CN113829379A - Anti-poking gripper device adaptive to size and shape of object - Google Patents
Anti-poking gripper device adaptive to size and shape of object Download PDFInfo
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- CN113829379A CN113829379A CN202111256189.7A CN202111256189A CN113829379A CN 113829379 A CN113829379 A CN 113829379A CN 202111256189 A CN202111256189 A CN 202111256189A CN 113829379 A CN113829379 A CN 113829379A
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 13
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 52
- 239000010959 steel Substances 0.000 claims abstract description 52
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 210000001145 finger joint Anatomy 0.000 claims abstract description 11
- 230000000712 assembly Effects 0.000 claims abstract description 5
- 238000000429 assembly Methods 0.000 claims abstract description 5
- 238000002955 isolation Methods 0.000 claims description 8
- 125000006850 spacer group Chemical group 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000001788 irregular Effects 0.000 abstract description 18
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000009471 action Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
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- Engineering & Computer Science (AREA)
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Abstract
The invention relates to the technical field of mechanical grippers and provides an anti-poking gripper device adaptive to the size and shape of an object, which comprises a base; the gripper comprises a first gripper and a second gripper, the first gripper and the second gripper are symmetrically connected to the base and are provided with an upper knuckle and a lower knuckle, one end of the upper knuckle is hinged to the base, and the other end of the upper knuckle is hinged to the lower knuckle through a knuckle assembly; the finger posture control mechanisms are arranged on the base and are divided into two groups, the two groups of finger posture control mechanisms are respectively used for driving the two groups of grippers to grasp and release, each finger posture control mechanism comprises a gripper steel wire rope, and two ends of each finger posture control mechanism are respectively connected to the finger joint assemblies of the two groups of grippers; the control rod is arranged on the base in a vertically sliding mode, and the control rod pulls the gripper steel wire rope after moving; through the technical scheme, the problems that in the prior art, the clamped object is irregular in shape and easy to fall off in clamping are solved.
Description
Technical Field
The invention relates to the technical field of mechanical grippers, in particular to an anti-poking gripper device adaptive to the size and shape of an object.
Background
An industrial robot is an advanced automatic production device, and a mechanical gripper is an important component of the industrial robot; in the operation process of the industrial robot, the manipulator device is required to be accurately positioned, reliably clamped and stably moved.
At present, when a mechanical gripper device of a robot clamps, grabs, moves and places an object, the contact area between the gripper and the object is small due to the fact that the clamped object is irregular, the position of clamping force applied to the clamped object is distributed unevenly, the object is clamped by the gripper insecurely, the object slides even drops in the moving process, the placing position is inaccurate, and the normal operation of a production line of workpieces operated by the type is influenced to a certain degree.
Disclosure of Invention
The invention provides an anti-poking gripper device adaptive to the size and the shape of an object, and solves the problems that the clamped object is irregular in shape and easy to clamp and fall off in the related technology.
The technical scheme of the invention is as follows:
self-adaptation object size and shape prevent stabbing tongs device, include
A base;
the gripper comprises a first gripper and a second gripper, the first gripper and the second gripper are symmetrically connected to the base, and the first gripper and the second gripper are provided with
One end of the upper knuckle is hinged to the base, and the other end of the upper knuckle is hinged to the lower knuckle through a knuckle assembly; and
finger gesture control mechanisms, which are arranged on the base and are two groups, are respectively used for driving the two groups of grippers to grasp and release, and comprise
Two ends of the grab steel wire rope are respectively connected to the finger joint assemblies of the two groups of grabs; and
and the control rod is arranged on the base in a vertically sliding mode, and the control rod pulls the gripper steel wire rope after moving.
According to a further technical scheme, the finger gesture control mechanism further comprises
The linear bearing is arranged on the base, and the control rod is coaxially and slidably arranged in the linear bearing;
the first connecting frame is arranged at one end of the control rod and is provided with a first rope limiting hole; and
the first fixed pulley is rotatably arranged on the first connecting frame, the middle of the gripper steel wire rope is wound on the first fixed pulley, and two ends of the gripper steel wire rope penetrate through the first rope limiting hole to be connected with the finger joint assembly.
According to a further aspect, the knuckle assembly comprises
The lower connecting shaft is rotatably connected with the upper knuckle and the lower knuckle;
the lower torsion spring is sleeved on the lower connecting shaft and acts on the upper knuckle and the lower knuckle; and
and the first fastening piece is arranged on the upper knuckle and is connected with the gripper steel wire rope.
According to a further technical scheme, two groups of grippers are arranged; the finger posture control mechanisms are arranged in two groups, and the two groups of finger posture control mechanisms are respectively connected with the two groups of grippers; the finger gesture control mechanism is arranged on the base and drives the finger gesture control mechanism to act, and the driving mechanism comprises
Two ends of the driving steel wire rope are respectively connected with the control rods of the two groups of finger posture control mechanisms through second fasteners;
the linear driving piece is used for pulling the driving steel wire rope;
the second connecting frame is arranged at the output end of the linear driving piece and is provided with a second rope limiting hole; and
the second fixed pulley is rotatably arranged on the second connecting frame, the middle of the driving steel wire rope is wound on the second fixed pulley, and two ends of the driving steel wire rope penetrate through the second rope limiting hole to be connected with the control rod.
In a further technical scheme, the base is of a hollow structure, and the driving mechanism further comprises
The speed regulating valve is arranged on the outer side of the linear driving piece and used for controlling the moving speed of the output end of the linear driving piece; the linear driving piece is arranged on the mounting plate and extends out of the base; and
one end of the positioning sleeve is connected with the mounting plate, and the other end of the positioning sleeve is connected with the base.
According to a further technical scheme, the upper knuckle comprises two upper fingerplates connected through an upper isolation sleeve, and the lower knuckle comprises two lower fingerplates connected through a lower isolation sleeve;
one end of the lower torsion spring is abutted against the lower isolation sleeve, and the other end of the lower torsion spring is abutted against the first fastener.
Further technical scheme is made, go up the knuckle with it is articulated through last connecting axle between the base, it is equipped with the torsional spring to go up the cover on the connecting axle, go up torsional spring one end with the base butt, the other end with go up the spacer sleeve butt.
According to a further technical scheme, the clamping surface of the lower fingerplate is of a sawtooth structure, and one end of the non-clamping surface of the lower fingerplate is of an arc structure.
The working principle and the beneficial effects of the invention are as follows:
1. the gripper is used for gripping an object, the finger posture control mechanism is used for controlling two groups of grippers (one group is a first gripper, and the other group is a second gripper) to be opened and closed, so that the object can be clamped and transferred conveniently, the control rod moves upwards (moves towards one side far away from the gripper) to drive two ends of a gripper steel wire rope to approach each other, so that finger joint components approach each other to drive an upper knuckle and a lower knuckle to grip and clamp the object in the gripper, and the two groups of grippers are connected through the gripper steel wire rope, so that when the object is irregular in shape, two ends of the gripper steel wire rope asymmetrically move to drive the two groups of grippers to clamp the object at different angles, so that the two groups of grippers complete gripping of the irregular object;
2. the two groups of grippers clamp irregular objects at different angles, the maximum contact area of the grippers to the irregular objects is guaranteed, the grippers are stable in the process of transferring the objects, and the phenomenon that the objects fall is avoided.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of another angle structure of the present invention;
FIG. 3 is a schematic view of a base structure according to the present invention;
FIG. 4 is a schematic structural diagram of a finger posture control mechanism and a driving mechanism according to the present invention;
FIG. 5 is a schematic view of a gripper according to the present invention;
in the figure: 100. a base seat, a plurality of fixing holes and a plurality of fixing holes,
200. a hand grip 210, an upper knuckle 211, an upper spacer 212, an upper fingerboard 220, a lower knuckle 221, a lower spacer 222, a lower fingerboard 230, a knuckle assembly 231, a lower connecting shaft 232, a lower torsion spring 233, a first fastener 240, an upper connecting shaft 250, an upper torsion spring,
300. a finger posture control mechanism 310, a gripper steel wire rope 320, a control rod 330, a linear bearing 340, a first connecting frame 350, a first rope limiting hole 360, a first fixed pulley,
400. the driving mechanism 410, the driving steel wire rope 420, the second fastening piece 430, the linear driving piece 440, the second connecting frame 450, the second rope limiting hole 460, the second fixed pulley 470, the speed regulating valve 480, the mounting plate 490 and the positioning sleeve.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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 be included within the scope of protection of the present invention.
Example 1
As shown in fig. 1 to 5, the present embodiment provides an anti-poking gripper adaptive to the size and shape of an object, including a base 100; the gripper 200 comprises a first gripper and a second gripper, the first gripper and the second gripper are symmetrically connected to the base 100 and both have an upper knuckle 210 and a lower knuckle 220, one end of the upper knuckle 210 is hinged to the base 100, and the other end of the upper knuckle 210 is hinged to the lower knuckle 220 through a knuckle assembly 230; the finger posture control mechanisms 300 are arranged on the base 100, are divided into two groups, are respectively used for driving the two groups of grippers 200 to grasp and release, comprise gripper steel wire ropes 310, and are respectively connected to the finger joint assemblies 230 of the two groups of grippers 200 at two ends; and a control rod 320 which is arranged on the base 100 in a vertically sliding manner, wherein the control rod 320 pulls the gripper steel wire rope 310 after moving.
In the embodiment, in order to solve the problem that the shape of the object to be gripped is irregular and the object slides or falls during the carrying process when the mechanical gripper grips the object in the prior art, a poke-proof gripper device adaptive to the size and shape of the object is designed, the gripper 200 is used for gripping the object, the finger posture control mechanism 300 is used for controlling two sets of symmetrically arranged grippers 200 (one set is a first gripper and the other set is a second gripper) to open and close so as to clamp and transfer the object, wherein the control rod 320 moves upwards (moves towards the side far away from the gripper 200) to drive the two ends of the gripper steel wire rope 310 to approach each other, so that the finger joint components 230 approach each other to drive the upper knuckle 210 and the lower knuckle 220 of the two sets of grippers 200 to grip tightly and grip the object in the gripper 200, because the two sets of grippers 200 are connected through the gripper steel wire rope 310, when the shape of the object is irregular, the two ends of the gripper steel wire rope 310 move asymmetrically to drive the two sets of grippers 200 to realize clamping at different angles, so that the two sets of grippers 200 complete gripping of irregular objects, the maximum contact area of the grippers 200 on the irregular objects is ensured, the grippers 200 are stable in clamping in the process of transferring the objects, and the phenomenon that the objects fall off is avoided.
As shown in fig. 1 to 4, the finger posture control mechanism 300 further includes a linear bearing 330 disposed on the base 100, and the control rod 320 is coaxially slidably disposed in the linear bearing 330; a first connecting frame 340 provided at one end of the control lever 320 and having a first rope limiting hole 350; and a first fixed pulley 360 rotatably disposed on the first connecting frame 340, the middle of the gripper steel wire rope 310 is wound on the first fixed pulley 360, and both ends of the gripper steel wire rope 310 penetrate through the first rope limiting hole 350 to be connected with the finger joint assembly 230.
In this embodiment, in order to ensure that the front and rear grippers 200 grip irregular objects at different angles, one end of the control rod 320 is connected to the first connecting frame 340, and the first connecting frame 340 is provided with the first fixed pulley 360, wherein the middle of the gripper steel wire rope 310 is tightly wound on the first fixed pulley 360, and the other two ends of the gripper steel wire rope pass through the first rope limiting hole 350 to connect the finger joint assemblies 230 of the two grippers 200, in the clamping process, the control rod 320 moves upwards to drive the first connecting frame 340 and the first fixed pulley 360 to rise, the first fixed pulley 360 drives the gripper steel wire rope 310 to deform and move in the rising process, so that the two ends of the gripper steel wire rope 310 approach each other, and because the first fixed pulley 360 is tightly wound with the middle of the gripper steel wire rope 310, when the gripped objects have irregular shapes, the force points of the grippers 200 are different, so that the force points of the gripper steel wire rope 310 are shifted, the first fixed pulley 360 rotates, so that the stress point of the gripper steel wire rope 310 is contacted with the first fixed pulley 360 again, and the process can be finished under the movement of the control rod 320; the linear bearing 330 guides the control rod 320, the linear bearing 330 enables the control rod 320 to move more smoothly, the clamping stagnation phenomenon is avoided, and the service life of the control rod 320 is ensured; the first rope limiting hole 350 ensures that the middle portion of the gripper steel wire rope 310 is always in contact with the first fixed pulley 360, and ensures the stability of the gripper steel wire rope 310.
As shown in fig. 1 to 5, the knuckle assembly 230 includes a lower connecting shaft 231 rotatably connecting the upper knuckle 210 and the lower knuckle 220; the lower torsion spring 232 is sleeved on the lower connecting shaft 231 and acts on the upper knuckle 210 and the lower knuckle 220; and a first fastener 233 provided on the upper knuckle 210, the first fastener 233 being connected to the gripper cable 310.
In this embodiment, the lower connecting shaft 231 enables the upper knuckle 210 and the lower knuckle 220 to be hinged to each other, so that the lower knuckle 210 can clamp an object conveniently, the object is clamped between the upper knuckle 210 and the lower knuckle 220, the contact positions between the object and the gripper 200 are increased, the stability of the clamped object is guaranteed, the lower torsion spring 232 enables the gripper 200 to be in an open state in a free state, the gripper 200 is under the action of external force, the lower knuckle 220 rotates due to the existence of the lower torsion spring 232, rigid collision and breakage of the gripper 200 are avoided, the anti-breaking effect of the lower torsion spring 232 is excellent, the two ends of the gripper steel wire rope 310 are connected to the connection positions of the two groups of upper knuckles 210 and lower knuckles 220 through the first fastener 233, and the gripper steel wire rope 310 controls the gripper 200.
As shown in fig. 1 to 5, two sets of the hand grips 200 are provided; two groups of finger posture control mechanisms 300 are arranged, and the two groups of finger posture control mechanisms 300 are respectively connected with the two groups of grippers 200; the driving mechanism 400 is arranged on the base 100 and drives the finger posture control mechanism 300 to act, the driving mechanism 400 comprises a driving steel wire rope 410, and two ends of the driving steel wire rope are respectively connected with the control rods 320 of the two groups of finger posture control mechanisms 300 through second fasteners 420; a linear driving member 430 for pulling the driving wire rope 410; a second connection frame 440 provided at an output end of the linear driving member 430 and having a second rope limiting hole 450; and a second fixed pulley 460 rotatably disposed on the second connecting frame 440, wherein the middle portion of the driving wire rope 410 is wound on the second fixed pulley 460, and both ends of the driving wire rope 410 penetrate through the second rope limiting hole 450 to be connected with the control rod 320.
In this embodiment, two sets of finger gesture control mechanisms 300 are provided, the two sets of finger gesture control mechanisms 300 are respectively connected to two sets of grippers 200, the driving mechanism 400 is configured to drive the control rod 320 to move up and down, wherein the output end of the linear driving member 430 is raised to drive the second connecting frame 440 to move up, the second connecting frame 440 drives the second fixed pulley 460 to rise, so that the pressing contact point of the driving steel wire rope 410 and the second fixed pulley 460 rises to drive the control rod 320 to rise, when the object to be gripped is in an irregular shape, the two sets of grippers 200 are stressed differently, the pressing contact point of the driving steel wire rope 410 and the second fixed pulley 460 rises and slides on the upper surface of the second fixed pulley 460, so that the two control rods 320 have different rising heights, that is, the gripping positions and gripping angles of the two sets of grippers 200 are different, and meanwhile, the gripper steel wire rope 310 drives the first gripper and the second gripper of each set of grippers 200 to grip at different angles, so that irregular objects are stably clamped, and the linear driving member 430 is a common driving member such as a telescopic cylinder, a hydraulic cylinder, etc.
As shown in fig. 1 to 3, the base 100 is a hollow structure, and the driving mechanism 400 further includes a speed regulating valve 470 disposed outside the linear driving member 430 and used for controlling the moving speed of the output end of the linear driving member 430; a mounting plate 480 located in the base 100, wherein the linear driving member 430 is disposed on the mounting plate 480 and extends out of the base 100; and a positioning sleeve 490 having one end connected to the mounting plate 480 and the other end connected to the base 100.
In this embodiment, the base 100 is a hollow structure, the mounting plate 480 is disposed in the hollow base 100 through the positioning sleeve 490, one end of the linear driving member 430 is disposed on the mounting plate 480, and the other end drives the second connecting frame 440 to extend out of the base 100, so that the occupied space of the driving mechanism 400 is minimized, and meanwhile, the base 100 protects the driving mechanism 400, thereby ensuring the service life of the driving mechanism 400; the fluid pushes the output end of the linear drive 430 upward through the speed valve 470, causing the device to complete the clamping process.
As shown in fig. 1-5, the upper knuckle 210 includes two upper fingerplates 212 connected by an upper spacer 211, and the lower knuckle 220 includes two lower fingerplates 222 connected by a lower spacer 221; one end of the lower torsion spring 232 abuts against the lower isolation sleeve 221, and the other end abuts against the first fastener 233.
In this embodiment, the upper knuckle 210 is a front upper knuckle and a rear lower knuckle, and the lower knuckle 220 is a front lower knuckle and a rear lower knuckle; the two upper finger plates 212 and the two lower finger plates 222 enable the contact area of the hand grip 200 and the clamped object to be the largest, the stability of the clamped object is further guaranteed, one end of the lower torsion spring 232 abuts against the lower isolation sleeve 221, the other end of the lower torsion spring abuts against the first fastening piece 233, the lower finger plates 222 are rotatably arranged on the first fastening piece 233, when the first fastening piece 233 is driven by the hand grip steel wire rope 310 to move, the upper finger sections 210 and the lower finger sections 220 of the first hand grip and the second hand grip are close to each other to complete folding, and the hand grip 200 is enabled to complete clamping operation.
As shown in fig. 1 to 5, the upper knuckle 210 is hinged to the base 100 through an upper connecting shaft 240, an upper torsion spring 250 is sleeved on the upper connecting shaft 240, one end of the upper torsion spring 250 is abutted to the base 100, and the other end of the upper torsion spring is abutted to the upper isolation sleeve 211.
In this embodiment, when the first fastening member 233 is driven by the grab steel cable 310 to move, the upper fingerplate 212 rotates around the upper connecting shaft 240, so that the upper torsion spring 250 deforms, and the acting force of the upper knuckle 210 on the base 100 is reduced; when the gripper 200 grips an irregular object, the gripper 200 is initially in an open state due to the existence of the upper torsion spring 250 and the lower torsion spring 232, when the irregular object enters the range of the gripper 200, the gripper 200 starts to act, the linear driving member 430 drives the second connecting frame 440 to move upwards, and simultaneously the steel wire rope 410 is driven to pull the two groups of finger posture control mechanisms 300 to act, so that the gripper steel wire rope 310 on the first connecting frame 340 is pulled upwards, the gripper 200 folds and clamps the object, and due to the irregular object, the other group of the two groups of gripper 200 clamps the object, and under the state, the output end of the linear driving member 430 can continue to move upwards, and since one group of gripper can not clamp the object, the corresponding finger posture control mechanism 300 is not moved, and due to the existence of the driving steel wire rope 410 and the second fixed pulley 460, the output end of the linear driving member 430 moves upwards to drive the other group of finger posture control mechanism 300 to move upwards So that the gripper 200 completes the clamping action.
As shown in fig. 1 to 5, the clamping surface of the lower finger plate 222 is a saw-toothed structure, and one end of the non-clamping surface of the lower finger plate 222 is an arc-shaped structure.
In this embodiment, the clamping surface of the lower fingerplate 222 is a saw-toothed structure, so that the friction between the lower fingerplate 222 and the object to be clamped is increased, and the clamping is more stable; one end of the non-clamping surface of the lower finger plate 222 is an arc-shaped structure, when the hand grip 200 clamps the object, because the arc-shaped structure of the lower finger plate 222 contacts the object and is impacted when the hand grip is clamped, the arc-shaped structure plays a role in guiding, so that the lower finger plate 222 deflects and presses the lower torsion spring 232, and the lower finger plate 222 is prevented from being broken.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An anti-poking hand grab device adaptive to the size and shape of an object is characterized by comprising
A base (100);
a gripper (200) comprising a first gripper and a second gripper, the first gripper and the second gripper being symmetrically connected to the base (100) and both having
The finger joint comprises an upper knuckle (210) and a lower knuckle (220), wherein one end of the upper knuckle (210) is hinged to the base (100), and the other end of the upper knuckle is hinged to the lower knuckle (220) through a knuckle component (230); and
finger gesture control mechanisms (300) arranged on the base (100) in two groups and respectively used for driving the two groups of grippers (200) to grasp and release, including
The two ends of the gripper steel wire rope (310) are respectively connected to the finger joint assemblies (230) of the two sets of grippers (200); and
and the control rod (320) is arranged on the base (100) in a vertically sliding mode, and the control rod (320) pulls the gripper steel wire rope (310) after moving.
2. An adaptive object size and shape anti-poking grip as claimed in claim 1, wherein said finger position control mechanism (300) further comprises
The linear bearing (330) is arranged on the base (100), and the control rod (320) is coaxially and slidably arranged in the linear bearing (330);
a first connecting frame (340) provided at one end of the control lever (320) and having a first rope limiting hole (350); and
the first fixed pulley (360) is rotatably arranged on the first connecting frame (340), the middle of the hand grab steel wire rope (310) is wound on the first fixed pulley (360), and two ends of the hand grab steel wire rope (310) penetrate through the first rope limiting hole (350) to be connected with the finger joint assembly (230).
3. An adaptive object size and shape anti-stab grip as in claim 1, wherein said knuckle assembly (230) comprises
A lower connecting shaft (231) rotatably connecting the upper knuckle (210) and the lower knuckle (220);
the lower torsion spring (232) is sleeved on the lower connecting shaft (231) and acts on the upper knuckle (210) and the lower knuckle (220); and
the first fastening piece (233) is arranged on the upper knuckle (210), and the first fastening piece (233) is connected with the gripper steel wire rope (310).
4. An adaptive object size and shape anti-stab grip as in claim 1, wherein said grips (200) are provided in two groups; two groups of finger posture control mechanisms (300) are arranged, and the two groups of finger posture control mechanisms (300) are respectively connected with the two groups of grippers (200); the finger gesture control device further comprises a driving mechanism (400) which is arranged on the base (100) and drives the finger gesture control mechanism (300) to act, and the driving mechanism (400) comprises
Two ends of the driving steel wire rope (410) are respectively connected with the control rods (320) of the two groups of finger gesture control mechanisms (300) through second fasteners (420);
a linear drive (430) for pulling the drive cable (410);
the second connecting frame (440) is arranged at the output end of the linear driving piece (430) and is provided with a second rope limiting hole (450); and
the second fixed pulley (460) is rotatably arranged on the second connecting frame (440), the middle of the driving steel wire rope (410) is wound on the second fixed pulley (460), and two ends of the driving steel wire rope (410) penetrate through the second rope limiting hole (450) to be connected with the control rod (320).
5. An adaptive object size and shape anti-poking grip as claimed in claim 4, wherein the base (100) is a hollow structure, the driving mechanism (400) further comprises
The speed regulating valve (470) is arranged on the outer side of the linear driving piece (430) and is used for controlling the moving speed of the output end of the linear driving piece (430);
a mounting plate (480) located within the base (100), the linear drive (430) being disposed on the mounting plate (480) and extending out of the base (100); and
and one end of the positioning sleeve (490) is connected with the mounting plate (480), and the other end of the positioning sleeve is connected with the base (100).
6. An adaptive object size shape anti-stab grip as claimed in claim 3, wherein said upper knuckle (210) comprises two upper fingerplates (212) connected by an upper spacer sleeve (211), and said lower knuckle (220) comprises two lower fingerplates (222) connected by a lower spacer sleeve (221);
one end of the lower torsion spring (232) abuts against the lower isolation sleeve (221), and the other end of the lower torsion spring abuts against the first fastener (233).
7. The anti-poking hand grab device capable of adapting to the size and the shape of an object according to claim 6, wherein the upper knuckle (210) is hinged to the base (100) through a connecting shaft (240), an upper torsion spring (250) is sleeved on the upper connecting shaft (240), one end of the upper torsion spring (250) abuts against the base (100), and the other end of the upper torsion spring abuts against the upper isolation sleeve (211).
8. The anti-poking grip device capable of adapting to the size and shape of an object as claimed in claim 6, wherein the clamping surface of the lower finger plate (222) is of a saw-toothed structure, and one end of the non-clamping surface of the lower finger plate (222) is of an arc-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111256189.7A CN113829379A (en) | 2021-10-27 | 2021-10-27 | Anti-poking gripper device adaptive to size and shape of object |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111256189.7A CN113829379A (en) | 2021-10-27 | 2021-10-27 | Anti-poking gripper device adaptive to size and shape of object |
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| CN113829379A true CN113829379A (en) | 2021-12-24 |
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| CN202111256189.7A Pending CN113829379A (en) | 2021-10-27 | 2021-10-27 | Anti-poking gripper device adaptive to size and shape of object |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117655897A (en) * | 2024-02-02 | 2024-03-08 | 沈阳山磊技术研发有限公司 | Chamfering equipment for processing end face of aluminum profile |
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2021
- 2021-10-27 CN CN202111256189.7A patent/CN113829379A/en active Pending
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| CN117655897A (en) * | 2024-02-02 | 2024-03-08 | 沈阳山磊技术研发有限公司 | Chamfering equipment for processing end face of aluminum profile |
| CN117655897B (en) * | 2024-02-02 | 2024-04-02 | 沈阳山磊技术研发有限公司 | Chamfering equipment for processing end face of aluminum profile |
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Application publication date: 20211224 |
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