CN212653461U - Hawk claw type manipulator - Google Patents
Hawk claw type manipulator Download PDFInfo
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- CN212653461U CN212653461U CN202021276480.1U CN202021276480U CN212653461U CN 212653461 U CN212653461 U CN 212653461U CN 202021276480 U CN202021276480 U CN 202021276480U CN 212653461 U CN212653461 U CN 212653461U
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- 210000000078 claw Anatomy 0.000 title claims abstract description 74
- 230000008602 contraction Effects 0.000 claims abstract description 8
- 230000007306 turnover Effects 0.000 claims abstract description 8
- 239000002689 soil Substances 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 3
- 238000009776 industrial production Methods 0.000 abstract description 3
- 230000001788 irregular Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Abstract
The utility model relates to an eagle claw type manipulator, one end of a rotary joint is connected with a base, the other end is connected with a stand column, a first oil/air cylinder is arranged on the stand column, one end of a back dragging type big arm is connected with the stand column, the other end is connected with an auxiliary arm, a piston rod of the first oil/air cylinder is connected with the back dragging type big arm, a second oil/air cylinder is arranged on the back dragging type big arm, a piston rod of the second oil/air cylinder is connected with one end of the auxiliary arm, the other end of the auxiliary arm is connected with a turnover frame, a third oil/air cylinder is arranged on the auxiliary arm, a piston rod of the third oil/air cylinder is connected with the roll-over stand, the hawk claw type clamping jaw is arranged on the roll-over stand, the opening or closing of the claw teeth of the fourth oil/air cylinder is controlled by the expansion and contraction of the fourth oil/air cylinder, through the coordinated extension and retraction of the four oil/air cylinders, the automatic grabbing operation of the eagle claw type manipulator is realized. The utility model discloses snatch object easy operation is fit for such as the irregular object of snatching of globular thing, cubic, disk, can conveniently transplant to industrial production platform and engineering machine tool on.
Description
Technical Field
The utility model relates to a manipulator, concretely relates to carry out the eagle claw formula manipulator of corresponding operation of snatching on industrial production platform, the engineering vehicle.
Background
The mechanical arms applied at present are various in variety, common mechanical arms are large, small, various in form and different in shape, and the transmission of the mechanical arms is that a motor drives a gear to transmit, an oil cylinder pushes a mechanical connecting rod to transmit, an air cylinder pushes a connecting rod to transmit and the like. In terms of use, the special engineering large-scale mechanical clamping jaw is basically customized according to use working conditions, or the electric and pneumatic mechanical clamping jaws, the large mechanical clamping jaw, the small mechanical clamping jaw, the electric high-precision mechanical clamping jaw or the low-precision mechanical clamping jaw are single in application working conditions and loose in structure, and cannot meet outdoor geotechnical work.
Disclosure of Invention
The utility model aims to solve the technical problem that overcome prior art not enough, provide a simple structure, convenient operation, and be fit for snatching the hawk claw formula manipulator of irregular object.
The technical scheme of the utility model: a hawk claw type mechanical arm mainly comprises a base, a rotary support, a rotary joint, a stand column, a back dragging type large arm, an auxiliary arm and a hawk claw type clamping jaw, wherein the base is installed on a moving platform, the rotary support is installed on the base, the stand column is installed on the rotary support, one end of the rotary joint is connected with the base, the other end of the rotary joint is connected with the stand column, a first oil/air cylinder is arranged on the stand column, one end of the back dragging type large arm is connected with the stand column, the other end of the back dragging type large arm is connected with the auxiliary arm, a piston rod of the first oil/air cylinder is connected with the back dragging type large arm, a second oil/air cylinder is further installed on the back dragging type large arm, a piston rod of the second oil/air cylinder is connected with one end of the auxiliary arm, the other end of the auxiliary arm is connected with a turnover frame, a third oil/air cylinder is arranged on the auxiliary arm, a piston rod of the third, the eagle claw type clamping jaw controls the opening or closing of the claw teeth of the eagle claw type clamping jaw through the stretching of the fourth oil/air cylinder arranged on the eagle claw type clamping jaw, and the grabbing operation of the eagle claw type manipulator is realized through the coordinated stretching of the four oil/air cylinders.
Furthermore, the upright post is arranged on the rotary support through a bolt, and the upright post can stir the rotary joint to rotate when rotating along with the rotary support, so that the oil/gas circuit can completely rotate within 360 degrees of the back drag type large arm.
Furthermore, the back dragging type large arm is hinged with the stand column through a pin shaft, the first oil/air cylinder is hinged on a support of the stand column, a piston rod of the first oil/air cylinder is hinged with a tripod arranged on the back dragging type large arm, and the back dragging type large arm is controlled to rise or fall through the expansion of the first oil/air cylinder.
Furthermore, the auxiliary arm is hinged with the other end of the back dragging type large arm through a pin shaft, the second oil/air cylinder is hinged on a support of the back dragging type large arm, a piston rod of the second oil/air cylinder is hinged with one end of the auxiliary arm, and the auxiliary arm is controlled to fall or rise through the expansion and contraction of the second oil/air cylinder.
Furthermore, the roll-over stand is hinged with the other end of the auxiliary arm through a pin shaft, a third oil/air cylinder is hinged on a support of the auxiliary arm, a piston rod of the third oil/air cylinder is hinged with the roll-over stand, and the roll-over stand is controlled to lift up or fall down through the expansion and contraction of the third oil/air cylinder.
Further, angular displacement sensors are respectively mounted on the pin shafts.
Furthermore, the eagle claw type clamping jaw mainly comprises claw teeth, a connecting disc, a disc seat, a sliding disc, a push rod and a fourth oil/air cylinder, wherein one end of the connecting disc is installed on the overturning frame through a screw, the other end of the connecting disc is connected with a guide sleeve through a screw, the other end of the guide sleeve is connected on the disc seat, the fourth oil/air cylinder is installed on the guide sleeve, a piston rod of the fourth oil/air cylinder is connected with the large end of the push rod in a floating mode through a pin shaft, a small gasket and a check ring, a spring is sleeved at the central rod part of the push rod, the sliding disc is sleeved on the push rod and can freely slide along the push rod, a gasket, a nut and a split pin are sequentially arranged at the lower end part of the push rod, five U-shaped connecting lugs are uniformly arranged on the outer circumference of the disc seat, the claw teeth are installed on the five U-, the five claw teeth are respectively connected with the lug seats on the sliding disc through the connecting rod, the push rod is driven by the extension or retraction of the piston rod of the fourth oil/air cylinder, the push rod pushes the spring, and the spring pushes the sliding disc to slide up and down so as to open or close the claw teeth.
Furthermore, an adjusting gasket for adjusting the closing gap of the claw teeth is sleeved on a piston rod of the fourth oil/air cylinder.
Furthermore, the claw teeth are provided with longitudinal hollow grooves convenient for soil discharge.
Further, when a piston rod of the fourth oil/air cylinder extends out, the push rod pushes the spring, the spring pushes the sliding disc to slide downwards, and the sliding disc pulls the five claw teeth to be closed through the connecting rod, so that an object is grabbed; when the piston rod of the fourth oil/air cylinder retracts, the push rod drives the sliding disc to retract upwards along the push rod through the nut and the gasket, and the sliding disc pulls the five claw teeth to be opened through the connecting rod, so that an object is loosened.
Compared with the prior art, the utility model following beneficial effect has:
1. the object grabbing device only needs one power element and is convenient to transplant to an industrial production platform and engineering machinery.
2. The object is picked up like an eagle claw hunting, and the object can be picked up as long as the clamping jaw opening can cover the object, so that the object can be picked up, the operation of picking the object is simple, and the object is suitable for picking irregular objects such as a spherical body, a disc-shaped body or a block-shaped body.
3. The push rod is sleeved with a spring which is used as a force transmission element, so that mechanical buffering protection can be achieved, and the claw teeth and secondary damage to a grabbed object can be protected under certain conditions. Meanwhile, the use of sensing elements of the electric appliance is reduced, and the control difficulty is reduced.
4. The manipulator is shaped like an eagle claw, and the special claw tooth model and the hollowed-out baffle facilitate soil discharge and are easy to pick up a semi-exposed object buried under soil.
5. Besides standard parts, the manipulator only comprises 10 self-made parts, so that the manipulator is few in variety, simple in appearance, low in requirement on machining precision of parts and easy to popularize.
6. The built-in oil/air cylinder drive and the connecting rod transmission are adopted, so that the oil cylinder can be protected, the appearance is dry and concise, and the whole structure is compact.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic view of the eagle claw type clamping jaw of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2;
fig. 4 is a schematic structural view of the middle pawl tooth of the present invention;
FIG. 5 is a left side view of FIG. 4;
FIG. 6 is a top view of FIG. 4;
FIG. 7 is a schematic structural diagram of a connection pad of the present invention;
fig. 8 is a schematic structural view of the guide sleeve of the present invention;
FIG. 9 is a schematic structural view of a disc seat of the present invention;
fig. 10 is a schematic structural view of the middle sliding plate of the present invention.
In the figure: 1-base, 2-rotary support, 3-rotary joint, 4-upright post, 5-back dragging type big arm, 6-auxiliary arm, 7-roll-over stand, 8-eagle claw type clamping jaw, 9-first oil/cylinder, 10-second oil/cylinder, 11-third oil/cylinder, 12-pin shaft, 21-claw tooth, 22-connecting disc, 23-guide sleeve, 24-disc seat, 25-connecting rod, 26-sliding disc, 27-push rod, 28-fourth oil/cylinder, 29-spring, 30-screw, 31-nut, 32-gasket, 33-adjusting gasket, 34-pin shaft, 35-small gasket and 36-retainer ring.
Detailed Description
The present invention is further described with reference to the accompanying drawings so that those skilled in the art can better understand the technical solution of the present invention.
A hawk claw type manipulator is shown in figure 1 and mainly comprises a base 1, a rotary support 2, a rotary joint 3, an upright post 4, a back dragging type large arm 5, an auxiliary arm 6 and a hawk claw type clamping jaw 8. The base 1 is installed on the moving platform, the rotary support 2 is installed on the base 1, the stand column 4 is installed on the rotary support 2, one end of the rotary joint 3 is connected with the base 1, the other end of the rotary joint is connected with the stand column 4, and the stand column 4 is provided with a first oil/air cylinder 9. One end of the back dragging type large arm 5 is connected with the upright post 4, the other end of the back dragging type large arm is connected with the auxiliary arm 6, a piston rod of the first oil/air cylinder 9 is connected with the back dragging type large arm 5, a second oil/air cylinder 10 is further installed on the back dragging type large arm 5, a piston rod of the second oil/air cylinder 10 is connected with one end of the auxiliary arm 6, the other end of the auxiliary arm 6 is connected with the turnover frame 7, a third oil/air cylinder 11 is arranged on the auxiliary arm 6, and a piston rod of the third oil/air cylinder 11 is connected with the turnover frame 7. The eagle claw type clamping jaw 8 is installed on the turnover frame 7, the eagle claw type clamping jaw 8 controls the opening or closing of the claw teeth of the eagle claw type clamping jaw through the expansion and contraction of the fourth oil/air cylinder 28 installed on the eagle claw type clamping jaw, and the eagle claw type mechanical arm can automatically grab through the coordinated expansion and contraction of the four oil/air cylinders.
The upright post 4 is installed on the rotary support 2 through a bolt, and the upright post 4 can stir the rotary joint 3 to rotate when rotating along with the rotary support 2, so that the oil/gas circuit can meet the requirement that the back dragging type large arm 5 can completely rotate within the range of 360 degrees. The back dragging type large arm 5 is hinged with the upright post 4 through a pin shaft 12, the first oil/air cylinder 9 is hinged on a support of the upright post 4, a piston rod of the first oil/air cylinder 9 is hinged with a tripod arranged on the back dragging type large arm 5, and the back dragging type large arm 5 is controlled to rise or fall through the extension and contraction of the first oil/air cylinder 9. The auxiliary arm 6 is hinged with the other end of the back dragging type large arm 5 through a pin shaft 12, the second oil/air cylinder 10 is hinged on a support of the back dragging type large arm 5, a piston rod of the second oil/air cylinder 10 is hinged with one end of the auxiliary arm 6, and the falling or rising of the auxiliary arm 6 is controlled through the expansion and contraction of the second oil/air cylinder 10. The roll-over stand 7 is hinged with the other end of the auxiliary arm 6 through a pin shaft 12, a third oil/air cylinder 11 is hinged on a support of the auxiliary arm 6, a piston rod of the third oil/air cylinder 11 is hinged with the roll-over stand 7, and the roll-over stand is controlled to lift up or fall down through the expansion of the third oil/air cylinder 11. An angular displacement sensor is mounted at each pin 12.
As shown in fig. 2 to 10, the eagle claw type clamping jaw 8 mainly includes a claw tooth 21, a connecting plate 22, a disk seat 24, a sliding disk 26, a push rod 27 and a fourth oil/air cylinder 28. One end of the connecting disc 22 is mounted on the roll-over stand 7 through a screw, the other end of the connecting disc is connected with the guide sleeve 23 through a screw, and the other end of the guide sleeve 23 is connected to the disc seat 24. The fourth oil/air cylinder 28 is mounted on the guide sleeve 23, and a piston rod of the fourth oil/air cylinder 28 is in floating connection with the large end of the push rod 27 through a pin shaft 34, a small gasket 35 and a retainer ring 36. A spring 29 is sleeved on the central rod of the push rod 27, the sliding disc 26 is sleeved on the push rod 27 and can freely slide along the push rod 27, and a gasket 32, a nut 31 and a split pin are sequentially arranged at the lower end part of the push rod 27. The outer circumference of the disc seat 24 is uniformly provided with five U-shaped connecting lugs, the five claw teeth 21 are arranged on the five U-shaped connecting lugs on the disc seat 24 through pin shafts, the outer circumference of the sliding disc 26 is uniformly provided with five lug seats extending outwards, the five claw teeth 21 are respectively connected with the lug seats on the sliding disc 26 through connecting rods 25, and the piston rod of the fourth oil/air cylinder 28 extends or retracts to drive the sliding disc 26 arranged on the push rod 27 to slide upwards and downwards so as to open or close the claw teeth 21. Each claw tooth 21 is provided with a longitudinal hollow groove convenient for soil discharge. An adjusting shim 33 for adjusting the closing gap of the claw teeth is sleeved on the piston rod of the fourth oil/air cylinder 28.
The piston rod of the fourth oil/gas cylinder 28 is extended under the action of oil/gas pressure; the piston rod drives the push rod 27 to move along the guide sleeve 23, the large end of the push rod 27 pushes the spring 29, the push rod thrust is converted into elastic force through the spring and then pushes the sliding disc 26, the sliding disc 26 pulls the five connecting rods 25 to move axially along the push rod 27, the disc seat 24 is not moved relative to the cylinder body of the fourth oil/air cylinder 28, the claw teeth 21 are continuously pulled to fold inwards along with the connecting rods 25, if the claw teeth 21 cannot be continuously folded due to obstruction of a hard object in the folding process, the sliding disc 26 stops sliding, the spring 29 starts to be compressed at the moment, the push rod 27 kinetic energy is converted into potential energy of the spring to be stored, the claw teeth 21 are tightly held and also stop being continuously folded, and therefore buffer protection is achieved for the claw teeth or secondary damage to the gripped object. When the claw teeth 21 need to be opened, the fourth oil/air cylinder 28 is operated to contract the piston rod, so as to drive the push rod 27 to contract, the push rod 27 drives the sliding disc 6 to retract along the axial direction of the push rod 27 through the nut 31 and the gasket 32, and the sliding disc 27 drives the connecting rod 25 to further drive the claw teeth to be opened.
The above embodiments are only used for those skilled in the art to understand the technical solution of the present invention, and not to limit the technical solution, and any modification, replacement or equivalent replacement made on the basis of the technical solution protected by the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Hawk claw formula manipulator mainly includes base, gyration support, rotary joint, stand, back of the body drag formula big arm, fly jib and hawk claw formula clamping jaw, its characterized in that: the base is arranged on the moving platform, the rotary support is arranged on the base, the upright post is arranged on the rotary support, one end of the rotary joint is connected with the base, the other end of the rotary joint is connected with the upright post, a first oil/air cylinder is arranged on the upright post, one end of the back dragging type large arm is connected with the upright post, the other end of the back dragging type large arm is connected with the auxiliary arm, a piston rod of the first oil/air cylinder is connected with the back dragging type large arm, a second oil/air cylinder is also arranged on the back dragging type large arm, a piston rod of the second oil/air cylinder is connected with one end of the auxiliary arm, the other end of the auxiliary arm is connected with the turnover frame, a third oil/air cylinder is arranged on the auxiliary arm, a piston rod of the third oil/air cylinder is connected with the turnover frame, the hawk claw type clamping jaw is arranged on the turnover frame, and the opening or closing of the hawk claw, through the coordinated extension and retraction of the four oil/air cylinders, the grabbing operation of the eagle claw type manipulator is realized.
2. The hawk claw robot of claim 1, wherein: the upright post is installed on the rotary support through a bolt, and the upright post can stir the rotary joint to rotate when rotating along with the rotary support, so that the oil/gas circuit can completely rotate within the range of 360 degrees of the back dragging type large arm.
3. The hawk claw robot of claim 1, wherein: the back dragging type large arm is hinged with the stand column through a pin shaft, the first oil/air cylinder is hinged on a support of the stand column, a piston rod of the first oil/air cylinder is hinged with a tripod arranged on the back dragging type large arm, and the back dragging type large arm is controlled to rise or fall through the expansion of the first oil/air cylinder.
4. The hawk claw robot of claim 1, wherein: the auxiliary arm is hinged with the other end of the back dragging type large arm through a pin shaft, the second oil/air cylinder is hinged on a support of the back dragging type large arm, a piston rod of the second oil/air cylinder is hinged with one end of the auxiliary arm, and the auxiliary arm is controlled to fall or rise through the expansion and contraction of the second oil/air cylinder.
5. The hawk claw robot of claim 1, wherein: the roll-over stand is hinged with the other end of the auxiliary arm through a pin shaft, a third oil/air cylinder is hinged on a support of the auxiliary arm, a piston rod of the third oil/air cylinder is hinged with the roll-over stand, and the roll-over stand is controlled to lift up or fall down through the expansion of the third oil/air cylinder.
6. The hawk claw robot of any one of claims 3 to 5, wherein: angular displacement sensors are respectively arranged at the positions of the pin shafts.
7. The hawk claw robot of claim 1, wherein: the eagle claw type clamping jaw mainly comprises claw teeth, a connecting disc, a disc seat, a sliding disc, a push rod and a fourth oil/air cylinder, wherein one end of the connecting disc is installed on the overturning frame through a screw, the other end of the connecting disc is connected with a guide sleeve through a screw, the other end of the guide sleeve is connected onto the disc seat, the fourth oil/air cylinder is installed on the guide sleeve, a piston rod of the fourth oil/air cylinder is connected with the large end of the push rod in a floating mode through a pin shaft, a small gasket and a check ring, a spring is sleeved at the central rod part of the push rod, the sliding disc is sleeved on the push rod and can freely slide along the push rod, a gasket, a nut and a split pin are sequentially arranged at the lower end part of the push rod, five U-shaped connecting lugs are uniformly arranged on the outer circumference of the disc seat, the claw teeth are installed on the five U, the five claw teeth are respectively connected with the lug seats on the sliding disc through the connecting rod, the push rod is driven by the extension or retraction of the piston rod of the fourth oil/air cylinder, the push rod pushes the spring, and the spring pushes the sliding disc to slide up and down so as to open or close the claw teeth.
8. The hawk claw robot of claim 7, wherein: and an adjusting gasket for adjusting the closing gap of the claw teeth is sleeved on a piston rod of the fourth oil/air cylinder.
9. The hawk claw robot of claim 8, wherein: the claw teeth are provided with longitudinal hollow grooves convenient for soil discharge.
10. The hawk claw robot of claim 8, wherein: when a piston rod of the fourth oil/air cylinder extends out, the push rod pushes the spring, the spring pushes the sliding disc to slide downwards, and the sliding disc pulls the five claw teeth to be closed through the connecting rod, so that an object is grabbed; when the piston rod of the fourth oil/air cylinder retracts, the push rod drives the sliding disc to retract upwards along the push rod through the nut and the gasket, and the sliding disc pulls the five claw teeth to be opened through the connecting rod, so that an object is loosened.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021276480.1U CN212653461U (en) | 2020-07-03 | 2020-07-03 | Hawk claw type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021276480.1U CN212653461U (en) | 2020-07-03 | 2020-07-03 | Hawk claw type manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN212653461U true CN212653461U (en) | 2021-03-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021276480.1U Active CN212653461U (en) | 2020-07-03 | 2020-07-03 | Hawk claw type manipulator |
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| CN (1) | CN212653461U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844088A (en) * | 2020-07-03 | 2020-10-30 | 中信机电制造公司科研设计院 | Hawk claw type manipulator |
| CN117846373A (en) * | 2024-03-04 | 2024-04-09 | 哈尔滨学院 | Broken arm and robot of tearing open |
| CN117948064A (en) * | 2024-03-22 | 2024-04-30 | 济南悦创液压机械制造有限公司 | Automatic feeding device for crank arm crane |
-
2020
- 2020-07-03 CN CN202021276480.1U patent/CN212653461U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844088A (en) * | 2020-07-03 | 2020-10-30 | 中信机电制造公司科研设计院 | Hawk claw type manipulator |
| CN117846373A (en) * | 2024-03-04 | 2024-04-09 | 哈尔滨学院 | Broken arm and robot of tearing open |
| CN117846373B (en) * | 2024-03-04 | 2024-05-07 | 哈尔滨学院 | Broken arm and robot of tearing open |
| CN117948064A (en) * | 2024-03-22 | 2024-04-30 | 济南悦创液压机械制造有限公司 | Automatic feeding device for crank arm crane |
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Address after: 043000 No. 32 Shifu Road, Houma City, Linfen City, Shanxi Province Patentee after: CITIC Electromechanical Research and Design Institute (Shanxi) Co.,Ltd. Country or region after: China Address before: 043000 No. 32 Shifu Road, Houma City, Linfen City, Shanxi Province Patentee before: SCIENTIFIC RESEARCH DESIGN INSTITUTE OF CITIC MACHINERY MANUFACTURING Inc. Country or region before: China |
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