CN105479455A - Gripping device - Google Patents
Gripping device Download PDFInfo
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- CN105479455A CN105479455A CN201511027747.7A CN201511027747A CN105479455A CN 105479455 A CN105479455 A CN 105479455A CN 201511027747 A CN201511027747 A CN 201511027747A CN 105479455 A CN105479455 A CN 105479455A
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- Prior art keywords
- claw
- hole
- bar
- group
- promotion slide
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- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 210000000078 claw Anatomy 0.000 claims description 152
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 239000013013 elastic material Substances 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 27
- 230000000712 assembly Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000001737 promoting effect Effects 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000023555 blood coagulation Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000931705 Cicada Species 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a gripping device which belongs to the technical field of mechanical hands. The gripping device comprises a fixed base, a telescopic mechanism, a pushing slide shaft, a first clamping jaw, a second clamping jaw, a first group of connecting rods, and a second group of connecting rods, wherein a through hole is formed in the center of the fixed base; the pushing slide shaft and the through hole form a slide pair; the first clamping jaw and the fixed base are hinged to a first hinged point; the second clamping jaw and the fixed base are hinged to a second hinged point; the telescopic mechanism is fixedly connected to the upper end of the pushing slide shaft; the first clamping jaw is hinged to the pushing slide shaft through the first group of connecting rods; and the second clamping jaw is hinged to the pushing slide shafts through the second group of connecting rods. The gripping device can be matched with a clinical analysis apparatus reaction cup for application.
Description
Technical field
The present invention relates to manipulator technical field, particularly relate to a kind of grabbing device.
Background technology
Manipulator is a kind of device for carrying out grasping movement.Such as:
Authorization Notice No. is that the Chinese invention patent of CN202657287U discloses a kind of flat grabbing device, comprise piston, piston rod, left handgrip, right handgrip, frame, first connecting rod and second connecting rod, one end of described piston rod is connected with described piston, the other end of described piston rod is connected with the upper end of described first connecting rod through after described frame, can move in the guide groove that the arm end of described left handgrip is arranged at described frame, can move in the guide groove that the arm end of described right handgrip is arranged at described frame, the left end of described first connecting rod is hinged by the arm of described second connecting rod and described left handgrip, the right-hand member of described first connecting rod is hinged by the arm of described second connecting rod and described right handgrip.This flat grabbing device realizes crawl work by piston rod drivening rod; Have that grasp speed is high, stable performance and lower-cost advantage.In this flat grabbing device, left handgrip, right handgrip are that the sliding pair be arranged on the guide groove of frame by its arm end realizes moving left and right, and reach the effect increasing or reduce spacing between left handgrip, right handgrip, thus complete grasping movement.
Authorization Notice No. is that the Chinese invention patent of CN201980773U discloses a kind of tyre gripping device, it comprises main frame body, main frame body is provided with two to be oppositely arranged, for clasping the flap assembly of tire, two flap assemblies are connected with for the driving mechanism driving their clampings or open, two flap modular construction is identical, they include pivoted arm, fixed head, adjusting rod, bending connecting plate and arc embrace tire plate, pivoted arm is contained on main frame body by the hinge of the hinged seat in the middle part of it, the top of pivoted arm connects driving mechanism, the lower end of pivoted arm utilizes the rear middle part of bearing pin and fixed head to be hinged, the two ends of fixed head bend inwards forward formation bending part, the bending part at two ends installs an adjusting rod respectively, two adjusting rods are in a certain angle, and their front end is embraced tire plate respectively by bending connecting plate and arc and is connected.This tyre gripping device structure is simple, compact, reasonable, safe and reliable, and maintenance is convenient, applied widely.Two flap assemblies of tyre gripping device are hinged on the two ends of cylinder respectively, by the stretching motion of cylinder, make two flap assemblies respectively with the pin joint between itself and cylinder two ends for rotating shaft rotates, realize reduction or the increase of two flap assembly front end spacing, when two flap assemblies rotate for rotating shaft laterally with the pin joint between itself and cylinder two ends respectively, spacing between two flap assemblies is comparatively large, is in sky and grabs state; When two flap assemblies rotate for rotating shaft to the inside with the pin joint between itself and cylinder two ends respectively, spacing between two flap assembly front ends reduces gradually, spacing between two flap assembly front ends is decreased to when the size capturing thing adapts, it is held from two ends respectively and waits to capture thing, completes grasping movement.
At present, in clinical analysis instrument, in the crawl of reaction cup, typical mode is negative pressure absorbing mode.Although it is simple to operate that this kind draws mode, there is certain hidden danger in reliability aspect.Its reason is, this kind of negative pressure absorbing mode, is to ensure negative pressure, very high to the flatness of absorption heads, smoothness requirements, strict equally to the sealing requirements of whole negative pressure system.Absorption heads is that elastomeric material is made, in longtime running, and the impurity such as the unavoidable attract dust of absorption heads, spot, and blood sample, reagent that reaction cup may adhere to, there is gap in adhesive face of causing, causes reaction cup to draw unsuccessfully; In addition, whole negative pressure system structure is comparatively complicated, and components and parts are more, and pipe interface is more, and in Long-Time Service process, the situation of unavoidable outlet seal failure, affects the absorption effect of reaction cup.Above-mentioned two kinds of grabbing devices all cannot be applicable to the grasping manipulation to reaction cup in clinical analysis instrument.
Summary of the invention
In view of this, the invention provides and a kind ofly can be applied to grabbing device clinical analysis instrument reaction cup being realized to grasping manipulation, thus be more suitable for practicality.
In order to achieve the above object, the present invention mainly provides following technical scheme:
Grabbing device provided by the invention comprises holder, telescoping mechanism, promotion slide-bar, the first claw, the second claw, first group of connecting rod, second group of connecting rod,
Described holder center offers through hole,
Described promotion slide-bar and described through hole form sliding pair,
Described first claw and described holder are articulated with the first pin joint, and described second claw and described holder are articulated with the second pin joint,
Described telescoping mechanism is fixedly connected on the upper end of described promotion slide-bar, described first claw by described first group of rod hinge connection in described promotion slide-bar, described second claw by described second group of rod hinge connection in described promotion slide-bar,
When described telescoping mechanism makes contractile motion, described promotion slide-bar is driven to move upward, by the transmission of described first group of connecting rod and second group of connecting rod, described first claw from open mode with described first pin joint for pivot is rotated counterclockwise, described second claw turns clockwise for pivot from open mode with described second pin joint, the spacing between the free end of described first claw and the free end of the second claw is decreased to and adapts with the size waiting to capture thing and close;
When described telescoping mechanism makes stretching motion, described promotion slide-bar is driven to move downward, by the transmission of described first group of connecting rod and second group of connecting rod, described first claw from closure state with described first pin joint for pivot turns clockwise, described second claw is rotated counterclockwise for pivot from closure state with described second pin joint, makes the spacing between the free end of described first claw and the free end of the second claw increase and open.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
As preferably, described through hole is shoulder hole, and described shoulder hole comprises first paragraph through hole, second segment through hole, the diameter of the diameter > first paragraph through hole of described second segment through hole, the first shoulder is formed between described first paragraph through hole and second segment through hole
Described promotion slide-bar is multidiameter, described multidiameter comprises first paragraph axle and second segment axle, the diameter of the diameter > first paragraph axle of described second segment axle, sliding pair is formed, the diameter of the diameter > first paragraph through hole of the diameter > second segment axle of described second segment through hole between described first paragraph axle and described first paragraph through hole.
As preferably, described shoulder hole also comprises the 3rd section of through hole, the diameter of the diameter > second segment through hole of described 3rd section of through hole, the second shoulder is formed between through hole and second segment through hole in described 3rd section, described telescoping mechanism comprises stiff end and free end, described free end is fixedly connected on the upper end of described promotion slide-bar, the diameter of the diameter > free end of the diameter > second segment through hole of described stiff end.
As preferably, described grabbing device also comprises elastomeric element, and described elastomeric element is sheathed on described first paragraph axle, and described elastomeric element is arranged between described second segment axle and the first shoulder.
As preferably, the top of described promotion slide-bar is provided with groove, and the free end of described retractor device is locked by described groove and described promotion slide-bar.
As preferably, described first group of connecting rod is two parallel linkage, and described two parallel linkage has one end to be articulated with described first claw respectively, and the other end is articulated with described promotion slide-bar; Described second group of connecting rod is two parallel linkage, and described two parallel linkage has one end to be articulated with described second claw respectively, and the other end is articulated with described promotion slide-bar.
As preferably, described grabbing device also comprises connector, described connector is fixedly connected on described promotion slide-bar, two parallel linkage in described first group of connecting rod and the pin joint of described promotion slide-bar are on described connector, and the two parallel linkage in described second group of connecting rod and the pin joint of described promotion slide-bar are on described connector.
As preferably, described grabbing device also comprises touching key and touching switch, described touching key is made up of elastic material, described touching switch is fixedly connected on described holder, between described touching key and described touching switch, there is angle, described touching key one end is fixedly connected on described touching switch, and the described touching key other end is resisted against described second claw
When described first claw and the second claw are in open mode, described touching keyed jointing contacts described touching switch, and described touching switch is closed;
When described first claw and the second claw are in closure state, described touching key, away from described touching switch, makes described touching switch opens.
As preferably, spherically, the contact position on described touching key and between described second claw also spherically for the contact position on described second claw and between described touching key.
As preferably, when supposing in the raw, the angle between described touching key and described touching switch is α, when described first claw, the second claw are in open mode, the angle of described first claw and the second claw and vertical direction is β, α > β.
Grabbing device first claw provided by the invention and holder are articulated with the first pin joint, second claw and holder are articulated with the second pin joint, telescoping mechanism is fixedly connected on promotion slide-bar, telescoping mechanism drives promotion slide-bar to move up and down when doing stretching motion, and pass through the transmission of first group of connecting rod and second group of connecting rod, first claw and the second claw are opened or closes, when the first claw and the second claw are opened, spacing between the free end of the first claw and the free end of the second claw is greater than the size waiting to capture thing, first claw and the second claw are decontroled and are waited to capture thing, when the first claw and the second claw close, the spacing between the free end of the first claw and the free end of the second claw with wait that the size capturing thing adapts, and complete grasping manipulation.It with the reaction cup fit applications in clinical analysis instrument, can complete the grasping manipulation to reaction cup.
Accompanying drawing explanation
By reading hereafter detailed description of the preferred embodiment, various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Accompanying drawing only for illustrating the object of preferred embodiment, and does not think limitation of the present invention.And in whole accompanying drawing, represent identical parts by identical reference symbol.In the accompanying drawings:
Fig. 1 is the structural representation of grabbing device provided by the invention when the first claw and the second claw are in open mode;
Fig. 2 is the structural representation of grabbing device provided by the invention when the first claw and the second claw are in closure state.
Detailed description of the invention
The present invention be solve prior art exist grabbing device cannot be applied to full-automatic blood coagulation analyzer reaction cup capture problem, provide and a kind ofly can be applied to the grabbing device reaction cup applied in clinical analysis instrument being carried out to grasping manipulation, thus be more suitable for practicality.
For further setting forth the present invention for the technological means reaching predetermined goal of the invention and take and effect, below in conjunction with accompanying drawing and preferred embodiment, to the grabbing device proposed according to the present invention, its detailed description of the invention, structure, feature and effect thereof, be described in detail as follows.In the following description, the not necessarily same embodiment that different " embodiment " or " embodiment " refers to.In addition, special characteristic, structure or feature in one or more embodiment can be combined by any suitable form.
Term "and/or" herein, being only a kind of incidence relation describing affiliated partner, can there are three kinds of relations in expression, such as, A and/or B, concrete is interpreted as: can include A and B simultaneously, can individualism A, also can individualism B, above-mentioned three kinds of any one situations can be possessed.
Embodiment
See accompanying drawing 1 and accompanying drawing 2, grabbing device provided by the invention comprises holder 1, telescoping mechanism 5, promotes slide-bar 9, first claw 14, second claw 15, first group of connecting rod, second group of connecting rod,
Holder 1 center offers through hole 2,
Promote slide-bar 9 and form sliding pair with through hole 2,
First claw 14 and holder 1 are articulated with the first pin joint 16, second claw 15 and are articulated with the second pin joint 17 with holder 1,
Telescoping mechanism 5 is fixedly connected on the upper end promoting slide-bar 11, and the first claw 14 passes through second group of rod hinge connection in promotion slide-bar 9 by first group of rod hinge connection in promotion slide-bar 9, second claw 15,
When telescoping mechanism 5 makes contractile motion, promotion slide-bar 9 is driven to move upward, by the transmission of first group of connecting rod and second group of connecting rod, first claw 14 from open mode with the first pin joint 16 for pivot is rotated counterclockwise, second claw 15 turns clockwise for pivot from open mode with the second pin joint 17, the spacing between the free end of the free end of the first claw 14 and the second claw 15 is decreased to and adapts with the size waiting to capture thing and close;
When telescoping mechanism 5 makes stretching motion, promotion slide-bar 9 is driven to move downward, by the transmission of first group of connecting rod and second group of connecting rod, first claw 14 from closure state with the first pin joint 16 for pivot turns clockwise, second claw 15 is rotated counterclockwise for pivot from closure state with the second pin joint 17, makes the spacing between the free end of the free end of the first claw 14 and the second claw 15 increase and open.
Grabbing device first claw 14 provided by the invention is articulated with the first pin joint 16 with holder 1, second claw 15 is articulated with the second pin joint 17 with holder 1, telescoping mechanism 5 is fixedly connected on and promotes slide-bar 9, telescoping mechanism 5 drives promotion slide-bar 9 to move up and down when doing stretching motion, and pass through the transmission of first group of connecting rod and second group of connecting rod, make the first claw 14 and the second claw 15 is opened or closed, when the first claw 14 and the second claw 15 are opened, spacing between the free end of the first claw 14 and the free end of the second claw 15 is greater than the size waiting to capture thing, first claw 14 and the second claw 15 are decontroled and are waited to capture thing, when the first claw 14 and the second claw 15 close, the spacing between the free end of the first claw 14 and the free end of the second claw 15 with wait that the size capturing thing adapts, and complete grasping manipulation.It can with the reaction cup fit applications applied in clinical analysis instrument, complete the grasping manipulation to reaction cup.
Wherein, through hole 2 is shoulder hole, and shoulder hole comprises first paragraph through hole, second segment through hole, and the diameter of the diameter > first paragraph through hole of second segment through hole, forms the first shoulder 4 between first paragraph through hole and second segment through hole.Promoting slide-bar 9 is multidiameter, multidiameter 9 comprises first paragraph axle 10 and second segment axle 11, the diameter of the diameter > first paragraph axle 10 of second segment axle 11, sliding pair is formed, the diameter of the diameter > first paragraph through hole of the diameter > second segment axle 11 of second segment through hole between first paragraph axle 10 and first paragraph through hole.In this case, the second segment axle 11 promoting slide-bar 9 can be accepted by the first shoulder 4, promotion slide-bar 9 can be avoided to move downwardly in first paragraph through hole also move downward further, under the gearing of first group of connecting rod and second group of connecting rod, cause the open angle between the first claw 14, second claw 15 excessive.
Wherein, shoulder hole also comprises the 3rd section of through hole, the diameter of the diameter > second segment through hole of the 3rd section of through hole, the second shoulder 3 is formed between through hole and second segment through hole in the 3rd section, telescoping mechanism 5 comprises stiff end 6 and free end 7, free end 7 is fixedly connected on the upper end promoting slide-bar 9, the diameter of the diameter > free end 7 of the diameter > second segment through hole of stiff end 6.In this case, telescoping mechanism 5 is accepted by the second shoulder 3, is convenient to installation and the application of telescoping mechanism 5.In the present embodiment, telescoping mechanism 5 is stepper motors, and free end 7 is the output shaft of stepper motor.
Wherein, grabbing device also comprises elastomeric element 13, and elastomeric element 13 is sheathed on first paragraph axle 10, and elastomeric element 13 is arranged between second segment axle 11 and the first shoulder 4.In this case, elastomeric element 13 can provide a cushioning effect power between second segment axle 11 and the first shoulder 4, second segment axle 11 is made to be converted to Elastic Contact when contacting with the first shoulder 4 by rigid contact, avoid the contact force between second segment axle 11 and the first shoulder 4 too quickly and cause promoting slide-bar 9 and vibrating, and then, make the first claw 14 and the second claw 15 produce vibration, reduce the grasp stability of the first claw 14 and the second claw 15.In the present embodiment, elastomeric element 13 is springs.
Wherein, the top promoting slide-bar 9 is provided with groove 12, and the free end 7 of retractor device 5 is locked by groove 12 and promotion slide-bar 9.Wherein, the free end 7 of retractor device 5 can and groove 12 between to be locked by screw thread pair or realize tight fit by buckle, thus the transmission efficiency ensureing stepper motor free end 7 and promote between slide-bar 9.
Wherein, first group of connecting rod 14 is two parallel linkage 20,21, and two parallel linkage 20,21 has one end to be articulated with the first claw 14 respectively, and the other end is articulated with and promotes slide-bar 9; Second group of connecting rod 15 is two parallel linkage 22,23, and two parallel linkage 22,23 has one end to be articulated with the second claw 15 respectively, and the other end is articulated with and promotes slide-bar 9.In this case, two parallel linkage 20,21 respectively and the first claw 14, promote between slide-bar 9 between pin joint to form the first parallelogram, two parallel linkage 22,23 respectively and the second claw 15, promote between slide-bar 9 between pin joint to form the second parallelogram, utilize parallelogram law, the transmission effect of first group of connecting rod and second group of connecting rod can be ensured.
Wherein, grabbing device also comprises connector 19, connector 19 is fixedly connected on and promotes slide-bar 9, the pin joint of the two parallel linkage 20,21 in first group of connecting rod and promotion slide-bar 9 is on connector 19, and the pin joint of the two parallel linkage 22,23 in second group of connecting rod and promotion slide-bar 9 is on connector 19.Due to promote slide-bar 9 respectively and first group of connecting rod, hinged place contact area between second group of connecting rod less, be difficult to arrange four pin joints according to parallelogram connection-rod 20,21,22,23, the area of this connector 19 is comparatively large, is convenient to arrange this four pin joints.
Wherein, grabbing device also comprises touching key 25 and touching switch 28, touching key 25 is made up of elastic material, touching switch 28 is fixedly connected on holder 1, has angle between touching key 25 and touching switch 28, and touching key 25 one end is fixedly connected on touching switch 28, touching key 25 other end is resisted against the second claw 15, when the first claw 14 and the second claw 15 are in open mode, touching key 25 touches touching switch 28, and touching switch 28 is closed; When the first claw 14 and the second claw 15 are in closure state, touching key 25, away from touching switch 28, makes touching switch 28 open.In this case, when this grabbing device coordinates for capturing and putting down reaction cup 31 with clinical analysis instrument, full-automatic blood coagulation analyzer can detect the action of the first claw 14 and the second claw 15, therefore, it is possible to automatically respond to the operation of this grabbing device to reaction cup 31.In the present embodiment, clinical analysis instrument is full-automatic blood coagulation analyzer.
Wherein, spherically, on touching key 25 and contact position 26 between the second claw 15 also spherically the contact position 24 on the second claw 15 and between touching key 25.In clinical analysis instrument, the operating frequency capturing and put down reaction cup 31 is very high, in this case, can reduce the contact wear between the second claw 15 and touching key 25, thus extends the service life of the second claw 15, touching key 25.
Wherein, when supposing in the raw, the angle between touching key 25 and touching switch 28 is α, when the first claw 14, second claw 15 is in open mode, first claw 14 and the second claw 15 are β, α > β with the angle of vertical direction.In this case, when the first claw 14, second claw 15 is in closure state, distance between touching key 25 and touching switch 28 can reach enough far away, avoid touching switch 28 mistake closed, thus clinical analysis instrument can be avoided the erroneous judgement of the first claw 14, second claw 15 action.
Survey in first claw 14 free end and be provided with gap 29, second claw 15 free end is provided with gap 30, when the first claw 14, second claw 15 captures reaction cup 31, the cup of reaction cup 31 is fastened in gap 29 and gap 30 along 32, can strengthen the grasp stability of the first claw 14, second claw 15 pairs of reaction cup 31.In the present embodiment, gap 29 and gap 30 are taper gap, because taper gap has the little feature of large, the interior survey diameter of outside diameter, when the thickness of cup along 32 of reaction cup 31 is larger, cup can be stuck in the outside of taper gap along 32, now, even if the first claw 14, second claw 15 is in closure state, little angle outside still having with vertical direction; And if when the cup of reaction cup 31 is less along 32 thickness, cup can be stuck in the inner side of taper gap along 32, now, when the first claw 14, second claw 15 is in closure state, the first claw 14, second claw 15 reduces with the little angle in outside of vertical direction; To such an extent as to, when the cup of reaction cup 31 is decreased to enough hour along 32, when the first claw 14, second claw 15 is in closure state, the first claw 14, second claw 15 and the little angle in outside of vertical direction can be converted to the little angle in inner side of the first claw 14, second claw 15 and vertical direction.In this case, the first claw 14 and the second claw 15 can adapt with the reaction cup 31 of multiple configuration.In the present embodiment, reaction cup 31 is STAGO type reaction cup.
In addition, can also connector 19 be designed to spherical, now, spherical isotropic characteristic can be utilized, connect around connector 19 and organize kinematic link more, now, claw also can be many groups, claw can be centered around the cup of reaction cup 31 along 32 1 weeks, and many group claws are by the cup with reaction cup 31 along 32 Multi-contacts, and grasp stability is stronger.
Although describe the preferred embodiments of the present invention, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a grabbing device, is characterized in that, comprises holder, telescoping mechanism, promotion slide-bar, the first claw, the second claw, first group of connecting rod, second group of connecting rod,
Described holder center offers through hole,
Described promotion slide-bar and described through hole form sliding pair,
Described first claw and described holder are articulated with the first pin joint, and described second claw and described holder are articulated with the second pin joint,
Described telescoping mechanism is fixedly connected on the upper end of described promotion slide-bar, described first claw by described first group of rod hinge connection in described promotion slide-bar, described second claw by described second group of rod hinge connection in described promotion slide-bar,
When described telescoping mechanism makes contractile motion, described promotion slide-bar is driven to move upward, by the transmission of described first group of connecting rod and second group of connecting rod, described first claw from open mode with described first pin joint for pivot is rotated counterclockwise, described second claw turns clockwise for pivot from open mode with described second pin joint, the spacing between the free end of described first claw and the free end of the second claw is decreased to and adapts with the size waiting to capture thing and close;
When described telescoping mechanism makes stretching motion, described promotion slide-bar is driven to move downward, by the transmission of described first group of connecting rod and second group of connecting rod, described first claw from closure state with described first pin joint for pivot turns clockwise, described second claw is rotated counterclockwise for pivot from closure state with described second pin joint, makes the spacing between the free end of described first claw and the free end of the second claw increase and open.
2. grabbing device according to claim 1, it is characterized in that, described through hole is shoulder hole, described shoulder hole comprises first paragraph through hole, second segment through hole, the diameter of the diameter > first paragraph through hole of described second segment through hole, the first shoulder is formed between described first paragraph through hole and second segment through hole
Described promotion slide-bar is multidiameter, described multidiameter comprises first paragraph axle and second segment axle, the diameter of the diameter > first paragraph axle of described second segment axle, sliding pair is formed, the diameter of the diameter > first paragraph through hole of the diameter > second segment axle of described second segment through hole between described first paragraph axle and described first paragraph through hole.
3. grabbing device according to claim 2, it is characterized in that, described shoulder hole also comprises the 3rd section of through hole, the diameter of the diameter > second segment through hole of described 3rd section of through hole, the second shoulder is formed between through hole and second segment through hole in described 3rd section, described telescoping mechanism comprises stiff end and free end, described free end is fixedly connected on the upper end of described promotion slide-bar, the diameter of the diameter > free end of the diameter > second segment through hole of described stiff end.
4. grabbing device according to claim 2, is characterized in that, also comprises elastomeric element, and described elastomeric element is sheathed on described first paragraph axle, and described elastomeric element is arranged between described second segment axle and the first shoulder.
5. grabbing device according to claim 1, is characterized in that, the top of described promotion slide-bar is provided with groove, and the free end of described retractor device is locked by described groove and described promotion slide-bar.
6. grabbing device according to claim 1, is characterized in that, described first group of connecting rod is two parallel linkage, and described two parallel linkage has one end to be articulated with described first claw respectively, and the other end is articulated with described promotion slide-bar; Described second group of connecting rod is two parallel linkage, and described two parallel linkage has one end to be articulated with described second claw respectively, and the other end is articulated with described promotion slide-bar.
7. grabbing device according to claim 6, it is characterized in that, also comprise connector, described connector is fixedly connected on described promotion slide-bar, two parallel linkage in described first group of connecting rod and the pin joint of described promotion slide-bar are on described connector, and the two parallel linkage in described second group of connecting rod and the pin joint of described promotion slide-bar are on described connector.
8. grabbing device according to claim 1, it is characterized in that, also comprise touching key and touching switch, described touching key is made up of elastic material, described touching switch is fixedly connected on described holder, has angle between described touching key and described touching switch, and described touching key one end is fixedly connected on described touching switch, the described touching key other end is resisted against described second claw
When described first claw and the second claw are in open mode, described touching keyed jointing contacts described touching switch, and described touching switch is closed;
When described first claw and the second claw are in closure state, described touching key, away from described touching switch, makes described touching switch opens.
9. grabbing device according to claim 8, is characterized in that, spherically, the contact position on described touching key and between described second claw also spherically for the contact position on described second claw and between described touching key.
10. grabbing device according to claim 8, it is characterized in that, when supposing in the raw, angle between described touching key and described touching switch is α, when described first claw, the second claw are in open mode, the angle of described first claw and the second claw and vertical direction is β, α > β.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511027747.7A CN105479455B (en) | 2015-12-31 | 2015-12-31 | A kind of grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511027747.7A CN105479455B (en) | 2015-12-31 | 2015-12-31 | A kind of grabbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105479455A true CN105479455A (en) | 2016-04-13 |
| CN105479455B CN105479455B (en) | 2018-04-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511027747.7A Active CN105479455B (en) | 2015-12-31 | 2015-12-31 | A kind of grabbing device |
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| CN106584496A (en) * | 2017-01-18 | 2017-04-26 | 瑞安市智造科技有限公司 | Mechanical paw convenient to quickly adjust |
| CN106737649A (en) * | 2017-01-17 | 2017-05-31 | 航天重型工程装备有限公司 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN107975347A (en) * | 2017-12-18 | 2018-05-01 | 平煤建工集团特殊凿井工程有限公司 | A kind of manual holding card for the vertical handling of engineering driller drilling rod |
| CN108466254A (en) * | 2018-03-27 | 2018-08-31 | 陈洁 | It is a kind of can automatic clamping casting smelting operation console |
| CN108730660A (en) * | 2018-07-12 | 2018-11-02 | 张会强 | A kind of Large Diameter Pipeline quick-release connector |
| CN108772891A (en) * | 2018-05-29 | 2018-11-09 | 宁波舒普机电股份有限公司 | A kind of stamping knife switching mechanism of perforating press |
| CN109030840A (en) * | 2018-07-12 | 2018-12-18 | 深圳迈瑞生物医疗电子股份有限公司 | Reaction cup handgrip and sample analysis apparatus for sample analyser |
| CN109051115A (en) * | 2018-01-18 | 2018-12-21 | 四川科伦药业股份有限公司 | Grabbing device for tail infusion bag |
| CN109093505A (en) * | 2018-08-01 | 2018-12-28 | 廊坊市北方天宇机电技术有限公司 | Centrifugal skin processing seals cover automatic switch mechanism |
| CN109847380A (en) * | 2019-02-25 | 2019-06-07 | 山东职业学院 | A kind of remote control Intelligent toy car |
| CN110524513A (en) * | 2019-08-28 | 2019-12-03 | 勃肯特(镇江)机器人技术有限公司 | A kind of two axis parallel connections overturning crawl robot |
| CN111775059A (en) * | 2020-06-23 | 2020-10-16 | 黄伟芬 | Shot blasting tool clamp for brake drum |
| CN112896866A (en) * | 2021-03-10 | 2021-06-04 | 宁波市海曙发辉机械科技有限公司 | Automatic separating and classifying device for kitchen garbage and bags |
| CN112983314A (en) * | 2021-05-14 | 2021-06-18 | 胜利油田胜机石油装备有限公司 | Quick assembling and disassembling method for water faucet in workover operation and combined manipulator |
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| CN108381590A (en) * | 2018-05-18 | 2018-08-10 | 广西联壮科技股份有限公司 | A kind of connecting rod mechanical hand |
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| JP2011041984A (en) * | 2009-08-19 | 2011-03-03 | Kosmek Ltd | Link clamp |
| CN203600252U (en) * | 2013-11-08 | 2014-05-21 | 重庆风过旗扬科技发展有限公司 | Paw parallel opening-closing type mechanical arm |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106737649B (en) * | 2017-01-17 | 2019-08-20 | 航天重型工程装备有限公司 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN106737649A (en) * | 2017-01-17 | 2017-05-31 | 航天重型工程装备有限公司 | A kind of multi-degree-of-freemechanical mechanical arm |
| CN106584496A (en) * | 2017-01-18 | 2017-04-26 | 瑞安市智造科技有限公司 | Mechanical paw convenient to quickly adjust |
| CN106584496B (en) * | 2017-01-18 | 2018-11-20 | 瑞安市智造科技有限公司 | A kind of mechanical paw convenient for quickly adjusting |
| CN107975347A (en) * | 2017-12-18 | 2018-05-01 | 平煤建工集团特殊凿井工程有限公司 | A kind of manual holding card for the vertical handling of engineering driller drilling rod |
| CN107975347B (en) * | 2017-12-18 | 2023-12-08 | 平煤建工集团特殊凿井工程有限公司 | Manual holding clamp for vertical lifting of engineering driller drill rod |
| CN109051115A (en) * | 2018-01-18 | 2018-12-21 | 四川科伦药业股份有限公司 | Grabbing device for tail infusion bag |
| CN108466254A (en) * | 2018-03-27 | 2018-08-31 | 陈洁 | It is a kind of can automatic clamping casting smelting operation console |
| CN108772891A (en) * | 2018-05-29 | 2018-11-09 | 宁波舒普机电股份有限公司 | A kind of stamping knife switching mechanism of perforating press |
| CN108772891B (en) * | 2018-05-29 | 2023-12-08 | 舒普智能技术股份有限公司 | Punching cutter switching mechanism of punching machine |
| CN108730660A (en) * | 2018-07-12 | 2018-11-02 | 张会强 | A kind of Large Diameter Pipeline quick-release connector |
| CN109030840A (en) * | 2018-07-12 | 2018-12-18 | 深圳迈瑞生物医疗电子股份有限公司 | Reaction cup handgrip and sample analysis apparatus for sample analyser |
| CN109093505B (en) * | 2018-08-01 | 2023-09-19 | 廊坊市北方天宇机电技术有限公司 | Centrifugal polishing processing sealing cylinder cover automatic opening and closing mechanism |
| CN109093505A (en) * | 2018-08-01 | 2018-12-28 | 廊坊市北方天宇机电技术有限公司 | Centrifugal skin processing seals cover automatic switch mechanism |
| CN109847380A (en) * | 2019-02-25 | 2019-06-07 | 山东职业学院 | A kind of remote control Intelligent toy car |
| CN110524513A (en) * | 2019-08-28 | 2019-12-03 | 勃肯特(镇江)机器人技术有限公司 | A kind of two axis parallel connections overturning crawl robot |
| CN111775059A (en) * | 2020-06-23 | 2020-10-16 | 黄伟芬 | Shot blasting tool clamp for brake drum |
| CN112896866A (en) * | 2021-03-10 | 2021-06-04 | 宁波市海曙发辉机械科技有限公司 | Automatic separating and classifying device for kitchen garbage and bags |
| CN112983314A (en) * | 2021-05-14 | 2021-06-18 | 胜利油田胜机石油装备有限公司 | Quick assembling and disassembling method for water faucet in workover operation and combined manipulator |
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Denomination of invention: Gripping device and keyboard mouse test machine with gripping machine Effective date of registration: 20190723 Granted publication date: 20180406 Pledgee: Jilin Zhongxin science and technology credit Company limited by guarantee Pledgor: Sunostik Medical Technology Co.,Ltd. Changchun City Registration number: 2019220000028 |
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Date of cancellation: 20201019 Granted publication date: 20180406 Pledgee: Jilin Zhongxin science and technology credit Company limited by guarantee Pledgor: Sunostik Medical Technology Co.,Ltd. Changchun City Registration number: 2019220000028 |
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Denomination of invention: A gripping device Effective date of registration: 20230420 Granted publication date: 20180406 Pledgee: Bank of Jilin Co.,Ltd. Changchun New District Sub branch Pledgor: Sunostik Medical Technology Co.,Ltd. Changchun City Registration number: Y2023220000028 |