CN210968925U - Rotary linkage connecting rod type grabbing mechanism - Google Patents
Rotary linkage connecting rod type grabbing mechanism Download PDFInfo
- Publication number
- CN210968925U CN210968925U CN201921994064.2U CN201921994064U CN210968925U CN 210968925 U CN210968925 U CN 210968925U CN 201921994064 U CN201921994064 U CN 201921994064U CN 210968925 U CN210968925 U CN 210968925U
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- China
- Prior art keywords
- annular plate
- rod
- plate body
- hinged
- connecting rod
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Abstract
The utility model provides a rotary linkage connecting rod type grabbing mechanism, which comprises a frame, wherein the upper surface of the frame is provided with an annular plate body connected with the frame through a plurality of rotating assemblies, each rotating assembly comprises an arc-shaped slide arranged on the annular plate body and a rod body fixed on the upper surface of the frame, and the arc-shaped slide is in sliding connection with the rod body used for limiting the rotating angle of the annular plate body; a plurality of clamping mechanisms for clamping articles are hinged on the annular plate body; the utility model provides a mechanism is snatched to rotary linkage's that centre gripping area is big, the centre gripping position is many, the centre gripping is even, the centre gripping position does not follow article radial dimension's different changes connecting rod formula.
Description
Technical Field
The utility model belongs to the technical field of anchor clamps, concretely relates to rotary linkage's connecting rod formula snatchs mechanism.
Background
The mechanical claw on the market at present changes the clamping angle with the change of the size of the article; or the robot can perform translation, but it is a planar motion; or simply two-sided or two-point planar gripping. The mechanical claw with the above structure has the following problems: the clamping part is few, the clamping area is small, the clamping force is not uniform, and the clamping part can change along with the change of the radial dimension of the article. Therefore, a mechanical claw which has a plurality of clamping parts, a compact structure, a large clamping area, uniform clamping and no change of the clamping parts along with different radial sizes of articles is urgently needed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the problem that exists among the above-mentioned prior art, provide a clamping area big, the centre gripping position is many, the centre gripping is even, the centre gripping position does not snatch the mechanism along with the rotatory linkage of the different changes of article radial dimension.
The technical scheme of the utility model is that: a connecting rod type grabbing mechanism in rotary linkage comprises a rack, wherein an annular plate body connected with the rack through a plurality of rotating assemblies is arranged on the upper surface of the rack, each rotating assembly comprises an arc-shaped slide rail arranged on the annular plate body and a rod body fixed on the upper surface of the rack, and the arc-shaped slide rails are connected with the rod body used for limiting the rotating angle of the annular plate body in a sliding mode; a plurality of clamping mechanisms for clamping articles are hinged on the annular plate body;
the clamping mechanism comprises a connecting rod, one end of the connecting rod is hinged to the annular plate body, the other end of the connecting rod is hinged to a rocker, the other end of the rocker is hinged to the rack, and a mechanical claw used for clamping an article is further hinged to the rocker.
The rotating assemblies are multiple in number and are distributed circumferentially around the circle center of the annular plate body.
And a driving arm for driving the annular plate body to rotate is fixed on the annular plate body.
The rocker comprises a cross rod and a vertical rod, one end of the cross rod is hinged with the connecting rod, and the other end of the cross rod is hinged with the mechanical claw; the vertical rod is perpendicular to the cross rod, one end of the vertical rod is fixedly connected with the cross rod, and the other end of the vertical rod is hinged to the rack.
The arc-shaped slide way is concentric with the annular plate body.
The end part of the rod body is fixed with a stop block for preventing the annular plate body from sliding out of the upper end of the rod body.
The utility model has the advantages that:
1. the driving arm is utilized to drive the annular plate body fixedly connected with the driving arm to rotate relative to the upper surface of the rack, the rotation of the annular plate body can also drive the arc-shaped slide way arranged on the annular plate body to slide along the rod body fixed on the upper surface of the rack, and the rotating angle of the annular plate body relative to the upper surface of the rack is limited due to the limited length of the arc-shaped slide way; the annular plate body can drive the connecting rod hinged with the annular plate body to rotate in the rotating process, and the connecting rod is hinged with the rocker which is also hinged with the rack, so that the connecting rod rotates to drive the rocker to rotate relative to the rack, and the rocker drives the mechanical claw hinged with the rocker to perform opening and closing movement, thereby realizing the functions of grabbing and loosening.
2. The invention has low cost and simple structure; the clamping area is large, the clamping force is uniform, and the clamping position does not change along with the different radial sizes of the articles; the clamping parts are multiple, and the clamping device can adapt to objects with different surface sizes.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of the connection between the annular plate and the frame;
fig. 3 is a schematic structural diagram of the rocker of the present invention.
Description of reference numerals:
1. a frame; 2. an annular plate body; 3. an arc-shaped slideway; 4. a rod body; 5. a drive arm; 6. a gripper; 7. a connecting rod; 8. a rocker; 8-1, a cross bar; 8-2, a vertical rod; 9. a first rod body; 10. a second rod body; 11. a screw; 12. and a nut.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited by the following detailed description.
Example 1:
the embodiment of the utility model provides a rotary linkage connecting rod type grabbing mechanism, which comprises a frame 1, wherein the upper surface of the frame 1 is provided with an annular plate body 2 connected with the upper surface of the frame through a plurality of rotating assemblies, each rotating assembly comprises an arc-shaped slide rail 3 arranged on the annular plate body 2 and a rod body 4 fixed on the upper surface of the frame 1, and the arc-shaped slide rails 3 are connected with the rod body 4 used for limiting the rotating angle of the annular plate body 2 in a sliding manner; a plurality of clamping mechanisms for clamping articles are hinged on the annular plate body 2;
the clamping mechanism comprises a connecting rod 7, one end of the connecting rod 7 is hinged with the annular plate body 2, the other end of the connecting rod 7 is hinged with a rocker 8, the other end of the rocker 8 is hinged with the rack 1, and a mechanical claw 6 for clamping an article is hinged to the rocker 8;
the number of the rotating assemblies is multiple, and the rotating assemblies are distributed circumferentially around the circle center of the annular plate body 2; the arc-shaped slide way 3 is concentric with the annular plate body 2;
the annular plate body 2 is pushed to rotate, the annular plate body 2 rotates to drive the arc-shaped slide way 3 to rotate around the rod body 4, the annular plate body 2 drives the connecting rod 7 hinged with the annular plate body to swing in the rotating process, the connecting rod 7 swings to drive the rocker 8 to swing, the rocker 8 swings to drive the mechanical claw 6 hinged with the rocker to perform opening and closing movement, so that the grabbing and loosening functions are realized, a plurality of mechanical claws are adopted to clamp objects, the clamping area is large, the clamping force is uniform, the clamping positions are multiple, and the device can adapt to objects with different surface sizes;
the number of the rotating assemblies and the number of the clamping mechanisms are four, and the four clamping mechanisms are adopted, so that the clamping force is uniform, the number of clamping parts is large, and the clamping device can adapt to objects with different surface sizes; the quantity of runner assembly also is four simultaneously, and the quantity of arc slide is four promptly, and four arc slides are located same circumference and with annular plate body 2 centre of a circle, adopt the design of four arc slides to guarantee that annular plate body 2 rotates around same centre of a circle all the time, guarantee annular plate body 2 pivoted stationarity.
Example 2:
the present embodiment is based on embodiment 1, in which a driving arm 5 for driving the annular plate body 2 to rotate is fixed on the annular plate body;
the application adopts the driving arm 5 to push the annular plate body 2 to rotate, the driving arm 5 can be pushed by hands, and a hydraulic cylinder or other power pushing mechanisms can be adopted to push the annular plate body 2 to rotate.
Example 3:
the embodiment is based on embodiment 1, the rocker 8 of the embodiment comprises a cross rod 8-1 and a vertical rod 8-2, one end of the cross rod 8-1 is hinged to the connecting rod 7, and the other end of the cross rod 8-1 is hinged to the mechanical claw 6; the vertical rod 8-2 is perpendicular to the cross rod 8-1, one end of the vertical rod 8-2 is fixedly connected with the cross rod 8-1, and the other end of the vertical rod 8-2 is hinged to the rack 1.
Example 4:
the present embodiment is based on embodiment 1, the end of the rod body 4 of the present embodiment is fixed with a stopper for preventing the annular plate body 2 from sliding out from the upper side;
the body of rod 4 is cascaded structure, by first body of rod 9, the second body of rod 10 and screw rod 11 end to end in proper order form, the through-hole and the nut 12 threaded connection of seting up on the frame 1 are passed to screw rod 11 lower extreme, the through-hole of seting up on the annular plate body 2 is passed to first body of rod 9 upper end, the diameter of the second body of rod 10 big with the diameter of the through-hole of seting up on the frame 1, the diameter of the through-hole of seting up on the second body of rod 10 still is greater than the annular plate body 2, so the second body of rod 10 is located between frame 1 and the annular plate body 2.
The utility model discloses a theory of operation:
when using the rotationally coupled link-type grasping mechanism,
as shown in the attached figure 1, an arc-shaped slideway 3 is arranged on an annular plate body 2, a rod body 4 is fixedly connected with a rack 1, the annular plate body 2 is hinged with a connecting rod 7 at a point A, the connecting rod 7 is hinged with a rocker 8 at a point B, the rocker 8 is hinged with the rack 1 at a point C, and a mechanical claw 6 is hinged with the rocker 8 at a point D;
when using power pushing mechanism such as pneumatic cylinder to promote actuating arm 5 clockwise rotation, annular plate body 2 rotates along the body of rod 4 that is equipped with in the arc slide 3, because rotating assembly's quantity is that four arc slides 3 are located same circumference, so annular plate body 2 rotates along the centre of a circle of arc slide 3, annular plate body 2 rotates and drives and moves rather than articulated connecting rod 7, connecting rod 7 moves and drives rocker 8 round the point G with frame 1 articulated and rotate, rocker 8 drives and rather than articulated gripper 6 motion, realize open action, otherwise, when promoting actuating arm 5 anticlockwise rotation, just can realize pressing from both sides tight action.
To sum up, the utility model provides a pair of rotary linkage's connecting rod formula snatchs mechanism, it is with low costs, simple structure, simple to operate, compact structure, the centre gripping area is big, the clamping-force is even, the clamping-force is not changed along with article radial dimension's difference at clamping-position, can adapt to not unidimensional object.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the embodiments, and any changes that can be considered by those skilled in the art shall fall within the protection scope of the present invention.
Claims (6)
1. The connecting rod type grabbing mechanism in the rotary linkage is characterized by comprising a rack (1), wherein an annular plate body (2) connected with the rack (1) through a plurality of rotating assemblies is arranged on the upper surface of the rack (1), each rotating assembly comprises an arc-shaped slide way (3) arranged on the annular plate body (2) and a rod body (4) fixed on the upper surface of the rack (1), and the arc-shaped slide ways (3) are connected with the rod body (4) used for limiting the rotating angle of the annular plate body (2) in a sliding mode; a plurality of clamping mechanisms for clamping articles are hinged on the annular plate body (2);
the clamping mechanism comprises a connecting rod (7), one end of the connecting rod (7) is hinged to the annular plate body (2), the other end of the connecting rod (7) is hinged to a rocker (8), the other end of the rocker (8) is hinged to the rack (1), and a mechanical claw (6) used for clamping an article is hinged to the rocker (8).
2. The link-type gripper mechanism of claim 1, wherein the number of said rotating assemblies is large, and the rotating assemblies are distributed circumferentially around the center of the ring plate (2).
3. A linked rotation gripper mechanism as claimed in claim 1, characterized in that the annular plate (2) has a drive arm (5) fixed thereto for driving the plate to rotate.
4. A link-type gripper mechanism with rotary linkage according to claim 1, characterized in that the rocker (8) comprises a cross bar (8-1) and a vertical bar (8-2), one end of the cross bar (8-1) is hinged to the link (7), and the other end of the cross bar (8-1) is hinged to the gripper (6); the vertical rod (8-2) is perpendicular to the cross rod (8-1), one end of the vertical rod (8-2) is fixedly connected with the cross rod (8-1), and the other end of the vertical rod (8-2) is hinged to the rack (1).
5. A linked rotation grabbing mechanism according to claim 1, wherein said arc-shaped chute (3) is concentric with said annular plate (2).
6. A linked rotation grabbing mechanism as claimed in claim 1, wherein the end of the rod (4) is fixed with a stop for preventing the ring plate (2) from sliding out of the upper end of the rod (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921994064.2U CN210968925U (en) | 2019-11-18 | 2019-11-18 | Rotary linkage connecting rod type grabbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921994064.2U CN210968925U (en) | 2019-11-18 | 2019-11-18 | Rotary linkage connecting rod type grabbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210968925U true CN210968925U (en) | 2020-07-10 |
Family
ID=71454271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921994064.2U Expired - Fee Related CN210968925U (en) | 2019-11-18 | 2019-11-18 | Rotary linkage connecting rod type grabbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210968925U (en) |
-
2019
- 2019-11-18 CN CN201921994064.2U patent/CN210968925U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210412 Address after: Zhai Shan, south suburb of Xuzhou City, Jiangsu Province Patentee after: China University of Mining and Technology Address before: No.1 Xiangwang South Road, Gulou District, Xuzhou City, Jiangsu Province Patentee before: XUZHOU College OF INDUSTRIAL TECHNOLOGY |
|
| 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: 20200710 Termination date: 20211118 |