CN203956919U - A kind of scissor-type gripper - Google Patents
A kind of scissor-type gripper Download PDFInfo
- Publication number
- CN203956919U CN203956919U CN201420427845.4U CN201420427845U CN203956919U CN 203956919 U CN203956919 U CN 203956919U CN 201420427845 U CN201420427845 U CN 201420427845U CN 203956919 U CN203956919 U CN 203956919U
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- China
- Prior art keywords
- connecting rod
- rotating shaft
- fork
- cut
- scissor
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Abstract
The utility model discloses a kind of scissor-type gripper, comprise that mechanical arm, drive unit, parallel and spaced two pairs cut fork pair and jaw, cut fork pair and comprise V-arrangement drive link and X-shaped crossbar, V-arrangement drive link comprises two bar A that are rotationally connected by the first rotating shaft, X-shaped crossbar comprises two bar B, and the middle part of two bar B is rotationally connected by the 3rd rotating shaft.Two pairs are cut between the first secondary rotating shaft of fork and are provided with first connecting rod, between the 3rd rotating shaft, are provided with third connecting rod, between the corresponding output of X-shaped crossbar, are provided with jaw.Drive unit is by changing the spacing of first connecting rod and third connecting rod, and then the spacing of two jaws of change, realizes and captures and unclamp action.The advantage of the utility model scissor-type gripper is: the size range of the object of suitable crawl is larger, can be used for more complicated working environment, and it is more safe and reliable that the structure of double shear fork makes gripper capture object.
Description
Technical field
The utility model relates to a kind of gripper, relates in particular to a kind of gripper of scissor-type.
Background technology
In industrial production, often need to carry object, gripper can replace people to carry out working heavyly, contributes to realize industrial automation, and particularly, in the time of the dangerous property of object, gripper can effectively be protected workman's safety.In prior art, often can only capture the object of a certain specific dimensions for picking and placeing the gripper of object, in the time need to capturing the larger object of difference in size, just need to change gripper or gripper is manually adjusted, use inconvenience and inefficiency.
Summary of the invention
Technical problem to be solved in the utility model is to provide the larger gripper of a kind of gripping object size scope, and this kind of gripper is without the manual different object of adjustment gripping size safely and reliably.
For solving the problems of the technologies described above, a kind of scissor-type gripper of the present utility model comprises mechanical arm, cuts fork pair and jaw, cut fork pair and comprise V-arrangement drive link and X-shaped crossbar, V-arrangement drive link comprises two bar A that are rotationally connected by the first rotating shaft, X-shaped crossbar comprises two bar B, the middle part of two bar B is rotationally connected by the 3rd rotating shaft, and two outer ends of V-arrangement drive link are rotationally connected by the input of the second rotating shaft and X-shaped crossbar; It is secondary that this kind of scissor-type gripper comprises that parallel and spaced two pairs are cut fork, two pairs are cut between the first secondary rotating shaft of fork and are provided with first connecting rod, mechanical arm is connected with first connecting rod, two pairs are cut between the second secondary rotating shaft of fork and are provided with second connecting rod, two pairs are cut between the 3rd secondary rotating shaft of fork and are provided with third connecting rod, and two pairs are cut between the corresponding output of the secondary X-shaped crossbar of fork and are provided with jaw; This kind of scissor-type gripper also comprises drive unit, and drive unit is arranged between first connecting rod and third connecting rod, for changing the spacing of first connecting rod and third connecting rod, and then the spacing of two jaws of change, realize and capture and unclamp action.
Further, drive unit comprises and is arranged at the motor in mechanical arm and is connected in two springs between jaw, and motor is connected with third connecting rod by rope.
Further, drive unit is hydraulically extensible bar, and hydraulically extensible bar one end is connected with first connecting rod, and the other end is connected with third connecting rod.
The beneficial effect of the utility model scissor-type gripper is: because use is cut fork auxiliary structure and jaw and is connected to and cuts the secondary output of fork, the distance that changes first connecting rod and third connecting rod by drive unit when work can transmission realizes the spacing capturing with unclamping action and jaw and can significantly change, thereby can adapt to fast the object of different size, without manual adjustment, jaw is cut between fork pair in parallel and spaced two pairs, the contact-making surface of jaw and object is larger and stressed even, safer reliable when gripping object.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model scissor-type gripper the first embodiment;
Fig. 2 is the structural representation of the another kind of embodiment of the utility model scissor-type gripper;
Fig. 3 is the structural representation of the utility model scissor-type gripper part except drive unit during for gripping large scale object;
Description of reference numerals: 1-mechanical arm, 2-jaw, 3-the first rotating shaft, 4-bar A, 5-bar B, 6-the 3rd rotating shaft, 7-the second rotating shaft, 8-first connecting rod, 9-second connecting rod, 10-third connecting rod, 11-motor, 12-rope, 13-spring, 14-hydraulically extensible bar.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Scissor-type gripper shown in Fig. 1 comprises that mechanical arm 1, drive unit, parallel and spaced two pairs cut fork pair and jaw 2.Cut fork pair and comprise V-arrangement drive link and X-shaped crossbar, V-arrangement drive link comprises two bar A 4 that are rotationally connected by the first rotating shaft 3, X-shaped crossbar comprises two bar B 5, the middle part of two bar B 5 is rotationally connected by the 3rd rotating shaft 6, and two outer ends of V-arrangement drive link are rotationally connected by the second rotating shaft 7 and the input of X-shaped crossbar.Two pairs are cut between the first secondary rotating shaft 3 of fork and are provided with between first connecting rod 8, the second rotating shafts 7 and are provided with between second connecting rod 9, the three rotating shafts 6 and are provided with third connecting rod 10.Mechanical arm 1 is connected with first connecting rod 8, two pairs are cut between the corresponding output of the secondary X-shaped crossbar of fork and are provided with jaw 2, two jaws 2 that arrange in this position can change spacing significantly cutting under the secondary transmission of fork, can be applicable to the object that gripping size difference is larger, in addition jaw 2 be arranged at two pairs cut fork pair between, jaw 2 is larger and stressed more even with the contact-making surface of object, works safer reliable.Drive unit comprises the motor 11 that is installed in mechanical arm 1, is connected in two springs 13 between jaw 2, and motor 11 is connected with third connecting rod 10 by rope 12.Motor 11 is worked and by rope 12 tractions, first connecting rod 8 and the spacing of third connecting rod 10 is reduced, by cutting fork auxiliary driving, the spacing of two jaws 2 is increased, after motor 11 quits work, the restoring force of the spring 13 between two jaws 2 reduces the spacing of two jaws 2.
Above-mentioned drive unit can also be the hydraulically extensible bar 14 between first connecting rod 8 and third connecting rod 10 that is connected in shown in Fig. 2, by the elongation and the spacing that shortens change first connecting rod 8 and third connecting rod 10 of hydraulically extensible bar 14, and then by the spacing of cutting two jaws 2 of fork auxiliary driving control.
When scissor-type gripper specific works of the present utility model, drive unit work reduces first connecting rod 8 and the spacing of third connecting rod 10, two pairs are cut the secondary transmission of fork opens two jaws 2, mechanical arm 1 driving mechanical pawl moves to correct position subsequently, drive unit work makes the pitch smaller of two jaws 2, until clamping article completes the movement of object subsequently under the drive of mechanical arm, discharge the process of object in contrast.In the time of the object of gripping different size, without manually adjusting gripper, only need drive unit work that first connecting rod 8 and the spacing of third connecting rod 10 are reduced until the spacing of jaw 2 and object size to be crawled adapt and can as usual work, easy to use and operating efficiency is higher.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any amendments of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (3)
1. a scissor-type gripper, comprise mechanical arm (1), cut fork pair and jaw (2), the described fork pair of cutting comprises V-arrangement drive link and X-shaped crossbar, described V-arrangement drive link comprises two bar A(4 that are rotationally connected by the first rotating shaft (3)), described X-shaped crossbar comprises two bar B(5), described two bar B(5) middle part be rotationally connected by the 3rd rotating shaft (6), two outer ends of described V-arrangement drive link are rotationally connected by the second rotating shaft (7) and the input of described X-shaped crossbar, it is characterized in that:
It is secondary that described scissor-type gripper comprises that parallel and spaced two pairs are cut fork, described two pairs are cut between secondary the first rotating shaft (3) of fork and are provided with first connecting rod (8), described mechanical arm (1) is connected with described first connecting rod (8), described two pairs are cut between secondary the second rotating shaft (7) of fork and are provided with second connecting rod (9), described two pairs are cut between the 3rd secondary rotating shaft (6) of fork and are provided with third connecting rod (10), and described two pairs are cut between the corresponding output of the secondary X-shaped crossbar of fork and are provided with jaw (2);
Described scissor-type gripper also comprises drive unit, described drive unit is arranged between first connecting rod (8) and third connecting rod (10), be used for changing the spacing of first connecting rod (8) and third connecting rod (10), and then change the spacing of two jaws (2), realize and capture and unclamp action.
2. scissor-type gripper according to claim 1, it is characterized in that: described drive unit comprises the motor (11) being arranged in mechanical arm and be connected in the spring (13) between two jaws (2), described motor (11) is connected with third connecting rod (10) by rope (12).
3. scissor-type gripper according to claim 1, is characterized in that: described drive unit is hydraulically extensible bar (14), and described hydraulically extensible bar (14) one end is connected with first connecting rod (8), and the other end is connected with third connecting rod (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420427845.4U CN203956919U (en) | 2014-07-31 | 2014-07-31 | A kind of scissor-type gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420427845.4U CN203956919U (en) | 2014-07-31 | 2014-07-31 | A kind of scissor-type gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203956919U true CN203956919U (en) | 2014-11-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420427845.4U Expired - Fee Related CN203956919U (en) | 2014-07-31 | 2014-07-31 | A kind of scissor-type gripper |
Country Status (1)
| Country | Link |
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| CN (1) | CN203956919U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414386A (en) * | 2017-08-23 | 2017-12-01 | 湖州森纳德电子科技有限公司 | A kind of mechanical grip of electronic welding |
| CN108818048A (en) * | 2018-07-25 | 2018-11-16 | 襄阳宇清传动科技有限公司 | A kind of turnover panel Boring machine processing clamping mechanism |
| CN108901363A (en) * | 2018-08-24 | 2018-11-30 | 沈阳工业大学 | Fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism |
| CN109114242A (en) * | 2018-07-25 | 2019-01-01 | 黄诗雨 | Rapid Expansion self-advancing type spherical shape feeding structure for wastewater treatment |
| CN109940647A (en) * | 2019-04-16 | 2019-06-28 | 芜湖新兴铸管有限责任公司 | Plug clamping manipulator used in cast tube production process |
| CN110155874A (en) * | 2019-05-09 | 2019-08-23 | 杭州晨龙智能科技有限公司 | Bundled profile crawl arm and the crawl production line and method for using the crawl arm |
| CN115648264A (en) * | 2022-12-08 | 2023-01-31 | 南京邮电大学 | High-reliability encircling type logistics box grabbing manipulator for intelligent logistics and using method |
-
2014
- 2014-07-31 CN CN201420427845.4U patent/CN203956919U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414386A (en) * | 2017-08-23 | 2017-12-01 | 湖州森纳德电子科技有限公司 | A kind of mechanical grip of electronic welding |
| CN108818048A (en) * | 2018-07-25 | 2018-11-16 | 襄阳宇清传动科技有限公司 | A kind of turnover panel Boring machine processing clamping mechanism |
| CN109114242A (en) * | 2018-07-25 | 2019-01-01 | 黄诗雨 | Rapid Expansion self-advancing type spherical shape feeding structure for wastewater treatment |
| CN109114242B (en) * | 2018-07-25 | 2019-12-06 | 瑞安市瑞海机电有限公司 | A expand spherical feeding structure of formula of advancing certainly fast for waste water treatment |
| CN108901363A (en) * | 2018-08-24 | 2018-11-30 | 沈阳工业大学 | Fruits picking mechanical hand based on three-dimensional diamond shape telescoping mechanism |
| CN108901363B (en) * | 2018-08-24 | 2024-04-05 | 沈阳工业大学 | Fruit picking manipulator based on three-dimensional diamond telescopic mechanism |
| CN109940647A (en) * | 2019-04-16 | 2019-06-28 | 芜湖新兴铸管有限责任公司 | Plug clamping manipulator used in cast tube production process |
| CN110155874A (en) * | 2019-05-09 | 2019-08-23 | 杭州晨龙智能科技有限公司 | Bundled profile crawl arm and the crawl production line and method for using the crawl arm |
| CN115648264A (en) * | 2022-12-08 | 2023-01-31 | 南京邮电大学 | High-reliability encircling type logistics box grabbing manipulator for intelligent logistics and using method |
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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 |
Granted publication date: 20141126 Termination date: 20150731 |
|
| EXPY | Termination of patent right or utility model |