CN103831836A - Structure-changeable multi-gripping-status manipulator claw - Google Patents
Structure-changeable multi-gripping-status manipulator claw Download PDFInfo
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- CN103831836A CN103831836A CN201410076604.4A CN201410076604A CN103831836A CN 103831836 A CN103831836 A CN 103831836A CN 201410076604 A CN201410076604 A CN 201410076604A CN 103831836 A CN103831836 A CN 103831836A
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- jaw
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Abstract
The invention discloses a structure-changeable multi-gripping-status manipulator claw which comprises a base, a gripping jaw assembly, a gripping jaw driving component and a structure changing component. The structure changing component is used for driving a position changing gripping jaw to change the position to be matched with a positioning gripping jaw to form different structures. When the structure-changeable multi-gripping-status manipulator claw is applied to mountain exploitation or other industrial, commercial and living fields, aiming at gripped articles of different shapes or irregular shapes, the structure changing component drives the position changing gripping jaw to change gripping positions to form various gripping status with the positioning gripping jaw so as to obtain structures most adaptable to the gripped articles, and the structure-changeable multi-gripping-status manipulator claw is capable of gripping the gripped articles of various shapes and pretty high in adaptability and universality. In addition, the gripping jaw driving component is simple in structure and easy in function implementation, taking and putting status of the gripping jaws can be conveniently adjusted and the contact area between each gripping jaw and a workpiece can be adjusted as well by driving the gripping jaws in lever structures to rotate around hinge points through link, and accordingly the structure-changeable multi-gripping-status manipulator claw is adaptable to gripping of the gripped articles of different shapes, and universality is further improved.
Description
Technical field
The present invention relates to mechanical clamp field, particularly a kind of many seized conditions of allosteric type mechanical paw.
Background technology
Mechanical clamp is widely studied and applied with lifting by crane the critical equipment of outbalance in equipment as important manufacturing equipment, not only can be applicable to the industries such as automobile, boats and ships, naval vessels, aircraft, heavy duty machine tools, large-scale generation line and equipment and Ferrous Metallurgy, in massif exploitation, be also applied.
China belongs to many massifs country, when massif relates to the carrying of massif rubble in developing, because rubble mostly is larger volume and weight, for saving manpower, need to use mechanical clamp to capture.The paw position of the existing mechanical clamp using in massif exploitation mostly is fixed clamp location status, but the shape of rubble has scrambling, in the handling process for approximate cuboid, approximate spheroid or erose rubble, the paw of fixed clamp position can not convert clip position to difform rubble, clamping applicability is lower, can not freely tackle, bring very large trouble to construction.
Therefore, need to improve existing mechanical paw, make it for the clip position of difform gripped object conversion paw, can capture multiple difform gripped object, improve its adaptability.
Summary of the invention
In view of this, the invention provides a kind of many seized conditions of allosteric type mechanical paw, can, for the clip position of difform gripped object conversion paw, can capture multiple difform gripped object, improve its adaptability.
Many seized conditions of allosteric type mechanical paw of the present invention, comprises pedestal, jaw assembly and jaw driven unit;
Described jaw assembly comprises location jaw, displacement jaw and displacement jaw supporting seat, described location jaw is to be oppositely arranged and to be articulated with lever construction two of pedestal, and described displacement jaw is to be oppositely arranged and to be articulated with lever construction two of displacement jaw supporting seat;
Described jaw driven unit comprises guide rail, slide block, upper connecting rod and lower link, guide rail is arranged at described pedestal, slide block is slidably matched with described guide rail along vertical, described lower link is equipped with mode and the described slide block that can rotate around self axis, the root of each location jaw all with on one in the middle of rod hinge connection and by corresponding upper in the middle of rod hinge connection in slide block, the root of each displacement jaw all hinged with intermediate connecting rod once and pass through corresponding under intermediate connecting rod and lower link hinged;
Also comprise for driving the displacement of displacement jaw to coordinate and form the not allosteric assembly of isomorphism type with location jaw, described allosteric assembly comprises external tooth lasso, external gear and the drive part for driving external gear to rotate, the outer toothed portion engaged transmission of described external gear and described external tooth lasso, the lasso portion of described external tooth lasso is rotatably assorted with mode and the described guide rail that can rotate around self axis, and described displacement jaw supporting seat is fixedly installed on described external tooth lasso.
Further, described displacement jaw supporting seat comprise be mirror-image structure arrange two L shaped pedestals, each displacement jaw respectively with the hinged formation lever construction of jointed shaft arranging on corresponding L shaped pedestal.
Further, two location jaws are zigzag structure opposing setting, and two displacement jaws are also zigzag structure opposing setting.
Further, the lasso portion of described external tooth lasso is provided with redial key piece along excircle, and described pedestal is provided with the key piece groove for holding redial key piece and be rotatably assorted with it.
Further, the end of described displacement jaw and described location jaw all extends internally and forms interior hook type finger tip.
Further, on the finger tip place of described displacement jaw and described location jaw and finger tip, prolong inner side and be provided with anti-slop serrations district.
Further, described lower link is connected with slide block by a joint pin, and described lower link upper end is rotatably assorted by a bearing and joint pin lower end, and described joint pin upper end is fixedly installed on described slide block lower end.
Further, described drive part comprises servomotor and power transmission shaft, the power output shaft of described servomotor coordinates with transmission shaft driven, described power transmission shaft in a circumferential direction with described external gear secure fit, described servomotor body is fixedly connected with described pedestal.
Beneficial effect of the present invention: many seized conditions of allosteric type mechanical paw of the present invention, in massif exploitation or other industry, business or life application, for difform gripped object or for erose gripped object, by allosteric Component driver displacement jaw conversion clip position, thereby become multiple clamp position with locating clip claw type, obtain the configuration adapting to the most with gripped object, can clamp the gripped object of multiple body, there is quite high adaptability and versatility; In addition, jaw driven unit of the present invention is simple in structure, it is comparatively easy that function realizes, jaw by connecting rod activation lever structure rotates around pin joint, not only can adjust easily the state that picks and places of jaw, also can adjust the contact area of jaw and workpiece, thereby be adapted to the clamping of difformity gripped object, further improve versatility.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is structural representation of the present invention;
Fig. 2 is structure of the present invention structural representation after the displacement of displacement jaw.
Detailed description of the invention
Fig. 1 is structural representation of the present invention, and Fig. 2 is structure of the present invention structural representation after the displacement of displacement jaw, as shown in the figure: many seized conditions of allosteric type mechanical paw of the present embodiment, comprises pedestal 1, jaw assembly and jaw driven unit;
Described jaw assembly comprises location jaw (being location jaw 2 and location jaw 2a in figure), displacement jaw (being displacement jaw 3 and displacement jaw 3a in figure) and displacement jaw supporting seat, described location jaw is to be oppositely arranged and to be articulated with lever construction two of pedestal, and described displacement jaw is to be oppositely arranged and to be articulated with lever construction two of displacement jaw supporting seat;
Described jaw driven unit comprises guide rail 4, slide block 5, upper connecting rod 6 and lower link 7, guide rail 4 is arranged at described pedestal 1, slide block 5 is slidably matched with described guide rail 4 along vertical, described lower link 7 is equipped with mode and the described slide block 5 that can rotate around self axis, the root of each location jaw all hinged with intermediate connecting rod on (being upper intermediate connecting rod 8 and upper intermediate connecting rod 8a in figure) and by corresponding upper centre rod hinge connection in slide block 5, all with once intermediate connecting rod (being lower intermediate connecting rod 9 and lower intermediate connecting rod 9a in figure) is hinged and hinged by intermediate connecting rod under corresponding and lower link 7 for the root of each displacement jaw,
Also comprise for driving the displacement of displacement jaw to coordinate and form the not allosteric assembly of isomorphism type with location jaw, described allosteric assembly comprises external tooth lasso 10, external gear 11 and the drive part for driving external gear to rotate, outer toothed portion 12 engaged transmission of described external gear 11 and described external tooth lasso 10, the lasso portion of described external tooth lasso 10 is rotatably assorted with mode and the described guide rail 4 that can rotate around self axis, and described displacement jaw supporting seat is fixedly installed on described external tooth lasso 10;
Upper connecting rod and slide block are under the drive of motor, while moving down along guide rail, upper intermediate connecting rod drives location jaw and displacement jaw to open, external tooth lasso engages with external gear, and external gear rotation can drive the rotation of displacement jaw, convert various configurations, in the time of upper connecting rod and slide block rising, upper intermediate connecting rod and lower intermediate connecting rod drive location jaw and displacement jaw closure, realize and capturing.
In the present embodiment, described displacement jaw supporting seat comprises and is two L shaped pedestals (in figure for L shaped pedestal 13 and L shaped pedestal 13a) that mirror-image structure arranges, each displacement jaw respectively with the hinged formation lever construction of jointed shaft arranging on corresponding L shaped pedestal; Each L shaped pedestal upper end is fixedly connected with the outer toothed portion of external tooth lasso, is welding or cast molding.
In the present embodiment, two location jaws are zigzag structure opposing setting, and two displacement jaws are also zigzag structure opposing setting; Opposing setting refers to that two jaws are mirror-image structure effect in perpendicular.
In the present embodiment, the lasso portion of described external tooth lasso is provided with redial key piece along excircle, and described pedestal is provided with the key piece groove for holding redial key piece and be rotatably assorted with it; Not only can ensure overcoat gear ring freely rotating under gear drive outside, and can ensure capturing after entity, configuration stable.
In the present embodiment, hook type finger tip 14 in the end of described displacement jaw and described location jaw all extends internally and forms; Power used can save gripping greatly time.
In the present embodiment, on the finger tip place of described displacement jaw and described location jaw and finger tip, prolong inner side and be provided with anti-slop serrations district; Ensure can not come off after gripping in kind.
In the present embodiment, described lower link 7 is connected with slide block 5 by a joint pin, and described lower link 7 upper ends are rotatably assorted by a bearing and joint pin lower end, and described joint pin upper end is fixedly installed on described slide block 5 lower ends.
In the present embodiment, described drive part comprises servomotor 15 and power transmission shaft 16, the power output shaft of described servomotor coordinates with transmission shaft driven, described power transmission shaft in a circumferential direction with described external gear secure fit, described servomotor body is fixedly connected with described pedestal.
Finally explanation is, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (8)
1. many seized conditions of allosteric type mechanical paw, is characterized in that: comprise pedestal, jaw assembly and jaw driven unit;
Described jaw assembly comprises location jaw, displacement jaw and displacement jaw supporting seat, described location jaw is to be oppositely arranged and to be articulated with lever construction two of pedestal, and described displacement jaw is to be oppositely arranged and to be articulated with lever construction two of displacement jaw supporting seat;
Described jaw driven unit comprises guide rail, slide block, upper connecting rod and lower link, guide rail is arranged at described pedestal, slide block is slidably matched with described guide rail along vertical, described lower link is equipped with mode and the described slide block that can rotate around self axis, the root of each location jaw all with on one in the middle of rod hinge connection and by corresponding upper in the middle of rod hinge connection in slide block, the root of each displacement jaw all hinged with intermediate connecting rod once and pass through corresponding under intermediate connecting rod and lower link hinged;
Also comprise for driving the displacement of displacement jaw to coordinate and form the not allosteric assembly of isomorphism type with location jaw, described allosteric assembly comprises external tooth lasso, external gear and the drive part for driving external gear to rotate, the outer toothed portion engaged transmission of described external gear and described external tooth lasso, the lasso portion of described external tooth lasso is rotatably assorted with mode and the described guide rail that can rotate around self axis, and described displacement jaw supporting seat is fixedly installed on described external tooth lasso.
2. many seized conditions of allosteric type mechanical paw according to claim 1, it is characterized in that: described displacement jaw supporting seat comprise be mirror-image structure arrange two L shaped pedestals, each displacement jaw respectively with the hinged formation lever construction of jointed shaft arranging on corresponding L shaped pedestal.
3. many seized conditions of allosteric type mechanical paw according to claim 2, is characterized in that: two location jaws are zigzag structure opposing setting, and two displacement jaws are also zigzag structure opposing setting.
4. many seized conditions of allosteric type mechanical paw according to claim 3, is characterized in that: the lasso portion of described external tooth lasso is provided with redial key piece along excircle, described pedestal is provided with the key piece groove for holding redial key piece and be rotatably assorted with it.
5. many seized conditions of allosteric type mechanical paw according to claim 4, is characterized in that: hook type finger tip in the end of described displacement jaw and described location jaw all extends internally and forms.
6. many seized conditions of allosteric type mechanical paw according to claim 5, is characterized in that: on the finger tip place of described displacement jaw and described location jaw and finger tip, prolong inner side and be provided with anti-slop serrations district.
7. many seized conditions of allosteric type mechanical paw according to claim 6, it is characterized in that: described lower link is connected with slide block by a joint pin, described lower link upper end is rotatably assorted by a bearing and joint pin lower end, and described joint pin upper end is fixedly installed on described slide block lower end.
8. many seized conditions of allosteric type mechanical paw according to claim 7, it is characterized in that: described drive part comprises servomotor and power transmission shaft, the power output shaft of described servomotor coordinates with transmission shaft driven, described power transmission shaft in a circumferential direction with described external gear secure fit, described servomotor body is fixedly connected with described pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410076604.4A CN103831836B (en) | 2014-03-04 | 2014-03-04 | Allosteric type many seized conditions mechanical paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410076604.4A CN103831836B (en) | 2014-03-04 | 2014-03-04 | Allosteric type many seized conditions mechanical paw |
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| CN103831836A true CN103831836A (en) | 2014-06-04 |
| CN103831836B CN103831836B (en) | 2015-09-30 |
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| CN201410076604.4A Active CN103831836B (en) | 2014-03-04 | 2014-03-04 | Allosteric type many seized conditions mechanical paw |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354165A (en) * | 2014-09-19 | 2015-02-18 | 重庆交通大学 | Electromechanical-hydraulic integrated three degree-of-freedom integrated joint |
| CN105880909A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Welding jig clamping head |
| CN109533458A (en) * | 2018-12-21 | 2019-03-29 | 广东赛德英斯智能装备有限公司 | A kind of soft device for touching grasping means and realizing this method of type self-adapting type article |
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| GB816486A (en) * | 1955-10-14 | 1959-07-15 | Joy Mfg Company Canada Ltd | Material handling grapple |
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| US3985384A (en) * | 1975-09-29 | 1976-10-12 | Mcginnes Manufacturing Company | Hydraulic apparatus for grab device |
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| US4807918A (en) * | 1988-03-15 | 1989-02-28 | Hawco Manufacturing Co. | Single line grapple |
| JP2002113682A (en) * | 2000-10-06 | 2002-04-16 | Ricoh Co Ltd | Slide type chuck |
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| CN101531327A (en) * | 2009-04-28 | 2009-09-16 | 中煤第五建设公司第三工程处 | Method for grabbing object by hydraulic pressure rotation grab loader and hydraulic pressure grab bucket |
| CN201503361U (en) * | 2009-10-22 | 2010-06-09 | 长沙矿冶研究院 | Submarine hydrothermal sulfide chimney sampling grab net |
| CN101844358A (en) * | 2009-03-24 | 2010-09-29 | 中国科学院合肥物质科学研究院 | Finger rotating and moving device of configuration-changeable robotic gripper and working method thereof |
| CN203738810U (en) * | 2014-03-04 | 2014-07-30 | 重庆交通大学 | Variable-configuration multi-capturing-state mechanical hand claw |
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2014
- 2014-03-04 CN CN201410076604.4A patent/CN103831836B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB816486A (en) * | 1955-10-14 | 1959-07-15 | Joy Mfg Company Canada Ltd | Material handling grapple |
| US3016260A (en) * | 1958-10-22 | 1962-01-09 | Norddeutsche Schraubenund Mutt | Electro-hydraulically operated mechanical grabs |
| US3985384A (en) * | 1975-09-29 | 1976-10-12 | Mcginnes Manufacturing Company | Hydraulic apparatus for grab device |
| CN2030589U (en) * | 1987-12-31 | 1989-01-11 | 南通市南通港务局南通港装卸公司 | Single-rope multi-jaw grab opened and closed by a rod system |
| US4807918A (en) * | 1988-03-15 | 1989-02-28 | Hawco Manufacturing Co. | Single line grapple |
| JP2002113682A (en) * | 2000-10-06 | 2002-04-16 | Ricoh Co Ltd | Slide type chuck |
| CN1381395A (en) * | 2002-04-11 | 2002-11-27 | 管圣林 | Multiple petals synchronized hydraulic grab bucket |
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| CN101531327A (en) * | 2009-04-28 | 2009-09-16 | 中煤第五建设公司第三工程处 | Method for grabbing object by hydraulic pressure rotation grab loader and hydraulic pressure grab bucket |
| CN201503361U (en) * | 2009-10-22 | 2010-06-09 | 长沙矿冶研究院 | Submarine hydrothermal sulfide chimney sampling grab net |
| CN203738810U (en) * | 2014-03-04 | 2014-07-30 | 重庆交通大学 | Variable-configuration multi-capturing-state mechanical hand claw |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104354165A (en) * | 2014-09-19 | 2015-02-18 | 重庆交通大学 | Electromechanical-hydraulic integrated three degree-of-freedom integrated joint |
| CN104354165B (en) * | 2014-09-19 | 2016-04-13 | 重庆交通大学 | The integrated joint of mechanical-electrical-hydraulic integration Three Degree Of Freedom |
| CN105880909A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Welding jig clamping head |
| CN109533458A (en) * | 2018-12-21 | 2019-03-29 | 广东赛德英斯智能装备有限公司 | A kind of soft device for touching grasping means and realizing this method of type self-adapting type article |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103831836B (en) | 2015-09-30 |
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