CN112743566A - Pulling-in type mechanical claw capable of changing form - Google Patents
Pulling-in type mechanical claw capable of changing form Download PDFInfo
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- CN112743566A CN112743566A CN202110244755.6A CN202110244755A CN112743566A CN 112743566 A CN112743566 A CN 112743566A CN 202110244755 A CN202110244755 A CN 202110244755A CN 112743566 A CN112743566 A CN 112743566A
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- 210000000078 claw Anatomy 0.000 title claims abstract description 116
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 238000001125 extrusion Methods 0.000 claims abstract description 21
- 238000013016 damping Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 43
- 239000000463 material Substances 0.000 claims description 4
- 238000009827 uniform distribution Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 230000036544 posture Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a pull-in type mechanical claw with a changeable shape, which comprises a middle main body, an auxiliary cylinder steering mechanism and a damping spring, wherein a miniature force sensor is arranged on an inner frame of a triangular mechanical claw, a cylindrical through hole is formed in the arc-shaped auxiliary claw, an extrusion block is arranged on the side surface of the arc-shaped auxiliary claw, a limiting cylinder is fixedly arranged on one side, close to the arc-shaped auxiliary claw, of the extrusion block, and the damping spring is arranged on the outer side of the limiting cylinder. The pull-in type mechanical claw with the changeable shape is provided with the caterpillar band and the flexible protruding parts, the caterpillar band, the flexible protruding parts and the triangular mechanical claw form a closed annular structure in the use process, when a workpiece is in contact with the caterpillar band, the main driving wheel rotates to drive the caterpillar band to roll and transport, the movement of the caterpillar band drives the workpiece to be transmitted to the inside of the mechanical claw from bottom to top, and due to the fact that a large number of flexible protruding parts are attached to the caterpillar band, friction force and resistance between the workpiece and the mechanical claw are increased, the workpiece is effectively prevented from falling off, and stability of the device is improved.
Description
Technical Field
The invention relates to the technical field of mechanical claws, in particular to a pull-in type mechanical claw with a changeable shape.
Background
In order to adapt to the rapid and variable characteristics of the modern society and meet the increasing complexity requirements, the automation field not only needs to stably complete repeated work for a long time, but also has the characteristics of intellectualization, high efficiency, standardization and the like. The mechanical claw is an important production device in the field of automation, is widely applied to the fields of industry, military and the like, is a comprehensive field integrating multiple subjects such as machinery, electricity, bionics, computers, intelligent control and the like, and is an important mark for measuring the national technology manufacturing level.
However, the conventional gripper has the problems of poor autonomy and low standardization, namely, the motion parameters and the operating system of the mechanical arm need to be reset when the target object or the work task is slightly changed. Meanwhile, in the process of grabbing objects, when the objects are large or small in size and overweight or too light in weight, the traditional mechanical claw is difficult to flexibly adjust the clamping posture and force, and the mechanical claw and the target object are easily damaged due to the phenomena of uneven stress or over-strong force and the like.
We have therefore proposed a form-changing pull-in gripper to solve the problems set out above.
Disclosure of Invention
The invention aims to provide a pull-in type mechanical claw with a changeable shape, and aims to solve the problems that the mechanical claw in the prior market cannot flexibly change the shape to grab objects with different shapes, and the mechanical claw and a target object are easily damaged due to the phenomena of uneven stress or over-strong force and the like.
In order to achieve the purpose, the invention provides the following technical scheme: a pull-in type mechanical claw capable of changing forms comprises a middle main body, an auxiliary air cylinder steering mechanism and a damping spring, wherein a slot transmission part is bolted on the side of the middle main body, the left side and the right side of the slot transmission part are respectively hinged with a detachable limiting slot, a slot connecting piece is arranged on the outer surface of the limiting slot, the slot connecting piece is hinged with a main air cylinder steering mechanism, a main air cylinder transmission mechanism is arranged above the main air cylinder steering mechanism, a driving wheel shell is covered between the main air cylinder steering mechanism and the limiting slot, a main driving wheel is fixedly arranged in the driving wheel shell, a triangular mechanical claw is arranged above the driving wheel shell, a pulley is arranged below the inner part of the triangular mechanical claw, a crawler belt is embedded in the triangular mechanical claw, a flexible protruding part is arranged on the outer side of the crawler belt, the, and the vice cylinder drive mechanism is installed in vice cylinder steering mechanism top is articulated to vice cylinder drive mechanism installs the vice claw of arc in the top, the frame is equipped with miniature force sense sensor in the triangle gripper, the cylindricality through-hole has been seted up to the vice claw of arc inside, and the vice claw side-mounting of arc has the extrusion piece to one side fixed mounting that the extrusion piece is close to the vice claw of arc has spacing cylinder, damping spring installs in the spacing cylinder outside.
Preferably, the middle main body is a regular hexagon column body which is symmetrically distributed up and down, left and right, and slot transmission parts which can flexibly rotate are bolted on the sides of the middle main body which are uniformly distributed.
Preferably, the slot transmission parts are distributed in a triangular shape, the left side and the right side of each slot transmission part are respectively hinged with a detachable limiting slot, a slot connecting piece is arranged on the outer surface of each limiting slot, the slot connecting pieces are hinged with the main cylinder steering mechanism, and meanwhile, a stable triangular structure is formed among the slot connecting pieces, the main cylinder steering mechanism and the driving wheel shell.
Preferably, the size of the main driving wheel is larger than that of the pulley, the main driving wheel is engaged with the inner side of the track embedded in the triangular mechanical claw, the surface of the track is coated with uniformly distributed flexible protruding parts, and the flexible protruding parts are made of rubber anti-skid materials.
Preferably, the three-angle mechanical claw is symmetrically provided with 3 about the center of the middle main body, the inside of the three-angle mechanical claw is designed to be a hollow structure, the periphery of the tail end of the three-angle mechanical claw extends to form an auxiliary cylinder steering mechanism and an auxiliary cylinder transmission mechanism which are in one-to-one correspondence with the three-angle mechanical claw, and a through hole is formed in the outer side of the three-angle mechanical claw.
Preferably, the auxiliary cylinder steering mechanism and the auxiliary cylinder transmission mechanism are parallel to the outer side wall of the triangular mechanical claw, and the auxiliary cylinder steering mechanism and the auxiliary cylinder transmission mechanism are connected with the miniature force sense sensor through leads.
Preferably, the arc-shaped auxiliary claws are distributed in a staggered mode, 3 arc-shaped auxiliary claws and the triangular mechanical claws are arranged in a one-to-one correspondence mode, and the arc-shaped auxiliary claws are connected with the upper shaft of the auxiliary cylinder transmission mechanism through connecting blocks.
Preferably, the limiting cylinder is clamped with the cylindrical through hole, the cross section of one end of the limiting cylinder in the cylindrical through hole is in a T-shaped structural design, and the size of one end of the limiting cylinder in the cylindrical through hole is larger than that of the outer side of the cylindrical through hole.
Preferably, the two ends of the damping spring are respectively connected with the arc-shaped auxiliary claw and the extrusion block, the outer side of the extrusion block is in an inclined structural design, and the outer side of the extrusion block is in an inclined structural design.
Compared with the prior art, the invention has the beneficial effects that: the pull-in type mechanical claw capable of changing the shape;
1. the three-angle mechanical claw, the arc-shaped auxiliary claw and the main driving wheel are arranged, the three-angle mechanical claw, the arc-shaped auxiliary claw and the main driving wheel are connected with the main cylinder steering mechanism, the main cylinder transmission mechanism and the middle main body through the driving wheel shell to form a complete closed loop in the use process, so that a grabbed workpiece is placed in the device, the main cylinder transmission mechanism is driven by the main cylinder steering mechanism to perform piston motion, and the main cylinder steering mechanism is matched with the hinge joint among the main driving wheel, the three-angle mechanical claw and the arc-shaped auxiliary claw, so that the integral mechanical claw synchronously performs pull-in motion, the structure is flexible and simple, the force sensor feeds back force information generated when the workpiece is contacted with a track to the central control system, the pull-in motion degree of the three-angle mechanical claw is extremely easy to control;
2. the crawler belt and the flexible protruding parts are arranged, the crawler belt, the flexible protruding parts and the triangular mechanical claw form a closed annular structure in the use process, when a workpiece is in contact with the crawler belt, the main driving wheel rotates to drive the crawler belt to roll and transport, the movement of the crawler belt drives the workpiece to be transmitted into the mechanical claw from bottom to top, and due to the fact that a large number of flexible protruding parts are attached to the crawler belt, friction force and resistance between the workpiece and the mechanical claw are increased, the workpiece is effectively prevented from falling off, and the stability of the device is improved;
3. the auxiliary cylinder steering mechanism and the auxiliary cylinder transmission mechanism are arranged, in the using process, the auxiliary cylinder steering mechanism and the auxiliary cylinder transmission mechanism are matched with the arc-shaped auxiliary claws at the tail ends of the triangular mechanical claws, when a workpiece enters the mechanical claws, the auxiliary cylinder transmission device drives the two pairs of arc-shaped auxiliary claws to be mutually hinged to form a closed annular structure, the workpiece can be effectively prevented from completely falling off from the mechanical claws, and the stability of the device is improved;
4. be provided with extrusion piece and damping spring, snatch the work piece when the vice claw of arc in the use, the work piece produces the extrusion to the extrusion piece this moment for spacing cylinder is to the inboard motion of cylindricality through-hole, and damping spring can play the cushioning effect simultaneously, has avoided the too big damage that leads to the work piece of atress, has increased the functionality of device.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the closed configuration of the present invention;
FIG. 3 is a schematic side view of the closed configuration of the present invention;
FIG. 4 is a schematic top view of the closed configuration of the present invention;
FIG. 5 is a schematic side view of the expanded configuration of the present invention;
FIG. 6 is a schematic top view of the expanded configuration of the present invention;
FIG. 7 is a schematic structural view of the side view of the unfolded state of the present invention;
FIG. 8 is a main sectional structural view of the arc-shaped auxiliary jaw of the present invention.
In the figure: 1. a middle body; 2. limiting slots; 3. a slot transmission member; 4. a socket connector; 5. a master cylinder steering mechanism; 6. a master cylinder transmission mechanism; 7. a main drive wheel; 8. a drive wheel housing; 9. a triangular mechanical claw; 10. a pulley; 11. a crawler belt; 12. a flexible protrusion member; 13. a sub-cylinder steering mechanism; 14. a secondary cylinder transmission mechanism; 15. an arc-shaped auxiliary claw; 16. a force sensor; 17. a cylindrical through hole; 18. extruding the block; 19. a limiting column body; 20. a shock absorbing spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, the present invention provides a technical solution: a pull-in type mechanical claw capable of changing forms comprises a middle main body 1, an auxiliary air cylinder steering mechanism 13 and a damping spring 20, wherein a slot transmission part 3 is bolted on the side of the middle main body 1, the left side and the right side of the slot transmission part 3 are respectively hinged with a detachable limiting slot 2, a slot connecting piece 4 is arranged on the outer surface of the limiting slot 2, the slot connecting piece 4 is hinged with a main air cylinder steering mechanism 5, a main air cylinder transmission mechanism 6 is arranged above the main air cylinder steering mechanism 5, a driving wheel shell 8 is covered between the main air cylinder steering mechanism 5 and the limiting slot 2, a main driving wheel 7 is fixedly arranged inside the driving wheel shell 8, a triangular mechanical claw 9 is arranged above the driving wheel shell 8, a pulley 10 is arranged below the inside of the triangular mechanical claw 9, a crawler belt 11 is embedded inside the triangular mechanical claw 9, a flexible protruding part 12 is arranged on the outer side of the crawler belt 11, and the upper part of the auxiliary cylinder steering mechanism 13 is hinged with an auxiliary cylinder transmission mechanism 14, an arc-shaped auxiliary claw 15 is arranged above the auxiliary cylinder transmission mechanism 14, a miniature force sensor 16 is arranged on the inner frame of the triangular mechanical claw 9, a cylindrical through hole 17 is formed in the arc-shaped auxiliary claw 15, an extrusion block 18 is arranged on the side surface of the arc-shaped auxiliary claw 15, a limiting cylinder 19 is fixedly arranged on one side, close to the arc-shaped auxiliary claw 15, of the extrusion block 18, and a damping spring 20 is arranged on the outer side of the limiting cylinder 19.
The regular hexagon columnar body that intermediate subject 1 is upper and lower left and right symmetric distribution, and intermediate subject 1 has the slot drive disk assembly 3 that can rotate in a flexible way in avris evenly distributed's bolt, and the design of above-mentioned structure makes can obtain the biggest volume with the material of minimum, and slot drive disk assembly 3 can all-round free rotation, and slot 2 modularization degree is high, and the gripper of mountable multiple form has increased the functionality of device.
The slot transmission part 3 is distributed in a triangular shape, the left side and the right side of the slot transmission part 3 are respectively hinged with a detachable limiting slot 2, a slot connecting piece 4 is arranged on the outer surface of the limiting slot 2, the slot connecting piece 4 is hinged with the main cylinder steering mechanism 5, and meanwhile, a stable triangular structure is formed among the slot connecting piece 4, the main cylinder steering mechanism 5 and the driving wheel shell 8.
The size of the main driving wheel 7 is larger than that of the pulley 10, the main driving wheel 7 is meshed with the inner side of the crawler belt 11 embedded in the triangular mechanical claw 9, the surface of the crawler belt 11 is coated with the flexible protruding parts 12 which are evenly distributed, and the flexible protruding parts 12 are made of rubber anti-skid materials.
The three-angle mechanical claw 9 is symmetrically provided with 3 about the center of the middle main body 1, the inside of the three-angle mechanical claw 9 is designed in a hollow structure, the periphery of the tail end of the three-angle mechanical claw 9 extends to form the auxiliary cylinder steering mechanism 13 and the auxiliary cylinder transmission mechanism 14 which are in one-to-one correspondence with the three-angle mechanical claw 9, and a through hole is formed in the outer side of the three-angle mechanical claw 9.
The auxiliary cylinder steering mechanism 13 and the auxiliary cylinder transmission mechanism 14 are parallel to the outer side wall of the triangular mechanical claw 9, the auxiliary cylinder steering mechanism 13 and the auxiliary cylinder transmission mechanism 14 are connected with the micro force sense sensor 16 through conducting wires, and due to the design of the structure, the micro force sense sensor 16 can control the auxiliary cylinder steering mechanism 13 and the auxiliary cylinder transmission mechanism 14, and the functionality of the device is improved.
The arc auxiliary claws 15 are distributed in a staggered mode, 3 arc auxiliary claws 15 are arranged corresponding to the triangular mechanical claws 9 one by one, the arc auxiliary claws 15 are connected with the upper shaft of the auxiliary cylinder transmission mechanism 14 through connecting blocks, and due to the design of the structure, the structure is stable, a target object can be effectively wrapped freely and prevented from falling off from the mechanical claws completely, and the functionality of the device is improved.
The limiting column 19 is clamped with the cylindrical through hole 17, the cross section of one end of the limiting column 19 in the cylindrical through hole 17 is in a T-shaped structural design, the size of one end of the limiting column 19 in the cylindrical through hole 17 is larger than that of the outer side of the cylindrical through hole 17, the limiting column 19 can slide in the cylindrical through hole 17 due to the structural design, the limiting column 19 cannot be separated from the arc-shaped auxiliary claw 15, and the functionality of the device is improved.
Damping spring 20's both ends are connected with arc vice claw 15 and extrusion piece 18 respectively, and the outside of extrusion piece 18 is slope structural design, and the design of above-mentioned structure makes extrusion piece 18 can extrude middle work piece, and damping spring 20 can play the cushioning effect this moment, has avoided the too big damage that leads to the work piece of atress, has increased the functionality of device.
The working principle is as follows: when the pull-in type mechanical claw with the changeable shape is used, firstly, when the pull-in type mechanical claw with the changeable shape is used, according to the graph shown in the figure 1-7, the main cylinder steering mechanism 5 controls the main cylinder transmission mechanism 6 to do piston motion in real time to drive the triangular mechanical claw 9 to do pull-in type motion and adjust to an optimal clamping posture, when a workpiece is contacted with the arc-shaped auxiliary claw 15, the workpiece extrudes the extrusion block 18 at the moment, so that the limiting cylinder 19 moves towards the inner side of the cylindrical through hole 17, meanwhile, the damping spring 20 can play a damping role, the damage of the workpiece caused by overlarge stress is avoided, the main driving wheel 7 rotates to drive the crawler belt 11 to roll and transport the workpiece into the mechanical claw from bottom to top, meanwhile, the force sensor 16 senses the force information generated when the workpiece is contacted with the mechanical claw and feeds the force information back to the middle main body 1, the master cylinder steering mechanism 5 controls the degree of piston motion of the master cylinder transmission mechanism 6 in real time and the clamping force of the mechanical claw, so that the mechanical claw or a workpiece is prevented from being damaged due to uneven stress, the device is provided with the limiting slot 2, the different workpieces can be grabbed, the postures of the mechanical claws in different shapes and different quantities are changed to adapt to the workpiece, and the grabbing efficiency is higher.
Then, under the action of the flexible protruding part 12, the friction force between the workpiece and the triangular mechanical claw 9 is increased, so that the workpiece cannot easily fall off the mechanical claw, when the workpiece completely enters the mechanical claw, the auxiliary cylinder steering mechanism 13 is matched with the auxiliary cylinder transmission mechanism 14 to perform piston motion to drive the arc-shaped auxiliary claw 15 to inwards recover, the whole workpiece can be wrapped in the mechanical claw, and the workpiece cannot easily and completely fall off.
To thereby carry out a series of tasks, the contents of which are not described in detail in the present specification are prior art well known to those skilled in the art.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (9)
1. A pull-in type mechanical claw capable of changing forms comprises a middle main body (1), a secondary cylinder steering mechanism (13) and a damping spring (20), and is characterized in that: the middle body (1) is provided with a slot transmission part (3) in a side bolt manner, the left side and the right side of the slot transmission part (3) are respectively hinged with a detachable limit slot (2), a slot connecting piece (4) is arranged on the outer surface of the limit slot (2), the slot connecting piece (4) is hinged with a main cylinder steering mechanism (5), a main cylinder transmission mechanism (6) is arranged above the main cylinder steering mechanism (5), a driving wheel shell (8) is covered between the main cylinder steering mechanism (5) and the limit slot (2), a main driving wheel (7) is fixedly arranged in the driving wheel shell (8), a triangular mechanical claw (9) is arranged above the driving wheel shell (8), a pulley (10) is arranged below the inside of the triangular mechanical claw (9), a track (11) is embedded in the triangular mechanical claw (9), and a flexible protrusion part (12) is arranged on the outer side of the track (11), vice cylinder steering mechanism (13) are installed in triangle gripper (9) the outside, and articulated vice cylinder drive mechanism (14) of installing in vice cylinder steering mechanism (13) top to vice cylinder drive mechanism (14) top is installed arc vice claw (15), frame is equipped with miniature force sense sensor (16) in triangle gripper (9), the inside cylindricality through-hole (17) of having seted up of arc vice claw (15), and arc vice claw (15) side-mounting has extrusion piece (18) to one side fixed mounting that extrusion piece (18) are close to arc vice claw (15) has spacing cylinder (19), damping spring (20) are installed in spacing cylinder (19) the outside.
2. The reconfigurable pull-in gripper of claim 1, wherein: the middle main body (1) is a regular hexagon column body which is symmetrically distributed from top to bottom and from left to right, and slot transmission parts (3) which can flexibly rotate are bolted on the side of the middle main body (1) in uniform distribution.
3. The reconfigurable pull-in gripper of claim 1, wherein: the slot transmission part (3) is distributed in a triangular shape, the left side and the right side of the slot transmission part (3) are respectively hinged with a detachable limiting slot (2), a slot connecting piece (4) is arranged on the outer surface of the limiting slot (2), the slot connecting piece (4) is hinged with the main cylinder steering mechanism (5), and meanwhile, a stable triangular structure is formed among the slot connecting piece (4), the main cylinder steering mechanism (5) and the driving wheel shell (8).
4. The reconfigurable pull-in gripper of claim 1, wherein: the size of the main driving wheel (7) is larger than that of the pulley (10), the main driving wheel (7) is meshed with the inner side of a crawler belt (11) embedded in the triangular mechanical claw (9), the surface of the crawler belt (11) is coated with uniformly distributed flexible protruding parts (12), and the flexible protruding parts (12) are made of rubber anti-skid materials.
5. The reconfigurable pull-in gripper of claim 1, wherein: the triangular mechanical claw (9) is symmetrically provided with 3 about the center of the middle main body (1), the interior of the triangular mechanical claw (9) is designed to be a hollow structure, the periphery of the tail end of the triangular mechanical claw (9) extends out of an auxiliary cylinder steering mechanism (13) and an auxiliary cylinder transmission mechanism (14) which are in one-to-one correspondence with the triangular mechanical claw (9), and a through hole is formed in the outer side of the triangular mechanical claw (9).
6. The reconfigurable pull-in gripper of claim 1, wherein: the auxiliary cylinder steering mechanism (13) and the auxiliary cylinder transmission mechanism (14) are parallel to the outer side wall of the triangular mechanical claw (9), and the auxiliary cylinder steering mechanism (13) and the auxiliary cylinder transmission mechanism (14) are connected with the micro force sense sensor (16) through leads.
7. The reconfigurable pull-in gripper of claim 1, wherein: the arc-shaped auxiliary claws (15) are distributed in a staggered mode, 3 arc-shaped auxiliary claws (15) are arranged in one-to-one correspondence with the triangular mechanical claws (9), and the arc-shaped auxiliary claws (15) are connected with an upper shaft of the auxiliary cylinder transmission mechanism (14) through connecting blocks.
8. The reconfigurable pull-in gripper of claim 1, wherein: spacing cylinder (19) and cylindricality through-hole (17) block each other, and the cross-section of spacing cylinder (19) one end in cylindricality through-hole (17) is T shape structural design to the size of spacing cylinder (19) one end is greater than the size in cylindricality through-hole (17) outside in cylindricality through-hole (17).
9. The reconfigurable pull-in gripper of claim 1, wherein: the two ends of the damping spring (20) are respectively connected with the arc-shaped auxiliary claw (15) and the extrusion block (18), the outer side of the extrusion block (18) is in an inclined structural design, and the outer side of the extrusion block (18) is in an inclined structural design.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110244755.6A CN112743566B (en) | 2021-03-05 | 2021-03-05 | Pull-in mechanical claw capable of changing shape |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110244755.6A CN112743566B (en) | 2021-03-05 | 2021-03-05 | Pull-in mechanical claw capable of changing shape |
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| CN112743566A true CN112743566A (en) | 2021-05-04 |
| CN112743566B CN112743566B (en) | 2024-04-26 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114872073A (en) * | 2022-05-26 | 2022-08-09 | 日照职业技术学院 | Intelligent manipulator for machining |
| CN115250745A (en) * | 2022-08-05 | 2022-11-01 | 华南农业大学 | Full-automatic fruit picking robot and picking method based on vision technology |
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| CN215433751U (en) * | 2021-03-05 | 2022-01-07 | 广东海洋大学 | Pulling-in type mechanical claw capable of changing form |
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| JPH08309685A (en) * | 1995-05-12 | 1996-11-26 | Komatsu Ltd | Indefinite form object clamping device |
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| CN110621452A (en) * | 2017-05-18 | 2019-12-27 | Smc株式会社 | Workpiece holding device |
| CN107150117A (en) * | 2017-07-19 | 2017-09-12 | 安徽理工大学 | Many arm type suspended rail formula casting cleaning machine people |
| CN108858178A (en) * | 2018-09-14 | 2018-11-23 | 毛添星 | A kind of telescopic magic hand being machined adjustable-angle in production |
| CN109318248A (en) * | 2018-10-26 | 2019-02-12 | 武汉科技大学 | A kind of flexible machinery gripping tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114872073A (en) * | 2022-05-26 | 2022-08-09 | 日照职业技术学院 | Intelligent manipulator for machining |
| CN115250745A (en) * | 2022-08-05 | 2022-11-01 | 华南农业大学 | Full-automatic fruit picking robot and picking method based on vision technology |
| CN115250745B (en) * | 2022-08-05 | 2024-03-12 | 华南农业大学 | Full-automatic fruit picking robot and picking method based on vision technology |
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| CN112743566B (en) | 2024-04-26 |
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