CN105563510A - Multifunctional tail end gripper - Google Patents
Multifunctional tail end gripper Download PDFInfo
- Publication number
- CN105563510A CN105563510A CN201410538979.8A CN201410538979A CN105563510A CN 105563510 A CN105563510 A CN 105563510A CN 201410538979 A CN201410538979 A CN 201410538979A CN 105563510 A CN105563510 A CN 105563510A
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- China
- Prior art keywords
- finger
- outer finger
- palm
- connecting rod
- bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The invention belongs to grippers, and particularly relates to a multifunctional tail end gripper which comprises a palm, wherein one end of the palm is connected with a screw rod through a screw nut; the screw rod is connected with the external part and is controlled by an external device; the other end of the palm is connected with an outer finger I, an outer finger II and an inner finger rod; the outer finger I and the outer finger II are parallel to the inner finger rod; the inner finger rod is arranged between the outer finger I and the outer finger II; when the screw rod rotates, the palm can convert the rotation of the screw rod to clamping or loosening of the outer finger I and the outer finger II, and can control the stretching or retraction of the inner finger rod; a locking connecting rod extension part is arranged at the front part of the inner finger rod; a radioactive source is arranged at the front end of the locking connecting rod extension part; the outer finger I is connected with the locking connecting rod extension part through double connecting rods; and the outer finger II is connected with the locking connecting rod extension part through a single connecting rod. The multifunctional tail end gripper has the remarkable benefits that the structure is simple and reliable, the space is compact, the two functions of clamping and threaded rod stretching and retraction are achieved in the narrow space through one degree of freedom, and the realizability of clamping a neutron source of a cable is guaranteed.
Description
Technical field
The invention belongs to clamper, be specifically related to a kind of multi-functional end clamper.
Background technology
Active logging instrument crane lifting is transferred in testing well, by the method for nuclear physics measure logging instrument pass the oil-gas accumulation degree on stratum, be the routine work in marine oil and gas detection process.Before well logging, need detection radioactive source to take out from carrying shield to be installed on logging instrument; After well logging, then need radioactive source is unloaded from logging instrument and is put back in carrying shield.At present, the cargo handling process of radioactive source is all by manually having come, and for reducing radioactive source to the injury of staff, the cargo handling process adopting the handling source device people of automation to replace workman to complete radioactive source is very important.
This mechanism is arranged on handling source machine robot end operator, along with mechanical arm moves, according to visual servo positioning result, clamping device gos deep in source container, move to radioactive source clamping head place, mechanism plays a role radioactive source clamping, and end manipulator performs an action, and is spun out by radioactive source from the threaded engagement of source container.Clamping device keeps clamping force to radioactive source, takes out radioactive source along with manipulator motion is to logging instrument side, then in the subsidiary source aperture be inserted on logging instrument, tighten equally, last clamping device loosens disengaging radioactive source.
The inner nucleic of radioactive source is radioactive nucleus element, belongs to high-risk sealed radioactive source, can causing death in contact several hours time serious.It is reliably safe to ensure its operation, prevents source, Ka Yuan, hits the generation of the perils such as source.The gripping mode of cable neutron source is that top is outer hexagonal structure, and limit its X, the translation of Y-direction and the rotation of X, Y, Z axis, center is a screwed hole, is used for limiting the movement of its Z-direction.This blessing mechanism should accomplish to operate two place's clamping spaces simultaneously, realizes the stable gripping to cable neutron source.
Summary of the invention
The present invention is directed to the defect of conventional art, a kind of multi-functional end clamper is provided.
The present invention is achieved in that a kind of multi-functional end clamper, and comprise palm, one end of this palm is connected with leading screw by feed screw nut, and this leading screw is connected with outside and is subject to the control of external device (ED).The other end of described palm is connected with outer finger one, outer finger two and interior finger bar, and described outer finger one, outer finger two are parallel with interior finger bar, and interior finger bar is arranged in the middle of outer finger one, outer finger two.When screw turns, the rotation of leading screw can be changed into the clamping of outer finger one and outer finger two or unclamp by palm, refers to stretching out or retracting of bar in controlling simultaneously.Arrange locking connecting rod to extend in the front end of interior finger bar, the front end extended at locking connecting rod arranges radioactive source.Outer finger one is extended by double link is connected with locking connecting rod, and outer finger two passes through monotroded bar and locks connecting rod and extend and be connected.
The multi-functional end clamper of one as above, wherein, described palm is " order " font part, the slide bar formation that this part has the connecting rod of horizontally set and longitudinally arranges, and any connecting rod is all screwed connection with slide bar to the position be connected.Leading screw is connected to the centre position on the left of palm, and outer finger one is connected to the top of palm, and outer finger two is connected to the bottom of palm, and interior finger bar is connected to the centre position on the right side of palm.
Remarkable result of the present invention is: simple and reliable for structure, spaces compact, achieves flexible two functions of clamping and threaded rod, ensure that the realizability of clamped cable neutron source in narrow space by one degree of freedom.
Accompanying drawing explanation
Fig. 1 is the structural representation installation diagram of clamping device;
Fig. 2 is that gripper mechanism grips head stretches out state;
Fig. 3 is gripper mechanism grips head clamping state;
Fig. 4 accommodates mechanism's perspective view.
In figure: 1. leading screw, 2. feed screw nut, 3. connecting rod, 4. slide bar, 5. palm, 6., refer to bar, 7. lock connecting rod and extend, 8. refer to one outward, 9. refer to two outward, 10. double link, 11. monotroded bars.
Detailed description of the invention
As shown in Figure 1, a kind of multi-functional end clamper, comprises palm 5, and one end of this palm 5 is connected with leading screw 1 by feed screw nut 2, and this leading screw 1 is connected with outside and is subject to the control of external device (ED).The other end of described palm 5 is connected with outer finger 1, outer finger 29 and interior finger bar 6, and described outer finger 1, outer finger 29 are parallel with interior finger bar 6, and interior finger bar 6 is arranged in the middle of outer finger 1, outer finger 29.When leading screw 1 rotates, the rotation of leading screw 1 can be changed into the clamping of outer finger 1 and outer finger 29 or unclamp by palm 5, refers to stretching out or retracting of bar 6 in controlling simultaneously.Arrange locking connecting rod in the front end of interior finger bar 6 and extend 7, the front end extending 7 at locking connecting rod arranges radioactive source.Outer finger 1 extends 7 by double link 10 with locking connecting rod and is connected, and outer finger 29 extends 7 by monotroded bar 11 with locking connecting rod and is connected.
Described palm 5 is " order " font part, and this part has the connecting rod 3 of horizontally set and the slide bar 4 of longitudinally setting to form, and any connecting rod 3 is all screwed connection with slide bar 4 to the position be connected.Leading screw 1 is connected to the centre position on the left of palm 5, and outer finger 1 is connected to the top of palm 5, and outer finger 29 is connected to the bottom of palm 5, and interior finger bar 6 is connected to the centre position on the right side of palm 5.
This device course of work is roughly as follows: when needs clamping radioactive source, rotating threaded shaft 1, control palm 5 and refer to bar 6 in recovery, then locking connecting rod is driven to extend 7 to recovery, because outer finger 1, outer finger 29 and locking connecting rod to extend 7 hinged by double link 10 and monotroded bar 11, therefore outer finger 1 and outer finger 29 can be driven inwardly to tighten up, realize the function of clamping.The inverse process of said process, just defines the function of unclamping.
Claims (2)
1. a multi-functional end clamper, it is characterized in that: comprise palm (5), one end of this palm (5) is connected with leading screw (1) by feed screw nut (2), and this leading screw (1) is connected with outside and is subject to the control of external device (ED).The other end of described palm (5) is connected with outer finger one (8), outer finger two (9) and interior finger bar (6), described outer finger one (8), outer finger two (9) are parallel with interior finger bar (6), and interior finger bar (6) is arranged in the middle of outer finger one (8), outer finger two (9).When leading screw (1) rotates, palm (5) can change the rotation of leading screw (1) clamping of outer finger one (8) and outer finger two (9) into or unclamp, and refers to stretching out or retracting of bar (6) in controlling simultaneously.Arrange locking connecting rod in the front end of interior finger bar (6) and extend (7), the front end extending (7) at locking connecting rod arranges radioactive source.Outer finger one (8) extends (7) by double link (10) with locking connecting rod and is connected, and outer finger two (9) extends (7) by monotroded bar 11 with locking connecting rod and is connected.
2. a kind of multi-functional end clamper as claimed in claim 1, it is characterized in that: described palm (5) is " order " font part, slide bar (4) formation that this part has the connecting rod (3) of horizontally set and longitudinally arranges, any connecting rod (3) is all screwed connection with slide bar (4) to the position be connected.Leading screw (1) is connected to the centre position in palm (5) left side, outer finger one (8) is connected to the top of palm (5), outer finger two (9) is connected to the bottom of palm (5), and interior finger bar (6) is connected to the centre position on palm (5) right side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410538979.8A CN105563510B (en) | 2014-10-13 | 2014-10-13 | A kind of multi-functional end gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410538979.8A CN105563510B (en) | 2014-10-13 | 2014-10-13 | A kind of multi-functional end gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105563510A true CN105563510A (en) | 2016-05-11 |
| CN105563510B CN105563510B (en) | 2017-12-26 |
Family
ID=55874418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410538979.8A Active CN105563510B (en) | 2014-10-13 | 2014-10-13 | A kind of multi-functional end gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105563510B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881529A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Manipulator assembly of industrial robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62295840A (en) * | 1986-06-16 | 1987-12-23 | Shin Meiwa Ind Co Ltd | Grip device |
| JPH04310390A (en) * | 1991-02-18 | 1992-11-02 | Essilor Internatl (Cie Gen Opt) | Device for holding and clamping circular article |
| CN2920577Y (en) * | 2006-05-24 | 2007-07-11 | 伍回平 | Jaw type article-grasping dredger |
| CN101704246A (en) * | 2009-10-24 | 2010-05-12 | 陈柳春 | Climbing detection robot for transmission towers |
| CN102009411A (en) * | 2010-11-11 | 2011-04-13 | 高付生 | Improved manipulator paw |
| CN201800041U (en) * | 2010-08-09 | 2011-04-20 | 西安石油大学 | Holding device for rescue |
| CN202151864U (en) * | 2011-07-14 | 2012-02-29 | 张家港长力机械有限公司 | Cover-grabbing mechanical hand on smoke guide vehicle |
-
2014
- 2014-10-13 CN CN201410538979.8A patent/CN105563510B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62295840A (en) * | 1986-06-16 | 1987-12-23 | Shin Meiwa Ind Co Ltd | Grip device |
| JPH04310390A (en) * | 1991-02-18 | 1992-11-02 | Essilor Internatl (Cie Gen Opt) | Device for holding and clamping circular article |
| CN2920577Y (en) * | 2006-05-24 | 2007-07-11 | 伍回平 | Jaw type article-grasping dredger |
| CN101704246A (en) * | 2009-10-24 | 2010-05-12 | 陈柳春 | Climbing detection robot for transmission towers |
| CN201800041U (en) * | 2010-08-09 | 2011-04-20 | 西安石油大学 | Holding device for rescue |
| CN102009411A (en) * | 2010-11-11 | 2011-04-13 | 高付生 | Improved manipulator paw |
| CN202151864U (en) * | 2011-07-14 | 2012-02-29 | 张家港长力机械有限公司 | Cover-grabbing mechanical hand on smoke guide vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105881529A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Manipulator assembly of industrial robot |
| CN105881529B (en) * | 2016-05-28 | 2017-11-10 | 深圳商巨智能设备股份有限公司 | A kind of mechanical arm assembly of industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105563510B (en) | 2017-12-26 |
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