CN107243916A - A kind of mechanical paw of tubular - Google Patents

A kind of mechanical paw of tubular Download PDF

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Publication number
CN107243916A
CN107243916A CN201710553427.8A CN201710553427A CN107243916A CN 107243916 A CN107243916 A CN 107243916A CN 201710553427 A CN201710553427 A CN 201710553427A CN 107243916 A CN107243916 A CN 107243916A
Authority
CN
China
Prior art keywords
plate
arcuate
paw
hinged
arc
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.)
Granted
Application number
CN201710553427.8A
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Chinese (zh)
Other versions
CN107243916B (en
Inventor
肖路长
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ma'anshan Xinqiao Industrial Design Co., Ltd.
Original Assignee
Foshan Is Just Slightly Mdt Infotech Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Foshan Is Just Slightly Mdt Infotech Ltd filed Critical Foshan Is Just Slightly Mdt Infotech Ltd
Priority to CN201710553427.8A priority Critical patent/CN107243916B/en
Publication of CN107243916A publication Critical patent/CN107243916A/en
Application granted granted Critical
Publication of CN107243916B publication Critical patent/CN107243916B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0033Gripping heads and other end effectors with gripping surfaces having special shapes
    • B25J15/0038Cylindrical gripping surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers

Abstract

The invention discloses a kind of mechanical paw of tubular, including arm bar and three outer arcuate plates, bearing is hinged with arm bar, hinged seat is additionally provided with arm bar, hydraulic cylinder is provided with the hinged seat, the top of hydraulic cylinder is hinged with outer arcuate plate lateral wall, the outer arcuate intralamellar part is provided with the deep-slotted chip breaker with coaxial line, the deep-slotted chip breaker is internally provided with arc plate, strip through-hole is offered on the madial wall of outer arcuate plate, the paw plate in arc-shaped is provided with the inside of outer arcuate plate, paw plate is connected by grasping mechanism with outer arcuate plate madial wall, three outer arcuate plate top inner side walls are connected by cover plate, three arc plate tops are connected by pressing plate, cylinder is provided with cover plate, cylinder is connected by air-leg with pressing plate lower surface.Structure of the present invention adds list, and crawl is firm, tiltable crawl object, the locality specific of crawl, and simple to operate, practicality is stronger.

Description

A kind of mechanical paw of tubular
Technical field
The present invention relates to a kind of manipulator, specifically a kind of mechanical paw of tubular.
Background technology
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 Topic.
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 Connection.
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.
Embodiment
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.

Claims (4)

1. a kind of mechanical paw of tubular, including arm bar (1) and three outer arcuate plates (3), it is characterised in that three outer arcs It is fixedly connected between shape plate (3) by bow (21), bearing (2) is provided with one of outer arcuate plate (3) lateral wall, is propped up Seat (2) is hinged with arm bar (1), is additionally provided with arm bar (1) on hinged seat (10), the hinged seat (10) and is provided with liquid Cylinder pressure (11), top and outer arcuate plate (3) lateral wall of hydraulic cylinder (11) are hinged, and the outer arcuate plate (3) is internally provided with With the deep-slotted chip breaker (18) of coaxial line, the deep-slotted chip breaker (18) is internally provided with arc plate (4), the madial wall of outer arcuate plate (3) On offer the paw plate (12) being provided with the inside of strip through-hole (16), outer arcuate plate (3) in arc-shaped, paw plate (12) leads to Cross grasping mechanism (13) with outer arcuate plate (3) madial wall to be connected, the grasping mechanism (13) includes upper fix bar (14), lower solid Fixed pole (19), upper connecting rod (15) and lower link (17), upper fix bar (14) are fixed with arc plate (4) through strip through-hole (16) Connection, the lower fix bar (19) is fixedly connected with outer arcuate plate (3) madial wall, upper connecting rod (15) upper end and upper fix bar (14) One end is hinged, and upper connecting rod (15) lower end is hinged with paw plate (12), and lower link (17) upper end is hinged with paw plate (12), Lower link (17) upper end is hinged with lower fix bar (19), and three outer arcuate plate (3) top inner side walls are connected by cover plate (8) Connect, three arc plate (4) tops are connected by pressing plate (5), cylinder (6) is provided with cover plate (8), cylinder (6) leads to Air-leg (7) is crossed with pressing plate (5) lower surface to be connected.
2. the mechanical paw of tubular according to claim 1, it is characterised in that set limited on the arm bar (1) Position plate (9), limiting plate (9) is against on the lateral wall of outer arcuate plate (3).
3. the mechanical paw of tubular according to claim 1, it is characterised in that be provided with the paw plate (12) anti- Skidding (20).
4. the mechanical paw of tubular according to claim 1, it is characterised in that three outer arcuate plates (3) are in circle Annular arrangement.
CN201710553427.8A 2017-07-08 2017-07-08 A kind of mechanical paw of tubular Active CN107243916B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710553427.8A CN107243916B (en) 2017-07-08 2017-07-08 A kind of mechanical paw of tubular

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710553427.8A CN107243916B (en) 2017-07-08 2017-07-08 A kind of mechanical paw of tubular

Publications (2)

Publication Number Publication Date
CN107243916A true CN107243916A (en) 2017-10-13
CN107243916B CN107243916B (en) 2019-09-17

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710553427.8A Active CN107243916B (en) 2017-07-08 2017-07-08 A kind of mechanical paw of tubular

Country Status (1)

Country Link
CN (1) CN107243916B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RO121897B1 (en) * 2004-09-06 2008-07-30 Institutul De Cercetare Şi Proiectare Tehnologică Pentru Construcţia De Maşini - Ictcm S.A. Gripping device
CN102371583A (en) * 2010-08-23 2012-03-14 中国科学院空间科学与应用研究中心 Mechanical arm for grabbing sample ampoules
CN104117988A (en) * 2014-07-04 2014-10-29 浙江工业大学 Automatic hoisting device
CN106514642A (en) * 2016-12-30 2017-03-22 天津市双象工程液压件有限责任公司 Cylindrical-barrel vertical manipulator with air bag
CN206085080U (en) * 2016-10-19 2017-04-12 常州信息职业技术学院 Arm clamping jaw is embraced in jack -up of cylinder material centre gripping

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RO121897B1 (en) * 2004-09-06 2008-07-30 Institutul De Cercetare Şi Proiectare Tehnologică Pentru Construcţia De Maşini - Ictcm S.A. Gripping device
CN102371583A (en) * 2010-08-23 2012-03-14 中国科学院空间科学与应用研究中心 Mechanical arm for grabbing sample ampoules
CN104117988A (en) * 2014-07-04 2014-10-29 浙江工业大学 Automatic hoisting device
CN206085080U (en) * 2016-10-19 2017-04-12 常州信息职业技术学院 Arm clamping jaw is embraced in jack -up of cylinder material centre gripping
CN106514642A (en) * 2016-12-30 2017-03-22 天津市双象工程液压件有限责任公司 Cylindrical-barrel vertical manipulator with air bag

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Publication number Publication date
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Effective date of registration: 20190827

Address after: 243000 Anhui city of Ma'anshan province high tech Zone at 1669 North Road Huo sparkle Building No. 2

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Address before: 528300 Underground No. 4, Six Blocks, Hongtu New Village, Daliang Jinbang, Shunde District, Foshan City, Guangdong Province

Applicant before: Foshan is just slightly Mdt InfoTech Ltd

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