CN110625640B - Mechanical paw structure and operation method - Google Patents
Mechanical paw structure and operation method Download PDFInfo
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- CN110625640B CN110625640B CN201910913204.7A CN201910913204A CN110625640B CN 110625640 B CN110625640 B CN 110625640B CN 201910913204 A CN201910913204 A CN 201910913204A CN 110625640 B CN110625640 B CN 110625640B
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- lifting shaft
- fixed
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- lifting
- connecting rod
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
The invention provides a mechanical paw structure and an operation method, wherein a lifting shaft sleeve is arranged at the center part of the top of a chassis, a lifting shaft is arranged in the lifting shaft sleeve in a sliding fit manner, and the top end of the lifting shaft penetrates through a top guide sleeve arranged on an angle plate and is connected with a lifting power device for driving the lifting shaft to lift; a hanging bracket structure used for moving the whole structure is fixed on the chassis and positioned at the side edge of the lifting shaft sleeve; a paw fixing disc is mounted at the bottom of the chassis, a plurality of outward extending fixing paws are uniformly distributed on the periphery of the paw fixing disc, and a plurality of groups of connecting rod type clamping jaw mechanisms are mounted between the outward extending fixing paws and the bottom end of the lifting shaft; and hand-held structures for moving the whole structure are arranged on the chassis and positioned at two sides of the hanging bracket structure. This mechanical gripper structure can be used for snatching fast of material, cooperates hoist device to realize its transport simultaneously, and then great reduction operation personnel's intensity of labour, improved work efficiency.
Description
Technical Field
The invention belongs to the field of manipulators, and particularly relates to a manipulator claw structure and an operation method.
Background
When materials are transferred or carried, a grabbing manipulator needs to be used, the manipulator needs to meet the requirement of grabbing the materials, and the manipulator is matched with a hoisting device to realize the carrying function of the manipulator.
Disclosure of Invention
In order to solve the technical problems, the invention provides a mechanical gripper structure and an operation method, the mechanical gripper structure can be used for quickly gripping materials, and meanwhile, the materials are carried by matching with a hoisting device, so that the labor intensity of operators is greatly reduced, and the working efficiency is improved.
In order to achieve the technical features, the invention is realized as follows: the mechanical paw structure comprises a chassis, wherein a lifting shaft sleeve is arranged at the center of the top of the chassis, a lifting shaft is arranged in the lifting shaft sleeve in a sliding fit manner, and the top end of the lifting shaft penetrates through a top guide sleeve arranged on an angle plate and is connected with a lifting power device for driving the lifting shaft to lift; a hanging bracket structure used for moving the whole mechanical gripper structure is fixed on the chassis and positioned on the side edge of the lifting shaft sleeve; a paw fixing disc is mounted at the bottom of the chassis, a plurality of outward extending fixing paws are uniformly distributed on the periphery of the paw fixing disc, and a plurality of groups of connecting rod type clamping jaw mechanisms are mounted between the outward extending fixing paws and the bottom end of the lifting shaft; and hand-held structures for moving the whole mechanical gripper structure are arranged on the chassis and positioned on two sides of the hanger structure.
The top of the lifting shaft sleeve is provided with a bottom guide sleeve for guiding the lifting shaft, and the lifting shaft and a linear bearing arranged in the lifting shaft sleeve form guide fit; and a thrust ball bearing is mounted at the bottom end of a bearing seat of the lifting shaft sleeve, and is matched with a shaft collar arranged on the lifting shaft to bear axial force.
The lifting power device comprises an air cylinder fixed on the chassis, a piston rod of the air cylinder is fixedly connected with the top end of the lifting shaft through a connecting plate, an air pipe connector is connected to the air cylinder, and the air pipe connector is connected with the pneumatic system through an air pipe.
The pneumatic system comprises an air source which is communicated with an air pipe of the air cylinder through a manual control valve and controls the action of the air source.
The hanging bracket structure comprises an upright post, the upright post is fixed on the chassis through an upright post base, the top of the upright post is fixed with a top plate through a reinforcing plate, and the top of the top plate is fixed with a lifting lug; the angle plate is fixedly arranged on the side wall of the upright post.
The connecting rod type clamping jaw mechanism comprises an ear seat fixed at the bottom of the tail end of an outward extending fixed jaw, a clamping arm is hinged to the ear seat through a first pin shaft, the tail end of the clamping arm is hinged to a connecting rod through a second pin shaft, the connecting rod is hinged to a fixed seat through a third pin shaft, the fixed seat is fixed to a disc, the disc is fixed to the bottom end of a lifting shaft, and a reset spring is sleeved on the lifting shaft and located between a paw fixed disc and the disc; and a claw rod is fixed at the bottom end of the clamping arm.
The handheld structure comprises ear plates symmetrically fixed on the chassis, clamping blocks are fixed on the ear plates, T-shaped sleeves are fixed on the clamping blocks, bent rods are sleeved inside the T-shaped sleeves, handles are arranged at the tail ends of the bent rods, and reinforcing cross rods are arranged between the bent rods on the two sides.
The operation method of the mechanical gripper structure comprises the following steps:
step 1: the whole mechanical paw structure is hoisted at the tail end of a hoisting steel wire rope through a lifting lug;
step 2: grasping a handle of the handheld structure, moving the whole mechanical gripper structure to the position above a material to be carried by means of a steel wire rope, and arranging the connecting rod type gripper mechanism right above the material;
step 3: the cylinder is started by manually operating the manual control valve, the connecting plate is driven by a piston rod of the cylinder, the lifting shaft is driven by the connecting plate, the disc at the bottom end of the cylinder is driven by the lifting shaft, the connecting rod is driven by the disc, the clamping arm and the claw rod are driven by the connecting rod, and the material is clamped tightly by the claw rod;
step 4: after the material is gripped, the whole mechanical gripper structure is manually moved to a position needing to be placed through a hoisting device;
step 5: after the materials are in place, the manual control valve is operated to release the air cylinder, the lifting shaft automatically resets under the action of the reset spring after the materials are released, and then the connecting rod type clamping jaw mechanism is released to release the materials;
step 6: and moving the whole mechanical gripper structure to the position needing to be conveyed again, and repeating Step 2-Step 5 to finish the next conveying process.
The invention has the following beneficial effects:
1. through adopting foretell hand claw structure can be used for snatching of material to cooperation hoist device realizes the removal of whole mechanical hand claw structure, finally realizes the transport of material.
2. Through foretell structure guaranteed that the lift axle can be in the smooth slip of lift axle sleeve inside, reduced its frictional force.
3. The lifting power device is mainly used for providing clamping power.
4. Through foretell connecting rod formula clamping jaw mechanism, can be used for grasping of material, in the course of the work, can drive the disc through the lift axle, and then drive the connecting rod through the disc, drive articulated arm lock with it by the connecting rod again, finally press from both sides tightly the material through arm lock drive pawl pole.
5. The whole device is conveniently moved through the handheld structure, and the hoisting steel wire rope is matched to realize the integral movement of materials.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a first perspective three-dimensional view of the present invention.
FIG. 2 is a second perspective three-dimensional view of the present invention.
FIG. 3 is a third perspective three-dimensional view of the present invention.
In the figure: lifting lug 1, top plate 2, reinforcing plate 3, upright 4, top guide sleeve 5, angle plate 6, lifting shaft 7, bottom guide sleeve 8, lifting shaft sleeve 9, upright base 10, chassis 11, overhanging fixed jaw 12, ear seat 13, clamping arm 14, second pin 15, connecting rod 16, third pin 17, fixed seat 18, disc 19, return spring 20, paw fixed disk 21, manual control valve 22, reinforcing cross bar 23, curved bar 24, T-shaped sleeve 25, clamping block 26, ear plate 27, cylinder 28, connecting plate 29, piston rod 30, first pin 31, handle 32 and jaw rod 33.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
referring to fig. 1-3, the mechanical gripper structure comprises a chassis 11, wherein a lifting shaft sleeve 9 is installed at the center of the top of the chassis 11, a lifting shaft 7 is installed inside the lifting shaft sleeve 9 in a sliding fit manner, and the top end of the lifting shaft 7 penetrates through a top guide sleeve 5 installed on an angle plate 6 and is connected with a lifting power device for driving the lifting shaft to move up and down; a hanging bracket structure used for moving the whole mechanical gripper structure is fixed on the chassis 11 and positioned at the side edge of the lifting shaft sleeve 9; a paw fixing disc 21 is installed at the bottom of the chassis 11, a plurality of outward extending fixing paws 12 are uniformly distributed on the periphery of the paw fixing disc 21, and a plurality of groups of connecting rod type clamping jaw mechanisms are installed between the outward extending fixing paws 12 and the bottom end of the lifting shaft 7; and hand-held structures for moving the whole mechanical gripper structure are arranged on the chassis 11 and positioned at two sides of the hanger structure. Through adopting foretell hand claw structure can be used for snatching of material to cooperation hoist device realizes the removal of whole mechanical hand claw structure, finally realizes the transport of material, in the use, can drive connecting rod formula clamping jaw mechanism through lift power device, and then grasps the material through connecting rod formula clamping jaw mechanism, treats it after grasping, realizes the removal of whole hand claw structure with the help of handheld structure and hoist device, finally realizes the transport of material.
Further, a bottom guide sleeve 8 for guiding the lifting shaft 7 is mounted at the top of the lifting shaft sleeve 9, and the lifting shaft 7 and a linear bearing mounted inside the lifting shaft sleeve 9 form guide fit; and a thrust ball bearing is mounted at the bottom end of a bearing seat of the lifting shaft sleeve 9, and is matched with a shaft collar arranged on the lifting shaft 7 and bears axial force. Through the structure, the lifting shaft 7 can smoothly slide in the lifting shaft sleeve 9, the friction force is reduced, and meanwhile, the lifting shaft 7 can be guaranteed to bear certain axial force through the thrust ball bearing.
Further, the lifting power device comprises an air cylinder 28 fixed on the chassis 11, a piston rod 30 of the air cylinder 28 is fixedly connected with the top end of the lifting shaft 7 through a connecting plate 29, and an air pipe joint is connected to the air cylinder 28 and connected with a pneumatic system through an air pipe. The lifting power device is mainly used for providing clamping power, in the working process, the connecting plate 29 can be driven by the air cylinder 28, the lifting shaft 7 is driven by the connecting plate 29, and the clamping action of the connecting rod type clamping jaw mechanism is realized by the action of the lifting shaft 27.
Further, the pneumatic system includes a gas source which communicates with the gas line of the cylinder 28 through the manual control valve 22 and controls the operation thereof. The actuation system described above can be used to control the operation of the cylinder 28.
Further, the hanger structure comprises a vertical column 4, the vertical column 4 is fixed on a chassis 11 through a vertical column base 10, a top plate 2 is fixed at the top of the vertical column 4 through a reinforcing plate 3, and a lifting lug 1 is fixed at the top of the top plate 2; the angle plate 6 is fixedly arranged on the side wall of the upright post 4. Can be used for linking to each other whole mechanical gripper structure and hoist device through foretell gallows structure, and then guaranteed that it can be under hoist device's effect bulk movement, finally realize the transport of material.
Further, the connecting rod type clamping jaw mechanism comprises an ear seat 13 fixed at the bottom of the tail end of the outwards extending fixed jaw 12, a clamping arm 14 is hinged to the ear seat 13 through a first pin shaft 31, the tail end of the clamping arm 14 is hinged to a connecting rod 16 through a second pin shaft 15, the connecting rod 16 is hinged to a fixed seat 18 through a third pin shaft 17, the fixed seat 18 is fixed to a disc 19, the disc 19 is fixed to the bottom end of the lifting shaft 7, and a reset spring 20 is sleeved on the lifting shaft 7 and located between the claw fixed disk 21 and the disc 19; a claw rod 33 is fixed at the bottom end of the clamping arm 14. Through foretell connecting rod formula clamping jaw mechanism, can be used for grasping of material, in the course of the work, can drive disc 19 through lift axle 7, and then drive connecting rod 16 through disc 19, drive articulated arm lock 14 with it by connecting rod 16 again, finally press from both sides tightly the material through arm lock 14 drive claw pole 33.
Further, the handheld structure includes that the otic placode 27 on chassis 11 is fixed to the symmetry, be fixed with the clamp block 26 on the otic placode 27, be fixed with T type sleeve 25 on the clamp block 26, the inside cover of T type sleeve 25 is equipped with curved bar 24, the end of curved bar 24 is provided with handle 32, installs between the curved bar 24 that is located both sides and strengthens horizontal pole 23. The whole device is conveniently moved through the handheld structure, and the hoisting steel wire rope is matched to realize the integral movement of materials.
Example 2:
the operation method of the mechanical gripper structure comprises the following steps:
step 1: the whole mechanical paw structure is hoisted at the tail end of a hoisting steel wire rope through a lifting lug 1;
step 2: grasping a handle 32 of the handheld structure, moving the whole mechanical gripper structure to the position above the material to be carried by means of a steel wire rope, and arranging a connecting rod type gripper mechanism right above the material;
step 3: the manual control valve 22 is operated manually, the air cylinder 28 is started, the piston rod 30 of the air cylinder 28 drives the connecting plate 29, the lifting shaft 7 is driven through the connecting plate 29, the disc 19 at the bottom end of the lifting shaft 7 is driven through the lifting shaft 7, the connecting rod 16 is driven through the disc 19, the clamping arm 14 and the claw rod 33 are driven by the connecting rod 16, and materials are clamped through the claw rod 33;
step 4: after the material is gripped, the whole mechanical gripper structure is manually moved to a position needing to be placed through a hoisting device;
step 5: after the materials are put in place, the manual control valve 22 is operated to release the air cylinder 28, the lifting shaft 7 automatically resets under the action of the return spring 20 after the materials are released, and then the connecting rod type clamping jaw mechanism is released to release the materials;
step 6: and moving the whole mechanical gripper structure to the position needing to be conveyed again, and repeating Step 2-Step 5 to finish the next conveying process.
Claims (4)
1. Mechanical gripper structure, its characterized in that: the lifting mechanism comprises a chassis (11), wherein a lifting shaft sleeve (9) is installed at the center of the top of the chassis (11), a lifting shaft (7) is installed inside the lifting shaft sleeve (9) in a sliding fit manner, and the top end of the lifting shaft (7) penetrates through a top guide sleeve (5) installed on an angle plate (6) and is connected with a lifting power device for driving the lifting shaft to move up and down; a hanging bracket structure used for moving the whole mechanical gripper structure is fixed on the chassis (11) and positioned at the side edge of the lifting shaft sleeve (9); a paw fixing disc (21) is mounted at the bottom of the chassis (11), a plurality of outward extending fixing paws (12) are uniformly distributed on the periphery of the paw fixing disc (21), and a plurality of groups of connecting rod type clamping jaw mechanisms are mounted between the outward extending fixing paws (12) and the bottom end of the lifting shaft (7); hand-held structures for moving the whole mechanical gripper structure are arranged on the chassis (11) and positioned on two sides of the hanger structure;
the top of the lifting shaft sleeve (9) is provided with a bottom guide sleeve (8) for guiding the lifting shaft (7), and the lifting shaft (7) is in guide fit with a linear bearing arranged inside the lifting shaft sleeve (9); a thrust ball bearing is mounted at the bottom end of a bearing seat of the lifting shaft sleeve (9), and the thrust ball bearing is matched with a shaft collar arranged on the lifting shaft (7) and bears axial force;
the lifting power device comprises an air cylinder (28) fixed on the chassis (11), a piston rod (30) of the air cylinder (28) is fixedly connected with the top end of the lifting shaft (7) through a connecting plate (29), an air pipe connector is connected to the air cylinder (28), and the air pipe connector is connected with a pneumatic system through an air pipe;
the connecting rod type clamping jaw mechanism comprises an ear seat (13) fixed at the bottom of the tail end of an outward extending fixed jaw (12), a clamping arm (14) is hinged to the ear seat (13) through a first pin shaft (31), the tail end of the clamping arm (14) is hinged to a connecting rod (16) through a second pin shaft (15), the connecting rod (16) is hinged to a fixed seat (18) through a third pin shaft (17), the fixed seat (18) is fixed to a disc (19), the disc (19) is fixed to the bottom end of a lifting shaft (7), and a reset spring (20) is sleeved on the lifting shaft (7) and located between a claw fixed disc (21) and the disc (19); a claw rod (33) is fixed at the bottom end of the clamping arm (14);
handheld structure fixes otic placode (27) on chassis (11) including the symmetry, be fixed with on otic placode (27) and press from both sides tight piece (26), be fixed with T type sleeve pipe (25) on pressing from both sides tight piece (26), the inside cover of T type sleeve pipe (25) is equipped with curved bar (24), the end of curved bar (24) is provided with handle (32), is located and installs between curved bar (24) of both sides and strengthens horizontal pole (23).
2. The gripper attachment of claim 1, wherein: the pneumatic system comprises a gas source which is communicated with a gas pipe of a cylinder (28) through a manual control valve (22) and controls the action of the gas source.
3. The gripper attachment of claim 2, wherein: the hanging bracket structure comprises an upright post (4), the upright post (4) is fixed on a chassis (11) through an upright post base (10), a top plate (2) is fixed at the top of the upright post (4) through a reinforcing plate (3), and a lifting lug (1) is fixed at the top of the top plate (2); the angle plate (6) is fixedly arranged on the side wall of the upright post (4).
4. A method of operating a gripper unit according to claim 3, characterized in that it comprises the following steps:
step 1: the whole mechanical gripper structure is hoisted at the tail end of a hoisting steel wire rope through a lifting lug (1);
step 2: grasping a handle (32) of the handheld structure, moving the whole mechanical gripper structure to the position above the material to be carried by means of a steel wire rope, and arranging the connecting rod type gripper mechanism right above the material;
step 3: the cylinder (28) is started by manually operating the manual control valve (22), the piston rod (30) of the cylinder (28) drives the connecting plate (29), the lifting shaft (7) is driven by the connecting plate (29), the disc (19) at the bottom end of the lifting shaft (7) is driven by the lifting shaft (7), the connecting rod (16) is driven by the disc (19), the clamping arm (14) and the claw rod (33) are driven by the connecting rod (16), and the material is clamped tightly by the claw rod (33);
step 4: after the material is gripped, the whole mechanical gripper structure is manually moved to a position needing to be placed through a hoisting device;
step 5: after the materials are put in place, the manual control valve (22) is operated to release the air cylinder (28), and after the materials are released, the lifting shaft (7) automatically resets under the action of the reset spring (20), so that the connecting rod type clamping jaw mechanism is released, and the materials are released;
step 6: and moving the whole mechanical gripper structure to the position needing to be conveyed again, and repeating Step 2-Step 5 to finish the next conveying process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910913204.7A CN110625640B (en) | 2019-09-25 | 2019-09-25 | Mechanical paw structure and operation method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910913204.7A CN110625640B (en) | 2019-09-25 | 2019-09-25 | Mechanical paw structure and operation method |
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| CN110625640A CN110625640A (en) | 2019-12-31 |
| CN110625640B true CN110625640B (en) | 2021-07-13 |
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| CN111112994B (en) * | 2020-01-21 | 2022-07-19 | 芜湖挺优机电技术有限公司 | Steering engine bush press-in machine |
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| CN114161457A (en) * | 2021-12-15 | 2022-03-11 | 四川航天神坤科技有限公司 | Combined clamping device |
| CN115464609A (en) * | 2022-09-13 | 2022-12-13 | 重庆万里江发链轮有限公司 | Motorcycle sprocket equipment processingequipment |
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