CN109227580A - A kind of mechanical gripper - Google Patents
A kind of mechanical gripper Download PDFInfo
- Publication number
- CN109227580A CN109227580A CN201811096190.6A CN201811096190A CN109227580A CN 109227580 A CN109227580 A CN 109227580A CN 201811096190 A CN201811096190 A CN 201811096190A CN 109227580 A CN109227580 A CN 109227580A
- Authority
- CN
- China
- Prior art keywords
- eccentric cams
- clamping eccentric
- mechanical gripper
- wheel
- conductive bar
- 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
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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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a kind of mechanical grippers, the mechanical gripper includes armed lever, V-type cleft hand frame, Clamping eccentric cams and mechanical gripper unclamp control wheel group, the armed lever outer end is connected with lifting silk braid, the lifting silk braid is set on elevating screw, the armed lever inner end is connect with V-type cleft hand frame, Clamping eccentric cams shaft is symmetrically arranged in the upper hand cradle of V-type cleft hand frame and lower hand cradle outer end, the Clamping eccentric cams are arranged in Clamping eccentric cams shaft, when unloading batten, the clamping opening of two pieces Clamping eccentric cams is aligned upper forward movement with batten, two pieces Clamping eccentric cams are clipped on a wrench, then two pieces Clamping eccentric cams move backward again is clamped in batten in the clamping opening of two pieces Clamping eccentric cams；Batten extraction can be unloaded by the way that control discharging locomotive is mobile.
Description
Technical field
The present invention relates to mechanical gripper technical fields, and in particular to a kind of mechanical gripper.
Background technique
In sheet metal smelting or Field of Heat-treatment, especially metal plate Field of Heat-treatment, it is heat-treated in kiln
Lath needs afterwards take out out of furnace, and traditional discharge way, general using manually being clamped using fixture, Mechanical course has
It is controlled on fixture using hydraulic cylinder or cylinder, since the plate temperature after being heat-treated is in several Baidu, and stockhole temperature
Also at 100 degree or more, using manual cleaning's mode there are great security risk, the fixture controlled using hydraulic cylinder or cylinder,
Since operating ambient temperature is excessively high, the sealing element for frequently resulting in hydraulic cylinder or cylinder is damaged, and is caused oil, gas to unload leakage, is made liquid
Cylinder pressure or cylinder can not normal control, in addition, existing fixture automatic clamping and it is automatic unclamp clamping, control is more complicated, leads
Cause unloading efficiency low.
Summary of the invention
The purpose of the present invention is to overcome the shortage of prior art, and provides a kind of mechanical gripper, solves to use manual cleaning
There are great security risks for mode, are often led using the fixture that hydraulic cylinder or cylinder control since operating ambient temperature is excessively high
Cause the sealing element of hydraulic cylinder or cylinder to damage, oil, gas caused to unload leakage, make hydraulic cylinder or cylinder can not normal control, in addition,
Existing fixture automatic clamping and automatic unclamp clamp, and control is more complicated, leads to the problem that unloading efficiency is low.
The present invention is achieved through the following technical solutions:
A kind of mechanical gripper, the mechanical gripper include that armed lever, V-type cleft hand frame, Clamping eccentric cams and mechanical gripper unclamp
Control wheel group, the armed lever outer end are connected with lifting silk braid, and the lifting silk braid is set on elevating screw, the armed lever inner end
It is connect with V-type cleft hand frame, is symmetrically arranged with Clamping eccentric cams shaft, the folder in the upper hand cradle of V-type cleft hand frame and lower hand cradle outer end
Tight eccentric wheel is arranged in Clamping eccentric cams shaft, and when unloading batten, the clamping opening of two pieces Clamping eccentric cams is aligned with batten
It moves forward, two pieces Clamping eccentric cams are clipped on a wrench, and then two pieces Clamping eccentric cams move backward again is clamped in batten
In the clamping opening of two pieces Clamping eccentric cams；Batten extraction can be unloaded by the way that control discharging locomotive is mobile；
It is symmetrically arranged with mechanical gripper in upper hand cradle and lower hand cradle inner end and unclamps control wheel group, the mechanical gripper unclamps control
Ratch group includes unclamping wheel, unclamping wheel mounting rack and conductive bar, and the release wheel is mounted on release wheel mounting rack lower end, the pine
Wheel mounting rack upper end is opened to be plugged in V-type cleft hand frame, releases wheel mounting rack upper end is equipped with tapered head, the tapered head and
Conductive bar is equipped in V-type cleft hand frame between Clamping eccentric cams shaft, conductive bar and Clamping eccentric cams shaft corresponding end are equipped with spine
Pawl is equipped with ratchet with conductive bar corresponding position in Clamping eccentric cams shaft, when completing batten unloading, needs to make mechanical gripper and item
When plate unclamps clamping, control mechanical gripper forward, moves batten end into V-type cleft hand frame, when batten is plugged into two
It unclamps between wheel, two pieces release wheel is extruded opening, unclamps wheel and release wheel mounting rack is pushed to move outward, to unclamp wheel peace
The tapered head shelved squeezes conductive bar to the movement of Clamping eccentric cams rotor shaft direction, and the pawl of conduction boom end setting is plugged in ratchet
On, it simultaneously clamps on the Clamping eccentric cams on batten and is also driven to rotate opening, Clamping eccentric cams drive Clamping eccentric cams to turn again
Axis rotation, then controls mechanical gripper and moves backward, again when mechanical gripper moves backward, due in Clamping eccentric cams shaft
Ratchet is limited by pawl, and Clamping eccentric cams can not be rotated with batten, i.e., two pieces Clamping eccentric cams keep open configuration from batten
Extraction.
Mechanical gripper uses V-type cleft hand frame and Clamping eccentric cams, and crawl is convenient, is being extracted out batten by mechanical gripper
When, the more secured clamping batten of Clamping eccentric cams is more drawn, so that batten be avoided to fall in extraction, the risk slipped out of the hand has
Effect, which prevents high temperature batten from falling, leads to safety accident, slips out of the hand in control in mechanical gripper and batten, the present invention is using mechanical
Handgrip unclamps control wheel group and Clamping eccentric cams cooperate, and when needing to clamp mechanical gripper and batten release, controls mechanical gripper
Forward, move batten end into V-type cleft hand frame, when batten is plugged between two release wheels, two pieces is unclamped wheel and is squeezed
Pressure open, unclamp wheel push unclamp wheel mounting rack move outward, thus unclamp wheel mounting rack tapered head squeeze conductive bar to
Clamping eccentric cams rotor shaft direction is mobile, and the pawl of conduction boom end setting is plugged on ratchet, simultaneously clamps on the folder on batten
Tight eccentric wheel is also driven to rotate openings, and Clamping eccentric cams drive the rotation of Clamping eccentric cams shaft again, then control mechanical gripping again
Hand moves backward, and when mechanical gripper moves backward, since the ratchet in Clamping eccentric cams shaft is limited by pawl, clamps eccentric
Wheel can not be rotated with batten, i.e., two pieces Clamping eccentric cams keep open configuration to extract out from batten.
Above structure clamps mechanical gripper and board clamping and release all easy to operate, all using machine driving, has
Effect avoids the risk for easily leading to control failure at high temperature for a long time using hydraulic cylinder or cylinder, and presss from both sides mechanical gripper and batten
Tight and release clamping is all swift to operate, improves the unloading efficiency of batten.
Further, the Clamping eccentric cams outer circle wheel face is equipped with form friction pattern, and every Clamping eccentric cams both ends of the shaft is all provided with
There are Clamping eccentric cams.
Further, the conductive bar and tapered head abutting end are equipped with arc shaped surface, the arc shaped surface of conductive bar and tapered head
Conical surface fitting, conductive bar reset spring is arranged in conductive bar, makes the spine in conductive bar by conductive bar reset spring elastic force
Pawl is separated with the ratchet in Clamping eccentric cams shaft.
Further, conductive bar setting pawl one end is equipped with pawl mounting groove, and the pawl is installed by pawl shaft
In conductive bar, it is equipped with anti-pawl up time rotary block on the upside of pawl installation trench bottom, makes pawl can not up time turn by block
It is dynamic, but can be rotated with the inverse time.
Further, the tapered head for unclamping wheel mounting rack upper end, which is equipped with, unclamps wheel reset spring, withdraws from batten
When two pieces is unclamped between wheel, makes to unclamp by the reseting elasticity that reset spring is taken turns in release to take turns and unclamp and take turns mounting rack reset.
Further, release wheel mounting rack is equipped with cantilever shalving, and the cantilever shalving includes cantilever set and cantilever hanger,
The cantilever set is set on release wheel mounting rack, and the bottom end of multiple cantilever hangers is uniformly circumferentially positioned at cantilever and puts on,
Cantilever hanger upper end hook portion is arranged in V-type cleft hand frame, makes release wheel mounting rack can be on V-type cleft hand frame by cantilever shalving
Stretching motion is without falling.
Further, it is arranged with buffer spring on multiple cantilever hangers, is resetted unclamping wheel and unclamping wheel mounting rack
In the process, make to unclamp by buffer spring buffer spring and take turns and unclamp wheel mounting rack delayed management, to guarantee batten from upper and lower
In two sets of Clamping eccentric cams when extraction, upper and lower two sets of Clamping eccentric cams will not be clipped on batten.
Compared with prior art, the present invention having the following advantages and benefits:
Mechanical gripper of the present invention uses V-type cleft hand frame and Clamping eccentric cams, and crawl is convenient, is passing through mechanical gripper for batten
When extraction, the more secured clamping batten of Clamping eccentric cams is more drawn, so that batten is avoided to fall in extraction, the wind slipped out of the hand
Danger, effectivelying prevent high temperature batten to fall leads to safety accident, slips out of the hand in control in mechanical gripper and batten, the present invention uses
Mechanical gripper unclamps control wheel group and Clamping eccentric cams cooperate, and when needing to clamp mechanical gripper and batten release, control is mechanical
Handgrip forward, moves batten end into V-type cleft hand frame, and when batten is plugged between two release wheels, two pieces unclamps wheel
It is extruded opening, wheel is unclamped and release wheel mounting rack is pushed to move outward, so that the tapered head for unclamping wheel mounting rack squeezes conduction
Bar is mobile to Clamping eccentric cams rotor shaft direction, and the pawl of conduction boom end setting is plugged on ratchet, simultaneously clamps on batten
Clamping eccentric cams be also driven to rotate opening, Clamping eccentric cams drive Clamping eccentric cams shaft to rotate again, then control machine again
Tool handgrip moves backward, and when mechanical gripper moves backward, since the ratchet in Clamping eccentric cams shaft is limited by pawl, clamps
Eccentric wheel can not be rotated with batten, i.e., two pieces Clamping eccentric cams keep open configuration to extract out from batten.
Above structure clamps mechanical gripper and board clamping and release all easy to operate, all using machine driving, has
Effect avoids the risk for easily leading to control failure at high temperature for a long time using hydraulic cylinder or cylinder, and presss from both sides mechanical gripper and batten
Tight and release clamping is all swift to operate, improves the unloading efficiency of batten.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of mechanical gripper of the present invention；
Fig. 2 is mechanical gripper overlooking structure diagram of the present invention；
Fig. 3 is mechanical gripper the schematic diagram of the section structure of the present invention；
Fig. 4 is that a kind of mechanical gripper of the present invention implements status architecture schematic diagram；
Label and corresponding parts title in attached drawing:
1- discharging locomotive, 2- mechanical gripper, 3- guide rail movable stand, 4- sole, 5- crane, 6-X axial movement rolling
Wheel, 7-X move axially motor, 8- sliding shoe, 9- sliding groove, 10-Z axial movement motor, 11-Z axial direction drive lead screw, 12- liter
Drop screw rod, 13- lifting motor, 14- armed lever, 15-V type cleft hand frame, 16- Clamping eccentric cams, 17- lifting silk braid, the upper hand cradle of 18-,
Hand cradle under 19-, 20- batten, 21- unclamp wheel, and 22- unclamps wheel mounting rack, 23- conductive bar, the tapered head of 24-, 25- pawl, 26- spine
Wheel, 27- conductive bar reset spring, 28- pawl mounting groove, 29- pawl shaft, 30- block, 31- unclamp wheel reset spring, and 32- is outstanding
Cantilever crane, 33- cantilever set, 34- cantilever hanger, 35- buffer spring, 36- thermal baffle, 37- heat-treatment furnace, 38- discharging guide rail,
39- Clamping eccentric cams shaft.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.
Embodiment
As shown in Figs 1-4, a kind of mechanical gripper of the present invention, the mechanical gripper 2 include armed lever 14, V-type cleft hand frame 15, folder
Tight eccentric wheel 16 and mechanical gripper unclamp control wheel group, and 14 outer end of armed lever is connected with lifting silk braid 17, the lifting silk braid
17 are set on elevating screw 12, and 14 inner end of armed lever is connect with V-type cleft hand frame 15, in the upper hand cradle 18 of V-type cleft hand frame 15
It is symmetrically arranged with Clamping eccentric cams shaft 39 with lower 19 outer end of hand cradle, the Clamping eccentric cams 16 are arranged in Clamping eccentric cams shaft 39
On, when unloading batten, the clamping opening of two pieces Clamping eccentric cams 16 is aligned upper forward movement, two pieces Clamping eccentric cams 16 with batten 20
It is clipped on batten 20, then control two pieces Clamping eccentric cams 16 move backward again is clamped in two pieces Clamping eccentric cams for batten 20
In 16 clamping opening, the extraction of batten 20 can be unloaded by the way that control discharging locomotive 1 is mobile.
It is symmetrically arranged with mechanical gripper in upper hand cradle 18 and lower 19 inner end of hand cradle and unclamps control wheel group, the mechanical gripper pine
Opening control wheel group includes unclamping wheel 21, unclamping wheel mounting rack 22 and conductive bar 23, and the release wheel 21 is mounted on release wheel installation
22 lower end of frame, the release wheel 22 upper end of mounting rack are plugged in V-type cleft hand frame 15, and the release wheel 22 upper end of mounting rack is set
There is tapered head 24, tapered 24 upper end of head is small, and lower end is big, and when tapered 24 upper end of head is bonded with conductive bar 23, conductive bar 23 is in
Retracted state, when tapered 24 lower end of head is bonded with conductive bar 23, conductive bar 23 is in elongation state, the tapered head 24 and folder
It is equipped with conductive bar 23 in V-type cleft hand frame 15 between tight eccentric wheel shaft 39, conductive bar 23 is corresponding with Clamping eccentric cams shaft 39
It holds and is equipped with pawl 25, be equipped with ratchet 26 with 23 corresponding position of conductive bar in Clamping eccentric cams shaft 39, unloaded when completing batten 20,
When needing that mechanical gripper 2 and batten 20 is made to unclamp clamping, control mechanical gripper 2 forward, makes 20 end of batten to V-type cleft hand frame 15
Interior movement, when batten 20 is plugged between two release wheels 21, two pieces unclamps wheel 21 and is extruded opening, unclamps wheel 21 and pushes pine
It opens wheel mounting rack 22 to move outward, turn so that the tapered head 24 for unclamping wheel mounting rack 22 squeezes conductive bar 23 to Clamping eccentric cams
39 direction of axis is mobile, and the pawl 25 of 23 end of conductive bar setting is plugged on ratchet 26, simultaneously clamps on the clamping on batten 20
Eccentric wheel 16 is also driven to rotate opening, and Clamping eccentric cams 16 drive Clamping eccentric cams shaft 39 to rotate again, then controls machine again
Tool handgrip 2 moves backward, when mechanical gripper 2 moves backward, since the ratchet 26 in Clamping eccentric cams shaft 39 is by pawl 25
It limits, Clamping eccentric cams 16 can not be rotated with batten 20, i.e., two pieces Clamping eccentric cams 16 keep open configuration to take out from batten 20
Out.
As shown in figure 4, discharging is mobile in use, mechanical gripper 2 is mounted on discharging locomotive 1 by going up and down silk braid 17
Vehicle 1 includes sole 4 and crane 5, and 4 bottom of sole is equipped with X axis shifting roller 6, and X is equipped on the outside of sole 4
Motor 7 is moved axially, the X axis mobile motor 7 is connected with X axis shifting roller 6 by belt, gear or transmission shaft driven
It connects, X axis mobile motor 7, discharging locomotive 1 is mounted on guide rail movable stand 3 by X axis shifting roller 6, passes through X axis
Mobile motor 7 controls the X axis movement on guide rail movable stand 3 of discharging locomotive 1, and the crane 5 is arranged on sole 4,
It is equipped with sliding shoe 8 in 5 bottom end of crane, sliding groove 9 is equipped on sole 4, in 4 side of sole position corresponding with sliding groove 9
Z axis being installed to mobile motor 10, the Z axis is sequentially connected with Z axis to drive lead screw 11 to mobile motor 10, and 8 sets of sliding shoe
In Z axis on drive lead screw 11, by Z axis to mobile motor 10 control crane 5 on sole 4 Z axis to movement, the liter
It drops and is equipped with elevating screw 12 in frame 5 vertically, 12 upper end of elevating screw is sequentially connected with lifting motor 13；13 band of lifting motor
Dynamic elevating screw 12 rotates, and elevating screw 12 drives mechanical gripper 2 to move up and down.
A kind of mechanical gripper of the present invention in use, by the setting of mechanical gripper device for discharging heat-treatment furnace 37 in front of the door, at heat
It is equipped with discharging guide rail 38 before reason furnace 37, is equipped with pulley in 3 bottom of guide rail movable stand, guide rail movable stand 3 is mounted on by pulley
On discharging guide rail 38, batten is unloaded on guide rail movable stand 3 by mechanical gripper 2, then passes through guide rail movable stand 3 for unloading
Batten 20 is transported on production line by discharging guide rail 38.
The 16 outer circle wheel face of Clamping eccentric cams is equipped with form friction pattern, and 16 frictional force of Clamping eccentric cams can be improved in form friction pattern,
Every 39 both ends of Clamping eccentric cams shaft are equipped with Clamping eccentric cams 16.It can be increased by respectively setting two pieces Clamping eccentric cams 16 up and down
On the one hand 16 holding area of big Clamping eccentric cams improves grip strength, on the other hand improves and clamp the success rate docked with batten.
Conductive bar 23 and tapered 24 abutting end of head are equipped with arc shaped surface, the conical surface patch of the arc shaped surface of conductive bar 23 and tapered head 24
It closes, conductive bar reset spring 27 is arranged in conductive bar 23, is made in conductive bar 23 by 27 elastic force of conductive bar reset spring
Pawl 25 is separated with the ratchet 26 in Clamping eccentric cams shaft 39.
Conductive bar 23 is arranged 25 one end of pawl and is equipped with pawl mounting groove 28, and the pawl 25 is mounted on biography by pawl shaft 29
Guide rod 23 is equipped with anti-25 up time rotary block 30 of pawl on the upside of 28 bottom of pawl mounting groove, makes 25 nothing of pawl by block 30
The rotation of method up time, but can be rotated with the inverse time.It is first to control machine when exiting batten 20 in the clamping opening from two pieces Clamping eccentric cams 16
Tool handgrip 2 is pushed to batten direction, then is extracted out to 20 opposite direction of batten, so, during push-pull, Clamping eccentric cams 16 are
It can only rotate clockwise, cannot rotate counterclockwise, no is that Clamping eccentric cams 16 can also be stung tightly when batten 20 is extracted out in batten 20
On, therefore, pawl 25 can be rotated counterclockwise around pawl shaft 29, but cannot be rotated clockwise along pawl shaft 29, and pawl shaft 29 is suitable
It can not be rotated when hour hands rotate by the limit of block 30.
The tapered head 24 for unclamping wheel 22 upper end of mounting rack, which is equipped with, unclamps wheel reset spring 31, withdraws from two pieces pine in batten 20
When opening between wheel 21, the reseting elasticity by unclamping wheel reset spring 31 makes to unclamp wheel 21 and unclamp wheel mounting rack 22 to reset.
The release wheel mounting rack 22 is equipped with cantilever shalving 32, and the cantilever shalving 32 includes cantilever set 33 and cantilever hanger
34, the cantilever set 33 is set on release wheel mounting rack 22, and the bottom end of multiple cantilever hangers 34 is uniformly circumferentially positioned at
On cantilever set 33,34 upper end hook portion of cantilever hanger is arranged in V-type cleft hand frame 15, makes to unclamp wheel installation by cantilever shalving 34
Frame 22 can on V-type cleft hand frame 15 stretching motion without falling.
It is arranged with buffer spring 35 on multiple cantilever hangers 34, was resetted unclamping wheel 21 and unclamping wheel mounting rack 22
Cheng Zhong makes to unclamp wheel 21 and unclamps wheel 22 delayed management of mounting rack, to guarantee batten 20 by 35 buffer spring of buffer spring
When extracting out out of upper and lower two sets of Clamping eccentric cams 16, upper and lower two sets of Clamping eccentric cams 16 will not be clipped on batten 20.
Thermal baffle 36 is equipped on the inside of the crane 5.Thermal baffle 36 can be with each in effective protection discharging locomotive 1
A motor trouble free service prevents the high temperature of the high temperature and batten 20 in heat-treatment furnace 37 from damaging to motor.
A kind of mechanical gripper of the present invention, it is mobile by discharging using the discharging locomotive 1 moved axially with X, Y, Z tri-
Vehicle 1 controls mechanical gripper 2 and also moves axially movement in X, Y, Z tri-, so as to clamp any position batten 20 in burner hearth
And it unloads；
Mechanical gripper 2 uses V-type cleft hand frame 15 and Clamping eccentric cams 16, and crawl is convenient, is passing through mechanical gripper 2 for batten
When 20 extraction, more the drawing more secured clamping batten 20 of Clamping eccentric cams 16 is slipped out of the hand so that batten be avoided to fall in extraction
Risk, effectivelying prevent high temperature batten to fall leads to safety accident, slip out of the hand in control in mechanical gripper 2 and batten 20, this
Invention unclamps control wheel group using mechanical gripper and Clamping eccentric cams 16 cooperate, and needing, which unclamps mechanical gripper 2 and batten 20, presss from both sides
When tight, control mechanical gripper 2 forward, moves 20 end of batten into V-type cleft hand frame 15, when batten 20 is plugged into two pines
It opens between wheel 21, two pieces release wheel 21 is extruded opening, unclamps wheel 21 and release wheel mounting rack 22 is pushed to move outward, thus loose
The tapered head 24 for opening wheel mounting rack 22 squeezes conductive bar 23 to the movement of 39 direction of Clamping eccentric cams shaft, the setting of 23 end of conductive bar
Pawl 25 be plugged on ratchet 26, simultaneously clamp on the Clamping eccentric cams 16 on batten 20 and be also driven to rotate opening, clamp
Eccentric wheel 16 drive again Clamping eccentric cams shaft 39 rotate, then control mechanical gripper 2 again and move backward, when mechanical gripper 2 to
After when moving, since the ratchet 26 in Clamping eccentric cams shaft 39 is limited by pawl 25, Clamping eccentric cams 16 can not be with batten 20
Rotation, i.e. two pieces Clamping eccentric cams 16 keep open configuration to extract out from batten 20.
Above structure is clamped mechanical gripper 2 and the clamping of batten 20 and release all easy to operate, is all passed using machinery
It is dynamic, effectively avoid the risk for easily leading to control failure at high temperature for a long time using hydraulic cylinder or cylinder, and make mechanical gripper 2 with
Batten 20 clamps and release clamping is all swift to operate, improves the unloading efficiency of batten.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of mechanical gripper, including armed lever (14), V-type cleft hand frame (15), Clamping eccentric cams (16) and mechanical gripper unclamp control
Ratch group, it is characterised in that: armed lever (14) outer end is connected with lifting silk braid (17), armed lever (14) inner end and V-type pawl
Hand cradle (15) connection is symmetrically arranged with Clamping eccentric cams in the upper hand cradle (18) of V-type cleft hand frame (15) and lower hand cradle (19) outer end and turns
Axis (39), the Clamping eccentric cams (16) are arranged on Clamping eccentric cams shaft (39)；
It is symmetrically arranged with mechanical gripper in upper hand cradle (18) and lower hand cradle (19) inner end and unclamps control wheel group, the mechanical gripper pine
Opening control wheel group includes unclamping wheel (21), unclamping wheel mounting rack (22) and conductive bar (23), and the release wheel (21) is mounted on pine
Wheel mounting rack (22) lower end is opened, release wheel mounting rack (22) upper end is plugged in V-type cleft hand frame (15), the release wheel
Mounting rack (22) upper end is equipped with tapered head (24), the V-type cleft hand between the tapered head (24) and Clamping eccentric cams shaft (39)
Conductive bar (23) are equipped in frame (15), conductive bar (23) and Clamping eccentric cams shaft (39) corresponding end are equipped with pawl (25), clamp
Ratchet (26) are equipped with conductive bar (23) corresponding position in eccentric wheel shaft (39).
2. a kind of mechanical gripper according to claim 1, it is characterised in that: Clamping eccentric cams (16) the outer circle wheel face is set
There is form friction pattern, every Clamping eccentric cams shaft (39) both ends are equipped with Clamping eccentric cams (16).
3. a kind of mechanical gripper according to claim 1, it is characterised in that: the conductive bar (23) is matched with tapered head (24)
It closes end and is equipped with arc shaped surface, the arc shaped surface of conductive bar (23) is bonded with the conical surface of tapered head (24), is arranged on conductive bar (23)
Conductive bar reset spring (27) makes pawl (25) on conductive bar (23) by conductive bar reset spring (27) elastic force and clamps inclined
Ratchet (26) separation in heart wheel shaft (39)；
Conductive bar (23) setting pawl (25) one end is equipped with pawl mounting groove (28), and the pawl (25) passes through pawl shaft
(29) conductive bar (23) are mounted on, anti-pawl (25) up time rotary block (30) is equipped on the upside of pawl mounting groove (28) bottom,
By block (30) make pawl (25) can not up time rotation, but can be rotated with the inverse time.
4. a kind of mechanical gripper according to claim 1, it is characterised in that: the cone for unclamping wheel mounting rack (22) upper end
Type head (24), which is equipped with, unclamps wheel reset spring (31).
5. a kind of mechanical gripper according to claim 1, it is characterised in that: release wheel mounting rack (22) is equipped with outstanding
Cantilever crane (32), the cantilever shalving (32) include cantilever set (33) and cantilever hanger (34), and the cantilever set (33) is set in release
It takes turns on mounting rack (22), the bottom end of multiple cantilever hangers (34) is uniformly circumferentially positioned on cantilever set (33), cantilever hanger
(34) hook portion setting in upper end is in V-type cleft hand frame (15)；Buffer spring is arranged on multiple cantilever hangers (34)
(35)。
6. a kind of mechanical gripper according to claim 1-5, it is characterised in that: set on the inside of the crane (5)
There are thermal baffle (36).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811096190.6A CN109227580B (en) | 2018-09-19 | 2018-09-19 | A kind of mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811096190.6A CN109227580B (en) | 2018-09-19 | 2018-09-19 | A kind of mechanical gripper |
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| Publication Number | Publication Date |
|---|---|
| CN109227580A true CN109227580A (en) | 2019-01-18 |
| CN109227580B CN109227580B (en) | 2019-08-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811096190.6A Active CN109227580B (en) | 2018-09-19 | 2018-09-19 | A kind of mechanical gripper |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110304304A (en) * | 2019-07-30 | 2019-10-08 | 南京理工大学 | A kind of turnover device for shape packaging |
| CN111844104A (en) * | 2020-08-20 | 2020-10-30 | 上海金自天正信息技术有限公司 | Eccentric wheel type self-locking grabbing device and method matched with six-axis robot for use |
| CN112936228A (en) * | 2021-02-08 | 2021-06-11 | 延边大学 | Lower limb exoskeleton robot |
| CN113478510A (en) * | 2021-06-30 | 2021-10-08 | 江西机电职业技术学院 | Mechanical gripper |
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| CN201415368Y (en) * | 2009-05-11 | 2010-03-03 | 深圳市天凌高实业发展有限公司 | Ratchet type clamp |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110304304A (en) * | 2019-07-30 | 2019-10-08 | 南京理工大学 | A kind of turnover device for shape packaging |
| CN111844104A (en) * | 2020-08-20 | 2020-10-30 | 上海金自天正信息技术有限公司 | Eccentric wheel type self-locking grabbing device and method matched with six-axis robot for use |
| CN111844104B (en) * | 2020-08-20 | 2023-12-26 | 上海金自天正信息技术有限公司 | Eccentric wheel type self-locking grabbing device and method matched with six-axis robot |
| CN112936228A (en) * | 2021-02-08 | 2021-06-11 | 延边大学 | Lower limb exoskeleton robot |
| CN112936228B (en) * | 2021-02-08 | 2023-03-14 | 延边大学 | Lower limb exoskeleton robot |
| CN113478510A (en) * | 2021-06-30 | 2021-10-08 | 江西机电职业技术学院 | Mechanical gripper |
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|---|---|
| CN109227580B (en) | 2019-08-09 |
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