CN103921280A - Mechanical clamping jaw for catching conical objects - Google Patents
Mechanical clamping jaw for catching conical objects Download PDFInfo
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- CN103921280A CN103921280A CN201410046698.0A CN201410046698A CN103921280A CN 103921280 A CN103921280 A CN 103921280A CN 201410046698 A CN201410046698 A CN 201410046698A CN 103921280 A CN103921280 A CN 103921280A
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- clip arm
- cylinder
- coniform
- mechanical grip
- linkage
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Abstract
The invention relates to a mechanical clamping jaw for catching conical objects. The mechanical clamping jaw comprises a clamping mechanism, a fixed connecting mechanism and a clamping mechanism, wherein the clamping mechanism comprises a driving mechanism, the driving mechanism comprises an air cylinder and an air cylinder joint and is used for driving the fixed connecting mechanism to move back and forth to close and open the clamping mechanism, the fixed connecting mechanism comprises a support and a push rod arranged in the support, the clamping mechanism is fixedly arranged on the support by fixed rotary shafts, one end of the push rod is connected with a connecting rod mechanism through the fixed rotary shafts, and the other end of the push rod is connected with the driving mechanism. The clamping mechanism comprises the connecting rod mechanism, an upper clamp arm and a lower clamp arm, wherein the upper clamp arm and the lower clamp arm are connected with the connecting rod mechanism, and the upper clamp arm and the lower clamp arm are respectively provided with a self-adaptive taper rotating mechanism.
Description
Technical field
The present invention relates to the matched gripper of robot field, the mechanical grip that espespecially a kind of mechanical arm that facilitates, captures reliably coniform object is used.
Background technology
In the modern life, the application of mechanical arm is more and more extensive, at present because jaw can not coordinate completely with captured object, during crawl, easily comes off.By design, install governor motion additional and can reach requirement, but long complex structure simultaneously of adjusting time.By design, install other flexible material additional and can realize and the coordinating of object, but apply limited.
Summary of the invention
For addressing the above problem, the invention provides the mechanical grip that a kind of mechanical arm that facilitates, captures reliably coniform object is used.
For achieving the above object, the present invention adopts following technical scheme to be: a kind of mechanical grip that captures coniform object, comprise driving mechanism, described driving mechanism comprises cylinder and cylinder connector, for drive be fixedly connected with mechanism seesaw realize clamp mechanism closure and open; Be fixedly connected with mechanism, the described mechanism that is fixedly connected with comprises support and is located at the push rod in rack ventilating hole, described clamp mechanism is installed on support by fixed rotating shaft, and described push rod one end is connected by fixed rotating shaft with linkage, and the described push rod other end connects driving mechanism; Clamp mechanism, described clamp mechanism comprises linkage and the upper clip arm being connected with linkage respectively and lower clip arm, described upper lower clip arm is respectively equipped with the rotating mechanism of self adaptation tapering.
Preferably, the rotating mechanism of described self adaptation tapering comprises the rotating shaft of moving block and connection of rotating piece and jig arm.
Preferably, described moving block transverse interface is dwindled from outside to inside gradually.
Preferably, described moving block surface is provided with teeth.
Preferably, described upper clip arm is provided with the rotating mechanism of two self adaptation taperings, and described lower clip arm is provided with the rotating mechanism of a self adaptation tapering.
Preferably, described linkage comprises connecting rod and lower link, and described upper connecting rod and lower link are V-arrangement.
Preferably, described cylinder is common cylinder or hydraulic cylinder.
A using method that captures the mechanical grip of coniform object, comprises the steps:
(1) when cylinder moves backward, while driving push rod to pull linkage, upper clip arm and lower clip arm start to clamp taper object, during the Surface Contact of the moving block on upper clip arm and lower clip arm and taper object, moving block starts to rotate around the axis under the effect of cylinder pulling force and taper object reaction force, until coordinate completely with the surface axis direction of taper object, now object is clamped;
(2), when cylinder travels forward, when cylinder promotes linkage, upper clip arm and lower clip arm pine fold up lower object.
Beneficial effect of the present invention is:
1. the present invention increases the rotating mechanism of self adaptation tapering, and tapering that can self adaptation taper object does not need to regulate just can capture coniform object, safe and reliable, does not come off;
2. the present invention realizes a gripper that presss from both sides and can automatically adapt to the tapering of captured taper object with a cylinder push-and-pull.
3. the present invention can work under hot environment.
Accompanying drawing explanation
Fig. 1 is structure chart of the present invention.
Fig. 2 is that the present invention uses schematic diagram.
Mark explanation: 1. upper clip arm; 2. linkage; Connecting rod on 21.; 22. lower links; 3. support; 4. push rod; 5. cylinder connector; 6. cylinder (or hydraulic cylinder); 7. rotating shaft; 8. moving block; 9. lower clip arm; 10. fixed rotating shaft; 11. coniform objects.
The specific embodiment
Refer to shown in Fig. 1-2, the present invention is about a kind of mechanical grip that captures coniform object, comprise driving mechanism, described driving mechanism comprises cylinder and cylinder connector, described cylinder can be common cylinder or hydraulic cylinder, described driving mechanism for drive be fixedly connected with mechanism seesaw realize clamp mechanism closure and open; The described mechanism that is fixedly connected with comprises support and is located at the push rod in rack ventilating hole, and described push rod first end is connected by fixed rotating shaft with linkage, described push rod the second end connection cylinder connector, and cylinder connector is connected with cylinder; Described clamp mechanism comprises linkage, described linkage comprises connecting rod and lower link, described upper connecting rod and lower link are V-arrangement, upper and lower strut connects and composes U-shaped, upper connecting rod first end is provided with upper clip arm, lower link first end is provided with lower clip arm, the second end of upper connecting rod is connected simultaneously and is fixedly arranged on support by fixed rotating shaft with the first end of the second end of lower link and push rod, described upper clip arm is provided with the rotating mechanism of two self adaptation taperings, and described lower clip arm is provided with the rotating mechanism of a self adaptation tapering; The rotating mechanism of described self adaptation tapering comprises the rotating shaft of moving block and connection of rotating piece and jig arm, and described moving block can freely rotate centered by rotating shaft, and described moving block transverse interface is dwindled from outside to inside gradually.Described moving block surface is provided with teeth.
Operation principle of the present invention:
In order to make the taper object of mechanical grip of the present invention and crawl safe and reliable, do not come off and can automatically adapt to the variation of taper object angle, the tapering of the taper object that utilization of the present invention captures coordinates for benchmark interacts to reach completely with moving block.When cylinder 6 pulls linkage 2 by push rod 4, upper clip arm 1 starts to clamp taper object with lower clip arm 9, when the moving block 8 on upper clip arm 1 and lower clip arm 9 and the Surface Contact of taper object, moving block 8 starts 7 to rotate around the shaft under the effect of cylinder 6 pulling force and taper object reaction force, until coordinate completely with the surface axis direction of taper object, now object is clamped.When cylinder 6 promotes linkage 2, upper clip arm 1 and lower clip arm 9 pines fold up lower object.Thereby cylinder push-and-pull is fixedly connected with mechanism and promotes clamp mechanism, coordinate the moving block in clamp mechanism to realize the object of the invention.
Beneficial effect of the present invention: 1, realize a folder with a cylinder push-and-pull and also can automatically adapt to the gripper of the tapering of captured taper object.2, the present invention can work under hot environment.
Above embodiment is only that the preferred embodiment of the present invention is described; not scope of the present invention is limited; design under the prerequisite of spirit not departing from the present invention; various distortion and improvement that the common engineers and technicians in this area make technical scheme of the present invention, all should fall into the definite protection domain of claims of the present invention.
Claims (8)
1. capture a mechanical grip for coniform object, it is characterized in that: comprise
Driving mechanism, described driving mechanism comprises cylinder and cylinder connector, for drive be fixedly connected with mechanism seesaw realize clamp mechanism closure and open;
Be fixedly connected with mechanism, the described mechanism that is fixedly connected with comprises support and is located at the push rod in rack ventilating hole, described clamp mechanism is installed on support by fixed rotating shaft, and described push rod one end is connected by fixed rotating shaft with linkage, and the described push rod other end connects driving mechanism;
Clamp mechanism, described clamp mechanism comprises linkage and the upper clip arm being connected with linkage respectively and lower clip arm, described upper lower clip arm is respectively equipped with the rotating mechanism of self adaptation tapering.
2. a kind of mechanical grip that captures coniform object according to claim 1, is characterized in that: the rotating mechanism of described self adaptation tapering comprises the rotating shaft of moving block and connection of rotating piece and jig arm.
3. a kind of mechanical grip that captures coniform object according to claim 2, is characterized in that: described moving block transverse interface is dwindled from outside to inside gradually.
4. according to a kind of mechanical grip that captures coniform object described in claim 2 or 3, it is characterized in that: described moving block surface is provided with teeth.
5. a kind of mechanical grip that captures coniform object according to claim 1, is characterized in that: described upper clip arm is provided with the rotating mechanism of two self adaptation taperings, and described lower clip arm is provided with the rotating mechanism of a self adaptation tapering.
6. a kind of mechanical grip that captures coniform object according to claim 1, is characterized in that: described linkage comprises connecting rod and lower link, and described upper connecting rod and lower link are V-arrangement.
7. a kind of mechanical grip that captures coniform object according to claim 1, is characterized in that: described cylinder is common cylinder or hydraulic cylinder.
8. a using method for the mechanical grip of the coniform object of crawl according to claim 1, is characterized in that: comprise the steps:
(1) when cylinder moves backward, while driving push rod to pull linkage, upper clip arm and lower clip arm start to clamp taper object, during the Surface Contact of the moving block on upper clip arm and lower clip arm and taper object, moving block starts to rotate around the axis under the effect of cylinder pulling force and taper object reaction force, until coordinate completely with the surface axis direction of taper object, now object is clamped;
(2), when cylinder travels forward, when cylinder promotes linkage, upper clip arm and lower clip arm pine fold up lower object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410046698.0A CN103921280A (en) | 2014-01-26 | 2014-01-26 | Mechanical clamping jaw for catching conical objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410046698.0A CN103921280A (en) | 2014-01-26 | 2014-01-26 | Mechanical clamping jaw for catching conical objects |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103921280A true CN103921280A (en) | 2014-07-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410046698.0A Pending CN103921280A (en) | 2014-01-26 | 2014-01-26 | Mechanical clamping jaw for catching conical objects |
Country Status (1)
| Country | Link |
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| CN (1) | CN103921280A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440885A (en) * | 2014-12-05 | 2015-03-25 | 合肥工业大学 | Grabbing pneumatic connecting rod arm with double-paw structure |
| CN104585976A (en) * | 2014-12-02 | 2015-05-06 | 东莞市万江晖达鞋机厂 | Jaw seat deforming mechanism |
| CN105397799A (en) * | 2015-12-22 | 2016-03-16 | 江苏保捷锻压有限公司 | Mechanical clamping jaw |
| CN105643648A (en) * | 2016-04-12 | 2016-06-08 | 美塞斯（珠海保税区）工业自动化设备有限公司 | Cutter grabbing manipulator for rapidly and automatically positioning slitting system |
| CN105841944A (en) * | 2016-04-08 | 2016-08-10 | 常州气弹簧有限公司 | Air spring's cycle life testing tool |
| CN106002981A (en) * | 2016-06-17 | 2016-10-12 | 洪明 | Folded rotary mechanical arm |
| CN106041911A (en) * | 2016-08-16 | 2016-10-26 | 安徽凯航包装科技有限公司 | Novel single-cylinder mechanical loading hand |
| CN106064211A (en) * | 2016-08-18 | 2016-11-02 | 沈阳翰和科技工程有限公司 | A kind of thermoforming feeding, discharge gear double-acting clamp |
| CN106077341A (en) * | 2016-08-18 | 2016-11-09 | 沈阳翰和科技工程有限公司 | A kind of thermoforming single-lift clamp of feeding, discharge gear |
| CN106141963A (en) * | 2016-08-08 | 2016-11-23 | 上海大学 | A kind of mechanical grip for laser collimator lens gripping |
| CN106926228A (en) * | 2015-12-29 | 2017-07-07 | 天津西青区瑞博生物科技有限公司 | A kind of manipulator |
| CN108353621A (en) * | 2018-02-26 | 2018-08-03 | 深圳达芬奇创新科技有限公司 | A kind of crop harvester |
| CN109397321A (en) * | 2018-11-30 | 2019-03-01 | 北京海风智能科技有限责任公司 | A kind of mechanical grip grabbing any shape object |
| CN111113460A (en) * | 2019-12-30 | 2020-05-08 | 苏州优得精智装备有限公司 | Large-stroke mechanical internal expanding shaft |
| CN112900310A (en) * | 2021-01-25 | 2021-06-04 | 杨改先 | Automatic picking device for regularly placed traffic cones mounted on vehicle |
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| CN203697023U (en) * | 2014-01-26 | 2014-07-09 | 深圳市元博智能科技有限公司 | Mechanical clamping claw used for grabbing conical objects |
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| JPH0266097A (en) * | 1988-09-01 | 1990-03-06 | Mitsubishi Electric Corp | Holding device |
| JP2001191287A (en) * | 2000-01-06 | 2001-07-17 | Matsushita Electric Ind Co Ltd | Electronic part mounting transfer head |
| CN102189541A (en) * | 2010-03-10 | 2011-09-21 | 山东中际电工装备股份有限公司 | Stator clamp manipulator |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104585976A (en) * | 2014-12-02 | 2015-05-06 | 东莞市万江晖达鞋机厂 | Jaw seat deforming mechanism |
| CN104585976B (en) * | 2014-12-02 | 2016-09-14 | 唐明 | Pawl seat deformation mechanism |
| CN104440885B (en) * | 2014-12-05 | 2015-10-07 | 合肥工业大学 | A kind of crawl Pneumatic connecting rod arm with both hands pawl structure |
| CN104440885A (en) * | 2014-12-05 | 2015-03-25 | 合肥工业大学 | Grabbing pneumatic connecting rod arm with double-paw structure |
| CN105397799A (en) * | 2015-12-22 | 2016-03-16 | 江苏保捷锻压有限公司 | Mechanical clamping jaw |
| CN106926228A (en) * | 2015-12-29 | 2017-07-07 | 天津西青区瑞博生物科技有限公司 | A kind of manipulator |
| CN105841944A (en) * | 2016-04-08 | 2016-08-10 | 常州气弹簧有限公司 | Air spring's cycle life testing tool |
| CN105841944B (en) * | 2016-04-08 | 2018-06-08 | 常州气弹簧有限公司 | Gas spring cycling life test tooling |
| CN105643648A (en) * | 2016-04-12 | 2016-06-08 | 美塞斯（珠海保税区）工业自动化设备有限公司 | Cutter grabbing manipulator for rapidly and automatically positioning slitting system |
| CN106002981A (en) * | 2016-06-17 | 2016-10-12 | 洪明 | Folded rotary mechanical arm |
| CN106141963A (en) * | 2016-08-08 | 2016-11-23 | 上海大学 | A kind of mechanical grip for laser collimator lens gripping |
| CN106041911A (en) * | 2016-08-16 | 2016-10-26 | 安徽凯航包装科技有限公司 | Novel single-cylinder mechanical loading hand |
| CN106064211A (en) * | 2016-08-18 | 2016-11-02 | 沈阳翰和科技工程有限公司 | A kind of thermoforming feeding, discharge gear double-acting clamp |
| CN106077341A (en) * | 2016-08-18 | 2016-11-09 | 沈阳翰和科技工程有限公司 | A kind of thermoforming single-lift clamp of feeding, discharge gear |
| CN108353621A (en) * | 2018-02-26 | 2018-08-03 | 深圳达芬奇创新科技有限公司 | A kind of crop harvester |
| CN108353621B (en) * | 2018-02-26 | 2021-01-29 | 深圳达芬奇创新科技有限公司 | Crop harvester |
| CN109397321A (en) * | 2018-11-30 | 2019-03-01 | 北京海风智能科技有限责任公司 | A kind of mechanical grip grabbing any shape object |
| CN111113460A (en) * | 2019-12-30 | 2020-05-08 | 苏州优得精智装备有限公司 | Large-stroke mechanical internal expanding shaft |
| CN112900310A (en) * | 2021-01-25 | 2021-06-04 | 杨改先 | Automatic picking device for regularly placed traffic cones mounted on vehicle |
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Application publication date: 20140716 |