CN220593197U - Clamping structure of connecting rod synchronous clamping mechanical claw - Google Patents
Clamping structure of connecting rod synchronous clamping mechanical claw Download PDFInfo
- Publication number
- CN220593197U CN220593197U CN202322321195.7U CN202322321195U CN220593197U CN 220593197 U CN220593197 U CN 220593197U CN 202322321195 U CN202322321195 U CN 202322321195U CN 220593197 U CN220593197 U CN 220593197U
- Authority
- CN
- China
- Prior art keywords
- clamping
- clamping jaw
- rod
- jaw
- transmission rod
- 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.)
- Active
Links
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 24
- 210000000078 claw Anatomy 0.000 title abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 48
- 230000000149 penetrating effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Earth Drilling (AREA)
Abstract
The utility model relates to a clamping structure of a connecting rod synchronous clamping mechanical claw, and belongs to the field of mechanical design. Comprises a power rod which transmits power in a linear movement mode; the clamping device comprises a first clamping jaw and a second clamping jaw which are oppositely arranged, wherein the first clamping jaw and the second clamping jaw are both rotatably arranged, and the first clamping jaw is connected with the second clamping jaw through a transmission rod; the power rod drives the first clamping jaw to rotate, and the first clamping jaw and the second clamping jaw are synchronously opened or synchronously clamped under the drive of the transmission rod. The utility model can realize synchronous clamping and loosening of the clamping jaws at two sides, greatly reduces the movement space required by the clamping of the drill rod by the clamping jaws, and is beneficial to optimizing the structures of the mechanical jaws and related parts. Meanwhile, the synchronous movement of the clamping jaws at the two sides effectively avoids the position deviation of the drill rod in the clamped process, and the conveying accuracy of the drill rod can be better ensured.
Description
Technical Field
The utility model belongs to the field of mechanical design, and relates to a clamping structure of a connecting rod synchronous clamping mechanical claw.
Background
The clamping of the existing manipulator mainly comprises two realization modes of single-side clamping and double-side butt clamping. In the field of drill rod clamping of a mining drilling machine, a single-side clamping manipulator is generally used, one side clamping jaw of the manipulator is relatively fixed, the other side clamping jaw can move, and a mode of 'fishing' from the side lower direction of a drill rod is adopted to clamp the drill rod. The mechanical claw has simple and reliable structure, but is limited by the structure and the working principle, and the space required by one side of the moving clamping claw is larger. In the process of grabbing the drill rod, the drill rod is easily deviated due to the fact that clamping claws at two sides are not synchronous, and the drill rod is not conveyed in place.
The common double-side opposite clamping type mechanical claw is usually driven by an oil cylinder to move by a double-side gear rack mechanism, so that clamping and loosening are realized. Although the mechanical claw solves the problem of double-side synchronous clamping, the mechanical claw has a complex structure, high-strength and precise transmission of small-size gear racks needs to be realized in a narrow space of the mechanical claw, the manufacturing cost is high, the difficulty is high, and the mechanical claw is difficult to apply to the field of clamping drill rods of a mining drilling machine.
Disclosure of Invention
Therefore, the utility model aims to provide a connecting rod synchronous clamping mechanical claw clamping structure which synchronously transmits power through a transmission rod to realize synchronous opening and closing of clamping claws on two sides of the mechanical claw.
In order to achieve the above purpose, the present utility model provides the following technical solutions:
a connecting rod synchronous clamping mechanical claw clamping structure comprises a power rod, wherein power is transmitted in a linear movement mode;
the clamping device comprises a first clamping jaw and a second clamping jaw which are oppositely arranged, wherein the first clamping jaw and the second clamping jaw are both rotatably arranged, and the first clamping jaw is connected with the second clamping jaw through a transmission rod;
the power rod drives the first clamping jaw to rotate, and the first clamping jaw and the second clamping jaw are synchronously opened or synchronously clamped under the drive of the transmission rod.
Optionally, the moving direction of the power rod is T1, and the first clamping jaw and the power rod form a revolute pair R2; the first clamping jaw is fixedly arranged through a revolute pair R3;
the second clamping jaw is fixedly arranged through a revolute pair R4;
the transmission rod and the first clamping jaw form a revolute pair R5, and the transmission rod and the second clamping jaw form a revolute pair R6;
the central connecting lines of R2 and R5 and the central connecting lines of R3 and R4 are perpendicular to the direction of T1;
the transmission rod is positioned on a middling line of the midpoint connecting line of the R3 and the R4, and the R6 is positioned below the midpoint connecting line of the R3 and the R4.
Optionally, the power rod is a piston rod of the oil cylinder.
Optionally, the power rod comprises a connector, wherein an installation cavity is formed in the connector, and the power rod is arranged in the installation cavity through a first pin shaft penetrating through the connector.
Optionally, two side plates are arranged on the connector, and the first clamping jaw and the second clamping jaw are arranged on the connector through clamping jaw fixing pins penetrating through the side plates.
Optionally, the first clamping jaw and the second clamping jaw each comprise a connecting section and a clamping section which are connected, and the connecting section of the first clamping jaw is connected with the transmission rod and the power rod; the connecting section of the second clamping jaw is connected with the transmission rod.
Optionally, the clamping section is arc-shaped.
Optionally, the connecting section of the first clamping jaw is 7-shaped.
Optionally, the connecting section of the second clamping jaw is arranged inside the connecting section of the first clamping jaw.
Optionally, the transmission rod is provided with at least two pin holes, and the transmission rod is respectively connected with the first clamping jaw and the second clamping jaw through transmission rod pin shafts.
The utility model has the beneficial effects that:
(1) The special positions of the two revolute pairs of the connecting sections of the two side clamping jaw fixing shafts and the first clamping jaw are arranged, and the transmission rod is arranged on the middle vertical line of the connecting line of the two side clamping jaw fixing shafts, so that synchronous clamping and loosening of the two side clamping jaws are realized, the movement space required by clamping a drill rod by the clamping jaw is greatly reduced, and the mechanical jaw and related component structures are facilitated to be optimized. Meanwhile, the synchronous movement of the clamping jaws at the two sides effectively avoids the position deviation of the drill rod in the clamped process, and the conveying accuracy of the drill rod can be better ensured.
(2) The oil cylinder drives the clamping jaw to move, and the clamping jaw feedback drives the oil cylinder to swing by a small angle, so that the oil cylinder driving stroke required by clamping is reduced, and the sizes of the mechanical claw and the mechanical arm are reduced.
(3) The connecting rod mechanism is adopted to realize synchronous clamping of the clamping jaws at two sides, the structure is simple, and the manufacturing is easy.
Additional advantages, objects, and features of the utility model will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the utility model. The objects and other advantages of the utility model may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the present utility model will be described in the following preferred detail with reference to the accompanying drawings, in which:
FIG. 1 is an isometric view of some embodiments of the utility model;
FIG. 2 is a front view of some embodiments of the utility models;
FIG. 3 is a front view of the connector;
FIG. 4 is a side view of a connector;
FIG. 5 is an isometric view of the first jaw;
FIG. 6 is an isometric view of a second jaw;
FIG. 7 is an isometric view of a drive rod;
FIG. 8 is a schematic diagram of a mechanism;
fig. 9 is a schematic diagram of the mechanism movement.
Reference numerals: the device comprises a connector 1, a cylinder 2, a second clamping jaw 3, a first clamping jaw 4, a clamping jaw fixing pin 5, a first pin shaft 6, a second pin shaft 7, a transmission rod 8, a transmission rod pin shaft 9, a first pin shaft hole 101, a spigot 102, a second pin shaft hole 103, a mounting cavity 104, a reinforcing rib 105, a third pin shaft hole 106, a clamping jaw movable cavity 107, a connecting section 401, a cylinder connecting hole 401a transmission rod connecting hole 401b, a fixed pin shaft connecting hole 401c, a transmission rod mounting groove 401d, a clamping section 402, a connecting section 301, a fixed pin shaft connecting hole 301b, a transmission rod connecting hole 301c, a transmission rod mounting groove 302, a clamping section 801 rod body 802 and a pin hole.
Detailed Description
Other advantages and effects of the present utility model will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present utility model with reference to specific examples. The utility model may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present utility model. It should be noted that the illustrations provided in the following embodiments merely illustrate the basic idea of the present utility model by way of illustration, and the following embodiments and features in the embodiments may be combined with each other without conflict.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to limit the utility model; for the purpose of better illustrating embodiments of the utility model, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the utility model correspond to the same or similar components; in the description of the present utility model, it should be understood that, if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc., that indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, it is only for convenience of describing the present utility model and simplifying the description, but not for indicating or suggesting that the referred device or element must have a specific azimuth, be constructed and operated in a specific azimuth, so that the terms describing the positional relationship in the drawings are merely for exemplary illustration and should not be construed as limiting the present utility model, and that the specific meaning of the above terms may be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1 to 9, the present embodiment includes a connector 1, a clamping cylinder 2, a first clamping jaw 3, a second clamping jaw 4, a clamping jaw fixing pin 5, a first pin 6, a second pin 7, a transmission rod 8, a transmission rod pin 9, and other parts. The main functions and structural features of each part are as follows.
(1) Connector 1
The device is used for fixedly mounting the oil cylinder, the clamping jaw and other parts, and simultaneously is used for connecting the mechanical claw with an arm or other related parts. The connector 1 is a substantially symmetrical open thick-wall cavity structure, the top of which is an arm connection end, and may be various connection structures, and is shown as a preferred pin and spigot socket connection mode, so that a first pin hole 101 and a spigot 102 for fixing the pin installation and a second pin hole 103 for fixing the first pin 6 are provided. The middle part is provided with an oil cylinder installation cavity 104 and a reinforcing rib 105. The lower part is a clamping jaw mounting structure, and is provided with a third pin shaft hole 106 and a clamping jaw movable cavity 107 for mounting the clamping jaw fixing pin shaft 5.
(2) First clamping jaw 4
The first clamping jaw 4 is divided into two parts, the upper half part is a 7-shaped connecting section 401, and is provided with an oil cylinder connecting hole 401a, a transmission rod connecting hole 401b and a fixed pin connecting hole 401c which are respectively used for penetrating through the second pin shaft 7, the transmission rod pin shaft 9 and the clamping jaw fixed pin shaft 5, so that a revolute pair between the clamping jaw and an oil cylinder piston rod, the transmission rod 8 and the connecting body 1 is respectively formed; the connecting section is provided with a transmission rod mounting groove 401d penetrating downwards from the top plane for mounting the transmission rod 8. The lower half is a clamping section 402 with the inner and outer surfaces being mainly circular arcs for clamping the drill rod. The inner circular arc of the gripping section 402 matches the outer surface of the drill pipe and the outer shape is designed according to the drill pipe storage configuration and drill pipe placement style.
(3) Second clamping jaw 3
The second clamping jaw 3 is divided into two parts, the upper half part is a connecting section 301, and is provided with a fixed pin shaft connecting hole 301a and a transmission rod connecting hole 301b which are respectively used for penetrating through the clamping jaw fixed pin shaft 5 and the transmission rod pin shaft 9 so as to respectively form a revolute pair between the connecting body and the transmission rod; the connecting section 301 is provided with a transmission rod mounting groove 301c extending downwards from the top plane for mounting the transmission rod 8. The lower half is a clamping section 302 with the inner and outer surfaces being mainly circular arcs for clamping the drill rod. The inner circular arc of the clamping section 302 matches the outer surface of the drill rod and the outer shape is designed according to the drill rod storage device configuration and the drill rod placement form.
(4) Transmission rod 8
The transmission rod 8 is a flat connection rod as a whole, and the upper end and the lower end of the rod body 801 are respectively provided with 1 connection hole 802 for mounting the transmission rod pin shaft 9, thereby forming two revolute pairs with the second clamping jaw 3 and the first clamping jaw 4. The two ends of the rod 801 are arc-shaped to save movement space.
The member setting method in the present embodiment:
the connecting body 1 is connected with an upper end part such as an arm and the like and is regarded as a fixed frame of the paw. The cylinder forms revolute pair R1 with connector 1, and the cylinder forms movable pair T1 with the piston rod, and the piston rod forms revolute pair R2 with first clamping jaw 4, and first clamping jaw 4 forms revolute pair R3 with connector 1, and second clamping jaw 3 forms revolute pair R4 with connector 1, and transfer line 8 forms revolute pair R5 and R6 with first clamping jaw 4, second clamping jaw 3 respectively. When the gripper is in the released state, the respective members and kinematic pairs are as shown in fig. 8.
The gripper mechanism is a 5-bar mechanism with a single degree of freedom, so that the mechanism can be moved with a defined movement by means of a drive (cylinder 2) to effect clamping and unclamping of the first jaw 4 and the second jaw 3.
The arrangement characteristics and the functions of the component and the kinematic pair are as follows:
(1) The connecting line of the central points of the revolute pairs R2 and R5 and the connecting line of the central points of the revolute pairs R3 and R4 are perpendicular to the axis of the oil cylinder 2.
(2) The transmission rod 8 is parallel to the axis of the oil cylinder 2 and is positioned on the midwifery line of the connecting line of the central points of the R3 and the R4, and the central point of the R6 is positioned below the connecting line of the central points of the R3 and the R4.
The movement process of the mechanical claw is as follows:
(1) Assuming that the cylinder 2 is fully extended, the jaws are fully released to an initial state.
(2) The oil cylinder 2 is retracted, the connecting section 401 of the first clamping jaw 4 is driven by the piston rod to swing upwards by a specific angle theta, and the clamping section 402 of the first clamping jaw 4 swings inwards by the angle theta, so that inward contraction is realized. Simultaneously, the cylinder rod drives the cylinder barrel to swing rightwards by a certain angle (about 1/3 theta) under the feedback movement of the swing of the first clamping jaw 4.
(3) The first clamping jaw 4 synchronously transmits the swing to the second clamping jaw 3 through the transmission rod 8, the clamping section 302 of the second clamping jaw 3 is driven to swing upwards by an angle theta, and the clamping section 302 of the second clamping jaw 3 swings inwards by an angle theta, so that the clamping section and the first clamping jaw 4 synchronously retract inwards, and the drill rod is clamped.
(4) When the mechanical claw is required to be loosened, the oil cylinder 2 extends out, and each rod piece moves reversely.
Through the technical scheme, the problem that the single-side clamping mechanical claw of the drill rod grabbing mechanical arm needs large movement space and is unfavorable for mechanical claw structural arrangement and the problem that drill rods are easy to deviate in the grabbing process can be solved. The problems of complex structure, high manufacturing cost and high difficulty of the mechanical claw of the existing double-sided butt clamp can also be solved.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present utility model, which is intended to be covered by the claims of the present utility model.
Claims (10)
1. The utility model provides a connecting rod synchronous clamping gripper clamping structure which characterized in that: comprises a power rod which transmits power in a linear movement mode;
the clamping device comprises a first clamping jaw and a second clamping jaw which are oppositely arranged, wherein the first clamping jaw and the second clamping jaw are both rotatably arranged, and the first clamping jaw is connected with the second clamping jaw through a transmission rod;
the power rod drives the first clamping jaw to rotate, and the first clamping jaw and the second clamping jaw are synchronously opened or synchronously clamped under the drive of the transmission rod.
2. The connecting rod synchronous clamping gripper clamping structure according to claim 1, wherein:
the moving direction of the power rod is T1, and the first clamping jaw and the power rod form a revolute pair R2; the first clamping jaw is fixedly arranged through a revolute pair R3;
the second clamping jaw is fixedly arranged through a revolute pair R4;
the transmission rod and the first clamping jaw form a revolute pair R5, and the transmission rod and the second clamping jaw form a revolute pair R6;
the central connecting lines of R2 and R5 and the central connecting lines of R3 and R4 are perpendicular to the direction of T1;
the transmission rod is positioned on a middling line of the midpoint connecting line of the R3 and the R4, and the R6 is positioned below the midpoint connecting line of the R3 and the R4.
3. The connecting rod synchronous clamping gripper clamping structure according to claim 1, wherein: the power rod is a piston rod of the oil cylinder.
4. The connecting rod synchronous clamping gripper clamping structure according to claim 1, wherein: the power rod is arranged in the mounting cavity through a first pin shaft penetrating through the connector.
5. The connecting rod synchronous clamping gripper clamping structure according to claim 4, wherein: the connecting body is provided with two side plates which are arranged oppositely, and the first clamping jaw and the second clamping jaw are arranged on the connecting body through clamping jaw fixing pins penetrating through the side plates.
6. The connecting rod synchronous clamping gripper clamping structure according to claim 1, wherein: the first clamping jaw and the second clamping jaw comprise a connecting section and a clamping section which are connected, and the connecting section of the first clamping jaw is connected with the transmission rod and the power rod; the connecting section of the second clamping jaw is connected with the transmission rod.
7. The connecting rod synchronous clamping gripper clamping structure according to claim 6, wherein: the clamping section is arc-shaped.
8. The connecting rod synchronous clamping gripper clamping structure according to claim 6, wherein: the connecting section of the first clamping jaw is 7-shaped.
9. The connecting rod synchronous clamping gripper clamping structure of claim 8, wherein: the connecting section of the second clamping jaw is arranged inside the connecting section of the first clamping jaw.
10. The connecting rod synchronous clamping gripper clamping structure according to claim 6, wherein: at least two pin holes are formed in the transmission rod, and the transmission rod is connected with the first clamping jaw and the second clamping jaw through transmission rod pin shafts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322321195.7U CN220593197U (en) | 2023-08-28 | 2023-08-28 | Clamping structure of connecting rod synchronous clamping mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322321195.7U CN220593197U (en) | 2023-08-28 | 2023-08-28 | Clamping structure of connecting rod synchronous clamping mechanical claw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220593197U true CN220593197U (en) | 2024-03-15 |
Family
ID=90173763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322321195.7U Active CN220593197U (en) | 2023-08-28 | 2023-08-28 | Clamping structure of connecting rod synchronous clamping mechanical claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220593197U (en) |
-
2023
- 2023-08-28 CN CN202322321195.7U patent/CN220593197U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112454414B (en) | Self-adaptive clamp | |
| CN101875198A (en) | Overconstraint parallel robot mechanism with three degrees of freedom | |
| CN101704242A (en) | 2-PRT and PRS spatial parallel robotic mechanism with three degrees of freedom (DOF) | |
| CN108582131A (en) | A kind of new energy motor stator casing and rotor together equipment manipulator | |
| CN220593197U (en) | Clamping structure of connecting rod synchronous clamping mechanical claw | |
| CN210714524U (en) | Tool for connecting and replacing drill rod | |
| CN115056252A (en) | Multifunctional grabbing device of industrial robot | |
| CN117067246A (en) | Synchronous clamping mechanical claw for connecting rod | |
| CN212218534U (en) | Double-claw mechanical arm mechanism for numerical control hot forging mechanical arm | |
| CN211806195U (en) | Manipulator fixture | |
| CN110238825B (en) | Novel multi-mode parallel robot mechanism | |
| CN111648730A (en) | Indexing type automatic drill rod adding and connecting device and automatic drill rod adding and connecting method | |
| CN111421568A (en) | Slider type under-actuated three-joint mechanical finger structure, manipulator and operation method of manipulator | |
| CN102528818B (en) | Multi-loop coupling connecting rod working device with complex hinge | |
| CN114012713B (en) | Continuum robot driving assembly | |
| CN212331062U (en) | Sliding block type under-actuated three-joint manipulator | |
| CN212508151U (en) | Automatic drill rod connecting device | |
| CN116494292A (en) | Translation machinery gripping apparatus and robot | |
| CN212601929U (en) | Crank arm and gripper structure of all-carbon fiber robot | |
| CN110238827B (en) | Metamorphic parallel robot | |
| CN110774301A (en) | Robot end effector | |
| CN216731841U (en) | Swing arm tool | |
| CN219705213U (en) | Robot clamping jaw structure | |
| CN219563157U (en) | Self-adaptive flexible manipulator clamp | |
| CN219504804U (en) | Bulk cargo grabbing and assisting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |