CN109397321A - A kind of mechanical grip grabbing any shape object - Google Patents
A kind of mechanical grip grabbing any shape object Download PDFInfo
- Publication number
- CN109397321A CN109397321A CN201811453874.7A CN201811453874A CN109397321A CN 109397321 A CN109397321 A CN 109397321A CN 201811453874 A CN201811453874 A CN 201811453874A CN 109397321 A CN109397321 A CN 109397321A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- connecting rod
- shape object
- mechanical grip
- grab
- 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.)
- Pending
Links
- 210000000078 claw Anatomy 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Golf Clubs (AREA)
Abstract
This reality patent of invention devises a kind of mechanical grip that can grab any shape object.It is made of shaft connecting component, drive control module and clip claw mechanism etc..Mechanical grip is mainly connected in equipment by shaft connecting component；Drive control module is mainly that clamping jaw structure crawl object provides power.Clip claw mechanism is mainly used for grabbing various shape object.Present invention design has the characteristics that object range is wide, structure is simple and reliable performance with grabbing.
Description
Technical field
The present invention relates to technical field of mechanical automation, specially a kind of mechanical grip that can grab any shape object.
Technical background
Mechanical automation refers to that machine or device carry out in the case where unmanned intervene by scheduled program or instruction are automatic
The process of operation or control, and mechanical automation is exactly the mistake that machine or device mechanically realize automation control
Journey.In mechanical automation development process, it is often necessary to crawl movement is carried out to object, and structure is complicated for existing mechanical grip,
Pawl takes body form single, thus it is proposed that a kind of mechanical grip that can grab any shape object.
Summary of the invention
The present invention provides a kind of mechanical grip that can grab any shape object, to solve the machinery proposed in above-mentioned background
Clamping jaw structure is complicated, the problem that pawl takes body form single.
To achieve the above object, the invention provides the following technical scheme: a kind of mechanical folder that can grab any shape object
Pawl, including hollow rotating shaft, described hollow rotating shaft one end connect upper set casing and lower set casing, and the other end of the hollow rotating shaft connects
It connects in equipment, electric putter is installed between the upper and lower set casing, described electric putter one end is equipped with drive connection seat, institute
It states to be drivingly connected at left and right sides of seat and is symmetrically installed with drive rod, described drive rod one end is equipped with connecting rod 1, the connecting rod
One end connect upper and lower set casing, the other end installs connecting rod 2, and one end of the connecting rod 2 is equipped with clamping jaw 1, described to connect pawl
1 is connected with clamping jaw 2, described one end for connecing pawl 1 and connecting follower lever 1, and the other end of the follower lever 1 connects follower lever 2, it is described from
The other end of lever 2 connects upper and lower set casing, and the end of the hollow rotating shaft is equipped with conducting slip ring, the conducting slip ring end
End connection control box.
Preferably, the hollow rotating shaft 4 being connected in equipment can not only be connected by key the rotation for realizing clamping jaw, but also can be with
The signal wire for controlling electric putter 7 is passed through into hollow shaft 4, signal control line connects conducting slip ring 16, avoids signal control line and turns
The problem of dynamic kink.
Preferably, electric putter pushes drive rod to move and connecting rod is driven to rotate.
Preferably, it is connected using pin shaft with torsional spring between connecting rod 1 and connecting rod 2.
Preferably, it is connected using pin shaft with torsional spring between follower lever 1 and follower lever 2.
Preferably, it using the limit connection of male and fomale(M&F) cooperation between clamping jaw 1 and clamping jaw 2, and is bolted on together.
Compared with prior art, the beneficial effects of the present invention are: present invention design has, crawl object range is wide, structure is simple
The characteristics of single and reliable performance.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is schematic diagram of internal structure of the present invention；
1 shaft connecting component in figure, 2 drive control modules, 3 clip claw mechanisms, 4 hollow rotating shafts, set casing on 5,6 lower are fixed
Shell, 7 electric putters, 8 be drivingly connected seats, 9 drive rods, 10 connecting rods 1,11 connecting rods 2,12 clamping jaws 1,13 clamping jaws 2,14 follower levers 1,
15 follower levers 2,16 conducting slip rings, 17 control boxes.
Specific embodiment
With reference to the accompanying drawing, a specific embodiment of the invention is described further, it is to be understood that of the invention
Protection scope is not limited by the specific implementation.
Such as Fig. 1 and Fig. 2, the present invention provides the mechanical grips that one kind can grab any shape object, are mainly connected by shaft
Relay part 1, drive control module 2 and 3 three parts of clip claw mechanism composition.Specifically include hollow rotating shaft 4, described hollow rotating shaft one end
Set casing (5) and lower set casing (6) in connection install electric putter (7) between the upper and lower set casing, described electric putter one end
It is equipped with and is drivingly connected seat (8), be symmetrically installed with drive rod (9) at left and right sides of the drive connection seat, described drive rod one end
It is mounted on connecting rod 1 (10), one end of the connecting rod connects upper and lower set casing, and the other end installs connecting rod 2 (11), institute
The end for stating connecting rod 2 is equipped with clamping jaw 1 (12), and 1 other end of pawl that connects is equipped with clamping jaw 2 (13), it is described connect the connection of pawl 1 from
The other end of one end of lever 1 (14), the follower lever 1 connects follower lever 2 (15), and the other end of the follower lever 2 is connected to
Upper and lower set casing, the end of the hollow rotating shaft are equipped with conducting slip ring (16), the conducting slip ring end connection control box
(17)。
Wherein, hollow rotating shaft 4 can not only be connected by key the rotation for realizing clamping jaw, but also can will control the letter of electric putter 7
The problem of number line passes through hollow shaft 4, and signal control line connects conducting slip ring 16, avoids signal control line rotation kink；Electricity pushes away
Bar pushes drive rod (9) to move and connecting rod 1 (10) is driven to rotate, and provides power resources for clamping jaw；Connecting rod 1 (10) with connect
It is connect between bar 2 (11) and follower lever 1 (14) and follower lever 2 (15) using pin shaft and torsional spring, guarantees that clamping jaw clamps irregularity
Body has enough chucking powers, and then guarantees the stability of clamping object；Male and fomale(M&F) is used between clamping jaw 1 (12) and clamping jaw 2 (13)
The limit of cooperation connects, and is bolted on together, the replaceability of cleft hand when guaranteeing to grab special object.
Working principle: in the use of the present invention, control box (17) carries out work by conducting slip ring (16) control electric putter (7)
Make, if electric putter (7) extends work, electric putter (7) drives drive rod (9) to be rotated around the fixing end of connecting rod 1 (10),
And then connecting rod 2 (11) is driven to be rotated around the fixing end of connecting rod 1 (10), the rotation of connecting rod 2 (11) drives clamping jaw 1
(12) it is opened outward respectively with clamping jaw 2 (13)；If when electric putter (7) contractile motion, carrying out elongation work for electric putter (7)
Inverse movement so that two groups of clamping jaws (13) carry out clamping operation.If clamping object is irregular-shaped objects
When, follower lever 1 (14) and follower lever 2 (15) can carry out the rotation of certain angle, and pass through the torsion and clamping jaw of torsional spring
Resultant force clamp Special-shaped object jointly.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, made any modification, equivalent replacement, local improvement etc., should be included in this hair
Within bright protection scope.
Claims (6)
1. one kind can grab the mechanical grip of any shape object, including shaft connecting component, drive control module and clamping jaw machine
Structure etc..It is characterized by: shaft connecting component one end is connected in equipment by being provided with the hollow rotating shaft (4) of keyway, institute
It states the hollow rotating shaft other end and connects upper set casing (5) and lower set casing (6), electric putter is installed between the upper and lower set casing
(7), described electric putter one end, which is equipped with, is drivingly connected seat (8), is symmetrically installed with drive rod at left and right sides of the drive connection seat
(9), described drive rod one end is equipped with connecting rod 1 (10), and one end of the connecting rod 1 connects upper and lower set casing, other end peace
Load extension bar 2 (11), one end of the connecting rod 2 are equipped with clamping jaw 1 (12), and described 1 one end of pawl that connects is connected with clamping jaw 2 (13),
Described one end for connecing pawl 1 and connecting follower lever 1 (14), one end of other end connection follower lever 2 (15) of the follower lever 1 are described
The other end of follower lever 2 is connected to upper and lower set casing, and the end of the hollow rotating shaft is equipped with conducting slip ring (16), described to lead
Electric slip ring end connection control box (17).
2. the mechanical grip that one kind according to claim 1 can grab any shape object, it is characterised in that be connected to and set
Standby upper hollow rotating shaft (5) can not only be connected by key the rotation for realizing clamping jaw, but also can will control the signal wire of electric putter 7
The problem of across hollow shaft 4, signal control line connects conducting slip ring (16), avoids signal control line rotation kink.
3. the mechanical grip that one kind according to claim 1 can grab any shape object, it is characterised in that electric putter pushes away
Dynamic drive rod (9) move and connecting rod 1 (10) are driven to rotate.
4. the mechanical grip that one kind according to claim 1 can grab any shape object, it is characterised in that connecting rod 1
(10) it is connected using pin shaft with torsional spring between connecting rod 2 (11).
5. the mechanical grip that one kind according to claim 1 can grab any shape object, it is characterised in that follower lever 1
(14) it is connected using pin shaft with torsional spring between follower lever 2 (15).
6. the mechanical grip that one kind according to claim 1 can grab any shape object, it is characterised in that clamping jaw 1 (12)
Using the limit connection of male and fomale(M&F) cooperation between clamping jaw 2 (13), and it is bolted on together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811453874.7A CN109397321A (en) | 2018-11-30 | 2018-11-30 | A kind of mechanical grip grabbing any shape object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811453874.7A CN109397321A (en) | 2018-11-30 | 2018-11-30 | A kind of mechanical grip grabbing any shape object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109397321A true CN109397321A (en) | 2019-03-01 |
Family
ID=65456579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811453874.7A Pending CN109397321A (en) | 2018-11-30 | 2018-11-30 | A kind of mechanical grip grabbing any shape object |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109397321A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103213122A (en) * | 2013-04-23 | 2013-07-24 | 上海大学 | Mechanical grabbing hand based on synchronous double-connecting-rod centering moving mechanism |
| CN103921280A (en) * | 2014-01-26 | 2014-07-16 | 深圳市元博智能科技有限公司 | Mechanical clamping jaw for catching conical objects |
| WO2018004033A1 (en) * | 2016-06-29 | 2018-01-04 | (주)로보티즈 | Gripper for robot hand capable of adaptive gripping |
| CN108214534A (en) * | 2018-01-16 | 2018-06-29 | 深圳市大寰机器人科技有限公司 | Adaptive lack of driven robot clamping jaw |
| CN108714909A (en) * | 2018-06-26 | 2018-10-30 | 北京艾利特科技有限公司 | A kind of mechanical paw with self-adapting grasping ability |
| CN210173596U (en) * | 2018-11-30 | 2020-03-24 | 北京海风智能科技有限责任公司 | Mechanical clamping jaw capable of grabbing objects of any shape |
-
2018
- 2018-11-30 CN CN201811453874.7A patent/CN109397321A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103213122A (en) * | 2013-04-23 | 2013-07-24 | 上海大学 | Mechanical grabbing hand based on synchronous double-connecting-rod centering moving mechanism |
| CN103921280A (en) * | 2014-01-26 | 2014-07-16 | 深圳市元博智能科技有限公司 | Mechanical clamping jaw for catching conical objects |
| WO2018004033A1 (en) * | 2016-06-29 | 2018-01-04 | (주)로보티즈 | Gripper for robot hand capable of adaptive gripping |
| CN108214534A (en) * | 2018-01-16 | 2018-06-29 | 深圳市大寰机器人科技有限公司 | Adaptive lack of driven robot clamping jaw |
| CN108714909A (en) * | 2018-06-26 | 2018-10-30 | 北京艾利特科技有限公司 | A kind of mechanical paw with self-adapting grasping ability |
| CN210173596U (en) * | 2018-11-30 | 2020-03-24 | 北京海风智能科技有限责任公司 | Mechanical clamping jaw capable of grabbing objects of any shape |
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