CN86204193U - Double functional manipulator gripping head - Google Patents
Double functional manipulator gripping head Download PDFInfo
- Publication number
- CN86204193U CN86204193U CN 86204193 CN86204193U CN86204193U CN 86204193 U CN86204193 U CN 86204193U CN 86204193 CN86204193 CN 86204193 CN 86204193 U CN86204193 U CN 86204193U CN 86204193 U CN86204193 U CN 86204193U
- Authority
- CN
- China
- Prior art keywords
- blade
- manipulator
- clamper
- gripping head
- palm
- 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.)
- Ceased
Links
Landscapes
- Scissors And Nippers (AREA)
Abstract
The utility model which discloses a manipulator gripping head has the two functions of clamping the articles and shearing the cables, and adapts to the manipulator which needs the two functions. The utility model especially adapts to an underwater manipulator, and the underwater operation can be successfully performed. A pair of shearing blade is arranged on the arm of the common manipulator gripping head by the utility model, when the palms performs the closing motion, the blade is in the shearing movement, and the shearing operation can be accomplished simultaneously with the clamping operation.
Description
The utility model relates to a kind of improved manipulator clamper, is a kind of DUAL-PURPOSE MANIPULATOR RETAINER that has clamping and shear cable.Be applicable to manipulator that these two kinds of functions need, be specially adapted to underwater manipulator, carry out underwater operation.
Existing mechanical hand clamper all only possesses finishes single function, for example gripping objects, cutting cable, boring or the like.This function is to finish with mutual coordinative roles of mechanism such as shouldering bar by the dynamical element of manipulator.The function that changes manipulator if desired just must change the clamper of manipulator, and this is inapplicable or extremely inconvenient under some occasion.As the manipulator on the bathyscaph of underwater operation, if will change the function of manipulator, often need that bathyscaph is hung out the water surface and just can carry out, this will lose the quality time and the opportunity of bathyscaph underwater operation.
Task of the present utility model is that the clamper to the existing machinery hand makes improvements, and makes manipulator can finish gripping objects under the situation that does not change clamper and shears the cable dual-use function.
Task of the present utility model is finished as follows: a pair of blade that can shear is installed on a kind of clamping limb of common manipulator clamper, and when the palm closing motion, blade is made shearing motion, reaches to finish shear action in clamping.
The utility model is simple in structure.
As shown in Figure 1: DUAL-PURPOSE MANIPULATOR RETAINER is by support (1), pull bar (2), connecting rod (4), pin (5), clamping limb (6), blade (8), ball screw (9) and palm compositions such as (11).
When outside when trying hard to recommend or drawing pull bar (2), clamping limb (6) is around C and the revolution of F point, palm (11) folder is held together or separately, reaches the function of gripping objects.When palm (11) folder held together, two blades (8) produced shearing motion mutually, just can cut off the cable that is in the blade middle part.
The diameter that the chucking power of palm (11) and blade (8) can be sheared cable is that the size of the external force accepted by pull bar (2) is determined.The DUAL-PURPOSE MANIPULATOR RETAINER of this accompanying drawing illustrated dimension can 30 kilograms of weight of clamping and is cut off 11 millimeters wireropes of φ.
For making this clamper weight of clamping different geometries securely, spill is made on palm (11) surface, also uses the sphere contact behind, so that adjust the angle of palm (11) automatically.
The shape of blade (8) is made circular arc, and wirerope is unlikely when shearing wirerope outwards skids off.Blade (8) is also after heat treatment made with tool steel material, and oat tail groove structure is made at the back, can pull down replacing easily when damaging.
Each pin rotary part all is equipped with oil to be chewed, and is convenient to the maintenance personal and regularly adds lubricating grease.
" O " shape sealing ring (3) is that underwater manipulator is desired, then can cancel as the general industry manipulator.
Fig. 2 is the ABCDEFGH profile of Fig. 1
Claims (5)
1, a kind of DUAL-PURPOSE MANIPULATOR RETAINER that is installed in mechanical wrist part, be made up of support (1), pull bar (2), connecting rod (4), clamping limb (6), blade (8), ball screw (9) and palm (11) etc., palm (11) is housed in the front portion that it is characterized in that clamping limb (6) and root is equipped with blade (8).
2, by the described manipulator clamper of claim 1, the cutting edge that it is characterized in that blade (8) is partly made has the circular curve shape, and cable was unlikely when this curve made the knife cut motion skids off.
3, by the described manipulator clamper of claim 1, it is characterized in that blade (8) is cooperating of dovetail and dovetail groove with the syndeton of supporting arm (6).
4,, it is characterized in that blade (8) makes with tool steel material by the described manipulator clamper of claim 1.
5,, it is characterized in that blade (8) after heat treatment makes by the described manipulator clamper of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 86204193 CN86204193U (en) | 1986-06-28 | 1986-06-28 | Double functional manipulator gripping head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 86204193 CN86204193U (en) | 1986-06-28 | 1986-06-28 | Double functional manipulator gripping head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN86204193U true CN86204193U (en) | 1988-02-24 |
Family
ID=4807308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 86204193 Ceased CN86204193U (en) | 1986-06-28 | 1986-06-28 | Double functional manipulator gripping head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN86204193U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102947060A (en) * | 2010-06-17 | 2013-02-27 | 日产自动车株式会社 | Gripping device |
| CN104858888A (en) * | 2015-06-12 | 2015-08-26 | 哈尔滨工程大学 | Small-sized underwater hydraulic manipulator paw joint structure |
| CN104972477A (en) * | 2015-07-21 | 2015-10-14 | 北京工业大学 | Multifunctional engineering accessory for six-bar mechanism |
| CN105710890A (en) * | 2016-05-04 | 2016-06-29 | 天津中安华典数据安全科技有限公司 | Stable type robot arm structure for product tracing |
| CN106541415A (en) * | 2016-11-03 | 2017-03-29 | 三明学院 | A kind of multi-functional end effector |
| CN108748237A (en) * | 2018-08-13 | 2018-11-06 | 南京皓焜自动化科技有限公司 | A kind of mechanical gripper that can carry out stable holding to accessory when mechanical fitting is manufactured |
| CN113043366A (en) * | 2021-03-07 | 2021-06-29 | 魏燕华 | High-performance environment-friendly mask and preparation method thereof |
-
1986
- 1986-06-28 CN CN 86204193 patent/CN86204193U/en not_active Ceased
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102947060A (en) * | 2010-06-17 | 2013-02-27 | 日产自动车株式会社 | Gripping device |
| CN102947060B (en) * | 2010-06-17 | 2014-10-22 | 日产自动车株式会社 | Gripping device |
| CN104858888A (en) * | 2015-06-12 | 2015-08-26 | 哈尔滨工程大学 | Small-sized underwater hydraulic manipulator paw joint structure |
| CN104972477A (en) * | 2015-07-21 | 2015-10-14 | 北京工业大学 | Multifunctional engineering accessory for six-bar mechanism |
| CN104972477B (en) * | 2015-07-21 | 2017-02-01 | 北京工业大学 | Multifunctional engineering accessory for six-bar mechanism |
| CN105710890A (en) * | 2016-05-04 | 2016-06-29 | 天津中安华典数据安全科技有限公司 | Stable type robot arm structure for product tracing |
| CN106541415A (en) * | 2016-11-03 | 2017-03-29 | 三明学院 | A kind of multi-functional end effector |
| CN108748237A (en) * | 2018-08-13 | 2018-11-06 | 南京皓焜自动化科技有限公司 | A kind of mechanical gripper that can carry out stable holding to accessory when mechanical fitting is manufactured |
| CN113043366A (en) * | 2021-03-07 | 2021-06-29 | 魏燕华 | High-performance environment-friendly mask and preparation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN86204193U (en) | Double functional manipulator gripping head | |
| CN110391572B (en) | Full-automatic multi-station terminal machine | |
| Shaw | The Fracture of Metal Cutting Tools | |
| CN210850843U (en) | Inorganic non-metallic material cutting mechanism | |
| CN211465045U (en) | Aluminum profile machining equipment with noise reduction effect | |
| EP1163973A3 (en) | Table for a machine tool | |
| US4189831A (en) | Industrial scissors | |
| CN212859507U (en) | Bionic mechanical claw | |
| GB1473646A (en) | Gardening tools | |
| CN110385451B (en) | Knife set structure and inner pot processing method | |
| CN219961392U (en) | Picking manipulator and picking robot | |
| CN210305942U (en) | Multifunctional hydraulic shear for engineering machinery | |
| CN209017496U (en) | A kind of pruning shear of novel forestry | |
| CN204800527U (en) | Capillary breakout tongs | |
| CN108823947B (en) | Cloth cutting device for clothing | |
| CN2813209Y (en) | Lower-flat-nose wire-cutting tongs | |
| CN216264886U (en) | Tail hole machine is used in ratchet spanner processing with protection architecture | |
| CN2435250Y (en) | Universal stone carving machine | |
| GB1501774A (en) | Gripping tool for loosening screw caps of containers | |
| CN211415233U (en) | Get bottle special manipulator convenient to maintenance is changed | |
| CN211748700U (en) | Handheld potato clamping tool | |
| CN216421220U (en) | Telescopic cutting edge of plate shearing machine | |
| CN217790450U (en) | Loquat grafting notching device | |
| CN2562947Y (en) | New structure of scissors | |
| CN219503808U (en) | Cutting device for hardware processing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CE01 | Termination of patent right |