CN104742142B - Mechanical paw capable of clamping different objects - Google Patents
Mechanical paw capable of clamping different objects Download PDFInfo
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- CN104742142B CN104742142B CN201510097403.7A CN201510097403A CN104742142B CN 104742142 B CN104742142 B CN 104742142B CN 201510097403 A CN201510097403 A CN 201510097403A CN 104742142 B CN104742142 B CN 104742142B
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- paw
- actuating arm
- mechanical
- push rod
- hinged
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Abstract
The invention discloses a mechanical paw capable of clamping different objects. The mechanical paw is characterized by comprising a first paw body and a second paw body matched with the first paw body, the first paw body is hinged to a first driving arm, and the second paw body is hinged to a second driving arm. The mechanical paw further comprises a push rod, and the push rod is hinged to the first paw body, the first driving arm, the second paw body and the second driving arm through connecting rods. According to the technical scheme, the mechanical paw bodies and the driving arms can act synchronously, and the push rod can complete the clamping action within a shorter stroke.
Description
Technical field
The present invention relates to mechanical holding device field, especially relate to a kind of mechanical paw of clamping different objects.
Background technology
In modernization industry, because automaticity improves constantly, the automatic control technology of manipulator has tended to maturation.Due to controlling the restriction of process, most manipulator is all to be driven using hydraulic power, realizes the control to manipulator by the oil-feed of hydraulic pressure with empty oil.The hydraulic stroke that existing manipulator one side adopts needs, and the applicability of another aspect manipulator is poor, may be only available for the clamping of the article such as round log, mechanical rubbish, cannot realize good clamping effect for other erose objects；And the driving throw of lever of existing hydraulic machinery arm is larger, the covert loss power of part transmission.
Content of the invention
A kind of in view of defect that above-mentioned prior art exists, the purpose of the present invention is to propose to mechanical paw of clamping different objects.
The purpose of the present invention will be achieved by the following technical programs: preferably, a kind of mechanical paw of above-mentioned clamping different objects, including the first paw and the second paw with matching, hinged first actuating arm of described first paw, hinged second actuating arm of described second paw, also include push rod, described push rod is respectively articulated with described first paw, described first actuating arm, described second paw and described second actuating arm by connecting rod.
Preferably, the mechanical paw of above-mentioned a kind of clamping different objects, the middle part of described first paw and described second paw is provided with receiving cavity.
Preferably, the mechanical paw of above-mentioned a kind of clamping different objects, described first actuating arm is hinged with the driver part of described push rod respectively with described second actuating arm.
Preferably, a kind of mechanical paw of above-mentioned clamping different objects, described connecting rod is described first actuating arm one end near described first paw with the hinge point of described first actuating arm, and described connecting rod is described second actuating arm one end near described second paw with the hinge point of described second actuating arm.
The prominent effect of the present invention is: 1) is simultaneously connected with mechanical paw and actuating arm by arranging push rod, the motion realizing mechanical paw and actuating arm with push rod is synchronized with the movement, and on the other hand, realizes the synchronous interaction of mechanical paw and actuating arm；And, mechanical paw can be implemented in the change of the angle of vertical direction opening and closing, can clamp the object of irregular size, and the scope of application is wider.2) position hinged with connecting rod is arranged at actuating arm one end near mechanical paw, when clamping the larger object of volume or depth is deeper, it is possible to reduce space is occupied.
Hereinafter just accompanying drawing in conjunction with the embodiments, is described in further detail to the specific embodiment of the present invention, so that technical solution of the present invention is more readily understood, grasps.
Brief description
Fig. 1 is the structural representation of the mechanical paw of the present embodiment.
Specific embodiment
As shown in Figure 1, a kind of mechanical paw of the clamping different objects of the present embodiment, including the first paw 1 and the second paw 2 with matching, hinged first actuating arm 3 of first paw 1, hinged second actuating arm 4 of second paw 2, also include push rod 5, push rod 5 is respectively articulated with the first paw 1, the first actuating arm 3, the second paw 2 and the second actuating arm 4 by connecting rod 6.Wherein, the middle part of the first paw 1 and the second paw 2 is provided with receiving cavity 7.
It is hinged by setting push rod 5, the first mechanical paw 1, the first actuating arm 3, the second mechanical paw 2, the second actuating arm 4, the first mechanical paw 1 can be realized, the first actuating arm 3, the second mechanical paw 2, the second actuating arm 4 are synchronized with the movement with the motion of push rod 5, on the other hand, realize the synchronous interaction of the first mechanical paw 1, the second mechanical paw 2 and the first actuating arm 3, the second actuating arm 4；And, the first mechanical paw 1 and the second mechanical paw 2 realize the change of the angle in vertical direction opening and closing, can clamp the object of irregular size, the scope of application is wider.
First actuating arm 3 and the second actuating arm 4 are hinged with the driver part (not marking in accompanying drawing) of push rod 5 respectively.The hinge point of connecting rod 6 and the first actuating arm 3 is the first actuating arm 3 one end near the first paw 1, and the hinge point of connecting rod 6 and the second actuating arm 4 is the second actuating arm 4 one end near the second paw 2.This kind of connected mode of connecting rod 6, so that hydraulic push rod 5 completes the work of paw in stroke the shortest.
All technical schemes that the present invention still has numerous embodiments, all employing equivalents or equivalent transformation and formed, are within the scope of the present invention.
Claims (1)
1. a kind of mechanical paw of clamping different objects, it is characterized in that, including the first paw and the second paw with matching, hinged first actuating arm of described first paw, hinged second actuating arm of described second paw, also include push rod, described push rod is respectively articulated with described first paw, described first actuating arm, described second paw and described second actuating arm by connecting rod；The middle part of described first paw and described second paw is provided with receiving cavity；Described first actuating arm is hinged with the driver part of described push rod respectively with described second actuating arm；Described connecting rod is described first actuating arm one end near described first paw with the hinge point of described first actuating arm, and described connecting rod is described second actuating arm one end near described second paw with the hinge point of described second actuating arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510097403.7A CN104742142B (en) | 2015-03-05 | 2015-03-05 | Mechanical paw capable of clamping different objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510097403.7A CN104742142B (en) | 2015-03-05 | 2015-03-05 | Mechanical paw capable of clamping different objects |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104742142A CN104742142A (en) | 2015-07-01 |
| CN104742142B true CN104742142B (en) | 2017-01-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510097403.7A Active CN104742142B (en) | 2015-03-05 | 2015-03-05 | Mechanical paw capable of clamping different objects |
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| CN (1) | CN104742142B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101648380A (en) * | 2009-09-09 | 2010-02-17 | 北京航空航天大学 | Gripper with heavy load and wide range |
| CN201800045U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Clamping mechanism for multiple-degree-of-freedom robot |
| CN102490174A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Mechanical arm with frame-type extension arm |
| CN203752140U (en) * | 2014-04-10 | 2014-08-06 | 齐齐哈尔齐三机床有限公司 | Manipulator |
| CN204640232U (en) * | 2015-03-05 | 2015-09-16 | 成都佳美嘉科技有限公司 | A kind of mechanical paw clamping different objects |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2856622C (en) * | 2011-11-25 | 2017-01-10 | Robotiq Inc. | A gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping |
-
2015
- 2015-03-05 CN CN201510097403.7A patent/CN104742142B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101648380A (en) * | 2009-09-09 | 2010-02-17 | 北京航空航天大学 | Gripper with heavy load and wide range |
| CN201800045U (en) * | 2010-08-20 | 2011-04-20 | 上海电机学院 | Clamping mechanism for multiple-degree-of-freedom robot |
| CN102490174A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Mechanical arm with frame-type extension arm |
| CN203752140U (en) * | 2014-04-10 | 2014-08-06 | 齐齐哈尔齐三机床有限公司 | Manipulator |
| CN204640232U (en) * | 2015-03-05 | 2015-09-16 | 成都佳美嘉科技有限公司 | A kind of mechanical paw clamping different objects |
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| Publication number | Publication date |
|---|---|
| CN104742142A (en) | 2015-07-01 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Haitao Inventor before: Liang Feng |
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| COR | Change of bibliographic data | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20161018 Address after: 214000 Jiangsu Province, Wuxi Huishan Economic Development Zone, Jin Hui Road No. 10 (Development Zone) Applicant after: WUXI ANZHIZHUO MEDICAL ROBOT Co.,Ltd. Address before: 200000 room Changning District, Zhongshan West Road, No. 610, room 999, Shanghai Applicant before: Shanghai Airlines Intellectual Property Services Ltd. Effective date of registration: 20161018 Address after: 200000 room Changning District, Zhongshan West Road, No. 610, room 999, Shanghai Applicant after: Shanghai Airlines Intellectual Property Services Ltd. Address before: 610000 Sichuan Province, Qingyang District, Jinyang Road, No. 7, building 6, building 19, No. 112 Applicant before: CHENGDU JIAMEIJIA SCIENCE & TECHNOLOGY Co.,Ltd. |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |