CN108406815A - A kind of gripper suitable for explosion-proof danger - Google Patents

Abstract

The invention relates to a mechanical claw suitable for explosion-proof hazards. The inside of the claw base is provided with a claw cavity, and a claw back groove is opened on the back; an electric telescopic air rod is fixed through a locking rod in the claw back groove, and a hinged joint is fixed at the end of the rod of the electric telescopic air rod a; the claw connector is fixed outside the claw back groove; the upper center of the claw base is fixed with an upper chuck through the bolt b, and a U-shaped sleeve is arranged on the periphery of the upper chuck, and the U-shaped sleeve is The bolt c fixed on the claw base is fixed; the present invention adopts the lifting piece to be anchored to the lower bottom of the claw base through rivets; the bottom of the lifting piece is socketed with the bolt a at the middle position of the lever piece group; The hinge joint b is sleeved, the bolt a at the other end of the lever sheet group is sleeved on the hinge joint a, and the outer end of the claw joint is fixed on the mechanical arm. The technical principle realizes a mechanical claw suitable for explosion-proof .

Description

A mechanical claw suitable for explosion-proof hazards

technical field

The invention relates to a mechanical claw suitable for explosion-proof hazards.

Background technique

In today's life, with the rapid development of science and technology, the biggest difference between robotic arms and human arms lies in flexibility and endurance. That is to say, the biggest advantage of mechanical claws is that they can do the same action repeatedly and never feel tired under normal mechanical conditions! The application of the mechanical claw arm will also become more and more extensive. The mechanical claw is a kind of high-tech automatic production equipment developed in recent decades. The accuracy of the operation and the ability to complete the operation in the environment. An important branch of industrial machinery claw robot. According to the driving mode, it can be divided into hydraulic type, pneumatic type, electric type and mechanical type. The characteristic is that various expected operations can be completed through programming, and the structure and performance have the advantages of both human and mechanical claw machines. The mechanical claw is mainly composed of three parts: the actuator, the drive mechanism and the control system. The hand is a part used to grasp the workpiece (or tool), and there are various structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, holding type and adsorption type, etc. . The movement mechanism enables the hand to complete various rotations (swings), movements or compound movements to achieve prescribed actions and change the position and posture of the grasped object. The lifting, telescoping, rotating and other independent motion modes of the motion mechanism are called the degrees of freedom of the mechanical gripper. In order to grasp objects at any position and orientation in space, 6 degrees of freedom are required. Degree of freedom is a key parameter in gripper design. The more degrees of freedom, the greater the flexibility of the gripper, the wider the versatility, and the more complex its structure. Generally, special-purpose mechanical claws have 2 to 3 degrees of freedom. The control system completes specific actions by controlling the motors of each degree of freedom of the gripper. At the same time, it receives the information fed back by the sensor to form a stable closed-loop control. The core of the control system is usually composed of micro-control chips such as single-chip microcomputer or dsp, and the desired functions are realized by programming it. Mechanical claws can save workers, improve efficiency, reduce costs, improve product quality, improve safety, and enhance the image of the factory. The advantages of multi-joint mechanical claws are: flexible movement, small motion inertia, strong versatility, can grab workpieces close to the machine base, and can work around obstacles between the machine body and the working machine. With the needs of production, Higher and higher requirements are put forward for the flexibility, positioning accuracy and working space of multi-joint arms. The multi-joint arm also breaks through the traditional concept. The number of joints can range from three to a dozen or more, and its shape is not limited to human-like arms. It varies according to different occasions. The performance is unmatched by single-joint mechanical claws. However, for the design of mechanical claws that need to consider explosion-proof hazards, it is necessary to start from the degree of firmness.

Contents of the invention

The purpose of the present invention is to provide a mechanical claw suitable for explosion-proof hazards.

The present invention solves the above-mentioned technical problems and adopts the following technical solutions: a mechanical claw suitable for explosion-proof hazards, its main structure includes: claw connector, electric telescopic air rod, hinge connector a, lever piece, bolt a, Bolt b, bolt c, claw base, claw cavity, claw back groove, locking lever, lifting piece, upper chuck, U-shaped sleeve, lower chuck, hinged connector b, spring seat, pin ring, the above A claw cavity is provided inside the claw base, and a claw back groove is opened on the back thereof; an electric telescopic air rod is fixed through a locking rod in the claw back groove, and a hinged joint a is fixed at the end of the rod of the electric telescopic air rod; A claw connecting piece is fixed outside the claw back groove;

The upper center of the claw base is fixed with an upper chuck by bolt b, and a U-shaped sleeve is arranged on the periphery of the upper chuck, and the U-shaped sleeve is fixed by a bolt c fixed on the claw base, and the bolt c There is a spring in the jacket, and the spring is inserted so that the upper part of the claw base is separated from the U-shaped sleeve;

The inner lower part of the jaw base is provided with a lower chuck, and the center of the lower chuck is welded with a hinged joint b, the hinged joint b is covered with a spring seat, and the bottom end of the spring seat is fastened by a pin ring, and the said The pin ring rests on the inner lower part of the claw base;

The two lever sheets are fixed by three bolts a to form a lever sheet group; the lifting sheet is anchored to the lower bottom of the claw base through rivets; the middle position between the bottom of the lifting sheet and the lever sheet group is The bolt a at one end of the lever sheet group is socketed with the hinge connection b, and the bolt a at the other end of the lever sheet group is socketed with the hinge connection a.

Further, the outer end of the claw connector is fixed on the mechanical arm.

Further, the height of the claw base opening ranges from 5 to 12 centimeters.

Further, the upper chuck is cushioned with a silicone skin layer, and the silicone skin layer is provided with anti-skid grid bars.

Further, the area of the lower chuck is 1.02-1.35 times that of the upper chuck.

Further, the two corners of the U-shaped sleeve are fitted with plastic parts, which can be divided into 7-12 different specifications according to the wall thickness specifications of the plastic parts.

Further, the claw base is made of high-strength steel, which is guaranteed not to be deformed under the pressure of less than 1400 kg in the longitudinal full area.

Further, a cavity is provided on the inner wall of the claw back groove, and a data storage module and a core data operation chip are arranged in the cavity.

Further, the telescoping range of the electric telescopic air rod is 4-7 cm.

Further, eye-catching pigments are sprayed on the lower chuck, and the eye-catching pigments are one of red, yellow, white, and green.

Beneficial effects of the present invention: the lifting piece is anchored to the lower bottom of the claw base through rivets; the bottom of the lifting piece is socketed with the bolt a at the middle position of the lever piece group; The bolt a at the other end of the sheet group is sleeved on the hinge joint a, and the technical principle that the outer end of the claw joint is fixed on the mechanical arm realizes a mechanical claw suitable for explosion-proof hazards.

Description of drawings

Fig. 1 is an overall structural diagram of a mechanical claw suitable for explosion-proof hazards according to the present invention.

Fig. 2 is a structure diagram of the whole (back side) of a mechanical claw suitable for explosion-proof hazards according to the present invention.

Fig. 3 is a right side view of a mechanical claw suitable for explosion-proof hazards according to the present invention.

Fig. 4 is an explosion structure diagram of a mechanical claw suitable for explosion-proof hazards according to the present invention.

In the figure 1-claw connector, 2-electric telescopic air rod, 3-hinge connection a, 4-lever piece, 5-bolt a, 6-bolt b, 7-bolt c, 8-claw base, 81- Claw cavity, 82-claw back groove, 9-lock lever, 10-lift piece, 11-upper chuck, 12-U-shaped sleeve, 13-lower chuck, 131-hinge connector b, 14-spring seat, 15 - Pin ring.

Detailed ways

A detailed description of the specific implementation of the present invention will be made below in conjunction with accompanying drawings 1-4.

Embodiment: A mechanical claw suitable for explosion-proof hazards, its main structure includes: claw connector 1, electric telescopic air rod 2, hinged connector a3, lever piece 4, bolt a5, bolt b6, bolt c7, claw base 8. Claw cavity 81, claw back groove 82, lock lever 9, lifting piece 10, upper chuck 11, U-shaped sleeve 12, lower chuck 13, hinge connector b131, spring seat 14, pin ring 15, the The inside of the claw base 8 is provided with a claw cavity 81, and a claw back groove 82 is opened on the back thereof; the electric telescopic air rod 2 is fixed in the claw back groove 82 through the lock rod 9, and the rod end of the electric telescopic air rod 2 The hinged connector a3 is fixed; the claw connector 1 is fixed outside the claw back groove 82;

The upper center position of the claw base 8 is fixed with the upper chuck 11 by the bolt b6, and a U-shaped sleeve 12 is arranged on the periphery of the upper chuck 11, and the U-shaped sleeve 12 is fixed on the bolt c7 on the claw base 8 fixed, and the bolt c7 is covered with a spring, and the spring is inserted so that the upper part of the claw base 8 is separated from the U-shaped sleeve 12;

The lower part of the jaw base 8 is provided with a lower chuck 13, the center of the lower chuck 13 is welded with a hinged joint b131, the hinged joint b131 is covered with a spring seat 14, and the bottom end of the spring seat 14 is tightened by a pin ring 15 solid, and the pin ring 15 rests on the lower part of the claw base 8;

Two described lever pieces 4 are fixed by three described bolts a5 to form a lever piece group; the described lifting piece 10 is anchored at the bottom of the claw base 8 by rivets; the bottom of the lifting piece 10 is connected with the lever The bolt a5 at the middle position of the sheet group is socketed; the bolt a5 at one end of the lever sheet group is socketed with the hinge joint b131, and the bolt a5 at the other end of the lever sheet group is socketed with the hinge joint a3.

The outer end of the claw connector 1 is fixed on the mechanical arm.

The height range of the opening of the claw base 8 is 5-12 centimeters.

The upper chuck 11 is padded with a silicone skin layer, and the silicone skin layer is provided with anti-slip grid strips.

The area of the lower chuck 13 is 1.02-1.35 times that of the upper chuck 11 .

The two corners of the U-shaped sleeve 12 are inserted with plastic parts, and can be divided into 7-12 different specifications according to the wall thickness specifications of the plastic parts.

The claw base 8 is made of high-strength steel, which is guaranteed not to be deformed under the pressure of 1400 kg or less in the longitudinal full area.

A cavity is provided on the inner side wall of the claw back groove 82, and a data storage module and a core data operation chip are arranged in the cavity.

The telescoping range of the rod member of described electric telescopic air rod 2 is 4-7 centimeters.

The lower chuck 13 is sprayed with eye-catching paint, and the eye-catching paint is one of red, yellow, white, and green.

The core of the present invention lies in that: since the claw base 8 is made of high-strength steel, it is guaranteed not to be deformed under the pressure of less than 1400 kg in the longitudinal full area, because its overall structure has strong resistance to violence. In addition, the workpieces involved in the clamping are: the upper chuck 11 and the lower chuck 13; instead of claws, it has certain guarantees in terms of stability and explosion-proof hazard.

In addition, a cavity is provided on the inner side wall of the claw back groove 82, and a data storage module and a core data operation chip are arranged in the cavity. This design further guarantees the normal operation of the data of the mechanical claw.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Variations and improvements are possible, which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. a kind of gripper suitable for explosion-proof danger is mainly configured with：Pawl connector（1）, electric expansion gas bar（2）, it is hinged Even part a（3）, lever piece（4）, bolt a（5）, bolt b（6）, bolt c（7）, pawl pedestal（8）, pawl chamber（81）, pawl back-trough（82）、 Locking bar（9）, lift piece（10）, upper chuck（11）, U-shaped nest plate（12）, lower chuck（13）, hingedly connect part b（131）, spring base（14）、 Lock ring（15）, it is characterised in that：Pawl pedestal（8）It is internally provided with pawl chamber（81）, the back side is provided with pawl back-trough（82）；The pawl back of the body Slot（82）Inside pass through locking bar（9）It is fixed with electric expansion gas bar（2）, electric expansion gas bar（2）Rod piece end be fixed with it is hinged Even part a（3）；The pawl back-trough（82）It is fixed with pawl connector outside（1）；

The pawl pedestal（8）Internal upper part center passes through bolt b（6）It is fixed with chuck（11）, upper chuck（11）Periphery Equipped with U-shaped nest plate（12）, U-shaped nest plate（12）It is fixed in pawl pedestal（8）On bolt c（7）It fixes, and bolt c（7）Outside It is cased with spring, spring is inserted in so that pawl pedestal（8）Internal upper part and U-shaped nest plate（12）It is spaced；

The pawl pedestal（8）Interior lower part is equipped with lower chuck（13）, lower chuck（13）Center, which is welded with, hingedly connects part b （131）, hingedly connect part b（131）It is cased with spring base outside（14）, spring base（14）Bottom end is by lock ring（15）It is fastened, and described Lock ring（15）It is held on pawl pedestal（8）On interior lower part；

Lever piece described in two panels（4）By the bolt a described in three（5）It fixes, forms a lever piece group；The act piece （10）It is anchored in pawl pedestal by rivet（8）Lower bottom part；The act piece（10）The bolt a of bottom and lever piece group centre position （5）It socket-connects；The bolt a of described lever piece group one end（5）Socket hingedly connects part b（131）, the bolt of the lever piece group other end a（5）It is socketed on and hingedly connects part a（3）.

2. a kind of gripper suitable for explosion-proof danger according to claim 1, it is characterised in that the pawl connector（1） Outer end is fixed on mechanical arm.

3. a kind of gripper suitable for explosion-proof danger according to claim 1, it is characterised in that the pawl pedestal（8）It opens The altitude range of mouth is 5-12 centimetres.

4. a kind of gripper suitable for explosion-proof danger according to claim 1, it is characterised in that the upper chuck（11） On be encased inside silica gel cortex, and the silica gel cortex is equipped with anti-skid mesh glazing bar.

5. a kind of gripper suitable for explosion-proof danger according to claim 1, it is characterised in that the lower chuck（13） Area be upper chuck（11）1.02-1.35 times.

6. a kind of gripper suitable for explosion-proof danger according to claim 1, it is characterised in that the U-shaped nest plate（12） It has been inserted in plastic part on two corner locations, and according to the wall thickness specifications of plastic part, 7-12 kind different sizes can be divided into.

7. a kind of gripper suitable for explosion-proof danger according to claim 1, it is characterised in that the pawl pedestal（8）For High strength steel, longitudinal gross area be pressurized 1400 kilograms or less ensure it is indeformable.

8. a kind of gripper suitable for explosion-proof danger according to claim 1, it is characterised in that the pawl back-trough（82） Madial wall is equipped with cavity, and data memory module and core data operation chip are mounted in cavity.

9. a kind of gripper suitable for explosion-proof danger according to claim 1, it is characterised in that the electric expansion gas Bar（2）Rod piece telescopic extensions be 4-7 centimetres.

10. a kind of gripper suitable for explosion-proof danger according to claim 1, it is characterised in that the lower chuck（13） On be coated with eye-catching pigment, and eye-catching pigment is red, yellow, white, the one of which of green.