self, and claw is opened laterally, forms jaw, is clamped in by claw on to be handled, makes claw draw in the inside afterwards; The relative distance of the adjustable claw of the first double end stud and clamping limb axis, the relative distance of the adjustable lower link of the second double end stud and top rod axis, just can carry it after carrier is clamped.So not only can realize the adjustment to jaw size, when can also ensure that claw clamps to be handled of different oad, shifting bar can be pressed on to be handled, adds reliability and the stability of clamping.
Clamping limb in the present invention, the first double end stud, claw, top rod, the second double end stud, their number of lower link are identical; And the first double end stud and the second double end stud, the thread rotary orientation at two is contrary; This carrying clamping device is fixed on such as robot in travel mechanism, and carrying clamping device is moved between each operation.
Further: described shifting bar can be connected with one with the below of described lower link articulated position along the adjustable parts of axial length of shifting bar.
Further: the adjustable parts of the described axial length along shifting bar are connected with described shifting bar by screw thread pair, and the parts of this adjustable in length are at least set to rubber part in bottom surface.
In addition, further: the number of described clamping limb, described first double end stud, described claw, described top rod, described second double end stud, described lower link is three; And clamping limb is arranged around described shifting bar, accordingly, described first double end stud, claw, top rod, the second double end stud, lower link are arranged around described shifting bar separately respectively.
Further: the middle part of described clamping limb is provided with gusset, and gusset is provided with hinge hole, the end of described top rod is connected by hinging pin shaft with the hinge hole on described gusset.
Further: described shifting bar outer peripheral face is provided with and described clamping limb convex wall one to one, described convex wall is provided with hinge hole, the end of described lower link is connected by hinging pin shaft with the hinge hole on described convex wall.
Further: described first double end stud and and the centre of the second double end stud have one section to be equipped with hexagonal or octagon structure.
The invention has the beneficial effects as follows: this kind of carrying clamping device clamping dimension is adjustable to a certain extent, and improve parts clamping stability; As one application of the present invention, this kind of carrying clamping device be specially adapted to three-way valve or and the clamping of parts of its similar carry.
Present invention also offers the application of this carrying clamping device in three-way valve handling process, the catching of described three claws difference is on three mouths of pipe of described three-way valve.Described a kind of carrying clamping device be specially adapted to three-way valve or and the clamping of parts of its similar carry.
Accompanying drawing explanation
Fig. 1 is the structural representation of the main apparent direction of the present invention;
Fig. 2 is the structural representation of the left apparent direction of the present invention;
Fig. 3 is the structural representation that the present invention overlooks direction;
Fig. 4 is that the present invention waits axle geodesic structure schematic diagram;
In figure, 1 actuating unit; 2 clamper seats; 3 clamping limbs; 4 first double end studs; 5 claws; 6 top rods; 7 second double end studs; 8 lower links; 9 shifting bars; 10 three-way valves; 11 butt flanges.
Detailed description of the invention
As shown in Figures 1 to 4, a kind of carrying clamping device comprises, actuating unit 1, clamper seat 2, three clamping limbs 3, three the first double end studs, 4, three claws 5, three top rods 6, three the second double end studs 7, three lower links 8, shifting bars 9.
Wherein shifting bar 9 can be driven by described actuating unit and axially move up and down along himself.First double end stud and the second double end stud, the thread rotary orientation at two is contrary.
The same surface of revolution that it is rotation axis that described three clamping limbs 3 are all positioned at the axis of shifting bar 9, and arrange around shifting bar 9 axis, the intersection of the projection of central axis in the same plane of rotation being rotation axis with the axis of shifting bar 9 of described clamping limb 3 is T font; One end of each clamping limb 3 is hinged on clamper seat 2, and the other end is connected with the threaded one end of the first double end stud 4, and the other end of each the first double end stud 4 is threaded claw 5, and described three claws 5 are configured for the jaw clamping three-way valve 10.
The middle part of each clamping limb 3 is provided with gusset, each gusset is respectively arranged with hinge hole, one end of described three top rods 6 is hinged on three hinge holes respectively, the other end of described three top rods 6 is connected with the threaded one end of described three the second double end studs 7 respectively, the other end of three the second double end studs 7 is threaded a lower link 8 separately, described shifting bar 9 outer peripheral face is provided with three convex walls, corresponding described three clamping limbs 3, and each convex wall is provided with hinge hole, the other end of described three lower links 8 is just hinged on the hinge hole on convex wall.
During work, described actuating unit 1 drives shifting bar 9 along self axial upward movement, propulsive effort reaches clamping limb 3 via lower link 8, second double end stud 7, top rod 6 successively, and drive clamping limb 3 around upwards rotating with clamper seat 2 hinged place, application force finally reaches claw 5 through the first double end stud 4, described three claws 5 are opened laterally, and namely jaw opens; Otherwise when actuating unit 1 drives shifting bar 9 along self axial downward movement, propulsive effort is by above-mentioned pass order, described three claws 5 are finally made to draw in the inside, namely jaw draws in, and the catching of three claw 5 difference, on three mouths of pipe of three-way valve 10, clamps workpiece.The top of described actuating unit 1 is provided with butt flange 11, is fixed on the mobile apparatus by this carrying clamping device, and this carrying clamping device is worked between each operation by butt flange 11.
The relative distance of claw 5 and clamping limb 3 axis can be regulated by the first double end stud 4, the relative distance of lower link 8 and top rod 6 axis can be regulated by the second double end stud 7, conveniently the screw-in of screw thread screws out, and the centre of the first double end stud 4 and the second double end stud 7 has one section to be equipped with hexagonal or octagon structure.
By the adjustment to the first double end stud 4 and/or the second double end stud 7, not only can realize the adjustment of the size to the jaw that three claws 5 are formed, when can also ensure that claw 5 clamps the three-way valve 10 of different oad, shifting bar 9 also can be pressed on three-way valve 10, adds the reliability of clamping.The bottom surface of shifting bar 9 can arrange rubber antiskid face.
For guaranteeing that shifting bar 9 can be pressed on three-way valve 10 further, one can be arranged along the adjustable parts of axial length of shifting bar in the below of the convex wall of shifting bar 9, the parts of this adjustable in length are connected with described shifting bar 9 by screw thread pair, and the parts of this adjustable in length are at least set to rubber part in bottom surface, guarantee that shifting bar 9 is pressed on three-way valve 10 by regulating the spinning in and out of screw thread.
Described actuating unit 1 can be cylinder or oil cylinder, and it comprises piston cylinder and piston rod, and described piston cylinder is fixed on clamper seat 2, and clamper seat 2 is provided with the through hole passed through for piston rod, top and the described piston rod of shifting bar 9 are connected.
Claims (8)
1. a carrying clamping device, is characterized in that: the claw (5) comprising actuating unit (1), clamper seat (2), clamping limb (3) and arrange with described clamping limb (3) one_to_one corresponding,
Also comprise the first double end stud (4), top rod (6), the second double end stud (7), lower link (8) and can drive by described actuating unit the shifting bar (9) moved up and down vertically;
One end of multiple described clamping limb (3) is hinged on described clamper seat (2) respectively, and multiple clamping limb (3) to be all positioned at the axis of described shifting bar (9) be the same surface of revolution of rotation axis; The other end of described clamping limb (3) is threaded one end of described first double end stud (4), and the other end of described first double end stud (4) is threaded described claw (5);
One end of the hinged described top rod (6) in middle part of described clamping limb (3), the other end of described top rod (6) is threaded one end of described second double end stud (7), the other end of described second double end stud (7) is threaded one end of described lower link (8), and the other end of described lower link (8) is hinged on described shifting bar (9).
2. a kind of carrying clamping device according to claim 1, is characterized in that: described shifting bar (9) is upper is connected with one with the below of described lower link (8) articulated position along the adjustable parts of axial length of shifting bar.
3. a kind of carrying clamping device according to claim 2, is characterized in that: the adjustable parts of the described axial length along shifting bar are connected with described shifting bar (9) by screw thread pair, and the parts of this adjustable in length are at least set to rubber part in bottom surface.
4. a kind of carrying clamping device according to claim 1, is characterized in that: the number of described clamping limb (3), described first double end stud (4), described claw (5), described top rod (6), described second double end stud (7), described lower link (8) is three; And clamping limb (3) is around described shifting bar (9) uniform setting, accordingly, described first double end stud (4), claw (5), top rod (6), the second double end stud (7), lower link (8) are separately respectively around described shifting bar (9) uniform setting.
5. a kind of carrying clamping device according to any one of claim 1 to 4, it is characterized in that: the middle part of described clamping limb (3) is provided with gusset, gusset is provided with hinge hole, and the end of described top rod (6) is connected by hinging pin shaft with the hinge hole on described gusset.
6. a kind of carrying clamping device according to any one of claim 1 to 4, it is characterized in that: described shifting bar (9) outer peripheral face is provided with and described clamping limb (3) convex wall one to one, described convex wall is provided with hinge hole, and the end of described lower link (8) is connected by hinging pin shaft with the hinge hole on described convex wall.
7. a kind of carrying clamping device according to any one of claim 1 to 4, is characterized in that: described first double end stud (4) and and the second double end stud (7) be hexagonal or anistree double end stud.
8. the application of a kind of carrying clamping device according to claim 4 in three-way valve (10) handling process, the catching of described three claws (5) difference is on three mouths of pipe of described three-way valve (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310012962.4A CN103057955B (en) | 2013-01-14 | 2013-01-14 | Carrying gripper and application of carrying gripper in three-way valve carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310012962.4A CN103057955B (en) | 2013-01-14 | 2013-01-14 | Carrying gripper and application of carrying gripper in three-way valve carrying |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103057955A CN103057955A (en) | 2013-04-24 |
| CN103057955B true CN103057955B (en) | 2015-07-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310012962.4A Expired - Fee Related CN103057955B (en) | 2013-01-14 | 2013-01-14 | Carrying gripper and application of carrying gripper in three-way valve carrying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103057955B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104163080B (en) * | 2014-08-06 | 2017-01-25 | 赵天睿 | Automobile tire skidding preventing device capable of being dismantled and installed quickly |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5338150A (en) * | 1990-10-22 | 1994-08-16 | Focke & Co. (Gmbh & Co.) | Apparatus for handling articles, such as cartons |
| CN2611325Y (en) * | 2003-05-13 | 2004-04-14 | 杨文镛 | Clamp for wide-mouth bottle blank |
| CN201115958Y (en) * | 2007-11-27 | 2008-09-17 | 贵阳铝镁设计研究院 | Board plug type closing mechanism |
| CN201619878U (en) * | 2010-02-23 | 2010-11-03 | 新乡市起重机厂有限公司 | Rotary pincers for metal plates |
| CN202649041U (en) * | 2012-06-27 | 2013-01-02 | 济南大学 | Chuck for tensile tester |
| CN202657287U (en) * | 2012-05-03 | 2013-01-09 | 成都智利达科技有限公司 | Flat plate type gripping device |
| CN203006469U (en) * | 2013-01-14 | 2013-06-19 | 济南大学 | Transport holder |
-
2013
- 2013-01-14 CN CN201310012962.4A patent/CN103057955B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5338150A (en) * | 1990-10-22 | 1994-08-16 | Focke & Co. (Gmbh & Co.) | Apparatus for handling articles, such as cartons |
| CN2611325Y (en) * | 2003-05-13 | 2004-04-14 | 杨文镛 | Clamp for wide-mouth bottle blank |
| CN201115958Y (en) * | 2007-11-27 | 2008-09-17 | 贵阳铝镁设计研究院 | Board plug type closing mechanism |
| CN201619878U (en) * | 2010-02-23 | 2010-11-03 | 新乡市起重机厂有限公司 | Rotary pincers for metal plates |
| CN202657287U (en) * | 2012-05-03 | 2013-01-09 | 成都智利达科技有限公司 | Flat plate type gripping device |
| CN202649041U (en) * | 2012-06-27 | 2013-01-02 | 济南大学 | Chuck for tensile tester |
| CN203006469U (en) * | 2013-01-14 | 2013-06-19 | 济南大学 | Transport holder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103057955A (en) | 2013-04-24 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Sui Pengjie Inventor after: Wang Fang Inventor after: Gao Xigong Inventor after: Li Changchun Inventor before: Shangguan Liping Inventor before: Li Changchun Inventor before: Song Guangquan Inventor before: Zhang Wei |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: SHANGGUAN LIPING LI CHANGCHUN SONG GUANGQUAN ZHANG WEI TO: SUI PENGJIE WANG FANG GAO XIGONG LI CHANGCHUN |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Sui Pengjie Inventor after: Li Changchun Inventor after: Wang Fang Inventor after: Gao Xigong Inventor before: Sui Pengjie Inventor before: Wang Fang Inventor before: Gao Xigong Inventor before: Li Changchun |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: SUI PENGJIE WANG FANG GAO XIGONG LI CHANGCHUN TO: SUI PENGJIE LI CHANGCHUN WANG FANG GAO XIGONG |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150701 Termination date: 20210114 |
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| CF01 | Termination of patent right due to non-payment of annual fee |