CN203712713U - Self-locking clamping manipulator device - Google Patents
Self-locking clamping manipulator device Download PDFInfo
- Publication number
- CN203712713U CN203712713U CN201420104678.XU CN201420104678U CN203712713U CN 203712713 U CN203712713 U CN 203712713U CN 201420104678 U CN201420104678 U CN 201420104678U CN 203712713 U CN203712713 U CN 203712713U
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- piston
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- pull arm
- chela
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Abstract
The utility model discloses a self-locking clamping manipulator device. The self-locking clamping manipulator device comprises a grabbing frame, a push-pull arm and grippers, wherein at least two grippers are symmetrically arranged on the grabbing frame in a hinging manner; tensioning slide grooves are formed in the grippers; cam shafts are arranged on the push-pull arm, the cam shafts on the push-pull arm are inserted in the tensioning slide grooves in the grippers, the push-pull arm is driven by a piston cylinder to push upwards or pull downwards, and the cam shafts slide up and down in the tensioning slide grooves to drive the two grippers to rotate by taking a hinging shaft as a centre to realize opening and closing; each of the tensioning slide grooves is composed of a straight groove and an outward arc-shaped groove, the straight groove is at an upper portion, and the arc-shaped groove is smoothly connected to the lower end of the straight groove. The self-locking clamping manipulator device disclosed by the utility model is simple in structure and convenient to use; when an object is gripped by the grippers and enters in a self-locking area, the grippers cannot release, and the self-locking clamping manipulator device can be conveniently used in vertical deep-well or deepwater rescue, for firmly gripping the falling object; an effective rescue tool is added.
Description
Technical field
The utility model belongs to machine tool field, and particularly a kind of self-locking clamps robot device, is the robot device that a kind of vertical deep-well or deep water are grabbed thing.
Background technology
Once for the deep-well of small-bore have object fall down salvage very difficult, show from current disclosed data, in the time having people to fall into deep-well, the method of carrying adopting is to shaft bottom under people, but for the deep-well of small-bore, for example aperture is less than the deep well life saving personnel of 50 centimeters cannot be descended to shaft bottom, and other lifesaving adopts heavy-duty machinery to excavate exactly aside, accidentally will cause the situation that cannot retrieve; If be just difficult to other effective way but can not find excavating equipment, feel simply helpless.Up to the present all do not find a kind of effectively instrument can replace under people and implement rescue at the bottom of deep-well.If can not go down if want to salvage equally some object people in some profundal zones, the instrument of wanting to find is salvaged also very difficult, and therefore people wish to develop the rescue fishing tool making new advances very much.
Summary of the invention
The purpose of this utility model is to provide a kind of self-locking to clamp robot device, is the robot device that a kind of vertical deep-well or deep water are grabbed thing.
To achieve these goals, technical scheme of the present utility model is: a kind of self-locking clamps robot device, for deep-well or deep water rescue, described device comprises: grab frame, push-pull arm and chela, have at least two chelas to be symmetricly set on and to grab on frame in hinged mode, on described chela, be provided with tensioning chute, on described push-pull arm, be provided with protruding axle, protruding axle on described push-pull arm inserts the tensioning chute on chela, described push-pull arm under being driven by piston cylinder, push away or on draw, described protruding axle slides up and down to drive two chelas to rotate centered by jointed shaft and realize and opens and closure in tensioning chute, it is characterized in that, described tensioning chute is made up of straight trough and outside deep-slotted chip breaker, and straight trough is upper, and deep-slotted chip breaker smooth connection is in the lower end of straight trough, in the time that chela is closed described in the central axis of straight trough and angle that push-pull arm moves up and down vertical line at 1 degree to 8 degree, in the time that chela opens maximum, described protruding axle slides in deep-slotted chip breaker, self-locking when straight trough is closed for chela, curved groove opens maximum for chela in the time pushing away under push-pull arm.
Further: described piston cylinder is pneumaticpiston cylinder, on piston cylinder, be provided with the draw ring being connected with lifting rope and the valve being connected with air pump.
Further: described pneumaticpiston cylinder comprises piston cylinder and the axis of the piston, the axis of the piston connects described push-pull arm, the end opening of piston cylinder is provided with piston cylinder bottom, on the axis of the piston, be connected with piston, on piston, cover has piston gasket, the upper end of piston is provided with piston unt, and piston unt is for fixed piston and piston gasket, is provided with and on the axis of the piston, draws spring between piston and piston cylinder bottom.
Further: described piston gasket is rubber gasket, around center, V-shaped groove is set at the upper surface ring of sealing gasket, described piston unt is provided with multiple upper and lower penetrating open-works around center, and the upper shed of V-shaped groove is aimed in the lower outlet of open-work.
Further: the central axis of described straight trough and push-pull arm move up and down the angle of vertical line at 3 degree to 5 degree.
Further: in the time that chela opens maximum, the line at the axle center of described protruding axle and jointed shaft center and push-pull arm move up and down the angle of vertical line at 30 degree to 100 degree.
Further: in the time that chela opens maximum, the angle that the line at the axle center of described protruding axle and jointed shaft center and push-pull arm move up and down vertical line is 90 degree.
Further: the closing end of described two chelas is respectively arranged with subcard head and master card head, be respectively arranged with and sting tooth at the interlock end face of described subcard head and master card head, the end that described master card head is fixed on a chela closing end is motionless, and described subcard head rotates the end that is fixed on another chela closing end by a pivot pin.
Further: described interlock end face is a triangle occlusal surface, the tooth of stinging of described interlock end face setting is the trapezoidal tooth of stinging.
Further: described interlock end face is one to be faced directly, the tooth of stinging of described interlock end face setting is triangle helical teeth.
The beneficial effects of the utility model are: simple in structure, easy to use, according to the self-locking clamping mechanical hand of the various shapes of the utility model structure fabrication, when chela is caught object and enters behind self-locking area, chela just can not unclamp, can non-length catch firmly for vertical deep-well or deep water rescue the object that drops easily, increase one rescue tool effectively.
Below in conjunction with drawings and Examples, the utility model is described in detail.
Brief description of the drawings
Fig. 1 is STRUCTURE DECOMPOSITION schematic diagram of the present utility model;
Fig. 2 is structural representation when chela is closed after the utility model assembling;
Fig. 3 is the structural representation of the utility model chela while opening;
Fig. 4 is that the utility model interlock end face is the chela structural representation of leg-of-mutton primary and secondary dop;
Fig. 5 is that the utility model interlock end face is the chela structural representation of the primary and secondary dop faced directly.
Detailed description of the invention
A kind of self-locking clamps robot device, for deep-well or deep water rescue, referring to Fig. 1 and Fig. 2, described device comprises: grab frame 1, push-pull arm 2 and chela 3, have at least two chelas to be symmetricly set on and to grab on frame in hinged mode, chela can be designed as multiple according to the actual needs, for example 3 or four, on described chela, be provided with tensioning chute 3-1, on described push-pull arm, be provided with protruding axle 2-1, protruding axle on described push-pull arm inserts the tensioning chute on chela, described push-pull arm by a piston cylinder 4 drive down push away or on draw, described protruding axle slides up and down to drive two chelas to rotate centered by jointed shaft and realize and opens and closure in tensioning chute, wherein, described tensioning chute is made up of straight trough 3-1-1 and bandy deep-slotted chip breaker 3-1-2, straight trough is upper, and deep-slotted chip breaker smooth connection is in the lower end of straight trough, in the time that chela is closed described in the central axis 3-2 of straight trough and angle a that push-pull arm moves up and down vertical line 2-2 at 1 degree to 8 degree, in the time that chela opens maximum, described protruding axle slides in deep-slotted chip breaker, self-locking when straight trough is closed for chela is called self-locking section, and curved groove opens maximum for chela in the time pushing away under push-pull arm.
In embodiment: described piston cylinder can be by multiple, for example oil hydraulic cylinder, the present embodiment piston cylinder is pneumaticpiston cylinder, is provided with the draw ring 4-8 being connected with lifting rope and the valve 4-9 being connected with air pump on described pneumaticpiston cylinder.
In embodiment: described pneumaticpiston cylinder comprises piston cylinder 4-1 and the axis of the piston 4-2, the axis of the piston connects described push-pull arm, the end opening of piston cylinder is provided with piston cylinder bottom 4-3, on the axis of the piston, be connected with piston 4-4, on piston, cover has piston gasket 4-5, the upper end of piston is provided with piston unt 4-6, piston unt is for fixed piston and piston gasket, between piston and piston cylinder bottom, be provided with and on the axis of the piston, draw spring 4-7, its operation principle is: while having air pressure, air pressure promotes piston, piston driving the axis of the piston and push-pull arm move down, push-pull arm drives again chela to open, and in the time that air pressure disappears, spring promotes piston, on piston driving the axis of the piston and push-pull arm, move, push-pull arm drives again chela closure.
In embodiment: in order to ensure the sealing of piston, described piston gasket is rubber gasket, upper surface ring at sealing gasket arranges V-shaped groove 4-5-1 around center, described piston unt is provided with multiple upper and lower penetrating open-work 4-6-1 around center, the upper shed of V-shaped groove is aimed in the lower outlet of open-work, its effect is on the V-shaped groove that arranges around center of air pressure air-flow blows to sealing gasket upper surface ring by open-work, because sealing gasket is rubber, so sealing gasket can be outwards swollen, therefore, played the effect of enhanced leaktightness.
In embodiment: in order to realize the optimum efficiency of self-locking section, a best embodiment is: the central axis of described straight trough and push-pull arm move up and down the optimum angle of vertical line at 3 degree to 5 degree.
In embodiment: in the time that chela opens maximum, as shown in Figure 3, the angle b that line 7 and the push-pull arm at the axle center of described protruding axle 2-1 and jointed shaft 6 centers moves up and down vertical line is at 30 degree to 100 degree.
In embodiment: in the time that chela opens maximum, a best embodiment is: the angle that the line at the axle center of described protruding axle and jointed shaft 6 centers and push-pull arm move up and down vertical line is 90 degree.
In embodiment: for the salvaged article of clamping that can be enough good, another embodiment is: as shown in Figure 4 and Figure 5, the closing end of described two chelas is provided with dop 5, and subcard head 5-1 and a master card 5-2, be respectively arranged with and sting tooth 5-3 at the interlock end face of described subcard head and master card head respectively.Can oneself adjust for dop interlock, the end that described master card head is fixed on a chela closing end is motionless, and described subcard head rotates the end that is fixed on another chela closing end by a pivot pin 5-4.
As shown in Figure 4: described interlock end face is a triangle occlusal surface, the tooth of stinging of described interlock end face setting is the trapezoidal tooth of stinging.
As shown in Figure 5: described interlock end face is one to be faced directly, the tooth of stinging of described interlock end face setting is triangle helical teeth.
Claims (10)
1. a self-locking clamps robot device, for deep-well or deep water rescue, described device comprises: grab frame, push-pull arm and chela, have at least two chelas to be symmetricly set on and to grab on frame in hinged mode, on described chela, be provided with tensioning chute, on described push-pull arm, be provided with protruding axle, protruding axle on described push-pull arm inserts the tensioning chute on chela, described push-pull arm under being driven by piston cylinder, push away or on draw, described protruding axle slides up and down and drives two chelas centered by jointed shaft, to rotate realization to open and closure in tensioning chute; It is characterized in that, described tensioning chute is made up of straight trough and outside deep-slotted chip breaker, and straight trough is upper, and deep-slotted chip breaker smooth connection is in the lower end of straight trough, in the time that chela is closed described in the central axis of straight trough and angle that push-pull arm moves up and down vertical line at 1 degree to 8 degree; In the time that chela opens maximum, described protruding axle slides in deep-slotted chip breaker.
2. a kind of self-locking according to claim 1 clamps robot device, it is characterized in that, described piston cylinder is pneumaticpiston cylinder, is provided with the draw ring being connected with lifting rope and the valve being connected with air pump on piston cylinder.
3. a kind of self-locking according to claim 2 clamps robot device, it is characterized in that, described pneumaticpiston cylinder comprises piston cylinder and the axis of the piston, the axis of the piston connects described push-pull arm, and the end opening of piston cylinder is provided with piston cylinder bottom, is connected with piston on the axis of the piston, on piston, cover has piston gasket, the upper end of piston is provided with piston unt, and piston unt is for fixed piston and piston gasket, is provided with and on the axis of the piston, draws spring between piston and piston cylinder bottom.
4. a kind of self-locking according to claim 3 clamps robot device, it is characterized in that, described piston gasket is rubber gasket, upper surface ring at sealing gasket arranges V-shaped groove around center, described piston unt is provided with multiple upper and lower penetrating open-works around center, and the upper shed of V-shaped groove is aimed in the lower outlet of open-work.
5. clamp robot device according to claim 1 or described a kind of self-locking, it is characterized in that, the central axis of described straight trough and push-pull arm move up and down the angle of vertical line at 3 degree to 5 degree.
6. clamp robot device according to a kind of self-locking described in claim 4 or 5, it is characterized in that, in the time that chela opens maximum, the line at the axle center of described protruding axle and jointed shaft center and push-pull arm move up and down the angle of vertical line at 30 degree to 100 degree.
7. clamp robot device according to a kind of self-locking described in claim 4 or 5, it is characterized in that, in the time that chela opens maximum, the angle that the line at the axle center of described protruding axle and jointed shaft center and push-pull arm move up and down vertical line is 90 degree.
8. a kind of self-locking according to claim 1 clamps robot device, it is characterized in that, the closing end of described two chelas arranges respectively subcard head and master card head, be respectively arranged with and sting tooth at the interlock end face of described subcard head and master card head, the end that described master card head is fixed on a chela closing end is motionless, and described subcard head rotates the end that is fixed on another chela closing end by a pivot pin.
9. a kind of self-locking according to claim 8 clamps robot device, it is characterized in that, described interlock end face is a triangle occlusal surface, and the tooth of stinging of described interlock end face setting is the trapezoidal tooth of stinging.
10. a kind of self-locking according to claim 8 clamps robot device, it is characterized in that, described interlock end face is one to be faced directly, and the tooth of stinging of described interlock end face setting is triangle helical teeth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420104678.XU CN203712713U (en) | 2014-03-10 | 2014-03-10 | Self-locking clamping manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420104678.XU CN203712713U (en) | 2014-03-10 | 2014-03-10 | Self-locking clamping manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203712713U true CN203712713U (en) | 2014-07-16 |
Family
ID=51151908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420104678.XU Expired - Fee Related CN203712713U (en) | 2014-03-10 | 2014-03-10 | Self-locking clamping manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203712713U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105084021A (en) * | 2015-06-26 | 2015-11-25 | 张萍 | Intelligent robot gripper for stacking system |
| CN105459124A (en) * | 2015-12-14 | 2016-04-06 | 刘永风 | Deep well rescue device |
| CN105881558A (en) * | 2015-10-20 | 2016-08-24 | 中日龙(襄阳)机电技术开发有限公司 | Posture part unit rotation mechanism with safety protection device |
| CN107857221A (en) * | 2017-12-26 | 2018-03-30 | 安徽天锦云漆业有限公司 | A kind of automatic capping device for exterior coating bucket |
| CN107973257A (en) * | 2017-12-26 | 2018-05-01 | 安徽天锦云漆业有限公司 | A kind of pressing claw mechanism and sealing device for paint can capping |
| CN108068103A (en) * | 2016-11-14 | 2018-05-25 | 中国科学院苏州纳米技术与纳米仿生研究所 | A kind of full Mechanical Driven and with the manipulator of anti-unexpected opener |
| CN114260821A (en) * | 2021-12-22 | 2022-04-01 | 湖南创研智能装备有限公司 | Iron shovel grinding clamp |
| CN108068103B (en) * | 2016-11-14 | 2024-05-31 | 中国科学院苏州纳米技术与纳米仿生研究所 | Mechanical arm driven by full machinery and provided with accidental opening prevention mechanism |
-
2014
- 2014-03-10 CN CN201420104678.XU patent/CN203712713U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105084021A (en) * | 2015-06-26 | 2015-11-25 | 张萍 | Intelligent robot gripper for stacking system |
| CN105881558A (en) * | 2015-10-20 | 2016-08-24 | 中日龙(襄阳)机电技术开发有限公司 | Posture part unit rotation mechanism with safety protection device |
| CN105881558B (en) * | 2015-10-20 | 2018-01-02 | 中日龙(襄阳)机电技术开发有限公司 | A kind of unit rotary mechanism of posture portion with safety guard |
| CN105459124A (en) * | 2015-12-14 | 2016-04-06 | 刘永风 | Deep well rescue device |
| CN108068103A (en) * | 2016-11-14 | 2018-05-25 | 中国科学院苏州纳米技术与纳米仿生研究所 | A kind of full Mechanical Driven and with the manipulator of anti-unexpected opener |
| CN108068103B (en) * | 2016-11-14 | 2024-05-31 | 中国科学院苏州纳米技术与纳米仿生研究所 | Mechanical arm driven by full machinery and provided with accidental opening prevention mechanism |
| CN107857221A (en) * | 2017-12-26 | 2018-03-30 | 安徽天锦云漆业有限公司 | A kind of automatic capping device for exterior coating bucket |
| CN107973257A (en) * | 2017-12-26 | 2018-05-01 | 安徽天锦云漆业有限公司 | A kind of pressing claw mechanism and sealing device for paint can capping |
| CN114260821A (en) * | 2021-12-22 | 2022-04-01 | 湖南创研智能装备有限公司 | Iron shovel grinding clamp |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140716 |