CN107671881A - A kind of explosive gripper - Google Patents
A kind of explosive gripper Download PDFInfo
- Publication number
- CN107671881A CN107671881A CN201711033901.0A CN201711033901A CN107671881A CN 107671881 A CN107671881 A CN 107671881A CN 201711033901 A CN201711033901 A CN 201711033901A CN 107671881 A CN107671881 A CN 107671881A
- Authority
- CN
- China
- Prior art keywords
- pedestal
- vacuum
- gripper
- push rod
- vacuum tube
- 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- Withdrawn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
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of explosive gripper, it is related to explosive engineering device technique field.The present invention includes the gripper of mechanical arm and connection on the robotic arm, the vacuum absorber for absorbent bodies is provided with gripper, gripper includes pars contractilis and clamping part, pars contractilis includes pedestal A, the pedestal B below pedestal A and the screw lift being fixed on pedestal A, and the screw mandrel lower end of screw lift is connected through pedestal A and with pedestal B；What clamping part included being movably connected in pedestal B left and right ends can be respectively hinged at the push rod A and push rod B in the middle part of two arc fixtures with respect to the arc fixture A and arc fixture B of folding, and one end, and pedestal A bottoms are hinged in the two push rod other ends of X-shaped intersection.The present invention sets vacuum absorber on gripper, in use to the less demanding of space, has the characteristics of flexibility ratio and high explosive success rate.
Description
Technical field
The present invention relates to a kind of explosive equipment technical field, more particularly to a kind of explosive gripper.
Background technology
Manipulator for explosion eliminating is a kind of ultraportable, super-strength explosive equipment, and main function is that explosive personnel utilize explosive-removal rod
Safe transfer is carried out to explosive, or is transferred to explosive-removal container and carries out explosion.Number of patent application is CN201120079301.X's
Chinese invention patent discloses a kind of hand controlled explosive ordnance disposal robot, and this hand controlled explosive ordnance disposal robot is harmonious including stock, two
Claw type manipulator, it is characterized in that：Wherein one fixed claw to be fixedly connected with stock of the claw type manipulator, another are
The movable claw being fixedly connected with the lever drive arm of force；The length of the acting force arm of lever is more than the transmission arm of force；In leverage
A spring clip is respectively set on the outside of the top of arm and fixed claw, the both ends of a spring are connected with two clips respectively；Acting on
The top of the arm of force sets a clip and is flexibly connected with pulley component；Manipulation rope clip is provided with the upper front part position of stock,
One end of manipulation rope is connected with clip, and the other end for manipulating rope is used for manual control around the pulley in pulley component.This row
Quick-fried manipulator is although simple in construction, easily operation, but the flexibility ratio of manipulator is low, and the article local environment that faces a danger is complicated,
When gripper activity is restricted, the success rate of manipulator for explosion eliminating transfer dangerous material will be greatly reduced.
The content of the invention
It is an object of the invention to：For prior art flexibility ratio it is low, do not adapt to the problem of complex environment, the present invention carries
For a kind of anti-explosion mechanical arm pawl.
The present invention specifically uses following technical scheme to achieve these goals：A kind of explosive gripper, including mechanical arm
With connection gripper on the robotic arm, the vacuum absorber for absorbent bodies is provided with gripper, gripper includes stretching
Contracting portion and clamping part, pars contractilis include pedestal A, the pedestal B below pedestal A and the screw lift being fixed on pedestal A,
The screw mandrel lower end of screw lift is connected through pedestal A and with pedestal B；Clamping part includes being movably connected in pedestal B left and right ends
Mutual cooperation arc fixture A and arc fixture B, arc fixture A and arc fixture B in the middle part of be respectively articulated with push rod A and
Push rod B, push rod A and push rod the B other end are hinged with pedestal A bottoms respectively, and push rod A and push rod B intersect in X-shaped.
Further, vacuum absorber includes vacuum generator, damping hose, vacuum tube and the suction nozzle being sequentially communicated, very
Empty generator is fixed in pedestal B, is additionally provided with outside damping hose and vacuum tube for guiding vacuum tube is up and down to delay
Support is rushed, the limiting plate being fixed on outside vacuum tube is provided with buffering stand, bullet is provided between limiting plate and buffering stand
Spring damper, damping hose pass through pedestal B, and buffering stand is fixed on below pedestal B.
Further, vacuum absorber includes vacuum generator, damping hose, vacuum tube and the suction nozzle being sequentially communicated, and delays
Rush outside flexible pipe and vacuum tube and be additionally provided with for guiding the up and down buffering stand of vacuum tube, be provided with buffering stand solid
The limiting plate being scheduled on outside vacuum tube, is provided with spring damper between limiting plate and buffering stand, vacuum generator is fixed on
In mechanical arm, damping hose passes through pedestal B, and buffering stand is fixed on below pedestal B.
Further, suction nozzle includes vacuum chamber, vacuum chamber one end open, other end closing；The open end of vacuum chamber with
Vacuum tube connects, and the blind end of vacuum chamber offers some through holes, and the blind end also movable sleeve of vacuum chamber is provided with sucker, in sucker
Wall is provided with viscous coating.
Further, suction nozzle is silica gel material or quality of rubber materials.
Further, sealing gasket is provided between vacuum tube and suction nozzle.
Beneficial effects of the present invention are as follows：
1st, the present invention sets vacuum absorber on gripper, first in the dangerous goods in handling complicated, narrow environment
First dangerous goods are adsorbed with vacuum absorber and are transferred to more open environment, are being grabbed dangerous goods using gripper
Jail is simultaneously further shifted, and coordinates other explosive devices to carry out explosion treatment to dangerous goods.To space during use of the present invention
It is less demanding, explosive success rate can be effectively improved.
2nd, gripper of the present invention is simple and practical, easily operated, and manufacturing cost is cheap, is adapted to large-scale production
Using.
3rd, the present invention sets a blind end for offering through hole in the vacuum chamber of vacuum absorber suction nozzle, strengthens the office of suction nozzle
Portion's negative pressure, increase absorption affinity, and viscous coating is set in sucker inwall, prevent article from being come off outside transfer process is favorite, cause
Dangerous material shift to an earlier date explosion, cause unnecessary personnel and property loss.
Brief description of the drawings
Fig. 1 is the structural representation of the adsorbed state of the embodiment of the present invention 1；
Fig. 2 is the structural representation of the seized condition of the embodiment of the present invention 1；
Fig. 3 is the left view of the present invention；
Fig. 4 is the partial schematic diagram of vacuum absorber of the present invention；
Reference：1- mechanical arms；2- grippers；3- vacuum absorbers；2-1- pars contractilis；2-2- clamping parts；2-11- bases
Seat A；2-12- pedestals B；2-13- screw lifts；2-21- arc fixtures A；2-22- arc fixtures B；2-23- push rods A；2-24-
Push rod B；3-1- vacuum generators；3-2- damping hoses；3-3- vacuum tubes；3-4- suction nozzles；3-5- buffering stands；3-6- is spacing
Plate；3-7- spring dampers；3-8- sealing gaskets；3-41- vacuum chambers；3-42- suckers.
Embodiment
In order to which those skilled in the art are better understood from the present invention, below in conjunction with the accompanying drawings with following examples to the present invention
It is described in further detail.
Embodiment 1
A kind of explosive gripper as Figure 1-3, including mechanical arm 1 and the gripper 2 being connected on mechanical arm 1, machine
The vacuum absorber 3 for absorbent bodies is provided with machinery claw 2, gripper 2 includes pars contractilis 2-1 and clamping part 2-2, pars contractilis
2-1 includes pedestal A2-11, the pedestal B2-12 below pedestal A2-11 and the screw lift being fixed on pedestal A2-11
2-13, screw lift 2-13 screw mandrel lower end are connected through pedestal A2-11 and with pedestal B2-12；Clamping part 2-2 includes activity
It is connected to the arc fixture A2-21 and arc fixture B2-22 of the mutual cooperation of pedestal B2-12 left and right ends, arc fixture A2-21
Be respectively articulated with push rod A2-23 and push rod B2-24 in the middle part of arc fixture B2-22, push rod A2-23 and push rod B2-24's is another
One end is hinged with pedestal A2-11 bottoms respectively, and push rod A2-23 and push rod B2-24 intersect in X-shaped.
The operation principle of the present embodiment is：As shown in figure 1, the vacuum absorber 3 set on gripper 2 adsorbs danger first
Dangerous product, mechanical arm 1 lift, and screw lift 2-13, which is rotated forward, drives the pedestal B2-12 for being fixed on screw mandrel bottom to rise, arc fixture
One end that A2-21 and arc fixture B2-22 are fixed on pedestal B2-12 follow pedestal B2-12 lifted, arc fixture A2-21 and
The position being flexibly connected respectively with push rod A2-23 and push rod B2-24 in the middle part of arc fixture B2-22 is in push rod A2-23 and push rod B2-
Rotated down under 24 promotion, as shown in Fig. 2 now arc fixture A2-21 and arc fixture B2-22 are relatively closed, by danger
Product are gripped from narrow environment and come out.
The present embodiment gripper it is simple and practical, it is easily operated, vacuum absorber is set on gripper, handled
During dangerous goods in complicated, narrow environment, dangerous goods are adsorbed and are transferred to more open with vacuum absorber first
Environment, dangerous goods are being held using gripper and further shifted, coordinate other explosive devices to dangerous goods carry out
Explosion treatment.Gripper to the less demanding of space, can effectively improve explosive success rate in use, manufacture
Cost is cheap, is adapted to large-scale production and application.
Embodiment 2
The present embodiment has made further optimization on the basis of embodiment 1, is specifically:
As shown in figure 4, vacuum absorber 3 includes vacuum generator 3-1, damping hose 3-2, the vacuum tube 3- being sequentially communicated
3 and suction nozzle 3-4, vacuum generator 3-1 are fixed in pedestal B2-12, are additionally provided with outside damping hose 3-2 and vacuum tube 3-3
For guiding the up and down buffering stand 3-5 of vacuum tube 3-3, it is provided with and is fixed on outside vacuum tube 3-3 in buffering stand 3-5
Limiting plate 3-6, spring damper 3-7 is provided between limiting plate 3-6 and buffering stand 3-5, damping hose 3-2 passes through pedestal
B2-12, buffering stand 3-5 are fixed on below pedestal B2-12.Suction nozzle 3-4 includes vacuum chamber 3-41, and vacuum chamber 3-41 is opened one end
Put, other end closing；Vacuum chamber 3-41 open end connects with vacuum tube 3-3, and vacuum chamber 3-41 blind end offers some
Through hole, vacuum chamber 3-41 blind end also movable sleeve are provided with sucker 3-42, and sucker 3-42 inwalls are provided with viscous coating.
The present embodiment sets a blind end for offering through hole in the vacuum chamber of vacuum absorber suction nozzle, strengthens the office of suction nozzle
Portion's negative pressure, increase absorption affinity, and viscous coating is set in sucker inwall, prevent article from being come off outside transfer process is favorite, cause
Dangerous material shift to an earlier date explosion, cause unnecessary personnel and property loss.
Embodiment 3
The present embodiment has made further optimization on the basis of embodiment 1, is specifically:
Vacuum absorber 3 includes vacuum generator 3-1, damping hose 3-2, vacuum tube 3-3 and the suction nozzle 3- being sequentially communicated
It is additionally provided with for guiding the up and down buffering stand 3-5 of vacuum tube 3-3, delays outside 4, damping hose 3-2 and vacuum tube 3-3
The limiting plate 3-6 for being provided with and being fixed on outside vacuum tube 3-3 is rushed in support 3-5, is set between limiting plate 3-6 and buffering stand 3-5
Spring damper 3-7 is equipped with, vacuum generator 3-1 is fixed in mechanical arm 1, and damping hose 3-2 passes through pedestal B2-12, buffering
Support 3-5 is fixed on below pedestal B2-12.Suction nozzle 3-4 includes vacuum chamber 3-41, vacuum chamber 3-41 one end opens, another end seal
Close；Vacuum chamber 3-41 open end connects with vacuum tube 3-3, and vacuum chamber 3-41 blind end offers some through holes, vacuum chamber
3-41 blind end also movable sleeve is provided with sucker 3-42, and sucker 3-42 inwalls are provided with viscous coating.
The present embodiment.
Embodiment 4
The present embodiment has made further optimization on the basis of embodiment 2 or 3, is specifically:
Suction nozzle 3-4 is silica gel material or quality of rubber materials.
Embodiment 5
The present embodiment has made further optimization on the basis of embodiment 2 or 3, is specifically:
As shown in figure 4, sealing gasket 3-8 is provided between vacuum tube 3-3 and suction nozzle 3-4.
More than, only presently preferred embodiments of the present invention is not intended to limit the invention, scope of patent protection of the invention with
Claims are defined, and the equivalent structure change that every specification and accompanying drawing content with the present invention is made, all should similarly wrap
Containing within the scope of the present invention.
Claims (6)
1. a kind of explosive gripper, including mechanical arm (1) and the gripper (2) that is connected on mechanical arm (1), it is characterised in that
The vacuum absorber (3) for absorbent bodies is provided with gripper (2), gripper (2) includes pars contractilis (2-1) and clamping part
(2-2), pars contractilis (2-1) include pedestal A (2-11), the pedestal B (2-12) below pedestal A (2-11) and are fixed on pedestal
Screw lift (2-13) on A (2-11), the screw mandrel lower end of screw lift (2-13) pass through pedestal A (2-11) and and pedestal
B (2-12) connections；Clamping part (2-2) includes the arc fixture A for being movably connected in the mutual cooperation of pedestal B (2-12) left and right ends
Push rod A has been respectively articulated with the middle part of (2-21) and arc fixture B (2-22), arc fixture A (2-21) and arc fixture B (2-22)
(2-23) and push rod B (2-24), push rod A (2-23) and push rod B (2-24) other end are cut with scissors with pedestal A (2-11) bottom respectively
Connect, push rod A (2-23) and push rod B (2-24) intersect in X-shaped.
2. a kind of explosive gripper according to claim 1, it is characterised in that vacuum absorber (3) is true including being sequentially communicated
Empty generator (3-1), damping hose (3-2), vacuum tube (3-3) and suction nozzle (3-4), vacuum generator (3-1) are fixed on pedestal B
In (2-12), it is additionally provided with outside damping hose (3-2) and vacuum tube (3-3) for guiding vacuum tube (3-3) up and down
Buffering stand (3-5), interior be provided with of buffering stand (3-5) are fixed on the outside limiting plate (3-6) of vacuum tube (3-3), limiting plate
Spring damper (3-7) is provided between (3-6) and buffering stand (3-5), damping hose (3-2) passes through pedestal B (2-12), delays
Support (3-5) is rushed to be fixed on below pedestal B (2-12).
3. a kind of explosive gripper according to claim 1, it is characterised in that vacuum absorber (3) is true including being sequentially communicated
Empty generator (3-1), damping hose (3-2), vacuum tube (3-3) and suction nozzle (3-4), damping hose (3-2) and vacuum tube (3-3)
Outside is additionally provided with for guiding the up and down buffering stand (3-5) of vacuum tube (3-3), is provided with buffering stand (3-5)
The outside limiting plate (3-6) of vacuum tube (3-3) is fixed on, spring is provided between limiting plate (3-6) and buffering stand (3-5) and subtracts
Device (3-7) is shaken, vacuum generator (3-1) is fixed in mechanical arm (1), and damping hose (3-2) passes through pedestal B (2-12), buffering
Support (3-5) is fixed on below pedestal B (2-12).
4. according to a kind of explosive gripper of Claims 2 or 3, it is characterised in that suction nozzle (3-4) includes vacuum chamber (3-41),
Vacuum chamber (3-41) one end open, other end closing；The open end of vacuum chamber (3-41) connects with vacuum tube (3-3), vacuum chamber
The blind end of (3-41) offers some through holes, and the blind end also movable sleeve of vacuum chamber (3-41) is provided with sucker (3-42), sucker
(3-42) inwall is provided with viscous coating.
5. a kind of explosive gripper according to claim 4, it is characterised in that suction nozzle (3-4) is silica gel material or quality of rubber materials.
6. a kind of explosive gripper according to claim 1, it is characterised in that set between vacuum tube (3-3) and suction nozzle (3-4)
There is sealing gasket (3-8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711033901.0A CN107671881A (en) | 2017-10-30 | 2017-10-30 | A kind of explosive gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711033901.0A CN107671881A (en) | 2017-10-30 | 2017-10-30 | A kind of explosive gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107671881A true CN107671881A (en) | 2018-02-09 |
Family
ID=61143001
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711033901.0A Withdrawn CN107671881A (en) | 2017-10-30 | 2017-10-30 | A kind of explosive gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107671881A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111483802A (en) * | 2019-01-28 | 2020-08-04 | 菜鸟智能物流控股有限公司 | Mechanical arm object taking and placing device |
| CN116331825A (en) * | 2023-04-18 | 2023-06-27 | 广东海洋大学 | Machine-made grabbing device |
-
2017
- 2017-10-30 CN CN201711033901.0A patent/CN107671881A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111483802A (en) * | 2019-01-28 | 2020-08-04 | 菜鸟智能物流控股有限公司 | Mechanical arm object taking and placing device |
| CN116331825A (en) * | 2023-04-18 | 2023-06-27 | 广东海洋大学 | Machine-made grabbing device |
| CN116331825B (en) * | 2023-04-18 | 2023-12-05 | 广东海洋大学 | Machine-made grabbing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180209 |
|
| WW01 | Invention patent application withdrawn after publication |