CN205668276U - A kind of clamping type manipulator locking anti-skid device - Google Patents
A kind of clamping type manipulator locking anti-skid device Download PDFInfo
- Publication number
- CN205668276U CN205668276U CN201620588644.1U CN201620588644U CN205668276U CN 205668276 U CN205668276 U CN 205668276U CN 201620588644 U CN201620588644 U CN 201620588644U CN 205668276 U CN205668276 U CN 205668276U
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- China
- Prior art keywords
- clamping type
- type manipulator
- gag lever
- lever post
- regulating part
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Abstract
This utility model provides a kind of clamping type manipulator locking anti-skid device, including: adsorption piece, claming angle regulating part, angle lock stop element and clamping type manipulator pawl, the free end of mechanical paw is hinged with claming angle regulating part, claming angle regulating part is in the form of annular discs, the outer surface of claming angle regulating part is smooth surface, inner surface is provided with ratchet slot, and outer surface is fixedly connected with adsorption piece；Angle lock stop element is articulated with the sidepiece of clamping type manipulator pawl, angle lock stop element includes fixing, with clamping type manipulator pawl, the connecting shaft being connected, the gag lever post hinged with connecting shaft, one end activity of gag lever post contacts on ratchet slot, the other end is connected via a connection piece and a lift adjustment part, lift adjustment part is hinged with clamping type manipulator pawl, and the other end for gag lever post that lifts being connected end by lift adjustment part regulation gag lever post with lift adjustment part is relaxed or latch ratchet groove.This device prevents goods in clamping process from coming off or deforming.
Description
Technical field
This utility model belongs to haulage equipment field, relates to a kind of clamping type manipulator locking anti-skid device.
Background technology
The clamping type manipulator that at present commercial Application is the widest at work, when the goods that clamping surface is smooth, chucking power
Little easily make goods come off, strengthen clamping dynamics and goods can be made again to deform；Sucking disc type mechanical hand is operationally to cargo surfaces
Smoothness and requirement for horizontality are high, are not suitable for the carrying of shaggy goods.Therefore, it is badly in need of a kind of new-type mechanical hand lock
Tight shoe, prevents the clamping type manipulator generation that goods comes off or deforms when goods clamping, goods is reduced or avoided
Loss.
Utility model content
The purpose of this utility model is to overcome above-mentioned deficiency, it is provided that a kind of clamping type manipulator locking anti-skid device,
The both sides being held on object to be held by two clamping type manipulator locking anti-skid devices realize transport, can be according to thing to be held
The spacing of two devices of size adjustment of body so that the both sides of object to be held are held and adsorbed close, solve clipping
The transportation problem of manipulator clamping object to be held.
This utility model provides a kind of clamping type manipulator locking anti-skid device, including: for adsorbing object to be held
Adsorption piece, claming angle regulating part, angle lock stop element and clamping type manipulator pawl；Described clamping type manipulator pawl from
Being hinged with described claming angle regulating part by end, described claming angle regulating part is in the form of annular discs, described claming angle regulating part
The outer surface being positioned at described free end is smooth surface, and described claming angle regulating part is positioned at the inner surface of described free end
Being provided with ratchet slot, described outer surface is fixedly connected with adsorption piece, regulates described suction by rotating described claming angle regulating part
Adnexa and the angle of described object to be held；Described angle lock stop element is articulated with the sidepiece of described clamping type manipulator pawl, institute
Stating angle lock stop element to include fixing, with described clamping type manipulator pawl, the connecting shaft being connected, hinged with described connecting shaft is spacing
Bar, one end activity of described gag lever post contacts on described ratchet slot, and the other end of described gag lever post is via a connection piece and
Lift adjustment part is connected, and described lift adjustment part is hinged with described clamping type manipulator pawl, by described lift adjustment part
Regulate described gag lever post be connected with described lift adjustment part the lifting of end for the other end of described gag lever post lax or locking institute
State ratchet slot.
Preferably, the number of described device is two, and the adsorption piece of two described devices is relatively and interval is arranged.
Preferably, described adsorption piece is a sucker, and the outer surface of described claming angle regulating part is provided with a spliced eye,
The fixing end of described sucker is installed in described spliced eye.
Preferably, the inner side of described claming angle regulating part is ratchet, and the outside of described claming angle regulating part is smooth
Wheel, the opening of the ratchet slot of described ratchet matches towards the other end with described gag lever post.
Preferably, described lift adjustment part is Miniature push-pull electric magnet, the bottom of described Miniature push-pull electric magnet
Point be hinged with described clamping type manipulator pawl by bolt, the upper part of described Miniature push-pull electric magnet by rivet and
Described gag lever post is hinged.
Preferably, described gag lever post is a ratchet.
Preferably, the inner surface coefficient of friction of described sucker is more than 0.6, and diameter is more than 14mm.
Preferably, the back of described sucker arranges a connecting tube, and described connecting tube is connected with a vacuum suction device.
The clamping type manipulator locking anti-skid device that this utility model provides, by adsorption piece, claming angle regulating part, angle
Locking unit and clamping type manipulator pawl composition, by manipulation clamping type manipulator pawl near object to be held so that machinery
Paw makes holding action, and when paw is clamped to goods, sucker elder generation and the cargo surfaces part contact of paw end, along with folder
The increasing of holding force and the adjustment of holding action, under the effect of cargo surfaces counteracting force, adsorption piece drives claming angle to adjust
Joint part rotate, angle lock stop element auto lock ratchet slot, adsorption piece contacts with cargo surfaces completely simultaneously, adsorption piece holding and
Cargo surfaces perpendicular contact state, now the chucking power of mechanical paw acts perpendicularly to cargo surfaces by adsorption piece.When once
When carrying action completes and will put down object to be held, mechanical paw stops applying chucking power, and lift adjustment part drives simultaneously
Gag lever post rotates around connecting shaft, unclamps the conflict with ratchet slot, facilitates sucker to separate with body surface to be held, thus put down and treat
Clamping object.This device prevents the clamping type manipulator generation that goods comes off or deforms when clamping object to be held, reduces also
Avoid the loss of goods.
Accompanying drawing explanation
Fig. 1 is the structural representation of clamping type manipulator locking anti-skid device one embodiment shown in this utility model.
Detailed description of the invention
For the benefit of the understanding to structure of the present utility model, illustrates below in conjunction with drawings and Examples.
Fig. 1 is the structural representation of clamping type manipulator locking anti-skid device one embodiment shown in this utility model.Knot
Shown in conjunction Fig. 1, this utility model provides a kind of clamping type manipulator locking anti-skid device, including: for adsorbing thing to be held
The adsorption piece 1 of body, claming angle regulating part 2, angle lock stop element 3 and clamping type manipulator pawl 4.
The free end of described clamping type manipulator pawl 4 is hinged with described claming angle regulating part 2, and described claming angle is adjusted
Joint part 2 is in the form of annular discs, and the outer surface that described claming angle regulating part 2 is positioned at described free end is smooth surface 21, described folder
Holding angle adjusting piece 2 to be positioned at the inner surface of described free end and be provided with ratchet slot 22, described outer surface is fixedly connected with absorption
Part 1, regulates the angle of described adsorption piece 1 and described object to be held by rotating described claming angle regulating part 2.Described angle
Locking unit 3 is articulated with the sidepiece of described clamping type manipulator pawl 4, and described angle lock stop element 3 includes and described clipping machine
The fixing connecting shaft 31 connected of tool paw 4, the gag lever post 32 hinged with described connecting shaft 31, one end of described gag lever post 32 is movable
Contacting on described ratchet slot 22, via a connection piece, (in actual application, this connector is riveting to the other end of described gag lever post 32
Nail) it is connected with a lift adjustment part 5, described lift adjustment part 5 is hinged with described clamping type manipulator pawl 4, by described
Lift adjustment part 5 regulates described gag lever post 43 and is connected another for described gag lever post 32 of lifting of end with described lift adjustment part 5
One end relaxes or ratchet slot 22 described in locking.
In actual application, the number of described device is two, and the adsorption piece 1 of two described devices is relatively and interval is arranged.
Further, described adsorption piece 1 is a sucker, and the outer surface of described claming angle regulating part 2 is provided with one and inserts
Connecing hole 23, the fixing end of described sucker 1 is installed in described spliced eye 23.
Further, the inner side of described claming angle regulating part 2 is ratchet, the outside of described claming angle regulating part 2
For light pulley, the opening of the ratchet slot of described ratchet matches towards the other end with described gag lever post 32.
In the present embodiment, described lift adjustment part 5 is Miniature push-pull electric magnet, under described Miniature push-pull electric magnet
End portion is hinged with described clamping type manipulator pawl 4 by bolt, and the upper part of described Miniature push-pull electric magnet is passed through
Rivet is hinged with described gag lever post 32.It addition, in actual application, described gag lever post 32 is a ratchet.
It addition, the inner surface coefficient of friction of described sucker 1 is more than 0.6, diameter is more than 14mm.The surface area of this sucker 1 is big
And the material using coefficient of friction big is made, therefore sucker 1 is the biggest with the frictional force of cargo surfaces, it is ensured that goods will not be
Come off during clamping.
Need to cause concern, the back of described sucker 1 also can arrange a connecting tube, described connecting tube and a vacuum suction
Device is connected, and this setting increases the absorption dynamics of sucker 1 further, and effective guarantee object to be held comes off.
Hereinafter the specific structural details of a kind of clamping type manipulator locking anti-skid device that this utility model provides is carried out
Describe in detail.
When using this utility model, owing to being only machined with the part gear teeth (ratchet slot) on claming angle regulating part 2, therefore clamping
Angle adjusting piece 2 can only rotate within the specific limits, makes sucker 1 maintain certain angle with mechanical paw 4 all the time, facilitates sucker
1 directly contacts with cargo surfaces.During goods clamping, mechanical paw 4 first does holding action, when paw 4 is clamped to goods, and paw
The sucker 1 of 4 ends first contacts with goods (object to be held) surface portion, along with increasing and the tune of holding action of chucking power
Whole, under the effect of cargo surfaces counteracting force, sucker 1 drives claming angle regulating part 2 to rotate, ratchet 32 auto lock ratchet
22, sucker 1 contacts with cargo surfaces completely simultaneously, and sucker 1 keeps and cargo surfaces perpendicular contact state, now mechanical paw 4
Chucking power act perpendicularly to cargo surfaces by sucker 1, the surface area of sucker 1 is big and uses the material system that coefficient of friction is big
Form, therefore sucker 1 is the biggest with the frictional force of cargo surfaces, it is ensured that goods will not come off during clamping, captures goods
Action complete.When once carrying action and completing and will put down goods, mechanical paw 4 stops applying chucking power, simultaneously electricity
Magnet energising band pawl 32 rotates around rivet, unclamps ratchet 22, facilitates sucker to separate with cargo surfaces, thus put down goods.
This utility model can make mechanical hand safety and reliability when capturing goods, prevents goods from falling off when carrying, and mechanical hand exists
When capturing goods, chucking power is not required to complete the most greatly carrying.
The clamping type manipulator locking anti-skid device that this utility model provides, by adsorption piece, claming angle regulating part, angle
Locking unit and clamping type manipulator pawl composition, by manipulation clamping type manipulator pawl near object to be held so that machinery
Paw makes holding action, and when paw is clamped to goods, sucker elder generation and the cargo surfaces part contact of paw end, along with folder
The increasing of holding force and the adjustment of holding action, under the effect of cargo surfaces counteracting force, adsorption piece drives claming angle to adjust
Joint part rotate, angle lock stop element auto lock ratchet slot, adsorption piece contacts with cargo surfaces completely simultaneously, adsorption piece holding and
Cargo surfaces perpendicular contact state, now the chucking power of mechanical paw acts perpendicularly to cargo surfaces by adsorption piece.When once
When carrying action completes and will put down object to be held, mechanical paw stops applying chucking power, and lift adjustment part drives simultaneously
Gag lever post rotates around connecting shaft, unclamps the conflict with ratchet slot, facilitates sucker to separate with body surface to be held, thus put down and treat
Clamping object.This device prevents the clamping type manipulator generation that goods comes off or deforms when clamping object to be held, reduces also
Avoid the loss of goods.
Being described in detail this utility model above in association with accompanying drawing embodiment, those skilled in the art can root
According to described above, this utility model made many variations example.Thus, some details in embodiment should not be constituted this practicality
Novel restriction, this utility model by the scope that defines using appended claims as protection domain.
Claims (8)
1. a clamping type manipulator locking anti-skid device, it is characterised in that including: for adsorbing the absorption of object to be held
Part, claming angle regulating part, angle lock stop element and clamping type manipulator pawl；The free end of described clamping type manipulator pawl with
Described claming angle regulating part is hinged, and described claming angle regulating part is in the form of annular discs, and described claming angle regulating part is positioned at institute
The outer surface stating free end is smooth surface, and the inner surface that described claming angle regulating part is positioned at described free end is provided with spine
Race, described outer surface is fixedly connected with adsorption piece, by rotate described claming angle regulating part regulate described adsorption piece with
The angle of described object to be held；Described angle lock stop element is articulated with the sidepiece of described clamping type manipulator pawl, described angle
Locking unit includes fixing, with described clamping type manipulator pawl, the connecting shaft being connected, the gag lever post hinged with described connecting shaft, institute
One end activity stating gag lever post contacts on described ratchet slot, and the other end of described gag lever post is via a connection piece and a rising-falling tone
Joint part is connected, and described lift adjustment part is hinged with described clamping type manipulator pawl, regulates institute by described lift adjustment part
State gag lever post and be connected with described lift adjustment part that the lifting of end is lax for the other end of described gag lever post or ratchet described in locking
Groove.
Clamping type manipulator locking anti-skid device the most according to claim 1, it is characterised in that the number of described device is
Two, the adsorption piece of two described devices is relatively and interval is arranged.
Clamping type manipulator locking anti-skid device the most according to claim 1, it is characterised in that described adsorption piece is a suction
Dish, the outer surface of described claming angle regulating part is provided with a spliced eye, and the fixing end of described sucker is installed on described grafting
In hole.
Clamping type manipulator locking anti-skid device the most according to claim 1, it is characterised in that described claming angle regulates
The inner side of part is ratchet, and the outside of described claming angle regulating part is light pulley, the opening of the ratchet slot of described ratchet towards with
The other end of described gag lever post matches.
Clamping type manipulator locking anti-skid device the most according to claim 1, it is characterised in that described lift adjustment part is
Miniature push-pull electric magnet, the end portion of described Miniature push-pull electric magnet passes through bolt and described clamping type manipulator pawl phase
Hinged, the upper part of described Miniature push-pull electric magnet is hinged with described gag lever post by rivet.
Clamping type manipulator locking anti-skid device the most according to claim 1, it is characterised in that described gag lever post is a spine
Pawl.
Clamping type manipulator locking anti-skid device the most according to claim 3, it is characterised in that the inner surface of described sucker
Coefficient of friction is more than 0.6, and diameter is more than 14mm.
Clamping type manipulator locking anti-skid device the most according to claim 7, it is characterised in that the back of described sucker sets
Putting a connecting tube, described connecting tube is connected with a vacuum suction device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620588644.1U CN205668276U (en) | 2016-06-17 | 2016-06-17 | A kind of clamping type manipulator locking anti-skid device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620588644.1U CN205668276U (en) | 2016-06-17 | 2016-06-17 | A kind of clamping type manipulator locking anti-skid device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205668276U true CN205668276U (en) | 2016-11-02 |
Family
ID=57192482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620588644.1U Expired - Fee Related CN205668276U (en) | 2016-06-17 | 2016-06-17 | A kind of clamping type manipulator locking anti-skid device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205668276U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471242A (en) * | 2017-09-26 | 2017-12-15 | 苏州科技大学 | Robot self-locking handgrip mechanism |
| CN107932540A (en) * | 2017-12-25 | 2018-04-20 | 北京交通大学 | A kind of multistable flexible clamping mechanism |
| CN108621188A (en) * | 2018-07-26 | 2018-10-09 | 燕山大学 | The redundancy self-locking mechanical pawl that clamping force accurately controls |
| CN109406218A (en) * | 2018-12-13 | 2019-03-01 | 国家电网有限公司 | A kind of transformer body auxiliary takes oily leak-proof device and its method for extracting oil |
| CN113892360A (en) * | 2021-10-15 | 2022-01-07 | 新疆大学 | Intelligent accurate multi-path independent high-efficiency crop topping system |
-
2016
- 2016-06-17 CN CN201620588644.1U patent/CN205668276U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471242A (en) * | 2017-09-26 | 2017-12-15 | 苏州科技大学 | Robot self-locking handgrip mechanism |
| CN107471242B (en) * | 2017-09-26 | 2023-11-14 | 苏州科技大学 | Self-locking gripper mechanism for robot |
| CN107932540A (en) * | 2017-12-25 | 2018-04-20 | 北京交通大学 | A kind of multistable flexible clamping mechanism |
| CN108621188A (en) * | 2018-07-26 | 2018-10-09 | 燕山大学 | The redundancy self-locking mechanical pawl that clamping force accurately controls |
| CN109406218A (en) * | 2018-12-13 | 2019-03-01 | 国家电网有限公司 | A kind of transformer body auxiliary takes oily leak-proof device and its method for extracting oil |
| CN113892360A (en) * | 2021-10-15 | 2022-01-07 | 新疆大学 | Intelligent accurate multi-path independent high-efficiency crop topping system |
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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: 20161102 Termination date: 20170617 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |