CN107160363A - A kind of parallel clamping device - Google Patents
A kind of parallel clamping device Download PDFInfo
- Publication number
- CN107160363A CN107160363A CN201710420923.6A CN201710420923A CN107160363A CN 107160363 A CN107160363 A CN 107160363A CN 201710420923 A CN201710420923 A CN 201710420923A CN 107160363 A CN107160363 A CN 107160363A
- Authority
- CN
- China
- Prior art keywords
- telescopic cylinder
- portable plate
- universal joint
- downside
- fixed
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
Abstract
The invention discloses a kind of parallel clamping device, including retained part；Rotating part in parallel.Retained part includes portable plate, three structure identical universal joint fixed seats are each provided with the middle part, right side, downside of portable plate respectively, spacing hole is opened on the upside of portable plate, in spacing hole both sides difference one bearing fixing hole of each setting, two structure identical clamping claws are separately mounted in the corresponding bearing fixing hole by bearing；Rotating part in parallel includes three structure identical universal joints, fixed plate, right side telescopic cylinder, downside telescopic cylinders；When retained part is rotated upwardly and downwardly, downside telescopic cylinder length change, right side telescopic cylinder is motionless, and the change of cylinder length drives portable plate to rotate upwardly and downwardly via the transmission of universal joint；During retained part left-right rotation, right side telescopic cylinder length change, downside telescopic cylinder is motionless, and the change of cylinder length drives portable plate left-right rotation via the transmission of universal joint.
Description
Technical field
The present invention relates to clamping device, more particularly to a kind of parallel clamping device.
Background technology
At present, general clamping device is made up of telescopic cylinder (screw rod), the axis of guide and clamping claw, by stretching
Contracting cylinder (screw rod) drives the motion of clamping claw along the linear motion of the axis of guide, clamping claw is made grasp motion, from
And the purpose of gripping objects is reached, this does not have any inconvenient place in fixed position clamping usually is used.But,
Clamped when we need clamping device to adapt to special angle, or clamped object is when need to carry out various dimensions motion, for example
The fire protection pipeline nozzle of fire-fighting robot need to carry out multi-angle swing, if using general clamping device, it is impossible to spray angle
It is adjusted.At this moment, general clamping device can not just meet our use demand.
The content of the invention
It is an object of the invention to overcome the shortcoming and defect of above-mentioned prior art there is provided a kind of parallel clamping device,
The technical problem of special angle clamping and multi-angle regulation can not be adapted to solve general clamping device.
The present invention is achieved through the following technical solutions：
A kind of parallel clamping device, including following two parts：
Retained part；Rotating part in parallel；
The retained part includes：Portable plate 4, is each provided with three knots at the middle part, right side, downside of portable plate 4 respectively
Structure identical universal joint fixed seat 5, spacing hole 14 is opened in the upside of portable plate 4, in each setting one of both sides difference of spacing hole 14
Individual bearing fixing hole 16, two structure identical clamping claws 1 are separately mounted to the corresponding bearing fixing hole 16 by bearing
It is interior；The overall V-shaped structure of claw 1 is clamped, connecting hole 2 is set in " V " font apex；The one of the connection connecting rod 3 of connecting hole 2
End, the top of the other end and screw rod 12 of connecting rod 3 is hinged, and the other end is through spacing hole 14 and precession adjusting nut 13；
The rotating part in parallel includes：Three structure identical universal joints 11, fixed plate 6, right side telescopic cylinder 10, under
Side telescopic cylinder 7；Three structure identical universal joints 11, are separately fixed in universal joint fixed seat 5；Wherein, it is fixed on right side
And downside universal joint 11, fixed respectively with right side telescopic cylinder 10 and downside telescopic cylinder 7, and universal positioned at middle part
Section 11 is then fixed with fixed support bar 9, and the fixation support bar 9 is connected by flange base 8 with fixed plate 6, fixed plate 6 and is located at
Right side, the universal joint 11 of downside are fixedly connected.
The clamping claw 1 and the formation revolute pair of connecting rod 3；Connecting rod 3 and the formation revolute pair of screw rod 12.
When retained part is rotated upwardly and downwardly, the length change of downside telescopic cylinder 7, right side telescopic cylinder 10 is motionless, cylinder length
Change via universal joint 5 transmission, drive portable plate 4 rotate upwardly and downwardly；
During retained part left-right rotation, the length change of right side telescopic cylinder 10, downside telescopic cylinder 7 is motionless, cylinder length
Change via universal joint 5 transmission, drive the left-right rotation of portable plate 4.
The portable plate 4 is in pentagonal configuration.
The clamping claw 1 is in 150 ° " V " font structure.
The positioning for being respectively used to permanent universal joint fixed seat 5 and fixed support bar 9 on the portable plate 4, fixed plate 6
Hole, distributing position is identical or mutual correspondence.
The universal joint fixed seat 5 is fixed with portable plate 4 by screw 15.
Compared with prior art, technical measure is simple and easy to do.Pass through the gas that stretched on the right side of rotating part in parallel with downside
The multi-direction rotation of grasping mechanism is realized in the cooperation of cylinder, and special angle clamping and multi-angle can not be adapted to by solving general clamping device
The problem of regulation.
Brief description of the drawings
Fig. 1 is the parallel clamping device external structure schematic diagram of the embodiment of the present invention.
Fig. 2 is the retained part structural representation of the embodiment of the present invention.
Fig. 3 is the parallel rotating part structural representation of the embodiment of the present invention.
Fig. 4 is that the parallel clamping device of the embodiment of the present invention uses schematic diagram one.
Fig. 5 is that the parallel clamping device of the embodiment of the present invention uses schematic diagram two.
Embodiment
The present invention is more specifically described in detail with reference to specific embodiment.
Embodiment
As shown in Fig. 1 to 5.The invention discloses a kind of parallel clamping device, including following two parts：Clamping part
Point；Rotating part in parallel.
The retained part includes：Portable plate 4, is each provided with three knots at the middle part, right side, downside of portable plate 4 respectively
Structure identical universal joint fixed seat 5, spacing hole 14 is opened in the upside of portable plate 4, in each setting one of both sides difference of spacing hole 14
Individual bearing fixing hole 16, two structure identical clamping claws 1 are separately mounted to the corresponding bearing fixing hole 16 by bearing
It is interior；The overall V-shaped structure of claw 1 is clamped, connecting hole 2 is set in " V " font apex；The one of the connection connecting rod 3 of connecting hole 2
End, the top of the other end and screw rod 12 of connecting rod 3 is hinged, and the other end is through spacing hole 14 and precession adjusting nut 13；
The rotating part in parallel includes：Three structure identical universal joints 11, fixed plate 6, right side telescopic cylinder 10, under
Side telescopic cylinder 7；Three structure identical universal joints 11, are separately fixed in universal joint fixed seat 5；Wherein, it is fixed on right side
And downside universal joint 11, fixed respectively with right side telescopic cylinder 10 and downside telescopic cylinder 7, and universal positioned at middle part
Section 11 is then fixed with fixed support bar 9, and the fixation support bar 9 is connected by flange base 8 with fixed plate 6, fixed plate 6 and is located at
Right side, the universal joint 11 of downside are fixedly connected.
The clamping claw 1 and the formation revolute pair of connecting rod 3；Connecting rod 3 and the formation revolute pair of screw rod 12.
The portable plate 4 is in pentagonal configuration.
The clamping claw 1 is in 150 ° " V " font structure.
The positioning for being respectively used to permanent universal joint fixed seat 5 and fixed support bar 9 on the portable plate 4, fixed plate 6
Hole, distributing position is identical or mutual correspondence.
The universal joint fixed seat 5 is fixed with portable plate 4 by screw 15.
Fig. 4 state is the state that retained part is rotated upwardly and downwardly.The length change of downside telescopic cylinder 7, right side telescopic cylinder
10 is motionless, and the change of cylinder length drives portable plate 4 to rotate upwardly and downwardly via the transmission of universal joint 5；
Fig. 5 state is the state of retained part left-right rotation.Right side telescopic cylinder 10) length change, downside is stretched gas
Cylinder 7 is motionless, and the change of cylinder length drives the left-right rotation of portable plate 4 via the transmission of universal joint 5；
Mutually coordinate with downside telescopic cylinder on right side, it is possible to realize that the multi-direction of clamping device freely rotates, it is thus real
Now solve the problems, such as that general clamping device can not adapt to the purpose of special angle clamping and multi-angle regulation.
Realize the present invention preferred plan be using aluminium alloy as material, using numerical control workshop, NC milling and
Welding procedure, is produced using small lot, applied to fire-fighting robot gripping swing mechanism and all kinds of folders with flexibility ratio requirement
Transport task is held, the practical value and economic value of parallel clamping device of the invention can be thus better achieved.
Embodiments of the present invention are simultaneously not restricted to the described embodiments, other any Spirit Essences without departing from the present invention
With the change made under principle, modification, replacement, combine, simplify, should be equivalent substitute mode, be included in the present invention
Within protection domain.
Claims (6)
1. a kind of parallel clamping device, it is characterised in that including following two parts：
Retained part；
Rotating part in parallel；
The retained part includes：Portable plate (4), is each provided with three knots at the middle part, right side, downside of portable plate (4) respectively
Structure identical universal joint fixed seat (5), opens spacing hole (14) on the upside of portable plate (4), distinguishes in the both sides of spacing hole (14)
One bearing fixing hole (16) is respectively set, and it is corresponding that two structure identical clamping claws (1) are separately mounted to this by bearing
In bearing fixing hole (16)；The overall V-shaped structure of claw (1) is clamped, connecting hole (2) is set in " V " font apex；Even
One end of hole (2) connection connecting rod (3) is connect, the top of the other end and screw rod (12) of connecting rod (3) is hinged, the other end runs through spacing hole
And precession adjusting nut (13) (14)；
The rotating part in parallel includes：Three structure identical universal joints (11), fixed plate (6), right side telescopic cylinder (10),
Downside telescopic cylinder (7)；Three structure identical universal joints (11), are separately fixed in universal joint fixed seat (5)；Wherein, Gu
Right side and downside universal joint (11) is scheduled on, it is fixed with right side telescopic cylinder (10) and downside telescopic cylinder (7) respectively, and
Universal joint (11) positioned at middle part is then fixed with fixed support bar (9), and the fixation support bar (9) is by flange base (8) and admittedly
Fixed board (6) is connected, and fixed plate (6) is fixedly connected with the universal joint (11) positioned at right side, downside.
2. parallel clamping device according to claim 1, it is characterised in that：The clamping claw (1) and connecting rod (3) formation
Revolute pair；Connecting rod (3) and screw rod (12) formation revolute pair；
When retained part is rotated upwardly and downwardly, downside telescopic cylinder (7) length change, right side telescopic cylinder (10) is motionless, cylinder length
Change via universal joint (5) transmission, drive portable plate (4) rotate upwardly and downwardly；
During retained part left-right rotation, right side telescopic cylinder (10) length change, downside telescopic cylinder (7) is motionless, cylinder length
Change via universal joint (5) transmission, drive portable plate (4) left-right rotation.
3. parallel clamping device according to claim 2, it is characterised in that：The portable plate (4) is in pentagonal configuration.
4. parallel clamping device according to claim 3, it is characterised in that：The clamping claw (1) is in 150 ° " V " word
Type structure.
5. parallel clamping device according to claim 4, it is characterised in that：On the portable plate (4), fixed plate (6)
It is respectively used to the positioning hole of permanent universal joint fixed seat (5) and fixed support bar (9), distributing position is identical or mutual correspondence.
6. parallel clamping device according to claim 5, it is characterised in that：The universal joint fixed seat (5) and portable plate
(4) fixed by screw 15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710420923.6A CN107160363A (en) | 2017-06-07 | 2017-06-07 | A kind of parallel clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710420923.6A CN107160363A (en) | 2017-06-07 | 2017-06-07 | A kind of parallel clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107160363A true CN107160363A (en) | 2017-09-15 |
Family
ID=59824581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710420923.6A Pending CN107160363A (en) | 2017-06-07 | 2017-06-07 | A kind of parallel clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107160363A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838913A (en) * | 2017-10-17 | 2018-03-27 | 安徽工程大学 | A kind of automatic rotating and clamping device of industrial robot |
| CN108466254A (en) * | 2018-03-27 | 2018-08-31 | 陈洁 | It is a kind of can automatic clamping casting smelting operation console |
| CN109202947A (en) * | 2017-12-04 | 2019-01-15 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of automatic grabbing device |
| CN109304720A (en) * | 2018-11-28 | 2019-02-05 | 南京航空航天大学 | One kind is novel to scratch electrical spring flexible manipulator |
| CN109847458A (en) * | 2019-02-14 | 2019-06-07 | 安徽宏凤空调滤网有限公司 | A kind of air conditioner filter screen high-efficiency washing device |
| CN110238815A (en) * | 2019-04-22 | 2019-09-17 | 岱纳包装（天津）有限公司 | Dimensional measurement intelligent robot |
| CN112894866A (en) * | 2019-12-03 | 2021-06-04 | 湖南省洪江市安达有限责任公司 | Steering wheel positioning clamp |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1544210A (en) * | 2003-11-28 | 2004-11-10 | 清华大学 | Rotating parallel robot mechanism with two degrees of freedom |
| US20110282253A1 (en) * | 2009-09-21 | 2011-11-17 | Carlo Menon | Wrist exoskeleton |
| CN202964644U (en) * | 2012-11-20 | 2013-06-05 | 北京博纳启源科技有限公司 | Electric two-degree-of-freedom motion platform |
| CN205614647U (en) * | 2016-03-30 | 2016-10-05 | 燕山大学 | Two degree of freedom spherical surface parallel mechanism of high rigidity |
| CN106737783A (en) * | 2016-12-30 | 2017-05-31 | 安徽清水岩生态科技有限公司 | A kind of steel pipe fitting clamping tooling |
| CN207206404U (en) * | 2017-06-07 | 2018-04-10 | 华南理工大学 | A kind of parallel clamping device |
-
2017
- 2017-06-07 CN CN201710420923.6A patent/CN107160363A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1544210A (en) * | 2003-11-28 | 2004-11-10 | 清华大学 | Rotating parallel robot mechanism with two degrees of freedom |
| US20110282253A1 (en) * | 2009-09-21 | 2011-11-17 | Carlo Menon | Wrist exoskeleton |
| CN202964644U (en) * | 2012-11-20 | 2013-06-05 | 北京博纳启源科技有限公司 | Electric two-degree-of-freedom motion platform |
| CN205614647U (en) * | 2016-03-30 | 2016-10-05 | 燕山大学 | Two degree of freedom spherical surface parallel mechanism of high rigidity |
| CN106737783A (en) * | 2016-12-30 | 2017-05-31 | 安徽清水岩生态科技有限公司 | A kind of steel pipe fitting clamping tooling |
| CN207206404U (en) * | 2017-06-07 | 2018-04-10 | 华南理工大学 | A kind of parallel clamping device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838913A (en) * | 2017-10-17 | 2018-03-27 | 安徽工程大学 | A kind of automatic rotating and clamping device of industrial robot |
| CN109202947A (en) * | 2017-12-04 | 2019-01-15 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of automatic grabbing device |
| CN108466254A (en) * | 2018-03-27 | 2018-08-31 | 陈洁 | It is a kind of can automatic clamping casting smelting operation console |
| CN109304720A (en) * | 2018-11-28 | 2019-02-05 | 南京航空航天大学 | One kind is novel to scratch electrical spring flexible manipulator |
| CN109847458A (en) * | 2019-02-14 | 2019-06-07 | 安徽宏凤空调滤网有限公司 | A kind of air conditioner filter screen high-efficiency washing device |
| CN110238815A (en) * | 2019-04-22 | 2019-09-17 | 岱纳包装（天津）有限公司 | Dimensional measurement intelligent robot |
| CN112894866A (en) * | 2019-12-03 | 2021-06-04 | 湖南省洪江市安达有限责任公司 | Steering wheel positioning clamp |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170915 |
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| WD01 | Invention patent application deemed withdrawn after publication |