CN114407070B - Lotus claw for grabbing waste steel - Google Patents
Lotus claw for grabbing waste steel Download PDFInfo
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- CN114407070B CN114407070B CN202210308296.8A CN202210308296A CN114407070B CN 114407070 B CN114407070 B CN 114407070B CN 202210308296 A CN202210308296 A CN 202210308296A CN 114407070 B CN114407070 B CN 114407070B
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- ring
- tip
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- arm
- upper valve
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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 relates to the technical field of mechanical arm equipment, and discloses a lotus claw for grabbing waste steel, which comprises a connecting table fixedly connected with a mechanical arm, a hydraulic rod communicated with a hydraulic device and a grabbing flap hinged with the connecting table, wherein the grabbing flap comprises an upper flap and a tip, and the upper flap is hinged with the tip. This be used for waste material steel to snatch and grab with lotus flower, through two sections operations, the drive angle that makes the hydraulic stem is in optimum angle all the time, realize simultaneously that the lever of effort enlargies, under same hydraulic oil pressure, it is bigger to grab power, can break harder object and can snatch heavier goods, holistic atress reduces simultaneously, the load of each part is littleer, long service life is more of a specified duration, secondly, when the lamella rotates on the drive, the driving point is close to the pivoted root, faster functioning speed has been realized, and after grabbing the object, the driving point is close to the bottom, great drive power has been realized, make functioning speed and effort all keep the best state.
Description
Technical Field
The invention relates to the technical field of manipulator equipment, in particular to a lotus claw for grabbing waste steel.
Background
The lotus claw is also called a steel grabbing machine, is designed for grabbing bulk or block substances such as stones, waste metals, household garbage and the like, and realizes opening and closing through hydraulically driving a grabbing flap to move so as to grab materials.
The lotus grab has an important function of crushing large hard materials, for example, in an automobile disassembling field, the lotus grab is often used for grabbing an automobile and then swinging back and forth to tear the automobile.
Further, due to the driving direction of the hydraulic rod and the position of the hinge point, on one hand, the direction from the hinge point to the fulcrum is usually not perpendicular to the hydraulic cylinder, namely, the acting force is not perpendicular to the 'lever', the maximum moment cannot be realized, and the grabbing force is restricted, and on the other hand, the position of the hydraulic rod is usually located in the middle of the grabbing flap, so that the moment is restricted due to the fact that the moment arm is not sufficiently extended.
Furthermore, the hydraulic rod and the hinged point of the grab flap are close to the root, so that the grabbing speed can be increased, the grabbing force is reduced, the grabbing speed is limited even if the hydraulic rod and the hinged point of the grab flap are close to the bottom, the existing equipment is comprehensively considered, and the grabbing speed and the grabbing force are limited.
Disclosure of Invention
Aiming at the defects of the background technology, the invention provides a technical scheme of a lotus claw for grabbing waste steel, which is divided into two sections to operate, so that the grabbing force is finally amplified, the faster operation speed can be ensured, and the problems in the background technology are solved.
The invention provides the following technical scheme: the utility model provides a be used for waste material steel to snatch and grab with lotus flower, include with arm fixed connection's connection platform, with the hydraulic stem of hydraulic means intercommunication and with be connected platform articulated lamella, grab the lamella and constitute by last lamella and most advanced, it is articulated with most advanced, the hydraulic stem is connected with last lamella through the connecting piece that can break away from with last lamella, but most advanced connection driving tip pivoted rotor arm, the connecting piece passes through the connecting rod and is connected with the rotor arm, the connecting rod is articulated with the rotor arm, be equipped with the locating part of restriction connecting rod turned angle between rotor arm and the locating part, make the pin joint of most advanced and last lamella and the line of the pin joint of connecting piece and hydraulic stem tend to perpendicularly with the contained angle of hydraulic stem.
Preferably, a gap is left between the upper lobe and the end of the tip.
Preferably, the locating part includes that the appearance is the connecting block and the lantern ring of cuboid, be equipped with the connecting axle on the connecting block, the connecting rod passes through the lantern ring and is articulated with the connecting block, leave fit clearance between lantern ring and the connecting block.
Preferably, the tail part of the upper petal is provided with a connecting groove for the connecting piece to slide out or in, and the inner sides of the connecting groove are magnetically attracted.
Preferably, the rotor arm passes through the adjusting ring and is connected with most advanced, the adjusting ring include with most advanced fixed connection's in-connection ring, the outer wall cover of in-connection ring is equipped with the outer drive ring, be equipped with the axle sleeve between in-connection ring and the outer drive ring, be equipped with flexible piece and connection tooth between outer drive ring and the in-connection ring, be equipped with the spacing arm of slope on the flexible piece, spacing arm one end butt is on connecting the tooth, when flexible piece retracts, spacing arm breaks away from the contact with connecting the tooth, flexible piece accessible manual remote control or according to effort size automatic control, be equipped with the clockwork spring between in-connection ring and the outer drive ring.
Preferably, the shaft sleeve is made of an elastic material, at least one of the inner wall and the outer wall of the shaft sleeve is slidably connected with the inner connecting ring or the outer driving ring, the extension line of the telescopic block passes through a hinge point of the connecting rod and the rotating arm, and the telescopic block is positioned on one side back to the hydraulic rod.
Preferably, the hinge point of the upper flap and the tip is located inside the extension line of the hydraulic rod.
The invention has the following beneficial effects:
1. this be used for waste material steel to snatch and grab with lotus flower, through two sections operations, the drive angle that makes the hydraulic stem is in optimum angle all the time, realize simultaneously that the lever of effort enlargies, under same hydraulic oil pressure, it is bigger to grab power, can break harder object and can snatch heavier goods, on the other hand, export the same effort, holistic atress reduces, the load of each part is littleer, life is more of a specified duration, simultaneously, the fastest most advanced also is changed easily relatively.
2. This be used for waste material steel to snatch and grab with lotus flower, when the drive upper segment rotated, the driving point was close to the pivoted root, has realized faster functioning speed, and after grabbing the object, the driving point was close to the bottom, has realized great drive power for functioning speed and effort all keep the best state.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the mating structure of the superior petal and the tip of the present invention;
FIG. 3 is a schematic view of the tip and the rotating arm of the present invention;
FIG. 4 is a schematic view of the fitting structure of the upper petal and the connecting member of the present invention;
FIG. 5 is a front view of an adjustment ring of the present invention;
FIG. 6 is a side view of an adjustment ring of the present invention;
fig. 7 is a schematic diagram of the relative position of the hinge point between the upper petal and the tip end in the present invention.
In the figure: 1. a connecting table; 2. a hydraulic lever; 3. an upper petal; 4. a tip; 5. a connecting member; 6. a rotating arm; 7. a limiting member; 8. a connecting rod; 9. connecting grooves; 10. an adjustment ring; 101. an inner connecting ring; 102. an outer drive ring; 103. a connecting tooth; 104. a telescopic block; 105. a limiting arm; 106. a clockwork spring; 107. and a shaft sleeve.
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, a lotus claw for grabbing waste steel comprises a connecting table 1 fixedly connected with a mechanical arm, a hydraulic rod 2 communicated with a hydraulic device and a claw flap hinged with the connecting table 1, wherein the connecting table 1 can be hung on the mechanical arm through a hook or fixedly connected with the mechanical arm through a flange, the claw flap comprises an upper flap 3 and a tip 4, the hydraulic rod 2 and the upper flap 3 are both hinged with the side wall of the connecting table 1, the claw flap is provided with 4 to 6 groups, the upper flap 3 is hinged with the tip 4, the hydraulic rod 2 is connected with the upper flap 3 through a connecting piece 5 which can be separated from the upper flap 3, the hydraulic rod 2 is hinged with the connecting piece 5, the connecting piece 5 is separated from the upper flap 3 when the acting force is larger than a limited value or separated from the upper flap 3 through electromagnetic control and manual control, the tip 4 is connected with a rotating arm 6 which can drive the tip 4 to rotate, the rotating arm 6 is connected with a rotating shaft of the tip 4, and the rotating shaft is fixedly connected with the tip 4, the connecting piece 5 is connected with the rotating arm 6 through a connecting rod 8, the connecting rod 8 is hinged with the rotating arm 6, a limiting piece 7 for limiting the rotating angle of the connecting rod 8 is arranged between the rotating arm 6 and the limiting piece 7, and the included angle between the connecting line of the hinged point of the tip 4 and the upper valve 3 and the hinged point of the connecting piece 5 and the hydraulic rod 2 tends to be perpendicular.
Referring to fig. 2, a gap is left between the upper petal 3 and the end of the tip 4 to limit the rotation between the upper petal 3 and the tip 4, so that the tip 4 can only rotate by a small amplitude, and the action amplitude of the tip 4 is prevented from being too large.
Referring to fig. 3, the limiting member 7 includes a connecting block and a sleeve ring, the connecting block is provided with a connecting shaft, the connecting rod 8 is hinged to the connecting block through the sleeve ring, a fit gap is reserved between the sleeve ring and the connecting block, and when the sleeve ring rotates, the fit gap gradually decreases, so that the limitation of the rotation angle is realized.
Referring to fig. 4, a connecting groove 9 for the connecting member 5 to slide out or in is provided at the tail of the upper petal 3, the inner sides of the connecting groove 9 are magnetically attracted, magnets are provided at the innermost sides of the connecting groove 9 or the connecting member 5 and the connecting groove 9, which ensure attraction force enough to open and close the upper petal 3 and separate from the upper petal 3 during crushing, and the connecting member 5 has a length enough to penetrate through the upper petal 3 and a certain radian to prevent the connecting member 5 from sliding out when the upper petal 3 is opened.
Referring to fig. 5 and 6, wherein the rotating arm 6 is connected to the tip 4 through an adjusting ring 10, the adjusting ring 10 includes an inner connecting ring 101 fixedly connected to the tip 4, an outer driving ring 102 is sleeved on an outer wall of the inner connecting ring 101, a bushing 107 is disposed between the inner connecting ring 101 and the outer driving ring 102 to ensure the coaxiality of the inner connecting ring and the outer driving ring, a telescopic block 104 and a connecting tooth 103 are disposed between the outer driving ring 102 and the inner connecting ring 101, the connecting tooth 103 and the telescopic block 104 are respectively disposed on the inner connecting ring 101 and the outer driving ring 102, the connecting tooth 103 of the embodiment is disposed on the outer driving ring 102, the telescopic block 104 is disposed on the inner connecting ring 101, an inclined limiting arm 105 is disposed on the telescopic block 104, one end of the limiting arm 105 abuts against the connecting tooth 103, the maximum rotation angle of the limiting arm 105 is collinear with the telescopic block 104, the initial angle can be contacted with the connecting tooth 103, the torsion spring maintains the initial angle, when the telescopic block 104 retracts, the limiting arm 105 is separated from the connecting tooth 103, the telescopic block 104 can be controlled manually and remotely or automatically according to the magnitude of acting force, the rotation angles of the grasping petals are different due to the fact that objects with different sizes are grasped, the 'lever' is perpendicular to the hydraulic rod 2 all the time through the adjustment of the adjusting ring 10, the clockwork spring 106 is arranged between the inner connecting ring 101 and the outer driving ring 102, when the connecting piece is reset, the initial position is automatically restored under the action of the clockwork spring 106, and the normal reset of the connecting piece 5 is guaranteed.
Wherein, the axle sleeve 107 is made of elastic material, its inner and outer wall has at least one sliding connection with the inner connecting ring 101 or the outer driving ring 102, the extension line of the telescopic block 104 passes the hinge point of the connecting rod 8 and the rotating arm 6, and the telescopic block 104 is located at the side back to the hydraulic rod 2, when the hydraulic rod 2 is not perpendicular to the 'lever', the component force towards the adjusting ring 10 is larger, so that the gap between the limiting arm 105 and the connecting tooth 103 is enlarged, the inner connecting ring 101 and the outer driving ring 102 are easy to slide relatively, and when being perpendicular, the gap is smaller, and is not easy to slide, thus realizing automatic adjustment of the included angle between the 'lever' and the hydraulic rod 2 according to the acting force.
Referring to fig. 7, the hinge point of the upper flap 3 and the tip 4 is located inside the extension line of the hydraulic rod 2, i.e. closer to the axis relative to the hydraulic rod 2, so that the extension of the hydraulic rod 2 is matched with the rotation of the tip 4, i.e. the extension length of the hydraulic rod 2 is uniquely corresponding to the rotation angle of the tip 4, thereby facilitating the resetting of the connecting member 5.
The working principle and the working process of the invention are as follows:
when snatching the object, 2 extensions of hydraulic stem, the drive is gone up lamella 3 and is rotated the closure, after grabbing the object, the resistance grow, connecting piece 5 struggles to take off lamella 3, revolute swing arm 6 and rotate, when the spacing of reacing locating part 7, drive pointed end 4 rotates, change "lever" and atress angle, amplified torque, improve and grab power and crushing ability, when opening, hydraulic stem 2 contracts, connecting rod 8 synchronous rotation makes connecting piece 5 reset, after connecting piece 5 resets, drive lamella 3 and open.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. The utility model provides a be used for waste material steel to snatch and grab with lotus flower, include with arm fixed connection's connection platform (1), with hydraulic stem (2) of hydraulic means intercommunication and with be connected platform (1) articulated lamella of grabbing, its characterized in that: the grasping valve is composed of an upper valve (3) and a tip (4), the upper valve (3) is hinged to the tip (4), the hydraulic rod (2) is connected with the upper valve (3) through a connecting piece (5) which can be separated from the upper valve (3), the tip (4) is connected with a rotating arm (6) which can drive the tip (4) to rotate, the connecting piece (5) is connected with the rotating arm (6) through a connecting rod (8), the connecting rod (8) is hinged to the rotating arm (6), a limiting piece (7) which limits the rotating angle of the connecting rod (8) is arranged between the rotating arm (6) and the connecting rod (8), so that the hinge point of the tip (4) and the upper valve (3) and the included angle between the hinge point connecting line of the connecting piece (5) and the hydraulic rod (2) tend to be vertical, the limiting piece (7) comprises a connecting block and a lantern ring which are cuboid in shape, and a connecting shaft is arranged on the connecting block, the connecting rod (8) is hinged with the connecting block through a sleeve ring, a fit clearance is reserved between the sleeve ring and the connecting block, a connecting groove (9) for the connecting piece (5) to slide out or slide in is arranged at the tail part of the upper valve (3), the inner side of the connecting groove (9) and the inner side of the connecting piece (5) are magnetically attracted, the rotating arm (6) is connected with the tip (4) through an adjusting ring (10), the adjusting ring (10) comprises an inner connecting ring (101) fixedly connected with the tip (4), an outer driving ring (102) is sleeved on the outer wall of the inner connecting ring (101), a shaft sleeve (107) is arranged between the inner connecting ring (101) and the outer driving ring (102), a telescopic block (104) and a connecting tooth (103) are arranged between the outer driving ring (102) and the inner connecting ring (101), the connecting tooth (103) is arranged on the outer driving ring (102), and the telescopic block (104) is arranged on the inner connecting ring (101), the telescopic block (104) is provided with an inclined limiting arm (105), one end of the limiting arm (105) abuts against the connecting teeth (103), the maximum rotation angle of the limiting arm (105) is collinear with the telescopic block (104), the initial angle can be contacted with the connecting teeth (103), the initial angle is maintained through a torsion spring, when the telescopic block (104) retracts, the limiting arm (105) is separated from the connecting teeth (103), a clockwork spring (106) is arranged between the inner connecting ring (101) and the outer driving ring (102), the shaft sleeve (107) is made of elastic materials, at least one of the inner wall and the outer wall of the shaft sleeve (107) is in sliding connection with the inner connecting ring (101) or the outer driving ring (102), the extension line of the telescopic block (104) passes through a hinge point of the connecting rod (8) and the rotating arm (6), and the telescopic block (104) is located on the side back to the hydraulic rod (2).
2. The lotus claw for grabbing waste steel according to claim 1, which is characterized in that: a gap is left between the opposite ends of the upper valve (3) and the tip (4).
3. The lotus claw for grabbing waste steel according to claim 1, which is characterized in that: and the hinged point of the upper valve (3) and the tip (4) is positioned on the inner side of the extension line of the hydraulic rod (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210308296.8A CN114407070B (en) | 2022-03-28 | 2022-03-28 | Lotus claw for grabbing waste steel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210308296.8A CN114407070B (en) | 2022-03-28 | 2022-03-28 | Lotus claw for grabbing waste steel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114407070A CN114407070A (en) | 2022-04-29 |
| CN114407070B true CN114407070B (en) | 2022-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210308296.8A Active CN114407070B (en) | 2022-03-28 | 2022-03-28 | Lotus claw for grabbing waste steel |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115709478B (en) * | 2023-01-09 | 2023-04-28 | 烟台江土机械设备有限公司 | Lotus flower grab for grabbing waste steel |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3801336A1 (en) * | 1988-01-19 | 1988-05-19 | Gerhard Fabritz | Comminution cutting edges on grab shovel pairs for excavating devices |
| KR100481167B1 (en) * | 2002-11-12 | 2005-04-07 | 한국해양연구원 | Multi-Purpose Marine Waste Cleaning Ship with Orange Grapple |
| CN201395806Y (en) * | 2009-04-16 | 2010-02-03 | 中煤第五建设公司第三工程处 | Hydraulic grab bucket |
| CN105060112B (en) * | 2015-07-26 | 2017-04-12 | 丁晖 | Size-adjustable grab bucket provided with two-stage bucket flaps |
| CN105000471B (en) * | 2015-07-26 | 2016-12-28 | 青岛燕园海洋生物科技有限公司 | A kind of article size self-adapting type grab bucket |
| CN110194412B (en) * | 2019-06-28 | 2021-04-23 | 三一海洋重工有限公司 | Gripping apparatus and material grabbing machine |
| CN110318438A (en) * | 2019-07-30 | 2019-10-11 | 黄虹霖 | Full-enclosed plum blossom grabs |
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- 2022-03-28 CN CN202210308296.8A patent/CN114407070B/en active Active
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| CN114407070A (en) | 2022-04-29 |
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