CN105479455B - A kind of grabbing device - Google Patents
A kind of grabbing device Download PDFInfo
- Publication number
- CN105479455B CN105479455B CN201511027747.7A CN201511027747A CN105479455B CN 105479455 B CN105479455 B CN 105479455B CN 201511027747 A CN201511027747 A CN 201511027747A CN 105479455 B CN105479455 B CN 105479455B
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- 210000000078 claw Anatomy 0.000 claims abstract description 157
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 230000001737 promoting effect Effects 0.000 claims abstract description 8
- 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
- 230000000694 effects Effects 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000023555 blood coagulation Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 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
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 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
-
- 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
Abstract
The invention discloses a kind of grabbing device, belongs to manipulator technical field.It includes fixed seat, telescoping mechanism, promotes slide-bar, the first claw, the second claw, first group of connecting rod, second group of connecting rod, fixed seat center offers through hole, slide-bar is promoted to form sliding pair with through hole, first claw is articulated with the first pin joint with fixed seat, second claw is articulated with the second pin joint with fixed seat, telescoping mechanism is fixedly connected on the upper end for promoting slide-bar, and the first claw is by first group of rod hinge connection in promoting slide-bar, and the second claw is by second group of rod hinge connection in promotion slide-bar.It can be with clinical analysis instrument reaction cup fit applications.
Description
Technical field
The present invention relates to manipulator technical field, more particularly to a kind of grabbing device.
Background technology
Manipulator is a kind of device for being used to carry out grasping movement.Such as：
Authorization Notice No. is that CN 202657287U Chinese invention patent discloses a kind of flat grabbing device, including
Piston, piston rod, left handgrip, right handgrip, frame, first connecting rod and second connecting rod, one end of the piston rod and the piston
Connection, the other end of the piston rod are connected after passing through the frame with the upper end of the first connecting rod, the arm of the left handgrip
End is arranged in the guide groove of the frame and can moved, and the arm end of the right handgrip is arranged in the guide groove of the frame and energy
Enough mobile, the left end of the first connecting rod is hinged by the arm of the second connecting rod and the left handgrip, the first connecting rod
Right-hand member be hinged by the arm of the second connecting rod and the right handgrip.The flat grabbing device is driven by piston rod to be connected
Bar realizes crawl work；With grasp speed height, stable performance and lower-cost advantage.It is left in the flat grabbing device
Handgrip, right handgrip are that the sliding pair realization being arranged at by its arm end on the guide groove of frame moves left and right, and reach increase or subtract
The effect of spacing between small left handgrip, right handgrip, so as to complete grasping movement.
Authorization Notice No. is that CN 201980773U Chinese invention patent discloses a kind of tyre gripping device, and it includes
Main frame body, two flap components being oppositely arranged, for clasping tire are installed on main frame body, connected on two flap components
There is the drive mechanism for driving them to clamp or open, two flap modular construction is identical, and they include pivoted arm, fixation
Plate, adjusting rod, bending connecting plate and arc embrace tire plate, and pivoted arm is mounted on main frame body by the hinge of the hinged seat in the middle part of it, pivoted arm
Top connection drive mechanism, the lower end of pivoted arm is hinged using the rear middle part of bearing pin and fixed plate, and the both ends of fixed plate are forward
Bend inwards to form bending part, the bending part at both ends installs an adjusting rod respectively；Two adjusting rods are in a certain angle, they
Tire plate is embraced with arc by bending connecting plate respectively and is connected in front end.The tyre gripping device is simple in construction, compact, reasonable, work
Securely and reliably, maintenance is convenient, applied widely.Two flap components of tyre gripping device are respectively hinged at the two of cylinder
End, passes through the stretching motion of cylinder so that two flap components revolve by rotating shaft of its pin joint between cylinder both ends respectively
Turn, realize the reduction or increase of two flap component front end spacing, when two flap components respectively with itself and cylinder both ends it
Between pin joint when being rotated laterally for rotating shaft, the spacing between two flap components is larger, and state is grabbed in sky；Turn when two
When board component is rotated using its pin joint between cylinder both ends as the inside side of rotating shaft respectively, between two flap component front ends
Spacing is gradually reduced, when the spacing between two flap component front ends be decreased to and wait capture thing size be adapted when, its point
Thing to be captured is not held from both ends, completes grasping movement.
At present, in clinical analysis instrument, in terms of the crawl of reaction cup, typical mode is negative pressure absorbing mode.This
Kind absorption mode is although simple to operate, but certain hidden danger be present in terms of reliability.The reason is that such a negative pressure absorbing mode,
To ensure negative pressure, the flatness, smoothness requirements to absorption heads are very high, equally tight to the sealing requirements of whole negative pressure system
Lattice.Absorption heads are made up of elastomeric material, and in longtime running, absorption heads are adsorbed on the impurity, and reaction cup such as dust, spot unavoidably
Blood sample, the reagent that may be adhered to, cause adhesive face gap occur, cause reaction cup to draw failure；In addition, whole negative pressure system knot
Structure is complex, and component is more, and pipe interface is more, during long-term use of, the situation of unavoidable outlet seal failure, influences
The absorption effect of reaction cup.Above two grabbing device can not suitable for clinical analysis instrument to reaction cup crawl behaviour
Make.
The content of the invention
In view of this, present invention offer is a kind of can be applied to realize that grasping manipulation is grabbed to clinical analysis instrument reaction cup
Device is taken, thus more suitable for practicality.
In order to achieve the above object, present invention generally provides following technical scheme：
Grabbing device provided by the invention includes fixed seat, telescoping mechanism, promotes slide-bar, the first claw, the second claw, the
One group of connecting rod, second group of connecting rod,
The fixed seat center offers through hole,
The promotion slide-bar forms sliding pair with the through hole,
First claw is articulated with the first pin joint with the fixed seat, and second claw is hinged with the fixed seat
In the second pin joint,
The telescoping mechanism is fixedly connected on the upper end of the promotion slide-bar, and first claw passes through first group of company
Bar is articulated with the promotion slide-bar, second claw by second group of rod hinge connection in the promotion slide-bar,
When the telescoping mechanism makees contractile motion, drive the promotion slide-bar to move upwards, pass through first group of company
The transmission of bar and second group of connecting rod, first claw are revolved counterclockwise from open mode using first pin joint as pivot
Turn, second claw is turned clockwise from open mode using second pin joint as pivot, makes first claw
Free end and the second claw free end between spacing be decreased to and the size of thing to be captured be adapted and close；
When the telescoping mechanism makees stretching motion, drive the promotion slide-bar to move downward, pass through first group of company
The transmission of bar and second group of connecting rod, first claw is from closure state using first pin joint as pivot dextrorotation
Turn, second claw makes first claw from closure state using second pin joint as pivot rotate counterclockwise
Free end and the second claw free end between spacing increase and open.
The object of the invention to solve the technical problems can be also applied to the following technical measures to achieve further.
Preferably, the through hole is shoulder hole, the shoulder hole includes first paragraph through hole, second segment through hole, described the
The diameter of the diameter ＞ first paragraph through holes of two sections of through holes, the first shoulder is formed between the first paragraph through hole and second segment through hole
Platform,
The promotion slide-bar is multi-diameter shaft, and the multi-diameter shaft includes first paragraph axle and second segment axle, the second segment axle
The diameter of diameter ＞ first paragraph axles, forms sliding pair between the first paragraph axle and the first paragraph through hole, the second segment leads to
The diameter of the diameter ＞ first paragraph through holes of the diameter ＞ second segment axles in hole.
Preferably, the shoulder hole also includes the 3rd section of through hole, the diameter ＞ second segment through holes of the 3rd section of through hole
Diameter, form the second shoulder between through hole and second segment through hole in described 3rd section, the telescoping mechanism include fixing end and
Free end, the free end are fixedly connected on the upper end of the promotion slide-bar, the diameter ＞ second segment through holes of the fixing end
The diameter of diameter ＞ free ends.
Preferably, the grabbing device also includes elastomeric element, the elastomeric element is sheathed on the first paragraph axle,
The elastomeric element is arranged between the second segment axle and the first shoulder.
Preferably, the top for promoting slide-bar is provided with groove, the free end of the retractor device passes through the groove
With the promotion slide-bar locking.
Preferably, first group of connecting rod is two parallel linkage, the two parallel linkage has one end to be articulated with institute respectively
The first claw is stated, the other end is articulated with the promotion slide-bar；Second group of connecting rod is two parallel linkage, the two parallel linkage
There is one end to be articulated with second claw respectively, the other end is articulated with the promotion slide-bar.
Preferably, the grabbing device also includes connector, the connector is fixedly connected on the promotion slide-bar, institute
The pin joint for stating two parallel linkage and the promotion slide-bar in first group of connecting rod is on the connector, second group of company
The pin joint of two parallel linkage and the promotion slide-bar in bar is on the connector.
Preferably, the grabbing device also includes touching key and touching switch, the touching key is made up of elastic material,
The touching switch is fixedly connected on the fixed seat, has angle between the touching key and the touching switch, described to touch
Touching key one end and be fixedly connected on the touching switch, the touching key other end is resisted against second claw,
When first claw and the second claw are in open mode, the touching is bonded to contact the touching switch,
Close the touching switch；
When first claw and the second claw are in closure state, the touching key makes away from the touching switch
The touching switch is opened.
Preferably, on second claw it is described touching key between contact position it is spherical, it is described touching key on
Contact position between second claw is also spherical.
Preferably, when assuming in the raw, the angle between the touching key and the touching switch is α, institute
State the first claw, when the second claw is in open mode, first claw and the angle of the second claw and vertical direction are β, α
＞ β.
The claw of grabbing device first provided by the invention is articulated with the first pin joint, the second claw and fixed seat with fixed seat
The second pin joint is articulated with, telescoping mechanism is fixedly connected on promotion slide-bar, and telescoping mechanism drives when doing stretching motion and promotes slide-bar
Move up and down, and pass through the transmission of first group of connecting rod and second group of connecting rod so that the first claw and the second claw are opened or closed
Close, when the first claw and the second claw opening, the spacing between the free end of the free end of the first claw and the second claw is big
In the size of thing to be captured, the first claw and the second claw decontrol thing to be captured；When the first claw and the second claw close, the
Spacing and the size of thing to be captured between the free end of one claw and the free end of the second claw are adapted, and complete crawl behaviour
Make.It can complete the grasping manipulation to reaction cup with the reaction cup fit applications in clinical analysis instrument.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 is structural representation of the grabbing device provided by the invention when the first claw and the second claw are in open mode
Figure；
Fig. 2 is structural representation of the grabbing device provided by the invention when the first claw and the second claw are in closure state
Figure.
Embodiment
The present invention can not grab for grabbing device existing for solution prior art applied to full-automatic blood coagulation analyzer reaction cup
The problem of taking, there is provided a kind of crawl that can be applied to carry out the reaction cup applied grasping manipulation in clinical analysis instrument fills
Put, thus more suitable for practicality.
Further to illustrate the present invention to reach the technological means and effect that predetermined goal of the invention is taken, below in conjunction with
Accompanying drawing and preferred embodiment, to according to grabbing device proposed by the present invention, its embodiment, structure, feature and its effect,
Describe in detail as after.In the following description, what different " embodiment " or " embodiment " referred to is not necessarily the same embodiment.This
Outside, special characteristic, structure or the feature in one or more embodiments can be combined by any suitable form.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, expression may have three kinds of passes
System, for example, A and/or B, is specifically interpreted as：A and B can be included simultaneously, can be with individualism A, can also individualism
B, can possess above-mentioned three kinds of any situations.
Embodiment
Referring to accompanying drawing 1 and accompanying drawing 2, grabbing device provided by the invention include fixed seat 1, telescoping mechanism 5, promote slide-bar 9,
First claw 14,15, first groups of connecting rods of the second claw, second group of connecting rod,
The center of fixed seat 1 offers through hole 2,
Slide-bar 9 is promoted to form sliding pair with through hole 2,
First claw 14 is articulated with the first pin joint 16 with fixed seat 1, and the second claw 15 is articulated with the second hinge with fixed seat 1
Contact 17,
Telescoping mechanism 5 is fixedly connected on the upper end for promoting slide-bar 9, and the first claw 14 is by first group of rod hinge connection in promotion
Slide-bar 9, the second claw 15 by second group of rod hinge connection in promote slide-bar 9,
When telescoping mechanism 5 makees contractile motion, drive and promote slide-bar 9 to move upwards, pass through first group of connecting rod and second group
The transmission of connecting rod, the first claw 14 from open mode with the first pin joint 16 for pivot rotate counterclockwise, the second claw 15
Turned clockwise from open mode with the second pin joint 17 for pivot, make free end and the second claw 15 of the first claw 14
Free end between spacing be decreased to and the size of thing to be captured be adapted and close；
When telescoping mechanism 5 makees stretching motion, drive and promote slide-bar 9 to move downward, pass through first group of connecting rod and second group
The transmission of connecting rod, the first claw 14 are turned clockwise from closure state with the first pin joint 16 for pivot, the second claw 15
From closure state with the second pin joint 17 for pivot rotate counterclockwise, make free end and the second claw 15 of the first claw 14
Free end between spacing increase and open.
The first claw of grabbing device 14 provided by the invention is articulated with the first pin joint 16, the second claw 15 with fixed seat 1
The second pin joint 17 is articulated with fixed seat 1, telescoping mechanism 5, which is fixedly connected on, promotes slide-bar 9, and telescoping mechanism 5 does stretching motion
When drive and promote slide-bar 9 to move up and down, and pass through the transmission of first group of connecting rod and second group of connecting rod so that the first claw 14 and the
Two claws 15 are opened or closed, when the first claw 14 and the second claw 15 opening, the free end and second of the first claw 14
Spacing between the free end of claw 15 is more than the size of thing to be captured, and the first claw 14 and the second claw 15 are decontroled and wait to capture
Thing；When the first claw 14 and the second claw 15 close, between the free end of the free end of the first claw 14 and the second claw 15
Spacing and the size of thing to be captured be adapted, and complete grasping manipulation.It can be with the reaction applied in clinical analysis instrument
Cup fit applications, complete the grasping manipulation to reaction cup.
Wherein, through hole 2 is shoulder hole, and shoulder hole includes first paragraph through hole, second segment through hole, the diameter ＞ of second segment through hole
The diameter of first paragraph through hole, the first shoulder 4 is formed between first paragraph through hole and second segment through hole.Promotion slide-bar 9 is multi-diameter shaft,
Multi-diameter shaft 9 includes first paragraph axle 10 and second segment axle 11, the diameter of the diameter ＞ first paragraphs axle 10 of second segment axle 11, first paragraph axle
Sliding pair is formed between 10 and first paragraph through hole, the diameter ＞ first paragraph through holes of the diameter ＞ second segments axle 11 of second segment through hole
Diameter.In this case, promote the second segment axle 11 of slide-bar 9 to be accepted by the first shoulder 4, can avoid promoting slide-bar 9
Move downwardly in first paragraph through hole and further move downward, under the gearing of first group of connecting rod and second group of connecting rod,
Cause the open angle between the first claw 14, the second claw 15 excessive.
Wherein, shoulder hole also includes the 3rd section of through hole, the diameter of the diameter ＞ second segment through holes of the 3rd section of through hole, in the 3rd
The second shoulder 3 is formed between Duan Tongkong and second segment through hole, telescoping mechanism 5 includes fixing end 6 and free end 7, and free end 7 is fixed
It is connected to the upper end for promoting slide-bar 9, the diameter of the diameter ＞ free ends 7 of the diameter ＞ second segment through holes of fixing end 6.In this feelings
Under condition, telescoping mechanism 5 is accepted by the second shoulder 3, is easy to the installation and application of telescoping mechanism 5.In the present embodiment, telescoping mechanism 5
It is stepper motor, free end 7 is the output shaft of stepper motor.
Wherein, grabbing device also includes elastomeric element 13, and elastomeric element 13 is sheathed on first paragraph axle 10, elastomeric element 13
It is arranged between the shoulder 4 of second segment axle 11 and first.In this case, elastomeric element 13 can be in second segment axle 11 and first
A cushioning effect power is provided between shoulder 4 so that second segment axle 11 is converted to bullet when being contacted with the first shoulder 4 by rigid contact
Property contact, avoid the contact force between the shoulder 4 of second segment axle 11 and first too quickly and cause promote slide-bar 9 vibrate, and then so that
First claw 14 and the second claw 15 produce vibration, reduce the grasp stability of the first claw 14 and the second claw 15.This implementation
In example, elastomeric element 13 is spring.
Wherein, the top of slide-bar 9 is promoted to be provided with groove 12, the free end 7 of retractor device 5 passes through groove 12 and promotion slide-bar
9 lockings.Wherein, the free end 7 of retractor device 5 can be locked or be realized by buckle tight by screw thread pair between groove 12
Coordinate, so as to ensure stepper motor free end 7 and promote the transmission efficiency between slide-bar 9.
Wherein, first group of connecting rod is two parallel linkage 20,21, and two parallel linkage 20,21 has one end to be articulated with first respectively
Claw 14, the other end, which is articulated with, promotes slide-bar 9；Second group of connecting rod is two parallel linkage 22,23, and two parallel linkage 22,23 is distinguished
There is one end to be articulated with the second claw 15, the other end, which is articulated with, promotes slide-bar 9.In this case, two parallel linkage 20,21 is distinguished
The first parallelogram is formed between pin joint between the first claw 14, promotion slide-bar 9, two parallel linkage 22,23 is distinguished
The second claw 15, promote and form the second parallelogram between pin joint between slide-bar 9, using parallelogram law,
The transmission effect of first group of connecting rod and second group of connecting rod can be ensured.
Wherein, grabbing device also includes connector 19, and connector 19, which is fixedly connected on, promotes slide-bar 9, in first group of connecting rod
Two parallel linkage 20,21 with promote slide-bar 9 pin joint be on connector 19, the two parallel linkage in second group of connecting rod
22nd, 23 with promoting the pin joint of slide-bar 9 to be on connector 19.Due to promote slide-bar 9 respectively with first group of connecting rod, second group of company
Hinged place contact area between bar is smaller, it is difficult to four pin joints are arranged according to parallelogram connection-rod 20,21,22,23, should
The area of connector 19 is larger, is easy to arrange four pin joints.
Wherein, grabbing device also includes touching key 25 and touching switch 28, and touching key 25 is made up of elastic material, and touching is opened
Close 28 and be fixedly connected on fixed seat 1, touching has angle between key 25 and touching switch 28, touching key 25 one end is fixedly connected on
Touching switch 28, the touching other end of key 25 is resisted against the second claw 15, when the first claw 14 and the second claw 15 are in open shape
During state, touching key 25 touches touching switch 28, closes touching switch 28；Closed when the first claw 14 and the second claw 15 are in
During conjunction state, touching key 25 opens touching switch 28 away from touching switch 28.In this case, when the grabbing device with
Clinical analysis instrument coordinates for when capturing and putting down reaction cup 31, full-automatic blood coagulation analyzer to be able to detect that the first claw 14
With the action of the second claw 15, therefore, it is possible to the operation of the automatic sensing grabbing device to reaction cup 31.In the present embodiment, face
Bed analytical instrument is full-automatic blood coagulation analyzer.
Wherein, on the second claw 15 touching key 25 between contact position 24 it is spherical, touch key 25 on the second claw
Contact position 26 between 15 is also spherical.In clinical analysis instrument, it is very high to capture and put down the operating frequency of reaction cup 31,
In this case, it can reduce by the second claw 15 and touch the contact wear between key 25, so as to extend the second claw 15, touch
Touch the service life of key 25.
Where it is assumed that in the raw when, it is α to touch the angle between key 25 and touching switch 28, the first claw 14,
When second claw 15 is in open mode, the angle of the first claw 14 and the second claw 15 and vertical direction is β, α ＞ β.At this
In the case of kind, when the first claw 14, the second claw 15 are in closure state, the distance between key 25 and touching switch 28 are touched
It can reach remote enough, avoid the mistake closure of touching switch 28, so as to avoid clinical analysis instrument to the first claw 14, the
The erroneous judgement of two claws 15 action.
Gap 29 is provided with the inside of the free end of first claw 14, the free end of the second claw 15 is provided with gap 30, when the first claw
14th, during the second claw 15 crawl reaction cup 31, the cup edge 32 of reaction cup 31 is fastened in gap 29 and gap 30, can strengthen the
One claw 14, the second claw 15 are to the grasp stability of reaction cup 31.In the present embodiment, gap 29 and gap 30 are that taper is slitted
Mouthful, because taper gap has the characteristics of outside diameter is big, inside diameter is small, when the thickness of the cup edge 32 of reaction cup 31 is larger
When, cup edge 32 can be stuck in the outside of taper gap, now, the first claw 14, the second claw 15 even at closure state, according to
So there is a small angle in outside with vertical direction；And if when the thickness of cup edge 32 of reaction cup 31 is smaller, cup edge 32 can be stuck in
The inner side of taper gap, now, when the first claw 14, the second claw 15 are in closure state, the first claw 14, the second claw
15 reduce with the small angle in the outside of vertical direction；So that when the cup edge 32 of reaction cup 31 is decreased to sufficiently small, when the first card
When pawl 14, the second claw 15 are in closure state, the first claw 14, the second claw 15 and vertical direction the small angle in outside can be with
Be converted to the first claw 14, the small angle in inner side of the second claw 15 and vertical direction.In this case, the first claw 14 and
Two claws 15 can be adapted with the reaction cup 31 of a variety of configurations.In the present embodiment, reaction cup 31 is STAGO type reaction cups.
Further, it is also possible to connector 19 is designed into globulate, at this point it is possible to using spherical isotropic characteristic, even
The surrounding of fitting 19 connects multigroup kinematic link, and now, claw can also be multigroup, and claw can be centered around the cup edge of reaction cup 31
32 1 weeks, multigroup claw was stronger by the Multi-contact of cup edge 32 with reaction cup 31, grasp stability.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So appended claims be intended to be construed to include it is excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (9)
- A kind of 1. grabbing device, it is characterised in that including fixed seat, telescoping mechanism, promote slide-bar, the first claw, the second claw, First group of connecting rod, second group of connecting rod,The fixed seat center offers through hole,The promotion slide-bar forms sliding pair with the through hole,First claw and the fixed seat are articulated with the first pin joint, and second claw and the fixed seat are articulated with the Two pin joints,The telescoping mechanism is fixedly connected on the upper end of the promotion slide-bar, and first claw is cut with scissors by first group of connecting rod Be connected to the promotion slide-bar, second claw by second group of rod hinge connection in the promotion slide-bar,When the telescoping mechanism makees contractile motion, drive the promotion slide-bar to move upwards, by first group of connecting rod and The transmission of second group of connecting rod, first claw from open mode using first pin joint as pivot rotate counterclockwise, Second claw is turned clockwise from open mode using second pin joint as pivot, makes first claw oneself It is decreased to by the spacing between end and the free end of the second claw and the size of thing to be captured is adapted and closed；When the telescoping mechanism makees stretching motion, drive the promotion slide-bar to move downward, by first group of connecting rod and The transmission of second group of connecting rod, first claw are turned clockwise from closure state using first pin joint as pivot, Second claw makes first claw oneself from closure state using second pin joint as pivot rotate counterclockwise Increased by the spacing between end and the free end of the second claw and opened；Also include touching key and touching switch, the touching key is made up of elastic material, and the touching switch is fixedly connected on institute Fixed seat is stated, there is angle between the touching key and the touching switch, described touching key one end is fixedly connected on described touch Switch is touched, the touching key other end is resisted against second claw,When first claw and the second claw are in open mode, the touching is bonded to contact the touching switch, makes institute State touching switch closure；When first claw and the second claw are in closure state, the touching key makes described away from the touching switch Touching switch is opened.
- 2. grabbing device according to claim 1, it is characterised in that the through hole is shoulder hole, and the shoulder hole includes First paragraph through hole, second segment through hole, the diameter of the diameter ＞ first paragraph through holes of the second segment through hole, in the first paragraph through hole The first shoulder is formed between second segment through hole,The promotion slide-bar is multi-diameter shaft, and the multi-diameter shaft includes first paragraph axle and second segment axle, the diameter of the second segment axle The diameter of ＞ first paragraph axles, sliding pair is formed between the first paragraph axle and the first paragraph through hole, the second segment through hole The diameter of the diameter ＞ first paragraph through holes of diameter ＞ second segment axles.
- 3. grabbing device according to claim 2, it is characterised in that the shoulder hole also includes the 3rd section of through hole, described The diameter of the diameter ＞ second segment through holes of 3rd section of through hole, the second shoulder is formed between through hole and second segment through hole in described 3rd section Platform, the telescoping mechanism include fixing end and free end, and the free end is fixedly connected on the upper end of the promotion slide-bar, described The diameter of the diameter ＞ free ends of the diameter ＞ second segment through holes of fixing end.
- 4. grabbing device according to claim 2, it is characterised in that be also arranged including elastomeric element, the elastomeric element In on the first paragraph axle, the elastomeric element is arranged between the second segment axle and the first shoulder.
- 5. grabbing device according to claim 1, it is characterised in that the top for promoting slide-bar is provided with groove, described Locked by the groove and the promotion slide-bar free end of telescoping mechanism.
- 6. grabbing device according to claim 1, it is characterised in that first group of connecting rod is two parallel linkage, described Two parallel linkage has one end to be articulated with first claw respectively, and the other end is articulated with the promotion slide-bar；Second group of company Bar is two parallel linkage, and the two parallel linkage has one end to be articulated with second claw respectively, and the other end is articulated with described push away Dynamic slide-bar.
- 7. grabbing device according to claim 6, it is characterised in that be also fixedly connected including connector, the connector The pin joint of two parallel linkage and the promotion slide-bar in the promotion slide-bar, first group of connecting rod is in the connection On part, the pin joint of two parallel linkage and the promotion slide-bar in second group of connecting rod is on the connector.
- 8. grabbing device according to claim 1, it is characterised in that on second claw between the touching key Contact position is spherical, and the contact position on the touching key between second claw is also spherical.
- 9. grabbing device according to claim 1, it is characterised in that assuming that in the raw when, it is described touching key with Angle between the touching switch is α, when first claw, the second claw are in open mode, first claw and The angle of second claw and vertical direction is β, α ＞ β.
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| CN201511027747.7A CN105479455B (en) | 2015-12-31 | 2015-12-31 | A kind of grabbing device |
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| CN201511027747.7A CN105479455B (en) | 2015-12-31 | 2015-12-31 | A kind of grabbing device |
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| CN105479455A CN105479455A (en) | 2016-04-13 |
| CN105479455B true CN105479455B (en) | 2018-04-06 |
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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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| CN105479455A (en) | 2016-04-13 |
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Effective date of registration: 20161213 Address after: 130000 Kunshan Road, Changchun Economic Development Zone, Jilin, No. 733 Applicant after: Sun Chengxin Address before: 130000 Kunshan Road, Changchun Economic Development Zone, Jilin, No. 733 Applicant before: Sunostik Medical Technology Co.,Ltd. Changchun City |
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Effective date of registration: 20170511 Address after: 130000 Kunshan Road, Changchun Economic Development Zone, Jilin, No. 733 Applicant after: Sunostik Medical Technology Co.,Ltd. Changchun City Address before: 130000 Kunshan Road, Changchun Economic Development Zone, Jilin, No. 733 Applicant before: Sun Chengxin |
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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 |