CN209050761U - A kind of claw on mechanical arm - Google Patents
A kind of claw on mechanical arm Download PDFInfo
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- CN209050761U CN209050761U CN201821467957.7U CN201821467957U CN209050761U CN 209050761 U CN209050761 U CN 209050761U CN 201821467957 U CN201821467957 U CN 201821467957U CN 209050761 U CN209050761 U CN 209050761U
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- claw
- main body
- claw main
- air bag
- driving device
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Abstract
This application involves mechanical engineering technical fields, and disclose a kind of claw on mechanical arm, including multiple claw main bodys be oppositely arranged, flexible, soft, multiple mutually independent air bags are provided on the outside of claw main body, multiple air bags are arranged along the extending direction of claw main body, air bag and the delivery outlet of driving device connect, and when the volume of driving device control air bag becomes larger, multiple claw main bodys are close to each other, with grip objects；When the volume of driving device control air bag becomes smaller, multiple claw main bodys are located remotely from each other, to unclamp object.It is arranged such, pass through the flexible characteristic using claw claw main body, it can be realized the crawl and clamping of various complex surface articles, and it does not need to reinforce the bending property of claw claw main body by increasing freedom degree, freedom degree is controlled without joint simultaneously, meets the needs of people are easy to mechanical claw, quick, efficient, structure is simple, versatile.
Description
Technical field
This application involves mechanical engineering technical fields, more specifically to a kind of claw on mechanical arm.
Background technique
Mechanical claw is used to clamp article and keeps the stabilization and securely of clamped article.Nowadays the mechanical claw used is logical
Frequently with hydraulic, pneumatically or electrically machine as power source, existing mechanical claw is by way of pipeline or motor direct-drive
Control mechanical claw opens and closes to carry out the clamping of article.It is installing, it usually needs driving dress is installed in mechanical claw position
It sets or dynamic structure drives claw.
Existing mechanical claw has the following problems:
1, the mounting means of mechanical claw is sufficiently complex, and interference or transmission mechanism are stuck in order to prevent, needs to dynamic
The transmission direction in power source is limited；
2, existing mechanical claw and power source are directly coupled, and cause the overall weight of mechanical claw larger, and drive
The mass motion of mechanical claw needs biggish power to be driven；
3, when grabbing the object of complex surface, article falls off in order to prevent for existing machinery claw, need to claw into
Row profiling processing, not only increases cost, but also complicate mechanical claw；
4, existing machinery claw needs accurately to control chucking power, so then to operator's when grabbing delicate objects
It is required that it is higher, increase cost of labor.
Therefore, the mounting means for how solving existing machinery claw is complicated, is directly coupled with power source and causes claw
Overall weight is big, and needs to do profiling processing when grabbing complex object and delicate objects and need accurate chucking power and increase
This problem of of addition, becomes the important technological problems solved required for those skilled in the art.
Utility model content
To be overcome the problems, such as present in the relevant technologies at least to a certain extent, the application's is designed to provide a kind of use
Claw on mechanical arm, mounting means is simple, light-weight, without being directly coupled with power source and without to power source
Transmission direction is limited；It in crawl object, to the of less demanding of operator, is reduced artificial without carrying out profiling processing
Cost.
This application provides a kind of claws on mechanical arm, including multiple being oppositely arranged, flexible, soft
The claw main body of matter is provided with multiple mutually independent air bags on the outside of the claw main body, and multiple air bags are along the card
The extending direction of pawl main body arranges, and the delivery outlet of the air bag and driving device connects, described in driving device control
When the volume of air bag becomes larger, multiple claw main bodys are close to each other, with grip objects；When the driving device controls the gas
When the volume of capsule becomes smaller, multiple claw main bodys are located remotely from each other, to unclamp the object.
Preferably, driving chamber, extending direction of the driving chamber along the claw main body are provided in the claw main body
Extend, one end of the driving chamber is connected with the delivery outlet of the driving device, the other end closing of the driving chamber, and institute
Driving chamber is stated to penetrate through with multiple air bags.
Preferably, the fixation device being connected with claw mounting base, the fixed device are provided in the claw main body
Positioned at the top of the claw main body.
Preferably, the relief hole to connect on the fixed device with the driving chamber.
Preferably, anti-skid device is provided on the inside of the claw main body.
Preferably, the cross sectional shape of the driving chamber is round or polygon.
Preferably, the cross sectional shape of the air bag is round or polygon.
Preferably, the material of the air bag is silica gel or soft high molecular material.
Preferably, the material of the claw main body is ABS or silica gel or soft high molecular material or soft alloy.
The technical solution that embodiments herein provides can include the following benefits:
Multiple soft claw main bodys are oppositely arranged, and when clamping object, only need to change air bag by driving device
Volume, multiple air bag volumes become larger simultaneously, mutual extrusion between air bag, drive claw main body curves, and multiple claw main bodys are mutual
It is close, thus grip objects；The volume of driving device control air bag becomes smaller, and multiple claw main bodys are located remotely from each other, to unclamp object
Body, since claw main body is flexible soft material, when clamping object, not easy damaged object, and claw main body
Lighter weight, convenient for operation.So set, the flexible characteristic by utilizing claw claw main body, can be realized various complicated tables
The crawl and clamping of face article, and do not need to reinforce the bending property of claw claw main body by increasing freedom degree, simultaneously
Freedom degree is controlled without joint, meet people it is easy to mechanical claw, quickly, efficiently, structure it is simple, versatile
Demand, mounting means is simple, light-weight, without being directly coupled with power source and carrying out without the transmission direction to power source
Limitation；It is, to the of less demanding of operator, to reduce cost of labor without carrying out profiling processing in crawl object.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The application can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.
Fig. 1 is a kind of structure of claw main body with the claw on mechanical arm shown according to an exemplary embodiment
Figure；
Fig. 2 is a kind of structure chart with the claw on mechanical arm shown according to an exemplary embodiment.
In figure:
1- claw main body, 2- claw mounting base, 3- driving interface, 4- mounting base interface, the fixed device of 5-, 6- air bag, 7-
Main chamber, 8- side chamber.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
Referring to attached drawing 1-2, present embodiment provides a kind of claw, and on mechanical arm, which includes more
A claw main body 1, multiple claw main bodys 1 are oppositely arranged, and in order to clamp object, the material of claw main body 1 be can be with bullet
Property soft material, deformed in order to control claw main body 1, and when clamping object, be hardly damaged object, claw main body 1
Outside be provided with multiple air bags 6, multiple air bags 6 are mutually independently arranged along the extending direction of claw main body 1, i.e., multiple 6 edges of air bag
The extending direction of claw main body 1 arranges, and is not communicated between air bag 6 adjacent two-by-two, the output of air bag 6 and driving device
It mouthful connects, so that the power of driving device output is input in air bag 6, when the power of driving device output is filled in air bag,
And the volume of air bag is made to become larger, and so that claw main body 1 curves inwardly when the volume of air bag 6 being driven to become larger, with grip objects, when
When driving device sucks back the power in air bag 6,6 volume of air bag becomes smaller, and claw main body 1 is bent outwardly, and unclamps object.
In order to guarantee that the volume of air bag 6 can change, it can be silica gel or soft that the material of air bag 6, which is flexible material,
Macromolecule material can specifically be selected according to actual needs；The material of claw main body 1 may be silica gel, macromolecule material,
ABS plastic material or soft alloy material, can specifically select according to actual needs.
It should be noted that ABS plastic is acrylonitrile (A)-butadiene (B)-styrene (S) terpolymer, ABS modeling
Material has the characteristics that matter is hard, property is tough, rigidity is big.
Wherein, driving device and air bag 6 can connect in the outside of claw main body 1, be also possible to other modes, only need
Driving device can make the volume change of air bag 6 to input power in air bag 6.Driving device can fill for pneumatic actuation
It sets or fluid pressure drive device, driving device can inject gas or liquid into air bag 6, thus to drive claw main body 1
Deformation realizes that claw clamps object.
It should be noted that the cross sectional shape of air bag 6 can be circle, rectangular, polygon or irregular shape, specifically
It can be determine according to actual needs.
So set, claw mounting means is simple, and it is light-weight, without being directly coupled with power source and without to power source
Transmission direction is limited；It in crawl object, to the of less demanding of operator, is reduced artificial without carrying out profiling processing
Cost.
In the preferred embodiment of the present embodiment, driving chamber, extension of the driving chamber along claw main body 1 are provided in claw main body 1
Direction extends, i.e., the extending direction of driving chamber is consistent with the orientation of multiple air bags 6, one end of driving chamber and driving device
Delivery outlet connection, the other end closing of driving chamber, i.e. driving chamber can be blind hole, more in driving chamber and driving chamber extending direction
A air bag 6 penetrates through, so that driving device passes through driving chamber to input power in air bag 6, in this way, claw is more convenient for and is driven
Dynamic device connection, and seem more beautiful.
Wherein, driving chamber includes two side chambers 8 and a main chamber 7, and side chamber 8 and main chamber 7 do not penetrate through mutually, and two side chambers 8 are divided
The two sides of main chamber 7 are not set, three column air bags are provided in claw main body 1, are not penetrated through mutually between three column air bags, each column air bag is equal
Including multiple air bags 6, each column air bag is arranged along the extending direction of claw main body 1, i.e. the orientation and driving of each column air bag
The extending direction of chamber is identical, and two side chambers 8 and the two column air bags in outside are respectively communicated with, and main chamber 7 is connected with the air bag of one column of centre
It is logical, the power that main chamber 7 and side chamber 8 are inputted by driving device number, make the size of bending, torsion of claw main body 1 not
Together, for example, being only filled with power in a wherein side chamber 8, the side chamber 8 and air bag 6 for being charged power are deformed, and volume becomes larger, and presses
The other side bending deformation for compeling claw main body 1, to twist.So set, claw main body 1 can be precisely controlled
Deformation, to clamp of different sizes, variform object.
It should be noted that the cross sectional shape of driving chamber can be circle, and rectangular, polygon or irregular shape, tool
Body can be determines according to actual conditions.
In the present embodiment, the top of claw main body 1 is provided with the fixation device 5 being connected with claw mounting base 2, in order to
Claw main body 1 is mounted in claw mounting base 2.
In order to guarantee that driving device can be provided with and drive on fixed device 5 to 6 input power of driving chamber and air bag
The relief hole that chamber connects, wherein the delivery outlet of driving device is connect with claw mounting base 2, is provided in claw mounting base 2 logical
The delivery outlet and relief hole of hole, through-hole and driving device connect.So set, air bag 6 can be with the output of driving device
Mouth connects, in order to which driving device controls claw main body 1.
It is screwed it should be noted that the fixed form of fixed device 5 can be, buckles and fix or by fast quick access
Mouth is fixed, can specifically set according to actual needs.
In the present embodiment, it is provided with anti-skid device on the medial surface of claw main body 1, i.e., is set on the clamping face of claw main body 1
It is equipped with anti-skid device, anti-skid device can be the multiple protrusions being arranged on 1 medial surface of claw main body, and protrusion can be convex for strip
It rises, or block-shaped protrusion；Anti-skid device is also possible to the multiple grooves being arranged on 1 medial surface of claw main body, and groove can
Think the groove of strip groove or other forms.So set, increasing the frictional force between claw main body 1 and object.
It is possible to further which sucker is arranged on the medial surface of claw main body 1, i.e., set on the clamping face of claw main body 1
Sucker is set, so that claw main body 1 can adsorb clamped object, object is further reduced and falls during clamping
The chance fallen.
Particularly, connection position can be set in the bottom end of claw main body 1, so that claw can connect other equipment, with reality
Now more extend function；Connection position can also be set in the side of claw main body 1, so that claw can connect other sensings
Device, to realize real time monitoring feedback function.
In the present embodiment, 2 upper surface of claw mounting base is provided with driving interface 3, and the upper surface of claw mounting base 2 is also set up
There is mounting base interface 4, claw mounting base 2 can be used as the load carrier of entire claw, and driving interface 3 is defeated as claw power
Entering mechanism, fixed mechanism of the mounting base interface 4 as claw, delivery outlet and the driving interface 3 of driving device are connected through a screw thread,
Mounting base interface 4 can be fixed the devices such as claw and mechanical arm by bolt.
Further, claw includes four claw main bodys 1, and four claw main bodys 1 are oppositely arranged and are pacified by fixed device 5
In claw mounting base 2, the holding action and claw mounting base 2 for controlling four claw main bodys 1 by air bag 6 are in spatial position
On movement and positioning match, to realize pre-set function.
By the flexible characteristic using claw, the crawl and clamping of various complex surface articles can be realized, and be not required to
To reinforce the bending property of claw by increasing freedom degree, while freedom degree is controlled without joint, meet people
Easy, quick, efficient, structure is simple, the versatile demand to mechanical claw.
It is understood that same or similar part can mutually refer in the various embodiments described above, in some embodiments
Unspecified content may refer to the same or similar content in other embodiments.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it should not be understood as the limitation to the application, those skilled in the art within the scope of application can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (9)
1. a kind of claw on mechanical arm, which is characterized in that including multiple being oppositely arranged, flexible, soft
Claw main body (1), be provided with multiple mutually independent air bags (6), multiple air bags on the outside of the claw main body (1)
(6) it is arranged along the extending direction of the claw main body (1), the delivery outlet of the air bag and driving device connects, when the drive
When the volume that dynamic device controls the air bag (6) becomes larger, multiple claw main bodys (1) are close to each other, with grip objects；Work as institute
When stating driving device and controlling the volume of the air bag (6) and become smaller, multiple claw main bodys (1) are located remotely from each other, described in unclamping
Object.
2. claw according to claim 1, which is characterized in that be provided with driving chamber, the drive in the claw main body (1)
Dynamic chamber extends along the extending direction of the claw main body (1), the delivery outlet phase of one end of the driving chamber and the driving device
Connection, the other end closing of the driving chamber, and the driving chamber is penetrated through with multiple air bags (6).
3. claw according to claim 2, which is characterized in that be provided with and claw mounting base on the claw main body (1)
(2) the fixation device (5) being connected, the fixed device (5) are located at the top of the claw main body (1).
4. claw according to claim 3, which is characterized in that connect on the fixed device (5) with the driving chamber
Relief hole.
5. claw according to claim 1, which is characterized in that be provided with anti-skidding dress on the inside of the claw main body (1)
It sets.
6. claw according to claim 2, which is characterized in that the cross sectional shape of the driving chamber is round or polygon.
7. claw according to claim 1, which is characterized in that the cross sectional shape of the air bag (6) is round or polygon.
8. claw according to claim 1, which is characterized in that the material of the air bag (6) is silica gel or soft macromolecule
Material.
9. claw according to claim 1, which is characterized in that the material of the claw main body (1) is ABS or silica gel or soft
Property high molecular material or soft alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821467957.7U CN209050761U (en) | 2018-09-07 | 2018-09-07 | A kind of claw on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821467957.7U CN209050761U (en) | 2018-09-07 | 2018-09-07 | A kind of claw on mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209050761U true CN209050761U (en) | 2019-07-02 |
Family
ID=67048365
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821467957.7U Expired - Fee Related CN209050761U (en) | 2018-09-07 | 2018-09-07 | A kind of claw on mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209050761U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559455A (en) * | 2022-04-19 | 2022-05-31 | 常熟智造激光装备研究院有限公司 | Flexible tongs of isomer of intelligent robot |
-
2018
- 2018-09-07 CN CN201821467957.7U patent/CN209050761U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114559455A (en) * | 2022-04-19 | 2022-05-31 | 常熟智造激光装备研究院有限公司 | Flexible tongs of isomer of intelligent robot |
| CN114559455B (en) * | 2022-04-19 | 2022-11-11 | 常熟智造激光装备研究院有限公司 | Flexible tongs of isomer of intelligent robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20190702 Termination date: 20210907 |