CN201573203U

CN201573203U - Mechanical paw

Info

Publication number: CN201573203U
Application number: CN2009202866978U
Authority: CN
Inventors: 苏剑; 汪峰华; 张苏; 于忠海
Original assignee: Shanghai Dianji University
Current assignee: Shanghai Dianji University
Priority date: 2009-12-29
Filing date: 2009-12-29
Publication date: 2010-09-08
Anticipated expiration: 2019-12-29

Abstract

The utility model discloses a mechanical paw, comprising a holding strip, parallelogram mechanisms, a crank block mechanism and a connection plate, wherein the parallelogram mechanisms have two groups and are symmetrically hinged at two sides of the connection plate. The crank block mechanism comprises a slide block, a guide rail and a motor, and the front end of the guide rail is fixedly connected with the connection plate. The slide block is arranged on the guide rail and slides back and forth along the guide rail under the driving of the motor, and the slide block is mutually rotatablely connected with the parallelogram mechanisms by connecting rods. The motor is fixedly arranged on the guide rail, and the front end of the motor is connected with the slide block. The mechanical paw can replace people to do repeated labor in a certain extent, can avoid damage accidents caused by artificial incorrect operation, and has the advantages of simple structure, stable operation, reliable control, and the like.

Description

A kind of mechanical paw

Technical field

The utility model belongs to the Machining Technology field, relate to a kind of mechanical paw, it can be used for a lot of stations, as the stamping parts moulding, need put into hydraulic press with the pick-up operation that manipulator carries out sheet material, the general action of this operation is simple, control is reliable, repeatability is strong, can avoid the injury accident that causes because of artificial maloperation again.

Background technology

Mostly be pneumatic mechanical paw in the prior art at present.As Chinese utility model patent: 200620011773.0 denominations of invention are a kind of patent of pneumatic machinery paw: disclose a kind of pneumatic machinery handgrip, it is made up of hand tooth, sliding sleeve, axle, trip bolt, backplate, tooth bar, lower guide plate, fixed cylinder, cylinder and upper mounted plate, upper mounted plate uses thread connection on the screw thread of the top of cylinder, lower guide plate is installed on the lower thread of cylinder by thread connection, two fixed cylinder are on upper mounted plate, and the centre is passed lower guide plate and is installed in the centre of two backplates by screw; Tooth bar is installed on the output shaft of cylinder by the thread connection at its center.The efficient reduction and the needs of mechanical paw dispose source of the gas, input cost is bigger owing to its gas leakage that exists the air seal problem to cause can make.

The patent of and for example Chinese utility model patent 200620085807.0 a kind of mechanical paws by name, owing to its clamping be utilize what be that steel wire rope uses when loosening is spring, has this feature of repetitive operation by paw, will inevitably cause the fracture that causes owing to tired, will certainly impact gripping like this.

Summary of the invention

Technical problem to be solved in the utility model provides a kind of simple in structure, smooth operation, the reliable mechanical paw of control, and it can replace people to carry out the work of repeatability, thereby overcomes the above-mentioned defective that prior art exists.

The technical scheme of the utility model technical solution problem is as follows:

A kind of mechanical paw is characterized in that, comprises clamp bar, parallel-crank mechanism, slider-crank mechanism, connecting plate; Described parallel-crank mechanism has two groups, and symmetry is hinged on the both sides of connecting plate; Described slider-crank mechanism comprises slide block, guide rail, motor, the front end of described guide rail is fixedlyed connected with connecting plate, described slide block is arranged on the guide rail and slides before and after the guide rail of the driving lower edge of motor, described slide block and parallel-crank mechanism are rotationally connected mutually by connecting rod, described motor is fixedly set on the guide rail, and the front end of described motor links to each other with slide block.

By above disclosed technical scheme as can be known, the utility model cooperates slider-crank mechanism by adopting flat shape quadrangular mechanism, and higher, the stable operation of operational paradigm need not to use sensor just can realize gripping and unclamp.Can change simultaneously the setting angle of clamp bar, to adapt to the gripping of thin-walled, irregular material such as frangible, its repetitive operation is higher, in can being widely used in producing.

The utility model can replace people to carry out the work of repeatability to a certain extent, can avoid the injury accident that causes because of artificial maloperation, and it has simple in structurely, and smooth operation is controlled advantages such as reliable.

Description of drawings

Fig. 1 is the utility model perspective view.

Fig. 2 is a mechanical paw side-looking structural representation among Fig. 1.

Fig. 3 faces structural representation for mechanical paw among Fig. 1.

Reference numeral is as follows:

1. clamp bar 2. parallel-crank mechanisms 3. slider-crank mechanisms

4. connecting plate 5. bearings 6. connecting rods

11. notch 21. first linking arms 22. second linking arms

23. the 3rd linking arm 31. slide blocks 32. guide rails

33. motor 34. guide grooves 35. openings

The specific embodiment

Below in conjunction with drawings and Examples the utility model is described further.

Shown in Fig. 1～3, the utility model mechanical paw comprises clamp bar 1, parallel-crank mechanism 2, slider-crank mechanism 3, connecting plate 4; Described parallel-crank mechanism 2 has two groups, and symmetry is hinged on the both sides of connecting plate 4; Described slider-crank mechanism 3 comprises slide block 31, guide rail 32, motor 33, the front end of described guide rail 32 is fixedlyed connected with connecting plate 4, described slide block 31 is arranged on the guide rail 32 and seesaws at the driving lower edge of motor 33 guide rail, described slide block 31 is rotationally connected by connecting rod 6 mutually with parallel-crank mechanism 2, described motor 33 is fixedly set on the guide rail 32, and the front end of described motor 33 links to each other with slide block 31.

Described parallelogram sturcutre 2 comprises first linking arm 21, second linking arm 22 and the 3rd linking arm 23, described first linking arm 21 and second linking arm 22 are arranged in parallel and equal in length, the two ends of described first linking arm 21 and second linking arm 22 rotate with the 3rd linking arm 23 with connecting plate 4 respectively and are connected, and the leading section of described the 3rd linking arm 23 and clamp bar 1 are rotationally connected.

Further, the upper surface of described slide block 31 is fixed with bearing 5, and bearing 5 is provided with a screwed hole, attacks the screw thread that matches with screwed hole on the motor shaft of described motor 33, and motor shaft extend in the screwed hole.Thereby make motor shaft in the bearing screwed hole, rotate and drive the rectilinear motion of slide block 31.

Described connecting plate 4 is the triangle clamping plate.Also can be other shapes.

Further, a side of described clamp bar 1 is provided with notch 11, and the front end of described the 3rd linking arm 23 extend in the notch 11 and is rotationally connected with clamp bar 1.Have notch 11 by a side, thereby be convenient to that the 3rd linking arm connects and can be fit to the materials of the different sizes of gripping according to the angle of the alteration of form clamping of folded material at two clamp bars.

Described guide rail 32 is worker's shape guide rail, and the dual-side of described guide rail 32 is provided with guide groove 34.Slide block 31 slides before and after the guide groove of worker's type guide rail.

Further, described slide block 31 both sides are respectively equipped with an opening 35, and described connecting rod 6 one ends are articulated on second linking arm 22, and the other end extend in the opening 35 hinged with slide block 31.Opening 35 can be so that installing connecting rods, and does not interfere phenomenon when rotating.

The utility model is to use like this: when motor 33 is just changeing, motor shaft rotates in bearing 6, makes slide block 31 to front slide, rotates parallel-crank mechanism by connecting rod 6 effects, make two clamp bars 1 toward symmetrical center line direction motion, thereby realized the gripping action; When motor 33 counter-rotatings, motor shaft rotates in bearing 6, and slide block 31 is slided backward, and by connecting rod 6 effects, rotates parallel-crank mechanism, makes that two clamp bars 1 are past away from symmetrical center line direction motion, thereby has realized unclamping action.

The above is a better embodiment of the present utility model only, is not to be used for limiting protection domain of the present utility model, and every equal conversion of being done according to the utility model claim is all within protection domain of the present utility model.

Claims

1. a mechanical paw is characterized in that, comprises clamp bar (1), parallel-crank mechanism (2), slider-crank mechanism (3), connecting plate (4); Described parallel-crank mechanism (2) has two groups, and symmetry is hinged on the both sides of connecting plate (4); Described slider-crank mechanism (3) comprises slide block (31), guide rail (32), motor (33), the front end of described guide rail (32) is fixedlyed connected with connecting plate (4), described slide block (31) is arranged at guide rail (32) and upward seesaws at the driving lower edge of motor (33) guide rail, described slide block (31) is rotationally connected by connecting rod (6) mutually with parallel-crank mechanism (2), described motor (33) is fixedly set on the guide rail (32), and the front end of described motor (33) links to each other with slide block (31).

2. mechanical paw according to claim 1, it is characterized in that, described parallelogram sturcutre (2) comprises first linking arm (21), second linking arm (22) and the 3rd linking arm (23), described first linking arm (21) and second linking arm (22) are arranged in parallel and equal in length, the two ends of described first linking arm (21) and second linking arm (22) rotate with the 3rd linking arm (23) with connecting plate (4) respectively and are connected, and the leading section of described the 3rd linking arm (23) and clamp bar (1) are rotationally connected.

3. mechanical paw according to claim 1, it is characterized in that the upper surface of described slide block (31) is fixed with bearing (5), bearing (5) is provided with a screwed hole, attack the screw thread that matches with screwed hole on the motor shaft of described motor (33), motor shaft extend in the screwed hole.

4. mechanical paw according to claim 1 is characterized in that, described connecting plate (4) is the triangle clamping plate.

5. mechanical paw according to claim 2 is characterized in that, a side of described clamp bar (1) is provided with notch (11), and the front end of described the 3rd linking arm (23) extend in the notch (11) and is rotationally connected with clamp bar (1).

6. mechanical paw according to claim 1 is characterized in that, described guide rail (32) is worker's shape guide rail, and the dual-side of described guide rail (32) is provided with guide groove (34).

7. mechanical paw according to claim 4 is characterized in that, described slide block (31) both sides are respectively equipped with an opening (35), and described connecting rod (6) one ends are articulated on second linking arm (22), and the other end extend in the opening (35) hinged with slide block (31).