A kind of mechanical paw of tubular
The present invention relates to a kind of manipulator, specifically a kind of mechanical paw of tubular.
Robot hand is a Mechatronic Systems highly integrated, with a variety of perceptional functions among Robot Design,
It is both the perceptron of an active perception working environment information, is the actuator of robot end again, in specific design process
In, the analysis, the determination of workpiece anchor point and clamping mode, workpiece sensing for being related to robot hand Workpiece structure form are passed
The relevant design requirement such as sensor position and determination of amount, the cleaning of workpiece surface, the security of paw.Current general machine
Tool paw can only capture object vertically downward, capture object unbalance stress and object is easily dropped.
The content of the invention
It is an object of the invention to provide a kind of mechanical paw of tubular, with asking for solving to propose in above-mentioned background technology
To achieve the above object, the present invention provides following technical scheme：
Pass through arc between a kind of mechanical paw of tubular, including arm bar and three outer arcuate plates, three outer arcuate plates
Shape bar is fixedly connected, and bearing is provided with one of outer arcuate plate lateral wall, and bearing is hinged with arm bar, on arm bar
It is additionally provided with hinged seat, the hinged seat and is provided with hydraulic cylinder, top and the outer arcuate plate lateral wall of hydraulic cylinder is hinged,
The outer arcuate intralamellar part is provided with the deep-slotted chip breaker with coaxial line, and the deep-slotted chip breaker is internally provided with arc plate, outer arcuate plate
Madial wall on offer the paw plate being provided with the inside of strip through-hole, outer arcuate plate in arc-shaped, paw plate passes through crawl
Mechanism is connected with outer arcuate plate madial wall, and the grasping mechanism includes upper fix bar, lower fix bar, upper connecting rod and lower link,
Upper fix bar is fixedly connected through strip through-hole with arc plate, and the lower fix bar is fixedly connected with outer arcuate plate madial wall,
Upper connecting rod upper end is hinged with upper fix bar one end, and upper connecting rod lower end is hinged with paw plate, lower link upper end and paw plate phase
It is hinged, lower link upper end is hinged with lower fix bar, three outer arcuate plate top inner side walls are connected by cover plate, three institutes
State arc plate top by pressing plate to be connected, cylinder is provided with cover plate, cylinder passes through air-leg and pressing plate lower surface phase
It is used as further scheme of the invention：Limiting plate is provided with the arm bar, limiting plate is against outer arcuate plate
On lateral wall.
It is used as further scheme of the invention：Slipmat is provided with the paw plate.
It is used as further scheme of the invention：Three outer arcuate plates are in circular row.
Compared with prior art, the beneficial effects of the invention are as follows：By the setting of hydraulic cylinder can adjust outer arcuate plate and
Arc plate incline direction, so as to tilt crawl object, improves crawl scope, can be with by the setting of grasping mechanism
So that three paw plates draw close clamping article with phase, clamp firmly, and the locality specific of crawl.Structure of the present invention adds list, grabs
Take firmly, tiltable crawl object, the locality specific of crawl, simple to operate, practicality is stronger.
Brief description of the drawings
Fig. 1 is the structural representation of the mechanical paw of tubular.
Fig. 2 is the mechanical paw China and foreign countries arc of tubular and the overlooking the structure diagram of arc plate.
Wherein：Arm bar 1, bearing 2, outer arcuate plate 3, arc plate 4, pressing plate 5, cylinder 6, air-leg 7, cover plate 8,
Limiting plate 9, hinged seat 10, hydraulic cylinder 11, paw plate 12, grasping mechanism 13, upper fix bar 14, upper connecting rod 15, strip through-hole
16th, lower link 17, deep-slotted chip breaker 18, lower fix bar 19, slipmat 20, bow 21.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
Refer in Fig. 1~2, the embodiment of the present invention, a kind of mechanical paw of tubular, including outside arm bar 1 and three
Arc 3, three outer arcuate plates 3 are set in circular row, and fix company by bow 21 between three outer arcuate plates 3
Connect, be provided with bearing 2 on one of lateral wall of outer arcuate plate 3, bearing 2 is hinged with arm bar 1, is provided with arm bar 1
Limiting plate 9, limiting plate 9 is against on the lateral wall of outer arcuate plate 3, and hinged seat 10, the hinged seat are additionally provided with arm bar 1
Hydraulic cylinder 11 is provided with 10, top and the lateral wall of outer arcuate plate 3 of hydraulic cylinder 11 are hinged, set inside the outer arcuate plate 3
The deep-slotted chip breaker 18 with coaxial line is equipped with, the deep-slotted chip breaker 18 is internally provided with arc plate 4, the madial wall of outer arcuate plate 3 and opened
Provided with strip through-hole 16, the inner side of outer arcuate plate 3 be provided with the paw plate 12 in arc-shaped, paw plate 12 be provided with it is anti-skidding
Pad 20, paw plate 12 is connected by grasping mechanism 13 with the madial wall of outer arcuate plate 3, and the grasping mechanism 13 includes upper fixation
Bar 14, lower fix bar 19, upper connecting rod 15 and lower link 17, upper fix bar 14 is fixed through strip through-hole 16 with arc plate 4 to be connected
Connect, the lower fix bar 19 is fixedly connected with the madial wall of outer arcuate plate 3, the upper end of upper connecting rod 15 is mutually cut with scissors with upper one end of fix bar 14
Connect, the lower end of upper connecting rod 15 is hinged with paw plate 12, the upper end of lower link 17 is hinged with paw plate 12, the upper end of lower link 17 with
Lower fix bar 19 is hinged, and three top inner side walls of outer arcuate plate 3 are connected by cover plate 8, and three arc plates 4 are pushed up
End is connected by pressing plate 5, cylinder 6 is provided with cover plate 8, cylinder 6 is connected by air-leg 7 with the lower surface of pressing plate 5.
The present invention operation principle be：Outer arcuate plate 3 and the incline direction of arc plate 4 can be adjusted by hydraulic cylinder 11,
So as to tilt crawl object, the setting of limiting plate 9 cause outer arcuate plate 3 and arc plate 4 vertically crawl object when can be with
Accurate positioning, pulls pressing plate 5 to move down by cylinder 6, and pressing plate 5 is moved down so that arc plate 4 is moved down in deep-slotted chip breaker 18, so that
So that the upper downward fix bar 19 of fix bar 14 is drawn close, so that upper connecting rod 15 and lower link 17 promote paw plate 12 to be tightened up to inner side,
Object is captured so as to which three paw plates 12 are mutually drawn close.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, nothing
By from the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by institute
Attached claim rather than described above are limited, it is intended that will fall in the implication and scope of the equivalency of claim
All changes include in the present invention.Any reference in claim should not be considered as to the right involved by limitation
It is required that.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It may be appreciated other embodiment.