CN208468424U - The adjustable gripper of opening for explosive-removal robot - Google Patents
The adjustable gripper of opening for explosive-removal robot Download PDFInfo
- Publication number
- CN208468424U CN208468424U CN201820599171.4U CN201820599171U CN208468424U CN 208468424 U CN208468424 U CN 208468424U CN 201820599171 U CN201820599171 U CN 201820599171U CN 208468424 U CN208468424 U CN 208468424U
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- gripper
- explosive
- removal robot
- shell
- adjustable
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Abstract
A kind of opening for explosive-removal robot is adjustable gripper, it include: shell, at least two cursors that are set to the drive rod of enclosure interior and are rotatablely connected respectively with shell and drive rod, the cursor includes: linking arm, connecting rod and clamping part, wherein: the both ends of linking arm are rotatablely connected with shell and clamping part respectively, and the both ends of connecting rod are rotatablely connected with drive rod and clamping part respectively.The utility model driving method is reliable, and gripper opening is big apart from adjustable range, and the quick adjustment under remote control explosive-removal robot various application occasions may be implemented, and adapts to a variety of inhomogeneities crawl objects for the different opening required distances of explosive-removal robot operation handgrip.
Description
Technical field
It is specifically a kind of for explosive-removal robot the utility model relates to a kind of technology of field of special robots
Open adjustable gripper.
Background technique
Different due to suspicious explosive, common explosive-removal robot gripper is often difficult to adapt to such change in size
The huge work requirements of range, excessively huge gripper will affect the flexibility of explosive-removal robot oneself, and excessively small gripper is past
It is past to be difficult to the big article of operational volume.
Utility model content
The utility model In view of the above shortcomings of the prior art, proposes that a kind of opening for explosive-removal robot is adjustable
Gripper, driving method is reliable, and gripper opening is big apart from adjustable range, and remote control explosive-removal robot various application occasions may be implemented
Under quick adjustment, adapt to a variety of inhomogeneities crawl objects and required distances opened for the different of explosive-removal robot operation handgrip.
The utility model is achieved through the following technical solutions:
The utility model includes: shell, the drive rod for being set to enclosure interior and rotates respectively with shell and drive rod
Connection at least two cursors, which includes: linking arm, connecting rod and clamping part, in which: the both ends of linking arm respectively with
Shell and clamping part rotation connection, the both ends of connecting rod are rotatablely connected with drive rod and clamping part respectively.
The drive rod includes: to be set to the propulsive units in shell and being sequentially connected, feed screw nut's combination and hand
Pawl push rod, in which: feed screw nut combination screw rod be connected with propulsive units, nut is connected with gripper push rod, gripper push rod and turn
Link rotatable connection in swing arm.
The clamping part includes: pawl seat and the adjustable gripper for being set to pawl seat end, with generate it is different it is maximum open away from
From gripper form.
The pawl seat is equipped with fastening bolt for adjusting gripper extension elongation and elongated through slot, and then adjusts hand
Maximum distance after pawl is opened grabs object to adapt to large scale.
The combination plane of the adjustable gripper and linking arm is parallel to the vertically symmetrical plane of gripper in closed state, protects
It has demonstrate,proved gripper during adjusting gripper extension elongation and has stayed closed all the time state.
Feed screw nut's combination is connect with propulsive units by shaft coupling, and then generates the reciprocal fortune of gripper push rod
It is dynamic.
The gripper push rod drive link simultaneously further links so that linking arm generates rotary motion, generation hand around shell
The opening and closing movement of pawl.
Feed screw nut's combination is set in shell by the angular contact bearing being equipped in pairs, to bear gripper folding
The axial force generated in the process.
The propulsive units are connect by pedestal with shell, while clamping screw nut combination bearing outer ring, are played solid
The effect that dead axle is held.
Technical effect
Compared with prior art, the utility model structure is simple, principle is reliable, logical under the premise of not needing replacement gripper
Crossing simple regulating mechanism realizes adaptation of the explosive-removal robot gripper for a variety of different dimensions operation objects: big opens
It closes distance and is used to the biggish object of operational volume, small folding distance is used for the lesser object of precise manipulation.This is practical new
Type realizes what large scale operation object proposed explosive-removal robot manipulator under the premise of not increasing additional volumes weight
Required distance is opened and closed, expands application range of the explosive machine in anti-terror explosive removing operation significantly.
Detailed description of the invention
Fig. 1 is the inside cutting structure chart of the utility model, and gripper is short distance closed state at this time；
Fig. 2 is the inside cutting structure chart of the utility model, and gripper is long range closed state at this time；
Fig. 3 is the inside cutting structure chart of the utility model, and gripper is short distance opening state at this time；
Fig. 4 is the inside cutting structure chart of the utility model, and gripper is long range opening state at this time；
Fig. 5 is the 3 dimensional drawing of the utility model, and gripper is short distance closed state at this time；
Fig. 6 is the 3 dimensional drawing of the utility model, and gripper is short distance opening state at this time；
In figure: 1 propulsive units, 2 pedestals, 3 shaft couplings, 4 bearing lock nuts, the combination of 5 bearings, 6 shells, 7 feed screw nuts
Combination, 8 gripper push rods, 9 linking arms, 10 connecting rods, 11 adjustable grippers, 12 gripper fixture nuts, 13 pawl seats, 14 it is elongated run through slot.
Specific embodiment
As shown in Fig. 1~Fig. 6, the adjustable gripper of a kind of opening for explosive-removal robot being related to for the present embodiment, wherein
Include: propulsive units 1, pedestal 2, shaft coupling 3, bearing lock nut 4, bearing combination 5, shell 6, feed screw nut combine 7, gripper
Push rod 8, linking arm 9, connecting rod 10, adjustable gripper 11, gripper fixture nut 12, in which: the both ends of linking arm 9 respectively with shell 6
It is rotatablely connected with clamping part, is set to screw rod and the promotion part of feed screw nut's combination 7 inside shell 6 for driving gripper to act
Point 1 is connected, and nut is connected with gripper push rod 8, the rotation connection of connecting rod 10 in gripper push rod 8 and cursor, connecting rod 10 it is another
End is rotatablely connected with clamping part
Described feed screw nut's combination 7 is fixed by bearing combination 5 and bearing lock nut 4, feed screw nut combine 7 with push away
It is connected into part 1 by shaft coupling 3, propulsive units 1 are connect by pedestal 2 with shell 6.
The clamping part includes: pawl seat 13 and the adjustable gripper 11 for being set to pawl seat end, to generate different maximum
Open the gripper form of distance.
The pawl seat 13 is equipped with fastening bolt for adjusting gripper extension elongation and elongated through slot 14, and then adjusts
Maximum distance after section gripper is opened grabs object to adapt to large scale.
Under the drive of propulsive units 1,7 driving gripper push rod 8 of feed screw nut's combination is moved back and forth, and then passes through
Connecting rod 10 is drivingly connected arm 9 and rotates around shell 6, realizes the opening and closing movement of gripper.Adjustable gripper 11 passes through gripper fixture nut 12
It is fixed on linking arm 9, and opening after gripper is opened can be adjusted by adjusting the position of adjustable gripper on the connecting arm
Close distance.Two movable paw sections are along center vertical plane symmetrical configuration.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the utility model principle and objective with
Different modes carries out local directed complete set to it, and the protection scope of the utility model is subject to claims and not by above-mentioned specific
Implementation is limited, and each implementation within its scope is by the constraint of the utility model.
Claims (8)
1. a kind of opening for explosive-removal robot is adjustable gripper characterized by comprising shell is set to enclosure interior
Drive rod and at least two cursors being rotatablely connected respectively with shell and drive rod, which includes: linking arm, connecting rod
And clamping part, in which: the both ends of linking arm are rotatablely connected with shell and clamping part respectively, the both ends of connecting rod respectively with drive rod and
Clamping part rotation connection.
2. the opening according to claim 1 for explosive-removal robot is adjustable gripper, characterized in that the drive rod packet
It includes: being set to the propulsive units in shell and being sequentially connected, feed screw nut's combination and gripper push rod, in which: feed screw nut's group
The screw rod of conjunction is connected with propulsive units, and nut is connected with gripper push rod, and gripper push rod is connect with the link rotatable in cursor.
3. the opening according to claim 1 for explosive-removal robot is adjustable gripper, characterized in that the clamping part packet
It includes: pawl seat and the adjustable gripper for being set to pawl seat end.
4. the opening according to claim 3 for explosive-removal robot is adjustable gripper, characterized in that set in the pawl seat
There is fastening bolt for adjusting gripper extension elongation and elongated through slot, and then adjusts the maximum distance after gripper is opened with suitable
Large scale is answered to grab object.
5. the opening according to claim 1 for explosive-removal robot is adjustable gripper, characterized in that the adjustable gripper
And the combination plane of linking arm is parallel to the vertically symmetrical plane of gripper in closed state.
6. the opening according to claim 2 for explosive-removal robot is adjustable gripper, characterized in that the feed screw nut
Combination is connect with propulsive units by shaft coupling.
7. the opening according to claim 2 for explosive-removal robot is adjustable gripper, characterized in that the gripper push rod
Drive link and further linkage are so that linking arm generates rotary motion around shell to generate the opening and closing movement of gripper.
8. the opening according to claim 2 for explosive-removal robot is adjustable gripper, characterized in that the feed screw nut
Combination is set in shell by the angular contact bearing being equipped in pairs to bear the axial force generated in gripper moving process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820599171.4U CN208468424U (en) | 2018-04-25 | 2018-04-25 | The adjustable gripper of opening for explosive-removal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820599171.4U CN208468424U (en) | 2018-04-25 | 2018-04-25 | The adjustable gripper of opening for explosive-removal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208468424U true CN208468424U (en) | 2019-02-05 |
Family
ID=65219899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820599171.4U Active CN208468424U (en) | 2018-04-25 | 2018-04-25 | The adjustable gripper of opening for explosive-removal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208468424U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111762082A (en) * | 2019-04-02 | 2020-10-13 | 广州牛叉机器人有限责任公司 | Gripper with single-arm unfolding and AGV thereof |
| CN112318486A (en) * | 2020-10-10 | 2021-02-05 | 安徽省巢湖市宏顺机械铸造有限公司 | Manipulator equipment for casting |
-
2018
- 2018-04-25 CN CN201820599171.4U patent/CN208468424U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111762082A (en) * | 2019-04-02 | 2020-10-13 | 广州牛叉机器人有限责任公司 | Gripper with single-arm unfolding and AGV thereof |
| CN111762082B (en) * | 2019-04-02 | 2023-10-20 | 广东远能机器人有限公司 | Single-arm unfolded gripper and AGV thereof |
| CN112318486A (en) * | 2020-10-10 | 2021-02-05 | 安徽省巢湖市宏顺机械铸造有限公司 | Manipulator equipment for casting |
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