CN206967514U - A kind of gripper - Google Patents
A kind of gripper Download PDFInfo
- Publication number
- CN206967514U CN206967514U CN201720418573.5U CN201720418573U CN206967514U CN 206967514 U CN206967514 U CN 206967514U CN 201720418573 U CN201720418573 U CN 201720418573U CN 206967514 U CN206967514 U CN 206967514U
- Authority
- CN
- China
- Prior art keywords
- detection device
- pedestal
- pawl
- gripper
- material detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 239000000463 material Substances 0.000 claims abstract description 90
- 238000001514 detection method Methods 0.000 claims abstract description 65
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 49
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 210000000078 claw Anatomy 0.000 claims abstract description 6
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000011664 signaling Effects 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000035945 sensitivity Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model is related to a kind of gripper, belong to gripper field, more particularly to a kind of cleaning robot feeding gripper waterborne realize it is automatic when salvaging, grab bucket crawl material whether detection in place.The gripper, including pedestal, pawl refer to, material detection device and control connect part, pawl, which refers to, to be hinged or is slidably connected with pedestal, and the company's of control part is used for the pawl that control claw refers to and puts action, and material detection device is located at pedestal top, and movable part is provided with the gathering side that pawl refers to；When capturing material, the movable part promotes motion upwards to trigger material detection device by material.The design of the structure, by the upward motion triggers material detection device of movable part, and then detect gripper crawl material number, avoid gripper and salvage space-time and grab, grab and overload less, realize that automation is salvaged.In addition, by material detection device on the pedestal, when avoiding salvaging dirt, the problem of material detection device makes moist.
Description
Technical field
A kind of gripper is the utility model is related to, belongs to gripper field, more particularly to a kind of cleaning robot waterborne takes
When expecting that gripper realizes automatic salvage, grab bucket crawl material whether detection in place.
Background technology
The gripper of existing cleaning robot feeding is in automatic salvage, when can not detect grab bucket crawl material, machinery
Pawl stretches into the depth of material, it may occur that zero load crawl, full load continues material grasping and situation about grabbing less occurs.
Utility model content
The purpose of this utility model is：For above-mentioned problem, there is provided a kind of gripper, set up material detection dress
Put and the movable part for triggering, by material movable part can be promoted to trigger material detection device, so as to ensure gripper energy
Enough every time enough crawls, no full load continues crawl, the empty phenomenon grabbed or grabbed less occurs, and substantially increases efficiency, in addition, will
Material detection device is located at gripper top, can be applied to water surface operation, avoid material detection device and make moist and cause
Sensitivity decrease phenomenon occur.
The technical solution adopted in the utility model is as follows：
The utility model discloses a kind of gripper, including pedestal, pawl refer to, even part, pawl refer to for material detection device and control
It is hinged or is slidably connected with pedestal, even part puts action for the pawl that control claw refers to for control, it is characterised in that material detection device is set
In pedestal top, movable part is provided with the gathering side that pawl refers to；Capture material when, the movable part by material promote upwards motion with
Trigger material detection device.
The design of the structure, material detection device is triggered by movable part, so as to ensure that gripper can be every time enough
Crawl, no full load continues crawl, the empty phenomenon grabbed or grabbed less occurs, and substantially increases efficiency.In addition, by material detection device
Located at the top of gripper, it is more suitable for water surface operation, avoid material detection device make moist caused by sensitivity drop
Low problem.
Further, the movable part is provided with or is connected with trigger unit, and the movable part triggers material by the trigger unit and detected
Device；Support is fixedly connected with pedestal, flexible even part between the trigger unit and support, the elasticity even touch by part sealing
Gap between hair portion and support.By the design of elastic connection, prevent rubbish from causing movable part to be transported up and down into internal stent
Dynamic jam.
Further, the movable part is L-shaped, and the movable part includes transverse part and vertical portion；The support includes difference
The channel-shaped portion coordinated with transverse part and vertical portion and tube, movable part is on the inside of support, and energy opposite brackets motion.The structure
Its vertical portion of movable part to pedestal top extend, so as to ensure the triggering of material detection device.
Further, the one end of the transverse part away from vertical portion is hinged with support；Transverse part is placed in gathering side that pawl refers to simultaneously
Refer to captured material by pawl to promote.
Further, the material detection device is proximity switch, and the trigger unit is in cap shape, is connected at the shade of trigger unit
Tube is connect, trigger unit is fixedly connected with vertical portion.In addition, material detection device can also be travel switch, photoelectric sensor,
Magnetic induction sensor etc..
Further, pedestal bottom both sides refer to provided with relative pawl, and each pawl refers to and the pawl of homonymy be hinged with pedestal respectively
Refer to synchronous axial system, even part is connected to pedestal and pawl refers to support for control.The structure uses the structure that two row's pawls refer to, and realizes that material is grabbed
Take, there is enough width, be more suitable for batch and capture.
Further, the material detection device includes proximity switch and corresponding signaling conversion circuit.Signal conversion electricity
The electric signal that road sends proximity switch is converted into digital model, so as to facilitate controller to receive, and then ensures controller to machine
The control of machinery claw action.
A kind of gripper, including pedestal, clamping part（Refer to including pawl and pawl refers to support）And even part, clamping part are articulated with for control
On pedestal, even part is connected between pedestal and clamping part and for controlling the pawl of clamping part to put action, in addition to material inspection for control
Device and movable part are surveyed, material detection device is fixed on pedestal and is located at clamping part positioned at the top of clamping part, movable part
Collapse side and its one end and can turn to be connected on pedestal, the other end bends or bent to material detection device, movable part is used to trigger
The material detection device.
In summary, by adopting the above-described technical solution, the beneficial effects of the utility model are：
1. the gripper of the application is used for water surface cleaning machine device people's feeding gripper salvaging dirt, automatic detection is grabbed
Take dirt number, avoid full load from continuing to capture, unloaded crawl occur and situation about grabbing less, realize that automation is salvaged, simultaneously
Material detection device is located to the top of gripper pedestal, effectively prevents the material detection devices such as proximity switch from soaking, avoids
Material detection device make moist caused by the phenomenon of sensitivity decrease occur；
2. the material detection device set up and the movable part for triggering, by material movable part can be promoted to trigger
Material detection device, so as to ensure gripper can enough crawls every time, no full load continue crawl, sky is grabbed or that grabs less shows
As occurring, efficiency is substantially increased.Material detection device is located at gripper top, water surface operation can be applied to.
Brief description of the drawings
Fig. 1 is the gripper triggering state structure chart that movable part coordinates with holder pivots；
Fig. 2 is the side view of gripper；
Fig. 3 is channel-shaped portion and the transverse part matching chart of gripper；
Fig. 4 is the gripper structure chart that movable part coordinates with bracket slide
Fig. 5 is the non-triggering state structure chart of gripper that movable part coordinates with bracket slide.
Marked in figure：1- trigger units, even part, 3- supports, 4- movable parts, 5- pawls refer to 2- elasticity, and 6- controls connect part, 7- bases
Seat, 8- material detection devices.
Embodiment
Embodiment 1
As Figure 1-3, a kind of gripper of the present utility model, including pedestal 7, pawl refer to 5 and control even part 6, pawl refer to 5 with
Pedestal 7 is connected by bearing pin, and the pawl that the company's of control part 6 refers to 5 for control claw puts action, and material detection device 8 is located at pawl and referred on 5
Side, the gathering side for referring to 5 in pawl are provided with movable part 4, and movable part 4 is flexibly connected with pedestal 7 and for triggering the material detection dress
Put 8.
Movable part 4 is flexibly connected support 3, and support 3 is fixedly connected with pedestal 7, and movable part 4, which has, to be used to trigger material detection
The trigger unit 1 of device 8, flexible even part 2 between the trigger unit 1 and support 3 or pedestal 7, the elasticity even touch by the sealing of part 2
Gap between hair portion 1 and support 3.
Movable part 4 is L-shaped and including transverse part and vertical portion, and the support 3 includes with transverse part and vertical portion matching somebody with somebody respectively
The channel-shaped portion of conjunction and tube, tube is placed on outside vertical portion and the tube passes through the elasticity even connection of part 2 trigger unit 1.
The one end of transverse part away from vertical portion is be hinged with support 3；Transverse part be placed in pawl refer to 5 gathering side and 5 institutes are referred to by pawl
The material of crawl touches.
Material detection device 8 is proximity switch, and trigger unit 1 is in cap shape, connects tube at the shade of trigger unit 1, touches
Hair portion 1 is fixedly connected with vertical portion.
The bottom both sides of pedestal 7 refer to 5 provided with relative multiple pawls, each pawl refer to 5 respectively the and pawl of homonymy be hinged with pedestal 7 refer to 5
Synchronous axial system, even part 6 is connected to pedestal 7 and pawl refers to 5 for control.
Material detection device 8 includes proximity switch and corresponding signaling conversion circuit.
When in use, pawl refers to 5 and mutually gathers and drive the material rising being crawled the utility model, and material rises and promoted
Transverse part moves up, and transverse part rotates around the hinged place of its end and its other end promotes vertical portion to rise, and vertical portion rises
And trigger unit 1 is jacked up, when trigger unit 1 rises to specified location, detected by material detection device 8, material detection device 8 is sent
Signal to controller, controller is full load condition according to the signal determining of the transmission, is then moved to the material of crawl specified
Position；After pawl refers to 5 grasping movement execution, material detection device 8 does not send signal, then controller is judged as that sky grabs state,
Then control claw refers to 5 and captures material again.
Embodiment 2
Such as Fig. 1-2 alternate constructions, the utility model discloses a kind of gripper, including pedestal 7, clamping part and control
Even part 6, clamping part are articulated with pedestal 7 system, and even part 6 is connected between pedestal 7 and clamping part and for being used to control folder for control
The pawl for holding portion puts action, in addition to material detection device 8 and movable part 4, material detection device 8 are fixed on pedestal 7 and be located at
The top of clamping part, movable part 4 is located at the gathering side of clamping part and its one end can turn to be connected on pedestal 7, the other end is to material
Detection means 8 bends or bent, and movable part 4 is used to trigger the material detection device 8.Material detection device 8 includes close open
Pass and corresponding signaling conversion circuit.
By the movable part 4 for being bent upwards or bending in said mechanism, turning for the trigger position of material detection device 8 is realized
Move, so as to ensure material detection device 8 away from the water surface, the gripper of the present apparatus is more suitable for water surface crawl operation, or in tide
Wet zone material crawl, avoid material detection device make moist caused by sensitivity decrease phenomenon occur.
Embodiment 3
As shown in figure 4, the utility model discloses a kind of gripper, including pedestal 7, clamping part and control to connect part 6, clamping
Portion is articulated with pedestal 7, and even part 6 is connected between pedestal 7 and clamping part and for being used to control the pawl of clamping part to put for control
Make, in addition to material detection device 8 and movable part 4, material detection device 8 are fixed on pedestal 7 and are located at the top of clamping part,
Movable part 4 is located at the gathering side of clamping part and its one end can turn to be connected on pedestal 7, the other end is bent to material detection device 8
Or bending, movable part 4 are used to trigger the material detection device 8.
There is vertical waist-shaped hole, support 3 is provided with the limit shaft for coordinating the waist-shaped hole, and clamping part is gathered on movable part 4
Material touch movable part 4 translated up along its waist-shaped hole, the material detection device 8 is then triggered by the trigger unit 1 in Fig. 4.
The material detection device 8 can be proximity switch.It is non-triggering state in Fig. 4
Embodiment 4
As shown in figure 5, on the basis of embodiment 1, support 3, to be articulated and connected, has perpendicular with pedestal 7 on movable part 4
To waist-shaped hole, support 3 is provided with the limit shaft for coordinating the waist-shaped hole, and when clamping part opens discharging, the material gathered touches
Movable part 4 is rotated centered on hinge, and waist-shaped hole coordinates the rotational angle range of limit shaft constraint movable part 4, material detection
Device 8 can be proximity switch.It is non-triggering state in Fig. 5.
Claims (8)
1. a kind of gripper, including pedestal, pawl refer to, material detection device and control even part, and pawl refers to and pedestal is be hinged or the company of slip
Connect, even part puts action for the pawl that control claw refers to for control, it is characterised in that material detection device is located at pedestal top, refers in pawl
Gathering side be provided with movable part；When capturing material, the movable part promotes motion upwards to trigger material detection device by material.
2. gripper as claimed in claim 1, it is characterised in that the movable part is provided with or be connected with trigger unit, the activity
Part triggers material detection device by the trigger unit；Support is fixedly connected with pedestal, is had between the trigger unit and support
Even part, the elasticity connect the gap between part sealing trigger unit and support to elasticity.
3. gripper as claimed in claim 2, it is characterised in that the movable part is L-shaped, and the movable part includes transverse part
And vertical portion；The support includes channel-shaped portion and the tube coordinated respectively with transverse part and vertical portion, and movable part is in support
Side, and can opposite brackets motion.
4. gripper as claimed in claim 3, it is characterised in that cut with scissors with support the one end of the transverse part away from vertical portion
Connect；Transverse part is placed in the gathering side that pawl refers to and refers to captured material by pawl and promotes.
5. gripper as claimed in claim 3, it is characterised in that the material detection device is proximity switch, the triggering
Portion is in cap shape, connects tube at the shade of trigger unit, trigger unit is fixedly connected with vertical portion.
6. gripper as claimed in claim 3, it is characterised in that pedestal bottom both sides refer to provided with relative pawl, each pawl
Refer to and the pawl of homonymy be hinged with pedestal respectively and refer to synchronous axial system, even part is connected to pedestal and pawl refers to support for control.
7. gripper as claimed in claim 1, it is characterised in that the material detection device includes proximity switch and corresponding
Signaling conversion circuit.
8. a kind of gripper, including even part, clamping part are articulated with pedestal for pedestal, clamping part and control, even part is connected to for control
Between pedestal and clamping part and for controlling the pawl of clamping part to put action, it is characterised in that also including material detection device and work
Moving part, material detection device are fixed on pedestal and positioned at the tops of clamping part, movable part be located at the gathering side of clamping part and its
One end can turn to be connected on pedestal, the other end bends or bent to material detection device, and movable part is used to trigger the material inspection
Survey device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720418573.5U CN206967514U (en) | 2017-04-20 | 2017-04-20 | A kind of gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720418573.5U CN206967514U (en) | 2017-04-20 | 2017-04-20 | A kind of gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206967514U true CN206967514U (en) | 2018-02-06 |
Family
ID=61412469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720418573.5U Active CN206967514U (en) | 2017-04-20 | 2017-04-20 | A kind of gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206967514U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360864A (en) * | 2020-04-26 | 2020-07-03 | 福州大学 | Mechanical claw for grabbing floating garbage on water surface and working method thereof |
-
2017
- 2017-04-20 CN CN201720418573.5U patent/CN206967514U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360864A (en) * | 2020-04-26 | 2020-07-03 | 福州大学 | Mechanical claw for grabbing floating garbage on water surface and working method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Gripper Effective date of registration: 20181108 Granted publication date: 20180206 Pledgee: Guanghan Sichuan rural commercial bank Limited by Share Ltd Pledgor: Sichuan Orient Hydroelectric Equipment and Engineering Co., Ltd. Registration number: 2018510000120 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| CP03 | Change of name, title or address |
Address after: 618000 Deyang economic and Technological Development Zone, Sichuan, No. 398 Yanshan Road Patentee after: Sichuan Dongfang Water Conservancy Intelligent Equipment Engineering Co., Ltd. Address before: 618000 Yanshan Road, Deyang Economic Development Zone, Sichuan, No. 398 Patentee before: Sichuan Orient Hydroelectric Equipment and Engineering Co., Ltd. |
|
| CP03 | Change of name, title or address | ||
| PM01 | Change of the registration of the contract for pledge of patent right |
Change date: 20191107 Registration number: 2018510000120 Pledgor after: Sichuan Dongfang Water Conservancy Intelligent Equipment Engineering Co., Ltd. Pledgor before: Sichuan Orient Hydroelectric Equipment and Engineering Co., Ltd. |
|
| PM01 | Change of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20211203 Granted publication date: 20180206 Pledgee: Guanghan Sichuan rural commercial bank Limited by Share Ltd. Pledgor: Sichuan Dongfang Water Conservancy Intelligent Equipment Engineering Co.,Ltd. Registration number: 2018510000120 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |