CN108393913A - A kind of firm gripper of crawl - Google Patents
A kind of firm gripper of crawl Download PDFInfo
- Publication number
- CN108393913A CN108393913A CN201810138715.1A CN201810138715A CN108393913A CN 108393913 A CN108393913 A CN 108393913A CN 201810138715 A CN201810138715 A CN 201810138715A CN 108393913 A CN108393913 A CN 108393913A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- stripper
- stripper plate
- support plate
- cylinder
- 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
Links
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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a kind of firm grippers of crawl, including support plate, the upper surface of the support plate is fixedly connected with mounting blocks, one end of screw thread grafting screw rod on mounting blocks, the other end of screw rod is fixedly connected with one end of stock, the other end activity of stock is plugged in sleeve and is connected on the inner roof wall of sleeve by the first spring, it is simple in structure that this captures firm gripper, by connecting external power supply, utilize positive and negative switch, start motor, drive sleeve rotating, screw rod is set to rotate, it is squeezed by object, second stripper plate is moved close to the first stripper plate, have compressed third spring, slide bar is press-connected bar, connecting rod is set to rotate, the rotation close to each other of multiple third stripper plates, object is placed between multiple first stripper plates and multiple third stripper plates, by object holding tightly, prevent object from falling.
Description
Technical field
The present invention relates to mechanical manufacturing field, specially a kind of firm gripper of crawl.
Background technology
Gripper is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.Gripper is the industrial robot occurred earliest, and the modern times occurred earliest
Robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can be operated under hostile environment to protect
Personal safety is protected, thus is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Existing gripper is grabbed
Take insecure, the article of crawl is easy to fall off, for this purpose, proposing a kind of firm gripper of crawl.
Invention content
The purpose of the present invention is to provide a kind of firm grippers of crawl, to solve mentioned above in the background art ask
Topic.
To achieve the above object, the present invention provides the following technical solutions：
A kind of firm gripper of crawl, including support plate, the upper surface of the support plate are fixedly connected with mounting blocks, spiral shell on mounting blocks
The other end of one end of line grafting screw rod, screw rod is fixedly connected with one end of stock, and the other end activity of stock is plugged in sleeve
And it being connected on the inner roof wall of sleeve by the first spring, the outer roof of the sleeve is fixedly connected on the output end of motor,
Motor is fixedly connected with the inner roof wall of fixed frame, and the lower end of the fixed frame is fixedly connected with the upper surface of support plate, the support plate
Lower face be symmetrically hinged with several first stripper plates, two first stripper plate side walls close to each other are fixedly connected with piston
The other end activity of one end of bar, piston rod is plugged in cylinder and is fixedly connected the side of piston, and the other side of piston is logical
It crosses second spring to be connected on the inner roof wall of cylinder, the outer roof of the cylinder is fixedly connected with the lower face of support plate, the work
It fills in and is slidably connected with the inner wall of cylinder, the cylinder is fixedly connected with the lower face of support plate, and the cylinder is penetrated through by pipeline to be connected
Be connected to air bag, air bag is fixedly connected with the side wall of the first stripper plate, on first stripper plate activity be plugged with slide bar, multiple cunnings
Bar one end close to each other has been fixedly connected with the second stripper plate, and third bullet is connected between the second stripper plate and the first stripper plate
Spring, third spring are actively socketed on slide bar, and the side that multiple first stripper plates are located remotely from each other is fixedly connected with strut
The other end of one end, strut is rotatably connected on the rear wall of connecting rod, and slide bar is flexibly connected with connecting rod, the connecting rod water
Flat one section one end is hinged one end of sliding block, and the other end of sliding block is slidably connected at the bar shaped that third stripper plate side wall is opened up and slides
In slot, the upper end of the third stripper plate is hinged with the lower end of the first stripper plate, one end of the side wall connection steel wire of the screw rod,
The other end of steel wire is around fixed pulley and activity is through support plate, and steel wire is connected to the first stripper plate on the side wall of cylinder,
Fixed pulley is fixedly connected with the upper surface of support plate, and motor, positive and negative switch, external power supply collectively constitute a series electrical by conducting wire
Road.
Preferably, the first stripper plate more than three, and equidistant ring is distributed between multiple first stripper plates.
Preferably, multiple second stripper plates side close to each other is all covered with elastomeric skin layer.
Preferably, the connecting rod is L-type structure.
Preferably, the fixed frame is U-shaped structure.
Preferably, the pipeline is rubber hose.
Preferably, the piston rod is arcuate structure.
Preferably, the center of rotation of first stripper plate is overlapped with the center of circle of piston rod.
Preferably, the stock is rectangular parallelepiped structure.
Compared with prior art, the beneficial effects of the invention are as follows：This firm gripper of crawl is simple in structure, passes through connection
External power supply starts motor using positive and negative switch, drives sleeve rotating, so that screw rod is rotated, screw rod winding steel wire makes more
The rotation close to each other of a first stripper plate, object is clamped, simultaneously as the movement of piston, is acted on by the perforation of pipeline,
It allows air bag to expand, is filled with the gap between the first stripper plate and object, prevents object from being slid from gripper, also, by
The extruding of object, the second stripper plate are moved close to the first stripper plate, have compressed third spring, and slide bar is press-connected bar, makes connection
Bar rotates, and object is placed in multiple first stripper plates and multiple third stripper plates by the rotation close to each other of multiple third stripper plates
Between, by object holding tightly, prevent object from falling.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
In figure：Support plate 1, fixed frame 2, motor 3, sleeve 4, the first spring 5, stock 6, screw rod 7, steel wire 8, fixed pulley 9, peace
Block 10, cylinder 11, second spring 12, piston 13, piston rod 14, air bag 15, sliding block 16, the first stripper plate 17, second is filled to squeeze
Plate 18, third spring 19, slide bar 20, strut 21, third stripper plate 22, connecting rod 23.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution：
A kind of firm gripper of crawl, including support plate 1, the upper surface of support plate 1 are fixedly connected with mounting blocks 10, on mounting blocks 10
One end of screw thread grafting screw rod 7, the other end of screw rod 7 are fixedly connected with one end of stock 6, and the other end activity of stock 6 is plugged on
It is connected on the inner roof wall of sleeve 4 in sleeve 4 and by the first spring 5, the outer roof of sleeve 4 is fixedly connected on motor 3
Output end, motor 3 are fixedly connected with the inner roof wall of fixed frame 2, and the lower end of fixed frame 2 is fixedly connected with the upper surface of support plate 1, branch
The lower face of plate 1 is symmetrically hinged with several first stripper plates 17, and two the first stripper plate 17 side walls close to each other are fixedly connected
The other end activity of one end of piston rod 14, piston rod 14 is plugged in cylinder 11 and is fixedly connected the side of piston 13, living
The other side of plug 13 is connected to by second spring 12 on the inner roof wall of cylinder 11, the lower end of the outer roof and support plate 1 of cylinder 11
Face is fixedly connected, and piston 13 and the inner wall of cylinder 11 are slidably connected, and cylinder 11 is fixedly connected with the lower face of support plate 1, cylinder 11
It is connected with air bag 15 by pipeline perforation, air bag 15 is fixedly connected with the side wall of the first stripper plate 17, living on the first stripper plate 17
Dynamic to be plugged with slide bar 20, the one end close to each other of multiple slide bars 20 has been fixedly connected with the second stripper plate 18, the second stripper plate 18
Third spring 19 is connected between the first stripper plate 17, third spring 19 is actively socketed on slide bar 20, and multiple first squeeze
The side that plate 17 is located remotely from each other is fixedly connected with one end of strut 21, after the other end of strut 21 is rotatably connected on connecting rod 23
On side wall, slide bar 20 is flexibly connected with connecting rod 23, and one end of one section of 23 level of connecting rod is hinged one end of sliding block 16, sliding block 16
The other end be slidably connected in the bar shaped sliding slot that 22 side wall of third stripper plate is opened up, the upper end of third stripper plate 22 and first
The lower end of stripper plate 17 is hinged, and one end of the side wall connection steel wire 8 of screw rod 7, the other end of steel wire 8 around fixed pulley 9 and is lived
Dynamic to run through support plate 1, steel wire 8 is connected to the first stripper plate 17 on the side wall of cylinder 11, the upper surface of fixed pulley 9 and support plate 1
It is fixedly connected, motor 3, positive and negative switch, external power supply collectively constitute a series circuit by conducting wire, and the first stripper plate 17 is more than
Three, and equidistant ring is distributed between multiple first stripper plates 17, multiple second stripper plates 18 side close to each other covers
It is L-type structure to have elastomeric skin layer, connecting rod 23, and fixed frame 2 is U-shaped structure, and pipeline is rubber hose, and piston rod 14 is arc knot
The center of rotation of structure, the first stripper plate 17 is overlapped with the center of circle of piston rod 14, and stock 6 is rectangular parallelepiped structure.
Operation principle：This firm gripper of crawl is simple in structure, is opened using positive and negative switch by connecting external power supply
Dynamic motor 3, band moving sleeve 4 rotate, and so that screw rod 7 is rotated, 7 winding steel wire 8 of screw rod makes multiple first stripper plates 17 mutually lean on
Close rotation, object is clamped, simultaneously as the movement of piston 13, is acted on by the perforation of pipeline, allow air bag 15 to expand, fill out
The gap between the first stripper plate 17 and object has been filled, has prevented object from being slid from gripper, also, squeezed by object,
Second stripper plate 18 is moved close to the first stripper plate 17, has compressed third spring 19, and slide bar 20 is press-connected bar 23, makes connecting rod
Object is placed in multiple first stripper plates 17 and multiple thirds is squeezed by 23 rotations, the rotation close to each other of multiple third stripper plates 22
Between pressing plate 22, by object holding tightly, prevent object from falling.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of firm gripper of crawl, including support plate（1）, it is characterised in that：The support plate（1）Upper surface be fixedly connected
There are mounting blocks（10）, mounting blocks（10）Upper screw thread grafting screw rod（7）One end, screw rod（7）The other end be fixedly connected with stock（6）
One end, stock（6）Other end activity be plugged on sleeve（4）It is interior and pass through the first spring（5）It is connected to sleeve（4）It is interior
On roof, the sleeve（4）Outer roof be fixedly connected on motor（3）Output end, motor（3）With fixed frame（2）Interior top
Wall is fixedly connected, the fixed frame（2）Lower end and support plate（1）Upper surface be fixedly connected, the support plate（1）Lower face pair
Title is hinged with several first stripper plates（17）, two first stripper plates（17）Side wall close to each other is fixedly connected with piston rod
（14）One end, piston rod（14）Other end activity be plugged on cylinder（11）It is interior and be fixedly connected with piston（13）Side,
Piston（13）The other side pass through second spring（12）It is connected to cylinder（11）Inner roof wall on, the cylinder（11）Outer roof
With support plate（1）Lower face be fixedly connected, the piston（13）With cylinder（11）Inner wall be slidably connected, the cylinder（11）With
Support plate（1）Lower face be fixedly connected, the cylinder（11）It is connected with air bag by pipeline perforation（15）, air bag（15）With first
Stripper plate（17）Side wall be fixedly connected, first stripper plate（17）Upper activity is plugged with slide bar（20）, multiple slide bars（20）
One end close to each other has been fixedly connected with the second stripper plate（18）, the second stripper plate（18）With the first stripper plate（17）Between connect
It is connected to third spring（19）, third spring（19）It is actively socketed on slide bar（20）On, multiple first stripper plates（17）Mutually
Separate side is fixedly connected with strut（21）One end, strut（21）The other end be rotatably connected on connecting rod（23）Rear side
On wall, slide bar（20）With connecting rod（23）Flexible connection, the connecting rod（23）One end that one section of level is hinged sliding block（16）'s
One end, sliding block（16）The other end be slidably connected at third stripper plate（22）In the bar shaped sliding slot that side wall is opened up, the third
Stripper plate（22）Upper end and the first stripper plate（17）Lower end it is hinged, the screw rod（7）Side wall connect steel wire（8）One
End, steel wire（8）The other end bypass fixed pulley（9）And activity runs through support plate（1）, steel wire（8）It is connected to the first stripper plate
（17）Close to cylinder（11）Side wall on, fixed pulley（9）With support plate（1）Upper surface be fixedly connected, motor（3）, positive and negative switch,
External power supply collectively constitutes a series circuit by conducting wire.
2. a kind of firm gripper of crawl according to claim 1, it is characterised in that：First stripper plate（17）It is more
In three, and multiple first stripper plates（17）Between equidistant ring be distributed.
3. a kind of firm gripper of crawl according to claim 1, it is characterised in that：Multiple second stripper plates
（18）Side close to each other is all covered with elastomeric skin layer.
4. a kind of firm gripper of crawl according to claim 1, it is characterised in that：The connecting rod（23）For L-type
Structure.
5. a kind of firm gripper of crawl according to claim 1, it is characterised in that：The fixed frame（2）For U-shaped knot
Structure.
6. a kind of firm gripper of crawl according to claim 1, it is characterised in that：The pipeline is rubber hose.
7. a kind of firm gripper of crawl according to claim 1, it is characterised in that：The piston rod（14）For arc
Structure.
8. a kind of firm gripper of crawl according to claim 7, it is characterised in that：First stripper plate（17）'s
Center of rotation and piston rod（14）The center of circle overlap.
9. a kind of firm gripper of crawl according to claim 1, it is characterised in that：The stock（6）For cuboid
Structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810138715.1A CN108393913B (en) | 2018-02-10 | 2018-02-10 | Snatch firm gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810138715.1A CN108393913B (en) | 2018-02-10 | 2018-02-10 | Snatch firm gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108393913A true CN108393913A (en) | 2018-08-14 |
| CN108393913B CN108393913B (en) | 2020-07-17 |
Family
ID=63096626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810138715.1A Active CN108393913B (en) | 2018-02-10 | 2018-02-10 | Snatch firm gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108393913B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108910522A (en) * | 2018-08-21 | 2018-11-30 | 内蒙古民族大学 | A kind of electric automatization grabbing device |
| CN109109003A (en) * | 2018-08-30 | 2019-01-01 | 江苏新光数控技术有限公司 | A kind of secured catching robot |
| CN109230469A (en) * | 2018-10-29 | 2019-01-18 | 浙江厚达智能科技股份有限公司 | Light disk lower thread mechanism and fiber reel inserting method |
| CN109396639A (en) * | 2018-12-04 | 2019-03-01 | 大族激光科技产业集团股份有限公司 | Fixture, grasping system, welding system and welding method |
| CN110421584A (en) * | 2019-08-28 | 2019-11-08 | 南京驭逡通信科技有限公司 | A kind of clamping device for industrial robot |
| CN113183057A (en) * | 2021-04-01 | 2021-07-30 | 刘志鹏 | A pipe connection device for water conservancy water and electricity construction |
| CN113290573A (en) * | 2021-07-28 | 2021-08-24 | 江苏科华智能加热装备有限公司 | Manipulator and intelligent robot |
| CN113940595A (en) * | 2021-10-28 | 2022-01-18 | 钟锋 | Anti-falling curtain wall robot, anti-falling assembly for curtain wall robot and anti-falling method |
| CN113967799A (en) * | 2021-09-13 | 2022-01-25 | 重庆望江特种装备有限公司 | Three-dimensional cutting mechanism is used in special equipment processing |
| CN116394292A (en) * | 2023-06-07 | 2023-07-07 | 黑龙江大学 | Mechanical gripper for underwater robot |
| CN116493500A (en) * | 2023-04-24 | 2023-07-28 | 南京启业齿轮传动设备有限公司 | EV motor iron core piece stamping device |
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| CN107414795A (en) * | 2017-08-17 | 2017-12-01 | 柳州福能机器人开发有限公司 | Squelch type mechanical arm |
| CN107598586A (en) * | 2017-10-24 | 2018-01-19 | 陈慎慎 | A kind of machining cutter device |
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| CN102059707A (en) * | 2010-12-28 | 2011-05-18 | 重庆交通大学 | Finger-simulating self-adaptive flexible fixture assembly |
| WO2015148370A1 (en) * | 2014-03-24 | 2015-10-01 | Abb Technology Ag | Hydraulic/pneumatic cylinder as balancer units |
| CN106976101A (en) * | 2017-05-15 | 2017-07-25 | 福州大学 | A kind of drive lacking two refers to crawl Dextrous Hand and its method of work |
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| CN107598586A (en) * | 2017-10-24 | 2018-01-19 | 陈慎慎 | A kind of machining cutter device |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108910522A (en) * | 2018-08-21 | 2018-11-30 | 内蒙古民族大学 | A kind of electric automatization grabbing device |
| CN109109003B (en) * | 2018-08-30 | 2023-10-31 | 江苏新光数控技术有限公司 | Firmly snatch manipulator |
| CN109109003A (en) * | 2018-08-30 | 2019-01-01 | 江苏新光数控技术有限公司 | A kind of secured catching robot |
| CN109230469A (en) * | 2018-10-29 | 2019-01-18 | 浙江厚达智能科技股份有限公司 | Light disk lower thread mechanism and fiber reel inserting method |
| CN109230469B (en) * | 2018-10-29 | 2020-05-15 | 浙江厚达智能科技股份有限公司 | Optical fiber coil inserting mechanism and optical fiber coil inserting method |
| CN109396639A (en) * | 2018-12-04 | 2019-03-01 | 大族激光科技产业集团股份有限公司 | Fixture, grasping system, welding system and welding method |
| CN109396639B (en) * | 2018-12-04 | 2021-09-21 | 大族激光科技产业集团股份有限公司 | Clamp, clamping system, welding system and welding method |
| CN110421584A (en) * | 2019-08-28 | 2019-11-08 | 南京驭逡通信科技有限公司 | A kind of clamping device for industrial robot |
| CN110421584B (en) * | 2019-08-28 | 2020-03-10 | 南京驭逡通信科技有限公司 | A fixture for industrial robot |
| CN113183057A (en) * | 2021-04-01 | 2021-07-30 | 刘志鹏 | A pipe connection device for water conservancy water and electricity construction |
| CN113290573A (en) * | 2021-07-28 | 2021-08-24 | 江苏科华智能加热装备有限公司 | Manipulator and intelligent robot |
| CN113290573B (en) * | 2021-07-28 | 2021-10-29 | 江苏科华智能加热装备有限公司 | Manipulator and intelligent robot |
| CN113967799A (en) * | 2021-09-13 | 2022-01-25 | 重庆望江特种装备有限公司 | Three-dimensional cutting mechanism is used in special equipment processing |
| CN113967799B (en) * | 2021-09-13 | 2024-01-26 | 重庆望江特种装备有限公司 | Three-dimensional cutting mechanism is used in special equipment processing |
| CN113940595A (en) * | 2021-10-28 | 2022-01-18 | 钟锋 | Anti-falling curtain wall robot, anti-falling assembly for curtain wall robot and anti-falling method |
| CN113940595B (en) * | 2021-10-28 | 2023-09-05 | 钟锋 | Anti-falling curtain wall robot, anti-falling assembly for curtain wall robot and anti-falling method |
| CN116493500A (en) * | 2023-04-24 | 2023-07-28 | 南京启业齿轮传动设备有限公司 | EV motor iron core piece stamping device |
| CN116394292A (en) * | 2023-06-07 | 2023-07-07 | 黑龙江大学 | Mechanical gripper for underwater robot |
| CN116394292B (en) * | 2023-06-07 | 2023-08-15 | 黑龙江大学 | Mechanical gripper for underwater robot |
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| CN108393913B (en) | 2020-07-17 |
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Effective date of registration: 20200629 Address after: No.46 houxixi, Jinfeng Village, Dongyuan Town, Taishang investment district, Quanzhou City, Fujian Province Applicant after: Quanzhou investment from Taiwan area Qiu Xin Tea Industry Co.,Ltd. Address before: 362400 Zhuyang village 3, Xiping Town, Anxi, Quanzhou, Fujian Applicant before: Wang Youjian |
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