CN105945975A - Grabbing device - Google Patents
Grabbing device Download PDFInfo
- Publication number
- CN105945975A CN105945975A CN201610349794.1A CN201610349794A CN105945975A CN 105945975 A CN105945975 A CN 105945975A CN 201610349794 A CN201610349794 A CN 201610349794A CN 105945975 A CN105945975 A CN 105945975A
- Authority
- CN
- China
- Prior art keywords
- side chain
- hydraulic cylinder
- piston rod
- claw
- cylinder body
- 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.)
- Withdrawn
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Classifications
-
- 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)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a grabbing device. The grabbing device comprises a base, a hydraulic cylinder 1 cylinder body, a branch chain 1, a moving pair 1, a branch chain 2, a bracket, a sucker, a branch chain 3, a branch chain 4, a hydraulic cylinder 1 piston rod and a controller. The grabbing device is simple in structure, high in working efficiency, simple in operability, low in manufacturing cost, excellent in part replaceability and convenient for maintenance.
Description
Technical field
The invention belongs to capture mechanical equipment technical field, be specifically related to a kind of grabbing device.
Background technology
At present, during the concept of mechanical automation has goed deep into the life of people.Either producing or in life, people
Being intended to can be the most convenient more quick, so under this overall situation, we more further must make a kind of energy
Enough integrated more multi-functional automated mechanical equipment.
In object transport, traditional handling machinery action is single, and track is fixed, it is impossible to complete the carrying of complex object,
It is therefore necessary to a kind of multi-functional mechanical claw of design, can realize capturing variously-shaped object, reach high efficiency, height
Safety, in high precision, promotes people's work efficiency.
Summary of the invention
It is an object of the invention to provide a kind of grabbing device, it is possible to capture the variously-shaped object in the range of certain size,
There is high accuracy, high intensity, it is possible to the object adapting to various complexity the feature worked in different environment, work
Time have only to just can realize the crawl of difformity object according to operation instruction.
For reaching above-mentioned purpose, the technical solution used in the present invention is:
The concrete scheme realizing the present invention is: a kind of grabbing device, including base, hydraulic cylinder one cylinder body, side chain one,
Moving sets one, side chain two, support, sucker, side chain three, side chain four, hydraulic cylinder one piston rod, controller；Described
Hydraulic cylinder one cylinder body be connected by screw on base；Described hydraulic cylinder one cylinder body is formed with hydraulic cylinder one piston rod
Moving sets one；Described support is bolted on hydraulic cylinder one cylinder body；Described side chain one structure and side chain two,
Side chain three is identical with side chain four structure, and one end of side chain one is connected with base, one end of side chain one and support phase
Connect；Described side chain two, side chain three are connected with base with one end of side chain four, side chain two, side chain three and side chain
One end of four is connected with support；Described sucker is connected on hydraulic cylinder one piston rod；Described controller passes through spiral shell
Tether and be connected on base.
A kind of grabbing device, described side chain one includes claw, hinge one, hydraulic cylinder two cylinder body, hinge two, moves
Pair two, hydraulic cylinder two piston rod, hinge three；Described hydraulic cylinder two cylinder body forms moving sets with hydraulic cylinder two piston rod
Two；Described claw and hydraulic cylinder two piston rod form hinge one, and claw forms hinge three with support；Described hydraulic pressure
Cylinder two cylinder body forms hinge two with base.
The invention has the beneficial effects as follows: a kind of grabbing device of the present invention uses hydraulic machinery mixed drive, vacuum cup
Absorption principles etc. realize capturing the function of variously-shaped object.The simple in construction of a kind of grabbing device of the present invention, work
Efficiency is high, operability is simple, and low cost of manufacture, and parts replaceability is good, easy to maintenance, and can put having
The severe occasion such as penetrating property uses.
Accompanying drawing explanation
Fig. 1 is the population structure schematic diagram of the present invention；
Fig. 2 is the structural representation of the side chain one of the present invention.
Base 1 in figure, hydraulic cylinder one cylinder body 2, side chain 1, moving sets 1, side chain 25, support 6, sucker 7,
Chain 38, side chain 49, hydraulic cylinder one piston rod 10, controller 11, claw 12, hinge 1, hydraulic cylinder two cylinder body
14, hinge 2 15, moving sets 2 16, hydraulic cylinder two piston rod 17, hinge 3 18.
Detailed description of the invention
For the technological means making the present invention be realized, creation characteristic, reach purpose and be easy to understand with effect, under
Face in conjunction with specific embodiments and illustrates, and the present invention is expanded on further.
As it is shown in figure 1, a kind of grabbing device, including base 1, hydraulic cylinder one cylinder body 2, side chain 1, moving sets one
4, side chain 25, support 6, sucker 7, side chain 38, side chain 49, hydraulic cylinder one piston rod 10, controller 11；
Described hydraulic cylinder one cylinder body 2 is connected by screw on base 1；Described hydraulic cylinder one cylinder body 2 and hydraulic cylinder one
Piston rod 10 forms moving sets 1；Described support 6 is bolted on hydraulic cylinder one cylinder body 2；Described
Side chain 1 structure is identical with side chain 25, side chain 38 and side chain 49 structure, one end of side chain 1 and base
1 is connected, and one end of side chain 1 is connected with support 6；Described side chain 25, side chain 38 and side chain 49
One end is connected with base 1, and side chain 25, side chain 38 are connected with support 6 with one end of side chain 49；Described
Sucker 7 is connected on hydraulic cylinder one piston rod 10；Described controller 11 is bolted on base 1.
Such as Fig. 1, shown in Fig. 2, a kind of grabbing device, described side chain 1 includes claw 12, hinge 1, liquid
Cylinder pressure two cylinder body 14, hinge 2 15, moving sets 2 16, hydraulic cylinder two piston rod 17, hinge 3 18；Described liquid
Cylinder pressure two cylinder body 14 and hydraulic cylinder two piston rod 17 form moving sets 2 16；Described claw 12 and hydraulic cylinder two piston
Bar 17 forms hinge 1, and claw 12 and support 6 form hinge 3 18；Described hydraulic cylinder two cylinder body 14 and the end
Seat 1 forms hinge 2 15.
The use of a kind of grabbing device of the present invention is divided into following several situation: the first situation captures spherical object, the
Two kinds of situations capture square objects, the third situation snatching cylindrical object, the 4th kind of situation capture other irregularly outside
The object of shape.
The first situation captures spherical object: control hydraulic cylinder two piston rod 17 relative to hydraulic cylinder two by controller 11
Cylinder body 14 shrinks, and makes claw 12 relative to support 6 toward rotating over, thus by side chain 1, side chain 25, side chain 38
Strut with the claw 12 of side chain 49；Then claw 12 is moved to above the spherical object of required crawl；By controlling
Device 11 controls hydraulic cylinder two piston rod 17 and extends relative to hydraulic cylinder two cylinder body 14, side chain 1, side chain 25, side chain 38
With the claw 12 of side chain 49 relative to support 6 toward rotated down, and merge immediately below support 6；Then controller 11,
Control hydraulic cylinder one piston rod 10 to extend relative to hydraulic cylinder one cylinder body 2, then sucker 7 and hydraulic cylinder one piston rod 10 1
Rising and move down relative to hydraulic cylinder one cylinder body 2, sucker 7 contacts with spherical object, and controller 11 controls in sucker 7
Negative pressure, makes spherical object closely coupled with sucker 7；It is achieved thereby that the crawl of spherical object.
The second situation captures square objects: control hydraulic cylinder two piston rod 17 relative to hydraulic cylinder two by controller 11
Cylinder body 14 shrinks, and makes claw 12 relative to support 6 toward rotating over, thus by side chain 1, side chain 25, side chain 38
Strut with the claw 12 of side chain 49；Then claw 12 is moved to above the square objects of required crawl；By controlling
Device 11, controls side chain 1, side chain 38 and side chain 25, side chain 49 respectively.First will wherein any pair, false here
If selecting side chain 1, side chain 38.Hydraulic cylinder two piston rod 17 is controlled relative to hydraulic cylinder two cylinder body by controller 11
14 elongations, claw 12 is relative to support 6 toward rotating over, and the claw 12 on final side chain 1, side chain 38 is at support 6
Underface merges, in order to capture square objects；The most square in the cavity that claw 12 is formed；Then controller 11,
Control hydraulic cylinder one piston rod 10 to be allowed to extend relative to hydraulic cylinder one cylinder body 2, then sucker 7 and hydraulic cylinder one piston rod
10 move down relative to hydraulic cylinder one cylinder body 2 together, and sucker 7 contacts with square objects, and controller 11 controls sucker 7
Interior negative pressure, makes square objects closely coupled with sucker 7；Now by controller 11, control hydraulic cylinder two piston rod 17
Extend relative to hydraulic cylinder two cylinder body 14, make the claw 12 on another pair side chain 25, side chain 49 fall, in order to surely
Gu the square objects captured.
The third situation snatching cylindrical object: in advance cylinder is kept flat before Zhua Quing, control hydraulic pressure by controller 11
Cylinder two piston rod 17 shrinks relative to hydraulic cylinder two cylinder body 14, makes claw 12 relative to support 6 toward rotating over, thus will
Claw 12 on side chain 1, side chain 25, side chain 38 and side chain 49 struts；Then claw 12 is moved to required
Above the cylindrical object captured；By controller 11, control side chain 1, side chain 38 and side chain 25, side chain respectively
49.First will wherein any pair, it is assumed here that select side chain 1, side chain 38.Hydraulic cylinder is controlled by controller 11
Two piston rods 17 extend relative to hydraulic cylinder two cylinder body 14, and claw 12 is past relative to support 6 to be rotated over, final side chain one
3, the claw 12 on side chain 38 merges immediately below support 6, in order to snatching cylindrical object；Now cylindrical object exists
In the cavity that claw 12 is formed, because the profile of the claw on side chain 12 is arc-shaped, so snatching cylindrical object is relatively
It is stable；Now by controller 11, control hydraulic cylinder two piston rod 17 and extend relative to hydraulic cylinder two cylinder body 14, make
Claw 12 on another pair side chain 25, side chain 49 falls, in order to the firm cylindrical object captured.
4th kind of situation captures the object of other irregular contours: control hydraulic cylinder two piston rod 17 by controller 11
Shrink relative to hydraulic cylinder two cylinder body 14, make claw 12 relative to support 6 toward rotating over, thus by side chain 1,
Claw 12 on side chain 25, side chain 38 and side chain 49 struts；Then claw 12 is moved to required crawl
Above the object of irregular contour；By controller 11, the piston rod 17 controlling hydraulic stem two extends, now, and side chain
One 3, the claw 12 on side chain 25, side chain 38 and side chain 49 relative to support 6 toward rotated down, and
Merge immediately below frame 6, thus realize capturing the object of irregular contour.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent or the improvement etc. made within god and principle, should be included in protection scope of the present invention it
In.
Claims (1)
1. a grabbing device, it is characterised in that: include base, hydraulic cylinder one cylinder body, side chain one, moving sets one,
Side chain two, support, sucker, side chain three, side chain four, hydraulic cylinder one piston rod, controller；Described hydraulic cylinder one
Cylinder body is connected by screw on base；Described hydraulic cylinder one cylinder body forms moving sets one with hydraulic cylinder one piston rod；
Described support is bolted on hydraulic cylinder one cylinder body；Described side chain one structure and side chain two, side chain three and
Side chain four structure is identical, and one end of side chain one is connected with base, and one end of side chain one is connected with support；
Described side chain two, side chain three are connected with base with one end of side chain four, side chain two, side chain three and side chain four
One end be connected with support；Described sucker is connected on hydraulic cylinder one piston rod；Described controller passes through bolt
It is connected on base；Described side chain one include claw, hinge one, hydraulic cylinder two cylinder body, hinge two, moving sets two,
Hydraulic cylinder two piston rod, hinge three；Described hydraulic cylinder two cylinder body forms moving sets two with hydraulic cylinder two piston rod；Institute
The claw stated and hydraulic cylinder two piston rod form hinge one, and claw forms hinge three with support；Described hydraulic cylinder two cylinder
Body forms hinge two with base；
Described a kind of grabbing device captures the using method of spherical object: control hydraulic cylinder two piston rod phase by controller
Hydraulic cylinder two cylinder body is shunk, makes claw relative to support toward rotating over, thus by side chain one, side chain two,
The claw of chain three and side chain four struts；Then claw is moved to above the spherical object of required crawl；By controlling
Device controls hydraulic cylinder two piston rod and extends relative to hydraulic cylinder two cylinder body, side chain one, side chain two, side chain three and side chain four
Claw relative to support toward rotated down, and immediately below support merge；Then controller, controls hydraulic cylinder one and lives
Stopper rod relative to hydraulic cylinder one cylinder body extend, then sucker together with hydraulic cylinder one piston rod relative to hydraulic cylinder one cylinder body
Moving down, sucker contacts with spherical object, and controller controls the negative pressure in sucker, makes spherical object tight with sucker
Close connected；Achieve the crawl of spherical object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610349794.1A CN105945975A (en) | 2016-05-24 | 2016-05-24 | Grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610349794.1A CN105945975A (en) | 2016-05-24 | 2016-05-24 | Grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105945975A true CN105945975A (en) | 2016-09-21 |
Family
ID=56910414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610349794.1A Withdrawn CN105945975A (en) | 2016-05-24 | 2016-05-24 | Grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105945975A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378997A (en) * | 2017-06-20 | 2017-11-24 | 安徽悦尔伟塑料机械有限公司 | Grasping mechanism on manipulator |
| CN108432657A (en) * | 2018-03-01 | 2018-08-24 | 漯河医学高等专科学校 | A kind of experimental animal feeding crawl integrated device |
| CN108689234A (en) * | 2018-05-23 | 2018-10-23 | 南通醋酸纤维有限公司 | A kind of spinning front end auxiliary roller device |
| CN110000264A (en) * | 2019-04-29 | 2019-07-12 | 上海申江压力容器有限公司 | A kind of seal head molding device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101190646A (en) * | 2006-12-01 | 2008-06-04 | 申克罗泰克有限责任公司 | Device for mounting a pneumatic tyre onto a vehicle wheel rim |
| CN101497199A (en) * | 2008-02-03 | 2009-08-05 | 辜纹甄 | Improved structure of plum-blossom chuck |
| CN202264225U (en) * | 2011-09-01 | 2012-06-06 | 蔡进辉 | Operating device of clamping machine with claw and rechargeable suction plate |
| US20140103676A1 (en) * | 2012-10-11 | 2014-04-17 | Seiko Epson Corporation | Robot hand and robot device |
| EP2735406A1 (en) * | 2012-11-27 | 2014-05-28 | FESTO AG & Co. KG | Gripper device for gripping objects |
-
2016
- 2016-05-24 CN CN201610349794.1A patent/CN105945975A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101190646A (en) * | 2006-12-01 | 2008-06-04 | 申克罗泰克有限责任公司 | Device for mounting a pneumatic tyre onto a vehicle wheel rim |
| CN101497199A (en) * | 2008-02-03 | 2009-08-05 | 辜纹甄 | Improved structure of plum-blossom chuck |
| CN202264225U (en) * | 2011-09-01 | 2012-06-06 | 蔡进辉 | Operating device of clamping machine with claw and rechargeable suction plate |
| US20140103676A1 (en) * | 2012-10-11 | 2014-04-17 | Seiko Epson Corporation | Robot hand and robot device |
| EP2735406A1 (en) * | 2012-11-27 | 2014-05-28 | FESTO AG & Co. KG | Gripper device for gripping objects |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378997A (en) * | 2017-06-20 | 2017-11-24 | 安徽悦尔伟塑料机械有限公司 | Grasping mechanism on manipulator |
| CN108432657A (en) * | 2018-03-01 | 2018-08-24 | 漯河医学高等专科学校 | A kind of experimental animal feeding crawl integrated device |
| CN108689234A (en) * | 2018-05-23 | 2018-10-23 | 南通醋酸纤维有限公司 | A kind of spinning front end auxiliary roller device |
| CN108689234B (en) * | 2018-05-23 | 2023-10-10 | 南通醋酸纤维有限公司 | Front-end auxiliary roller device for spinning |
| CN110000264A (en) * | 2019-04-29 | 2019-07-12 | 上海申江压力容器有限公司 | A kind of seal head molding device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20160921 |