CN110625640A - Mechanical claw structure and operation method - Google Patents

Abstract

The invention provides a mechanical claw structure and an operation method. A lifting sleeve is installed at the top center of the chassis, and a lifting shaft is installed inside the lifting sleeve through sliding fit, and the top end of the lifting shaft passes through and is installed on a corner plate. The top guide sleeve is connected with the lifting power device that drives its lifting action; on the chassis and on the side of the lifting bushing, a hanger structure for moving the entire structure is fixed; the bottom of the chassis is fixed with claws disc, the outer periphery of the claw fixed disc is evenly provided with a plurality of extended fixed claws, and multiple groups of link-type clamping claw mechanisms are installed between the extended fixed claws and the bottom end of the lifting shaft; on the chassis A hand-held structure for moving the entire structure is installed on both sides of the hanger structure. This mechanical claw structure can be used for fast grabbing of materials, and at the same time cooperate with the hoisting device to realize its handling, thereby greatly reducing the labor intensity of operators and improving work efficiency.

Description

Mechanical claw structure and operation method

technical field

The invention belongs to the field of manipulators, and in particular relates to a structure and an operation method of a manipulator claw.

Background technique

In the process of material transfer or handling, a grabbing manipulator is needed. This manipulator needs to meet the material grabbing and cooperate with the lifting device to realize its handling function.

Contents of the invention

In order to solve the above technical problems, the present invention provides a mechanical claw structure and an operation method. The mechanical claw structure can be used for fast grabbing of materials, and at the same time cooperate with a lifting device to realize its handling, thereby greatly reducing the labor intensity of operators and improving work efficiency.

In order to achieve the above-mentioned technical features, the object of the present invention is achieved in the following way: the manipulator claw structure, which includes a chassis, the top center of the chassis is equipped with a lifting bushing, and the inside of the lifting bushing is fitted with a lifting shaft through a sliding fit. shaft, the top of the lifting shaft passes through the top guide sleeve installed on the corner plate and is connected with the lifting power device driving its lifting action; on the chassis and on the side of the lifting shaft sleeve, a fixed device is used to move the entire structure The hanger structure; the bottom of the chassis is equipped with a claw fixed plate, and the periphery of the claw fixed plate is evenly provided with a plurality of extended fixed claws, between the extended fixed claws and the bottom end of the lifting shaft Multiple sets of link-type clamping jaw mechanisms are installed; on the chassis and on both sides of the hanger structure, a hand-held structure for moving the entire structure is installed.

The bottom guide sleeve for guiding the lifting shaft is installed on the top of the lifting shaft sleeve, and the lifting shaft forms a guiding fit with the linear bearing installed inside the lifting shaft sleeve; the bottom end of the bearing seat of the lifting shaft sleeve is installed with Thrust ball bearing, the thrust ball bearing cooperates with the collar arranged on the lifting shaft, and bears the axial force.

The lifting power device includes a cylinder fixed on the chassis, the piston rod of the cylinder is fixedly connected with the top of the lifting shaft through a connecting plate, and the cylinder is connected with an air pipe joint, and the air pipe joint is connected with the pneumatic system through the air pipe.

The pneumatic system includes an air source, which communicates with the air pipe of the cylinder through a manual control valve and controls its action.

The hanger structure includes a column, the column is fixed on the chassis through the base of the column, the top of the column is fixed with a top plate through a reinforcing plate, and the top of the top plate is fixed with lifting ears; the corner plate is fixedly installed on the column on the side wall.

The link type jaw mechanism includes an ear seat fixed at the bottom of the end of the extended fixed claw, a clamp arm is hinged on the ear seat through a first pin shaft, and a connecting rod is hinged at the end of the clamp arm through a second pin shaft , the connecting rod is hinged on the fixed seat through the third pin shaft, the fixed seat is fixed on the disc, the disc is fixed on the bottom end of the lifting shaft, and the lifting shaft is located on the claw fixed plate and A return spring is sleeved between the disks; a claw bar is fixed at the bottom end of the clamp arm.

The handheld structure includes lugs symmetrically fixed on the chassis, clamping blocks are fixed on the lugs, T-shaped sleeves are fixed on the clamping blocks, and curved rods are sleeved inside the T-shaped sleeves , the end of the curved rod is provided with a handle, and a reinforcing cross bar is installed between the curved rods on both sides.

The operation method of mechanical claw structure, it comprises the following steps:

Step1: Hoist the entire structure at the end of the hoisting wire rope through the lifting lug;

Step2: Grasp the handle of the hand-held structure, use the wire rope to move the entire structure above the material to be transported, and set the link-type gripper mechanism directly above the material;

Step3: Start the cylinder by manually operating the manual control valve, drive the connecting plate through the piston rod of the cylinder, and drive the lifting shaft through the connecting plate, and then drive the disc at the bottom end through the lifting shaft, and then drive the connecting rod through the disc, and The connecting rod drives the clamp arm and the claw rod, and then grasps the material through the claw rod;

Step4: After the material is grasped, manually move the entire structure to the position where it needs to be placed through the lifting device;

Step5: After reaching the position, operate the manual control valve to release the cylinder. After the release, the lifting shaft will automatically reset under the action of the return spring, and then release the connecting rod type clamp mechanism to loosen the material;

Step6: Move the above-mentioned entire claw structure again, move it to the position that needs to be transported, and then repeat Step2~Step5 to complete the next handling process.

The present invention has following beneficial effect:

1. By adopting the above-mentioned claw structure, it can be used for grabbing materials, and cooperate with the lifting device to realize the movement of the entire structure, and finally realize the transportation of materials.

2. The above-mentioned structure ensures that the lifting shaft can slide smoothly inside the lifting shaft sleeve, reducing its frictional force.

3. The above lifting power device is mainly used to provide clamping power.

4. Through the above-mentioned link-type gripper mechanism, it can be used for grasping the material. During the working process, the lifting shaft can drive the disc, and then drive the connecting rod through the disc, and then drive the clamp hinged with it through the connecting rod. The arm, and finally the material is clamped by the clamp arm driving the claw rod.

5. It is convenient to move the whole device through the above-mentioned hand-held structure, and then cooperate with the hoisting wire rope to realize the overall movement of the material.

Description of drawings

The present invention will be further described below in conjunction with drawings and embodiments.

Fig. 1 is a three-dimensional view of the present invention from a first perspective.

Fig. 2 is a three-dimensional view of the present invention with a second viewing angle.

Fig. 3 is a three-dimensional view from a third perspective of the present invention.

In the figure: lifting lug 1, top plate 2, reinforcement plate 3, column 4, top guide sleeve 5, corner plate 6, lifting shaft 7, bottom guide sleeve 8, lifting shaft sleeve 9, column base 10, chassis 11, outrigger fixing Claw 12, lug seat 13, clamp arm 14, second pin shaft 15, connecting rod 16, third pin shaft 17, fixed seat 18, disc 19, return spring 20, claw fixed disc 21, manual control valve 22, Reinforced cross bar 23, curved bar 24, T-shaped sleeve pipe 25, clamping block 26, ear plate 27, cylinder 28, connecting plate 29, piston rod 30, first pin shaft 31, handle 32.

Detailed ways

Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

Example 1:

Referring to Fig. 1-3, the mechanical claw structure includes a chassis 11, a lifting bushing 9 is installed on the top center of the chassis 11, and a lifting shaft 7 is mounted on the inside of the lifting bushing 9 through a sliding fit. The top end of the shaft 7 passes through the top guide sleeve 5 installed on the gusset 6 and is connected with the lifting power device that drives its lifting action; on the chassis 11 and is located on the side of the lifting sleeve 9, there are fixed screws for moving the entire structure. The hanger structure; the bottom of the chassis 11 is equipped with a claw fixed plate 21, and the periphery of the claw fixed plate 21 is evenly provided with a plurality of extended fixed claws 12, and the extended fixed claws 12 and the lifting shaft There are multiple groups of link-type jaw mechanisms installed between the bottom ends of 7; a hand-held structure for moving the entire structure is installed on the chassis 11 and on both sides of the hanger structure. By adopting the above-mentioned claw structure, it can be used for grabbing materials, and cooperate with the hoisting device to realize the movement of the entire structure, and finally realize the transportation of materials. The material is grasped by the link-type clamping jaw mechanism. After it is grasped, the movement of the entire claw structure is realized by means of the hand-held structure and the lifting device, and the material handling is finally realized.

Further, the bottom guide sleeve 8 for guiding the lifting shaft 7 is installed on the top of the lifting shaft sleeve 9, and the lifting shaft 7 forms a guiding fit with the linear bearing installed inside the lifting shaft sleeve 9; the lifting shaft A thrust ball bearing is installed at the bottom end of the bearing seat of the sleeve 9, and the thrust ball bearing cooperates with the collar arranged on the lifting shaft 7 and bears the axial force. The above-mentioned structure ensures that the lifting shaft 7 can slide smoothly inside the lifting shaft sleeve 9, reducing its friction, and at the same time, the thrust ball bearing can ensure that the lifting shaft 7 bears a certain axial force.

Further, the lifting power device includes a cylinder 28 fixed on the chassis 11, the piston rod 30 of the cylinder 28 is fixedly connected with the top end of the lifting shaft 7 through the connecting plate 29, and the cylinder 28 is connected with an air pipe joint, so The trachea joint is connected with the pneumatic system through the trachea. The above-mentioned lifting power device is mainly used to provide clamping power. During the working process, the connecting plate 29 can be driven by the cylinder 28, and then the lifting shaft 7 can be driven by the connecting plate 29, and the link type clamping can be realized through the action of the lifting shaft 27. Clamping action of the jaw mechanism.

Further, the pneumatic system includes an air source, and the air source is connected with the air pipe of the cylinder 28 through the manual control valve 22 to control its action. The actuation system described above can be used to control the movement of the cylinder 28 .

Further, the hanger structure includes a column 4, the column 4 is fixed on the chassis 11 through the column base 10, the top of the column 4 is fixed with a top plate 2 through the reinforcement plate 3, and the top of the top plate 2 is fixed with a suspension Ear 1 ; the corner plate 6 is fixedly installed on the side wall of the column 4 . The above-mentioned hanger structure can be used to connect the entire structure with the hoisting device, thereby ensuring that it can move as a whole under the action of the hoisting device, and finally realize material handling.

Further, the link type jaw mechanism includes an ear seat 13 fixed on the bottom of the end of the outwardly extending fixed claw 12, the ear seat 13 is hinged with a clamp arm 14 through a first pin shaft 31, and the end of the clamp arm 14 A connecting rod 16 is hinged through the second pin shaft 15, and the connecting rod 16 is hinged on the fixed seat 18 through the third pin shaft 17, and the fixed seat 18 is fixed on the disc 19, and the disc 19 is fixed on the lifting platform. At the bottom of the shaft 7, a return spring 20 is set on the lifting shaft 7 and between the claw fixed disk 21 and the disc 19; the bottom end of the clamp arm 14 is fixed with a claw rod 31. Through the above-mentioned connecting rod type jaw mechanism, it can be used for grasping the material. During the working process, the lifting shaft 7 can drive the disc 19, and then drive the connecting rod 16 through the disc 19, and then drive the connecting rod 16 with it. The hinged clamp arm 14 finally drives the claw rod 31 to clamp the material through the clamp arm 14 .

Further, the handheld structure includes lugs 27 symmetrically fixed on the chassis 11, clamping blocks 26 are fixed on the lugs 27, T-shaped sleeves 25 are fixed on the clamping blocks 26, and the T A curved rod 24 is sleeved inside the type sleeve 25, and a handle 32 is provided at the end of the curved rod 24, and a reinforcing cross bar 23 is installed between the curved rods 24 on both sides. The entire device can be easily moved through the above-mentioned hand-held structure, and then the overall movement of the material can be realized with the hoisting wire rope.

Example 2:

The operation method of mechanical claw structure, it comprises the following steps:

Step1: Hoist the entire structure at the end of the hoisting wire rope through the lifting lug 1;

Step2: Grasp the handle 32 of the hand-held structure, use the wire rope to move the entire structure above the material to be transported, and set the link-type clamping mechanism directly above the material;

Step3: By manually operating the manual control valve 22, start the cylinder 28, drive the connecting plate 29 through the piston rod 30 of the cylinder 28, and drive the lifting shaft 7 through the connecting plate 29, and then drive the disc 19 at the bottom end through the lifting shaft 7, Then the connecting rod 16 is driven by the disc 19, and the clamp arm 14 and the claw rod 31 are driven by the connecting rod 16, and then the material is grasped by the claw rod 31;

Step4: After the material is grasped, manually move the entire structure to the position where it needs to be placed through the lifting device;

Step5: After reaching the position, operate the manual control valve 22 to release the cylinder 28. After the release, the lifting shaft 7 automatically resets under the action of the return spring 20, and then releases the connecting rod type clamp mechanism to release the material;

Step6: Move the above-mentioned entire claw structure again, move it to the position that needs to be transported, and then repeat Step2~Step5 to complete the next handling process.

Claims (8)

1. Mechanical gripper structure, its characterized in that: the lifting mechanism comprises a chassis (11), wherein a lifting shaft sleeve (9) is installed at the center of the top of the chassis (11), a lifting shaft (7) is installed inside the lifting shaft sleeve (9) in a sliding fit manner, and the top end of the lifting shaft (7) penetrates through a top guide sleeve (5) installed on an angle plate (6) and is connected with a lifting power device for driving the lifting shaft to move up and down; a hanging bracket structure used for moving the whole structure is fixed on the chassis (11) and positioned at the side edge of the lifting shaft sleeve (9); a paw fixing disc (21) is mounted at the bottom of the chassis (11), a plurality of outward extending fixing paws (12) are uniformly distributed on the periphery of the paw fixing disc (21), and a plurality of groups of connecting rod type clamping jaw mechanisms are mounted between the outward extending fixing paws (12) and the bottom end of the lifting shaft (7); and hand-held structures for moving the whole structure are arranged on the chassis (11) and positioned at two sides of the hanger structure.

2. The gripper attachment of claim 1, wherein: the top of the lifting shaft sleeve (9) is provided with a bottom guide sleeve (8) for guiding the lifting shaft (7), and the lifting shaft (7) is in guide fit with a linear bearing arranged inside the lifting shaft sleeve (9); and a thrust ball bearing is installed at the bottom end of a bearing seat of the lifting shaft sleeve (9), and the thrust ball bearing is matched with a shaft collar arranged on the lifting shaft (7) and bears axial force.

3. The gripper attachment of claim 1, wherein: the lifting power device comprises an air cylinder (28) fixed on the chassis (11), a piston rod (30) of the air cylinder (28) is fixedly connected with the top end of the lifting shaft (7) through a connecting plate (29), an air pipe connector is connected to the air cylinder (28), and the air pipe connector is connected with a pneumatic system through an air pipe.

4. The gripper mechanism of claim 3, wherein: the pneumatic system comprises a gas source which is communicated with a gas pipe of a cylinder (28) through a manual control valve (22) and controls the action of the gas source.

5. The gripper attachment of claim 1, wherein: the hanging bracket structure comprises an upright post (4), the upright post (4) is fixed on a chassis (11) through an upright post base (10), a top plate (2) is fixed at the top of the upright post (4) through a reinforcing plate (3), and a lifting lug (1) is fixed at the top of the top plate (2); the angle plate (6) is fixedly arranged on the side wall of the upright post (4).

6. The gripper attachment of claim 1, wherein: the connecting rod type clamping jaw mechanism comprises an ear seat (13) fixed at the bottom of the tail end of an outward extending fixed jaw (12), a clamping arm (14) is hinged to the ear seat (13) through a first pin shaft (31), the tail end of the clamping arm (14) is hinged to a connecting rod (16) through a second pin shaft (15), the connecting rod (16) is hinged to a fixed seat (18) through a third pin shaft (17), the fixed seat (18) is fixed to a disc (19), the disc (19) is fixed to the bottom end of a lifting shaft (7), and a reset spring (20) is sleeved on the lifting shaft (7) and located between a claw fixed disc (21) and the disc (19); and a claw rod (31) is fixed at the bottom end of the clamping arm (14).

7. The gripper attachment of claim 1, wherein: handheld structure fixes otic placode (27) on chassis (11) including the symmetry, be fixed with on otic placode (27) and press from both sides tight piece (26), be fixed with T type sleeve pipe (25) on pressing from both sides tight piece (26), the inside cover of T type sleeve pipe (25) is equipped with curved bar (24), the end of curved bar (24) is provided with handle (32), is located and installs between curved bar (24) of both sides and strengthens horizontal pole (23).

8. Method of operating a gripper unit according to any of claims 1 to 7, characterized in that it comprises the following steps:

step 1: the whole structure is hoisted at the tail end of a hoisting steel wire rope through a lifting lug (1);

step 2: a handle (32) of the handheld structure is grasped, the whole structure is moved to the position above the materials to be carried by means of a steel wire rope, and the parallel connection rod type clamping jaw mechanism is arranged right above the materials;

step 3: the cylinder (28) is started by manually operating the manual control valve (22), the piston rod (30) of the cylinder (28) drives the connecting plate (29), the lifting shaft (7) is driven by the connecting plate (29), the disc (19) at the bottom end of the lifting shaft (7) is driven by the lifting shaft (7), the connecting rod (16) is driven by the disc (19), the clamping arm (14) and the claw rod (31) are driven by the connecting rod (16), and the material is clamped tightly by the claw rod (31);

step 4: after the material is gripped, the whole structure is manually moved to a position needing to be placed through a hoisting device;

step 5: after the materials are put in place, the manual control valve (22) is operated to release the air cylinder (28), and after the materials are released, the lifting shaft (7) automatically resets under the action of the reset spring (20), so that the connecting rod type clamping jaw mechanism is released, and the materials are released;

and Step6, moving the whole paw structure again to the position needing to be transported, and repeating the Step2 ~ Step5 to finish the next transportation process.