CN108161962A - A kind of big tensor clamping device for narrow space - Google Patents
A kind of big tensor clamping device for narrow space Download PDFInfo
- Publication number
- CN108161962A CN108161962A CN201711292409.5A CN201711292409A CN108161962A CN 108161962 A CN108161962 A CN 108161962A CN 201711292409 A CN201711292409 A CN 201711292409A CN 108161962 A CN108161962 A CN 108161962A
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- CN
- China
- Prior art keywords
- connecting rod
- axis pin
- pin
- hinged
- rack
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- 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.)
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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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of big tensor clamping device for narrow space, belongs to narrow space implement technical field.It includes fixed pin, removable pin, rack can be slided up and down and is arranged in rack, gear and rack engagement, fixed pin is fixed on the upside of upright slide rail, removable pin can be slided up and down and is arranged on upright slide rail, the middle-end of first left connecting rod and the middle-end of the second right connecting rod are hinged by the first left axis pin, the middle-end of the middle-end of third left connecting rod and the 4th left connecting rod is hinged by the left axis pin of third, 5th left axis pin is inserted into the left left long U-type groove for referring to seat, the middle-end of first right connecting rod and the middle-end of the second right connecting rod are hinged by the first right axis pin, the middle-end of third right connecting rod and the middle-end of the 4th right connecting rod are hinged by the 4th right axis pin, 5th right axis pin is inserted into right long U-type groove, drive the upper end connection removable pin of the piston rod of cylinder.The present invention is small when not only finger is closed, and the tensor of finger is big, convenient in narrow space operation.
Description
Technical field
The present invention relates to narrow space implement technical field, more particularly to a kind of big tensor for narrow space presss from both sides
Hold device.
Background technology
The confined space refers to closing or partially enclosed, and inlet and outlet are more narrow limited, is not designed to fixed workplace,
Gravity-flow ventilation is bad, easily causes poisonous and harmful, flammable and explosive substance accumulation or the insufficient space of oxygen content.The confined space is also referred to as
Narrow space, the narrow confined space are divided into three classes：（One）Sealing Arrangement：Such as cabin, basin, vehicle-mounted groove tank, reaction tower（Kettle）, it is cold
Hide case, pressure vessel, pipeline, flue, boiler etc.；（Two）The underground confined space：As underground piping, basement, underground storehouse,
Lower engineering, underdrain, tunnel, culvert, melt pit, disused well, cellar, cesspool（Well）, methane-generating pit, septic tank, sewer, deep basal pit
Deng；（Three）The ground confined space：Such as storeroom, vinasse pond, fermentation vat, refuse depot, greenhouse, freezer, silo, feed bin.Narrow
Narrow space, manual operation is extremely difficult, and safety is poor.At present, also there is the clamping dress much automated in the market
It puts, but this kind of clamping device structure is complex and huge, is not suitable for the gripping of narrow space.
Invention content
The object of the present invention is to provide a kind of big tensor clamping device for narrow space, volume when not only finger is closed
It is small, and the tensor of finger is big, convenient in narrow space operation, rational in infrastructure, strong applicability.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of big tensor clamping device for narrow space, it include inverted T shaped bearing, upright slide rail, fixed pin, removable pin,
First left connecting rod, the second left connecting rod, third left connecting rod, the 4th left connecting rod, the first left axis pin, the second left axis pin, the left axis pin of third,
4th left axis pin, the 5th left axis pin, the 6th left axis pin, the first right connecting rod, the second right connecting rod, third right connecting rod, the 4th right connecting rod,
First right axis pin, the second right axis pin, the right axis pin of third, the 4th right axis pin, the 5th right axis pin, the 6th right axis pin, Zuo Zhizuo, left hand
Refer to, right finger seat, the right hand refer to, drive cylinder, rack, guide post, guide sleeve, rack, gear, driving motor, motor support plate, the guide post
Upper end connect the lower end of inverted T shaped bearing, the lower end connection frame of the guide sleeve, the guide pillars and bushes slidably connects relatively
It connects, the upper end of the rack is fixedly connected with inverted T shaped bearing, and the rack can be slided up and down and is arranged in rack, the gear
Coaxially connected with driving motor, the gear and rack engagement, the driving motor are mounted on motor support plate, the motor branch
Plate is mounted in rack, and upright slide rail is provided on the inverted T shaped bearing, and the fixed pin is fixed on the upside of upright slide rail,
The removable pin can be slided up and down and is arranged on upright slide rail, and the right end of first left connecting rod is hinged on fixed pin, described
The right end of second left connecting rod is hinged on removable pin, and the middle-end of first left connecting rod and the middle-end of the second right connecting rod pass through first
Left axis pin is hinged, and the left end of first left connecting rod and the right end of third left connecting rod are hinged by the second left axis pin, and described second
The left end of left connecting rod and the right end of the 4th left connecting rod are hinged by the left axis pin of third, the middle-end of the third left connecting rod and the 4th left side
The middle-end of connecting rod is hinged by the 4th left axis pin, and the left end of the third left connecting rod is hinged by the 5th left axis pin and left finger seat,
The left lower end for referring to seat is provided with left long U-type groove, and the 6th left axis pin is mounted on the left end of the 4th left connecting rod, and the described 6th
Left axis pin is inserted into the left left long U-type groove for referring to seat, and the left hand refers on left finger seat, and the left end of first right connecting rod is hinged
On fixed pin, the left end of second right connecting rod is hinged on removable pin, the middle-end of first right connecting rod and the second right company
The middle-end of bar is hinged by the first right axis pin, and the right end of first right connecting rod and the left end of third right connecting rod pass through the second right pin
Axis is hinged, and the right end of second right connecting rod and the left end of the 4th right connecting rod are hinged by the right axis pin of third, the right company of third
The middle-end of bar and the middle-end of the 4th right connecting rod are hinged by the 4th right axis pin, and the right end of the third right connecting rod passes through the 5th right pin
Axis and right finger seat are hinged, and the right lower end for referring to seat is provided with right long U-type groove, and the 6th right axis pin is mounted on the 4th right connecting rod
Right end, the 6th right axis pin is inserted into right long U-type groove, and the right hand refers on right finger seat, and the driving cylinder includes
Cylinder body and piston rod, the cylinder body are mounted on inverted T shaped bearing, the upper end connection removable pin of the piston rod.
Further, the driving motor is servo motor.
Further, it is disposed as helical teeth on the gear and rack.
Further, the quantity of the guide pillars and bushes is identical, is two or more.
Compared to the prior art the present invention, has the following advantages and effect：The piston rod of cylinder is driven to drive removable pin edge
Upright slide rail downward actuation, refers to refer to the right hand by multiple parallel quadrilateral connecting rod mechanism drive left hand and draw close, refer to left hand
Refer to contraction in closed state with the right hand.Then driving motor is moved downward by gear band carry-over bar, in guide rod and guide sleeve
Under effect, inverted T shaped bearing steadily moves downward, narrow space of entering.Then, drive cylinder piston rod drive removable pin along
Upright slide rail acts upwards, and drive left hand, which refers to refer to the right hand, to be flared out, and is carried out clamping and is prepared.Finally, the piston of cylinder is driven
Bar drives removable pin downward actuation, and left hand refers to the clamping for referring to the right hand and realizing to workpiece.Helical teeth is disposed as on gear and rack,
It is high to engage registration, noise is small, and transmission stability is good, is conducive to the inverted T shaped bearing of rack drives smooth motion up and down.Driving motor
For servo motor, servo motor speed is controllable, and positional precision is very accurate, realizes the accurate control to rack position.The present invention
It is small when not only finger is closed, and the tensor of finger is big, convenient in narrow space operation, rational in infrastructure, strong applicability.
Description of the drawings
Fig. 1 is the structure diagram of open configuration of the present invention.
Fig. 2 is the structure diagram of closed state of the present invention.
In figure：1. inverted T shaped bearing, 2. upright slide rails, 3. fixed pins, 4. removable pins, 5. first left connecting rods, 6. second left companies
Bar, 7. third left connecting rods, 8. the 4th left connecting rods, 9. first left axis pins, 10. second left axis pins, the left axis pin of 11. thirds, 12. the 4th
Left axis pin, 13. the 5th left axis pins, 14. first right connecting rods, 15. second right connecting rods, 16. third right connecting rods, 17. the 4th right connecting rods,
18. the first right axis pin, 19. second right axis pins, the right axis pin of 20. thirds, 21. the 4th right axis pins, 22. the 5th right axis pins, 23. left fingers
Seat, 24. left hands refer to, and 25. right finger seats, 26. right hands refer to, 27. driving cylinders, 28. racks, 29. guide posts, 30. guide sleeves, 31. racks,
32. gear, 33. driving motors, 34. motor support plates, 35. left long U-type grooves, 36. right long U-type grooves, 37. cylinder bodies, 38. piston rods,
39. the 6th left axis pin, 40. the 6th right axis pins.
Specific embodiment
Below in conjunction with the accompanying drawings and pass through embodiment the present invention is described in further detail, following embodiment is to this hair
Bright explanation and the invention is not limited in following embodiments.
As depicted in figs. 1 and 2, a kind of big tensor clamping device for narrow space, it includes inverted T shaped bearing 1, vertical
Sliding rail 2, fixed pin 3, removable pin 4, the first left connecting rod 5, the second left connecting rod 6, third left connecting rod 7, the 4th left connecting rod 8, first are left
Axis pin 9, the second left axis pin 10, the left axis pin 11 of third, the 4th left axis pin 12, the 5th left axis pin 13, the first right connecting rod 14, second are right
Connecting rod 15, third right connecting rod 16, the 4th right connecting rod 17, the first right axis pin 18, the second right axis pin 19, the right axis pin the 20, the 4th of third
Right axis pin 21, the 5th right axis pin 22, left finger seat 23, left hand refer to 24, right finger seat 25, the right hand refers to 26, driving cylinder 27, rack 28,
Guide post 29, guide sleeve 30, rack 31, gear 32, driving motor 33, motor support plate 34, the upper end of the guide post 29 connect inverted T shaped branch
The lower end of seat 1, the lower end connection frame 28 of the guide sleeve 30, the guide post 29 and guide sleeve 30 are described to lead with respect to slidable connection
Column 29 is identical with the quantity of guide sleeve 30, is two or more, is conducive to inverted T shaped bearing smooth sliding about 1.The tooth
The upper end of item 31 is fixedly connected with inverted T shaped bearing 1, and the rack 31, which can slide up and down, to be arranged in rack 28, the gear 32
Coaxially connected with driving motor 33, the gear 32 and rack 31 engage, and helical teeth is disposed as on the gear 32 and rack 31,
It engages that registration is high, and noise is small, and transmission stability is good, is conducive to rack 31 and drives inverted T shaped bearing smooth motion about 1.It is described
Driving motor 33 is mounted on motor support plate 34, and the motor support plate 34 is mounted in rack 28, and the driving motor 33 is watches
Motor is taken, servo motor speed is controllable, and positional precision is very accurate, realizes the accurate control to rack position.The inverted T shaped branch
Upright slide rail 2 is provided on seat 1, the fixed pin 3 is fixed on the upside of upright slide rail 2, and the removable pin 4, which can slide up and down, to be set
It puts on upright slide rail 2, the right end of first left connecting rod 5 is hinged on fixed pin 3, the right end hinge of second left connecting rod 6
It is connected on removable pin 4, the middle-end of the middle-end of first left connecting rod 5 and the second right connecting rod 6 is hinged by the first left axis pin 9, institute
It is hinged by the second left axis pin 10 to state the left end of the first left connecting rod 5 and the right end of third left connecting rod 7, second left connecting rod 6
Left end and the right end of the 4th left connecting rod 8 are hinged by the left axis pin 11 of third, the middle-end and the 4th left connecting rod of the third left connecting rod 7
8 middle-end is hinged by the 4th left axis pin 12, and the left end of the third left connecting rod 7 is cut with scissors by the 5th left axis pin 13 and left finger seat 23
It connects, the left lower end for referring to seat 23 is provided with left long U-type groove 35, and the 6th left axis pin 39 is mounted on a left side for the 4th left connecting rod 8
End, the 6th left axis pin 39 are inserted into the left left long U-type groove 35 for referring to seat 23, and the left hand refers to 24 and is mounted on left finger seat 23, institute
The left end for stating the first right connecting rod 14 is hinged on fixed pin 3, and the left end of second right connecting rod 15 is hinged on removable pin 4, institute
It is hinged by the first right axis pin 18 to state the middle-end of the first right connecting rod 14 and the middle-end of the second right connecting rod 15, first right connecting rod 14
Right end and third right connecting rod 16 left end it is hinged by the second right axis pin 19, the right end of second right connecting rod 15 and the 4th right
The left end of connecting rod 17 is hinged by the right axis pin 20 of third, and the middle-end of the third right connecting rod 16 and the middle-end of the 4th right connecting rod 17 are led to
It crosses the 4th right axis pin 21 to be hinged, the right end of the third right connecting rod 16 is hinged by the 5th right axis pin 22 and right finger seat 25, described
The right lower end for referring to seat 25 is provided with right long U-type groove 36, and the 6th right axis pin 40 is mounted on the right end of the 4th right connecting rod 17, described
6th right axis pin 40 is inserted into right long U-type groove 36, and the right hand refers to 26 and is mounted on right finger seat 25, and the driving cylinder 27 includes cylinder
Body 37 and piston rod 38, the cylinder body 37 are mounted on inverted T shaped bearing 1, the upper end connection removable pin 4 of the piston rod 38.
Through the above technical solutions, a kind of big tensor clamping device for narrow space of the invention is in use, driving gas
The piston rod 38 of cylinder 27 drives removable pin 4 to be driven along 2 downward actuation of upright slide rail by multiple parallel quadrilateral connecting rod mechanism
Left hand refer to 24 and the right hand refer to 26 and draw close, make left hand refer to 24 and the right hand refer to 26 contractions and be in closed state.Then driving motor 33 is logical
Gear 32 is crossed to move downward with carry-over bar 31, under the action of guide rod 29 and guide sleeve 30, inverted T shaped bearing 1 steadily moves downward, into
Remove narrow space.Then, the piston rod 38 of driving cylinder 27 drives removable pin 4 to be acted upwards along upright slide rail 2, drives left hand
Finger 24 and the right hand refer to 26 and are flared out, and carry out clamping and prepare.Finally, the piston rod 38 of driving cylinder 27 drives removable pin 4 downward
Action, left hand refer to 24 and the right hand refer to clamping of 26 realizations to workpiece.The present invention is small when not only finger is closed, and finger
Tensor is big, convenient in narrow space operation, rational in infrastructure, strong applicability.
Described in this specification above content is only illustrations made for the present invention.Technology belonging to the present invention
The technical staff in field can do described specific embodiment various modifications or additions or in a similar way
It substitutes, content without departing from description of the invention or surmounts range defined in the claims, this should all be belonged to
The protection domain of invention.
Claims (4)
1. a kind of big tensor clamping device for narrow space, it is characterised in that：It includes inverted T shaped bearing, upright slide rail, consolidates
Rationed marketing, removable pin, the first left connecting rod, the second left connecting rod, third left connecting rod, the 4th left connecting rod, the first left axis pin, the second left pin
The left axis pin of axis, third, the 4th left axis pin, the 5th left axis pin, the 6th left axis pin, the first right connecting rod, the second right connecting rod, the right company of third
Bar, the 4th right connecting rod, the first right axis pin, the second right axis pin, the right axis pin of third, the 4th right axis pin, the 5th right axis pin, the 6th right pin
Axis, Zuo Zhizuo, left hand refer to, right finger seat, the right hand refer to, drive cylinder, rack, guide post, guide sleeve, rack, gear, driving motor, electricity
Machine support plate, the upper end of the guide post connect the lower end of inverted T shaped bearing, the lower end connection frame of the guide sleeve, the guide post and lead
The opposite slidable connection of set, the upper end of the rack are fixedly connected with inverted T shaped bearing, and the rack can slide up and down the machine of being arranged on
On frame, the gear and driving motor are coaxially connected, and the gear and rack engagement, the driving motor are mounted on motor support plate
On, the motor support plate is mounted in rack, upright slide rail is provided on the inverted T shaped bearing, the fixed pin is fixed on perpendicular
The upside of straight sliding rail, the removable pin can be slided up and down and be arranged on upright slide rail, and the right end of first left connecting rod is hinged on
On fixed pin, the right end of second left connecting rod is hinged on removable pin, the middle-end and the second right connecting rod of first left connecting rod
Middle-end be hinged by the first left axis pin, the left end of first left connecting rod and the right end of third left connecting rod pass through the second left axis pin
Hinged, the left end of second left connecting rod and the right end of the 4th left connecting rod are hinged by the left axis pin of third, the third left connecting rod
Middle-end and the middle-end of the 4th left connecting rod be hinged by the 4th left axis pin, the left end of the third left connecting rod passes through the 5th left axis pin
It is hinged with left finger seat, the left lower end for referring to seat is provided with left long U-type groove, and the 6th left axis pin is mounted on the 4th left connecting rod
Left end, the 6th left axis pin are inserted into the left left long U-type groove for referring to seat, and the left hand refers on left finger seat, and described first is right
The left end of connecting rod is hinged on fixed pin, and the left end of second right connecting rod is hinged on removable pin, first right connecting rod
Middle-end and the middle-end of the second right connecting rod are hinged by the first right axis pin, the right end of first right connecting rod and a left side for third right connecting rod
End is hinged by the second right axis pin, and the right end of second right connecting rod and the left end of the 4th right connecting rod are cut with scissors by the right axis pin of third
It connects, the middle-end of the third right connecting rod and the middle-end of the 4th right connecting rod are hinged by the 4th right axis pin, the third right connecting rod
Right end is hinged by the 5th right axis pin and right finger seat, and the right lower end for referring to seat is provided with right long U-type groove, the 6th right axis pin
Mounted on the right end of the 4th right connecting rod, the 6th right axis pin is inserted into right long U-type groove, and the right hand refers on right finger seat,
The driving cylinder includes cylinder body and piston rod, and the cylinder body is mounted on inverted T shaped bearing, and the upper end connection of the piston rod is lived
Dynamic pin.
2. a kind of big tensor clamping device for narrow space according to claim 1, it is characterised in that：The driving
Motor is servo motor.
3. a kind of big tensor clamping device for narrow space according to claim 1, it is characterised in that：The gear
With helical teeth is disposed as on rack.
4. a kind of big tensor clamping device for narrow space according to claim 1, it is characterised in that：The guide post
It is identical with the quantity of guide sleeve, it is two or more.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711292409.5A CN108161962A (en) | 2017-12-08 | 2017-12-08 | A kind of big tensor clamping device for narrow space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711292409.5A CN108161962A (en) | 2017-12-08 | 2017-12-08 | A kind of big tensor clamping device for narrow space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108161962A true CN108161962A (en) | 2018-06-15 |
Family
ID=62524758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711292409.5A Pending CN108161962A (en) | 2017-12-08 | 2017-12-08 | A kind of big tensor clamping device for narrow space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108161962A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664325A (en) * | 2019-01-07 | 2019-04-23 | 英穆自动化科技(厦门)有限公司 | A kind of novel four paws mechanism |
| CN111805563A (en) * | 2020-06-30 | 2020-10-23 | 安徽大学 | Single-drive electric self-adaptive manipulator based on connecting rod differential mechanism |
Citations (4)
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|---|---|---|---|---|
| SU1283092A1 (en) * | 1985-01-07 | 1987-01-15 | Всесоюзный Проектно-Конструкторский Институт Технологии Электротехнического Производства | Gripping device |
| CN202943636U (en) * | 2012-11-14 | 2013-05-22 | 宁波品上精密机床有限公司 | Trussed type manipulator |
| CN104972477A (en) * | 2015-07-21 | 2015-10-14 | 北京工业大学 | Multifunctional engineering accessory for six-bar mechanism |
| CN206085045U (en) * | 2016-08-31 | 2017-04-12 | 天津罗博特尔科技发展有限公司 | Hoisting mechanism of truss robot |
-
2017
- 2017-12-08 CN CN201711292409.5A patent/CN108161962A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1283092A1 (en) * | 1985-01-07 | 1987-01-15 | Всесоюзный Проектно-Конструкторский Институт Технологии Электротехнического Производства | Gripping device |
| CN202943636U (en) * | 2012-11-14 | 2013-05-22 | 宁波品上精密机床有限公司 | Trussed type manipulator |
| CN104972477A (en) * | 2015-07-21 | 2015-10-14 | 北京工业大学 | Multifunctional engineering accessory for six-bar mechanism |
| CN206085045U (en) * | 2016-08-31 | 2017-04-12 | 天津罗博特尔科技发展有限公司 | Hoisting mechanism of truss robot |
Non-Patent Citations (2)
| Title |
|---|
| 常见机构的原理及应用编写组: "《常见机构的原理及应用》", 30 October 1978 * |
| 黄越平等: "《自动化机构设计构思实用图例》", 31 December 1993 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664325A (en) * | 2019-01-07 | 2019-04-23 | 英穆自动化科技(厦门)有限公司 | A kind of novel four paws mechanism |
| CN109664325B (en) * | 2019-01-07 | 2023-09-08 | 英穆自动化科技(厦门)有限公司 | Novel four-jaw mechanism |
| CN111805563A (en) * | 2020-06-30 | 2020-10-23 | 安徽大学 | Single-drive electric self-adaptive manipulator based on connecting rod differential mechanism |
| CN111805563B (en) * | 2020-06-30 | 2021-10-01 | 安徽大学 | Single-drive electric self-adaptive manipulator based on connecting rod differential mechanism |
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Application publication date: 20180615 |