CN201350627Y

CN201350627Y - Gripping mechanism capable of rotating, swaying, and gripping and moving simultaneously

Info

Publication number: CN201350627Y
Application number: CNU2009200105614U
Authority: CN
Inventors: 张敏学
Original assignee: Individual
Current assignee: Individual
Priority date: 2009-02-10
Filing date: 2009-02-10
Publication date: 2009-11-25
Anticipated expiration: 2019-02-10

Abstract

Disclosed is a gripping mechanism capable of rotating, swaying, and gripping and moving simultaneously, wherein a shaft sleeve and a rotating shaft which are matched are arranged between an arm rod of a manipulator and a gripper, the shaft sleeve is firmly connected with the arm rod, the rotating shaft is articulated with the gripper through a rotating shaft sleeve, a swaying shaft and a bridging beam ear which are firmly connected with the gripper, a rotating pull wire passes through a guide wheel and then is entwined on the rotating shaft. The gripper comprises a bridging beam, an upper clip and a lower clip which are articulated with the gripper, a spring and a gripping and moving wire are arranged between the upper and lower clips, and a left swaying wire and a right swaying wire are respectively connected with two ends of a swaying rod which is arranged on the gripper. The gripping mechanism of the utility model can be used as an actuating mechanism of the manipulator.

Description

The clamping device that can rotate simultaneously, swing, presss from both sides

Affiliated technical field

The utility model relates to the executing agency of mechanical arm, is particularly useful for the mechanical grip mechanism of imitative crab chela

Background technology:

In general, mechanical arm is made of operating-controlling mechanism, moving Fang Yuan, supporting member, transmission mechanism and executing agency.Executing agency can also be called manipulator, gripper, mechanical grasping mechanism, mechanical grip mechanism or the like.Though the title difference, and its function is similar---object and mechanical arm are connected.

Chinese patent " a kind of robot device " (application number 02128173.4) and " industry mechanical arm " (application number 94112791.5), disclosed manipulator can be realized the function of rotating simultaneously, swing, pressing from both sides, but complex structure, the cost height.

Chinese patent " a kind of mechanical clamping device " (application number 200520029785.1) discloses a kind of mechanical clamping device, though simple in structure, can not realize the function of rotating, swing, pressing from both sides simultaneously.

Particularly for the emulation mechanical arm of imitative crab chela, prior art lacks emulation.

Summary of the invention:

It is a kind of simple in structure, with low cost that the utility model provides, and can rotate simultaneously, the mechanical clamping device of swing, clamping.This mechanical clamping device also can be placed in the shell of imitative crab chela.

Armed lever in the utility model is a supporting member.End at armed lever is fixed with axle sleeve, and with the moving rotating shaft that connects of axle sleeve, the one end becomes the T type to be connected with swing axle sleeve side; Swing axle sleeve and anchor clamps crossbeam are hinged by swinging axle and the crossbeam ear with axis hole; The rotation backguy changes by guide wheel and is wrapped on the rotating shaft after the pulling direction or is wrapped on the sheave that is connected with rotating shaft.Different sheave diameter can obtain different gearratios.The rotation backguy is connected with operating-controlling mechanism.Here said backguy is by flexible pipe and pass that the twisted wire of flexible pipe forms.As the hand brake backguy of bicycle, the acceleration cable of motorcycle etc.Obviously, the pulling backguy can make the rotation of rotating shaft and anchor clamps.Anchor clamps by crossbeam with and be hinged go up folder and down folder constitute folder and spring is installed between the folder down and moves backguy it on by the folder that pulley changes transmission direction.Left side swing backguy is installed in the swing arm two ends that are connected with anchor clamps respectively with right swing backguy.For the emulation mechanical arm of imitative crab chela, only need to go up folder and be hinged just passable with crossbeam.Spring can be a stage clip, also can be extension spring.Spring moves the diverse location that backguy is installed in the crossbeam front and back with folder, can obtain the chela folder state of " often opening " or " normally closed ".No matter be the moving backguy of spring and/or folder when being placed on the back of crossbeam, can freely swing in order to make anchor clamps, the connecting shaft frame that should between rotating shaft and swing axle sleeve, be connected, and the swing axle sleeve is vertical as far as possible with the connecting shaft frame.

The utility model is simple in structure, has particularly adopted the backguy transmission, and it is little to take up room, and can be placed in the shell of imitative crab chela.

Description of drawings

Below in conjunction with drawings and Examples the utility model is further specified.

Fig. 1-the 1st, the utility model is faced structural map;

Fig. 1-2 is that the utility model is overlooked structural map;

Fig. 2 is the mechanism kinematic schematic diagram of second embodiment;

Fig. 3 is the structural representation of second embodiment.

Folder on 1 among the figure, 2 times folders, 3 pulleys, 4 pulley yokes, the moving backguy of 5 folders, 6 crossbeams, 7 swinging axles, 8 crossbeam ears, 9 sheaves, 10 linkage frames, 11 armed levers, 12 pins, 13 rotary sleeves, 14 wheel frames, 15 rotation backguys, 16 guide wheels, 17 sheaves, 18 rotating shafts, 19 swing axle sleeves, folder axle on 20,21 springs, 22 swing arms, 23 right swing backguys, 24 left side swing backguys, 25 connecting shaft framves.

The specific embodiment

In Fig. 1, last folder (1), following folder (2) and crossbeam (6) constitute anchor clamps.Last folder (1) is hinged by last folder axle (20) with crossbeam (6).Spring (21) is installed between last folder (1) and following folder (2) and moves backguy (5) by the folder that is installed in pulley yoke (4) top sheave (3) change direction, pulley yoke (4) is installed in down on the folder (2), and the upper end that folder moves backguy (5) is connected with last folder (1).Owing to be the spring of before crossbeam, installing, so when spring (21) when being stage clip (as Fig. 1), anchor clamps are to be in normally open; If extension spring, anchor clamps are in normally off so.Backguy should cooperate with it.In the present embodiment, moving backguy (5) of folder and spring (21) homonymy, therefore when the moving backguy (5) of pulling folder, last folder (1) and following (2) closure of pressing from both sides, when becoming flexible backguy, then its unlatching.If be used for the clamping device of imitative crab chela, can go up the zigzag crab claw cover that the imitative crab claw are installed at last folder (1) and following folder (2).

Go up the crossbeam ear (8) with axis hole of welding at crossbeam (6) and form hinge with swinging axle (7), swing axle sleeve (19).At anchor clamps---preferably on crossbeam (6), a swing arm (22) that is connected with anchor clamps is arranged.Right swing backguy (23) is swung the two ends that backguy (24) is installed in swing arm (22) respectively with a left side, and obviously, as long as the pulling backguy, anchor clamps will be swung thereupon.

On swing axle sleeve (19), be welded with a rotating shaft that is mated (18), a sheave (9) is connected on the rotating shaft (18), be connected on the rotary sleeve (19) and one the wheel frame (14) of guide wheel (16) be housed, rotation backguy (15) changes by guide wheel (16) and is wrapped on the sheave (9) after spurring direction.If use sliding bearing, then rotary sleeve (13) is connected by linkage frame (10) and armed lever (11).Linkage frame (10) also is connected with rotary sleeve (13), after rotating shaft (18) passes rotary sleeve (13), locatees by pin (12).If use rolling bearing, then the axle sleeve that cooperates with bearing directly is connected with armed lever (11), locatees with the interior jump ring on outer jump ring on the rotating shaft and the axle sleeve.Armed lever (11) is the part of mechanical arm.

In another embodiment, spring (21) moves the back that backguy (5) is installed in crossbeam (6) with folder, and spring (21) is a stage clip.Anchor clamps are normally offs.For anchor clamps can be freely swung, the connecting shaft frame (25) that should between rotating shaft (18) and swing axle sleeve (19), be connected, and swing axle sleeve (19) is vertical as far as possible with connecting shaft frame (25).

All backguys all are connected with the operating-controlling mechanism of mechanical arm.Because the rotation of anchor clamps, swing, folder are moving all is executing agency independently, and when operating-controlling mechanism sent action command simultaneously, anchor clamps just can rotate simultaneously, swing, press from both sides so.

Claims

1, a kind of clamping device that can rotate simultaneously, swing, press from both sides that is made of armed lever, anchor clamps is characterized in that: the end at armed lever, be fixed with axle sleeve, and with the moving even rotating shaft of axle sleeve, an end of rotating shaft becomes the T type to be connected with swing axle sleeve side; Swing axle sleeve and anchor clamps crossbeam are hinged by swinging axle and the crossbeam ear with axis hole; The rotation backguy is wrapped on the sheave that is connected with rotating shaft after changing the pulling direction by guide wheel; Anchor clamps by crossbeam and with its hinge go up folder and down folder constitute folder and spring is installed between the folder down and moves backguy it on by the folder that pulley changes transmission direction; Left side swing backguy is installed in the swing arm two ends that are connected with anchor clamps respectively with right swing backguy.

2, the clamping device that can rotate simultaneously, swing, press from both sides according to claim 1, it is characterized in that: when moving backguy of folder and/or spring postposition, should and swing the connecting shaft frame that be connected between the axle sleeve at rotating shaft, and the swing axle sleeve is vertical as far as possible with the connecting shaft frame.