CN203045736U

CN203045736U - Three-claw manipulator

Info

Publication number: CN203045736U
Application number: CN 201320076755
Authority: CN
Inventors: 丁俊健; 唐林新; 谭教航; 蓝志福; 张有权
Original assignee: Zhongshan Torch Polytechnic
Current assignee: Zhongshan Torch Polytechnic
Priority date: 2013-02-19
Filing date: 2013-02-19
Publication date: 2013-07-10
Anticipated expiration: 2023-02-19

Abstract

The utility model discloses a three-claw manipulator, comprising a base, wherein the base is internally provided with a hollow cavity with an opening at one end; the base is provided with a through hole communicated with the hollow cavity; the through hole is internally provided with a telescopic rod capable of sliding repeatedly; the hollow cavity is internally provided with a cone block connected with one end of the telescopic rod; the base is circumferentially provided with three axial through grooves communicated with the hollow cavity and the opening end of the hollow cavity; each through groove is internally hinged with claw fingers; the finger ends of the claw fingers extend out of the base; and the finger roots of the claw fingers are provided with guide blocks pressing the conical surface of the cone blocks, so that the cone blocks push the guide blocks to control the opening and the closing of the claw fingers along with the sliding of the telescopic rod. The three-claw manipulator disclosed by the utility model is simple in structure, can grip more objects, is firm in gripping cylinders, is simple in manufacturing process and is suitable for being popularized in the industry.

Description

A kind of three-jaw manipulator

[technical field]

The utility model relates to a kind of manipulator, relates to particularly a kind ofly can grasping cylindrical three-jaw manipulator.

[background technology]

The existing mechanical hand mostly is two pawls, have only two contacts when grasping cylinder, not firm, three cleft hands have three contacts when grasping cylinder, and it is firm to grasp, but the pawl of existing three-jaw manipulator refers to mostly be radially translation, that realizes that pawl refers to closes up the extracting object, this type of three-jaw manipulator relate to that pawl refers to radially with axial bidirectional-movement, complex structure, whole manipulator size is bigger, is unfavorable for the grasping manipulation of meticulous product.

[utility model content]

The technical problems to be solved in the utility model is to overcome the deficiencies in the prior art, provides a kind of simple in structure, and pawl refers to can be around the three-jaw manipulator of fixed point folding.

The utility model is for solving the problems of the technologies described above, by the following technical solutions:

A kind of three-jaw manipulator, it is characterized in that comprising pedestal, be provided with the cavity of an end opening in the described pedestal, described pedestal is provided with a through hole that communicates with described cavity, be provided with a multiple expansion link that slides in the described through hole, be provided with the cone piece that is connected with described expansion link one end in the described cavity, circumferentially be provided with three axial grooves that communicate with described cavity and openend thereof on the described pedestal, being hinged with pawl in each described groove refers to, the finger tip that described pawl refers to stretches out described pedestal, the finger root that described pawl refers to is provided with the guide pad of the described cone piece of the roof pressure conical surface, makes described cone piece promote described guide pad along with the slip of described expansion link and controls described pawl and refer to folding.

Aforesaid a kind of three-jaw manipulator, it is one-body molded to it is characterized in that described guide pad and described pawl refer to, and described guide pad is the cambered surface guide pad.

Aforesaid a kind of three-jaw manipulator is characterized in that described cambered surface guide pad is for semicircle.

Aforesaid a kind of three-jaw manipulator is characterized in that described groove is the U-shaped groove.

Aforesaid a kind of three-jaw manipulator is characterized in that being arranged with on the described pedestal three described pawls of clip and instigates its open elastic component of being convenient to reset.

Aforesaid a kind of three-jaw manipulator, it is characterized in that each described pawl refers to that root outside level is provided with draw-in groove, three described draw-in grooves are along the radial level of described pedestal, and described elastic component is annular resilient collar, and described annular resilient collar clip is in three described draw-in grooves.

Aforesaid a kind of three-jaw manipulator is characterized in that the described expansion link other end is connected with the described expansion link of driving and does the driving mechanism that reciprocatingly slides.

Aforesaid a kind of three-jaw manipulator is characterized in that described driving mechanism is cylinder.

The utility model compared with prior art has following advantage:

Pawl refers to promote to have simplified the structure of manipulator around the fixed point folding by the cone piece, and the size of having dwindled manipulator has reduced cost.

The utility model is simple in structure, and it is many to grasp object, and it is firm to grasp cylinder, and manufacture craft is simple, is suitable for industry and promotes.

[description of drawings]

Fig. 1 is the utility model perspective view;

Fig. 2 is the utility model plan structure schematic diagram;

Fig. 3 is that the A-A of Fig. 2 is to cutaway view;

Fig. 4 is blast structural representation of the present utility model.

[specific embodiment]

Below in conjunction with accompanying drawing the utility model is described in detail:

Shown in Fig. 1-4, a kind of three-jaw manipulator, comprise pedestal 1, be provided with the cavity 2 of an end opening in the pedestal 1, pedestal 1 is provided with a through hole 11 that communicates with cavity 2, be provided with an expansion link 3 slidably in the through hole 11, in cavity 2, be provided with the cone piece 4 that is connected with expansion link 3 one ends, circumferentially be provided with three axial grooves 12 that communicate with cavity 2 and openend thereof on the pedestal 1, be hinged with pawl in each groove 12 and refer to 5, pawl refers to that 5 finger tip stretches out pedestal 1, and pawl refers to that 5 finger root is provided with the guide pad 51 of roof pressure cone piece 4 conical surfaces, makes cone piece 4 promote guide pad 51 control pawls along with the slip of expansion link 3 and refers to 5 foldings.

Guide pad 51 refers to that with pawl 5 is one-body molded, and guide pad 51 is the cambered surface guide pad in the utility model, is preferably semicircle.

Groove 12 in the utility model is the U-shaped groove, and the openend of U-shaped groove overlaps with the openend of cavity 2.

Cone piece 4 runs through by screw 41 with an end of expansion link 3 and is connected.

Be arranged with three pawls of clip at pedestal 1 and refer to the 5 open elastic components 6 that make it easy to reset.Refer to that at each pawl 5 refer to that root outside level is provided with 52, three draw-in grooves 52 of draw-in groove along the radial level of pedestal 1, elastic component 6 is annular resilient collar, and clip is in three draw-in grooves 52.When expansion link 3 slided to the openend of cavity 2, the thrust of 4 pairs of guide pads 51 of cone piece was cancelled, and pawl refers to that 5 finger root is subjected to the elastic force of spring 6 and draws close to cavity 2, and pawl refers to that 5 finger tip opens.

In the utility model, elastic component 6 is preferably ring spring.

Be connected with at the other end of expansion link 3 and drive expansion link 3 and do the driving mechanism that reciprocatingly slides, preferred driving mechanism is cylinder.

The utility model median claw refers to 5 open states as shown in Figure 3, when expansion link 3 slides to cavity 2, cone piece 4 is subjected to the promotion of expansion link 3 to be positioned at the openend of cavity 2, the thrust that guide pad 51 is not made progress by cone piece 4, pawl refers to that 5 refer to that the elastic force that roots are subjected to spring 6 draws close, pawl refers to that 5 finger tip opens, when needs refer to 5 extracting objects with pawl, air cylinder driven expansion link 3 slides to the through hole 11 of pedestal 1, expansion link 3 lifts cone piece 4 and upwards slides, guide pad 51 is subjected to thrust that cone piece 4 makes progress and drives pawl and refer to that 5 finger root expands outwardly away from cavity 2, and pawl refers to that 5 finger tip draws close contraction to crawled thing, just can grasp object.

Claims

1. three-jaw manipulator, it is characterized in that: comprise pedestal (1), be provided with the cavity (2) of an end opening in the described pedestal (1), described pedestal (1) is provided with a through hole (11) that communicates with described cavity (2), be provided with a multiple expansion link (3) that slides in the described through hole (11), be provided with the cone piece (4) that is connected with described expansion link (3) one ends in the described cavity (2), circumferentially be provided with three axial grooves (12) that communicate with described cavity (2) and openend thereof on the described pedestal (1), be hinged with pawl in each described groove (12) and refer to (5), described pawl refers to that the finger tip of (5) stretches out described pedestal (1), described pawl refers to that the finger root of (5) is provided with the guide pad (51) of the described cone piece of roof pressure (4) conical surface, makes described cone piece (4) promote the described pawl of described guide pad (51) control along with the slip of described expansion link (3) and refers to (5) folding.

2. a kind of three-jaw manipulator according to claim 1 is characterized in that described guide pad (51) and described pawl refer to that (5) are one-body molded, and described guide pad (51) is the cambered surface guide pad.

3. a kind of three-jaw manipulator according to claim 2 is characterized in that described cambered surface guide pad is for semicircle.

4. a kind of three-jaw manipulator according to claim 1 is characterized in that described groove (12) is the U-shaped groove.

5. according to each described a kind of three-jaw manipulator among the claim 1-4, it is characterized in that being arranged with on the described pedestal (1) three described pawls of clip and refer to (5) the open elastic component (6) that makes it easy to reset.

6. a kind of three-jaw manipulator according to claim 5, it is characterized in that each described pawl refers to that (5) refer to that root outside level is provided with draw-in groove (52), three described draw-in grooves (52) are along the radial level of described pedestal (1), described elastic component (6) is annular resilient collar, and described annular resilient collar clip is in three described draw-in grooves (52).

7. according to each described a kind of three-jaw manipulator among the claim 1-4, it is characterized in that described expansion link (3) other end is connected with the described expansion link of driving (3) and does the driving mechanism that reciprocatingly slides.

8. a kind of three-jaw manipulator according to claim 7 is characterized in that described driving mechanism is cylinder.