CN113070897A - Mechanical claw capable of rapidly moving transversely - Google Patents
Mechanical claw capable of rapidly moving transversely Download PDFInfo
- Publication number
- CN113070897A CN113070897A CN202110384476.XA CN202110384476A CN113070897A CN 113070897 A CN113070897 A CN 113070897A CN 202110384476 A CN202110384476 A CN 202110384476A CN 113070897 A CN113070897 A CN 113070897A
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- square shaft
- shaft connecting
- copper sleeve
- transmission
- hole copper
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Fluid-Damping Devices (AREA)
Abstract
The invention discloses a mechanical claw capable of rapidly transversely moving, and relates to the technical field of mechanical claw equipment. The single-action spring reset oil cylinder is simple in structure and low in use and manufacturing cost, the situation that a piston rod cannot be completely extended out is avoided, the situation that the rotation angles of the left end and the right end of the transmission square shaft are inconsistent and the reset sensor cannot be effectively triggered due to the rotation rigidity of the transmission square shaft is also effectively avoided, the action stability is improved, the reliability of the single-action spring reset oil cylinder is improved, and the accuracy of system control is improved.
Description
Technical Field
The invention relates to the technical field of mechanical claw equipment, in particular to a mechanical claw capable of rapidly transversely moving.
Background
The prior unlocking cylinder comprises a cylinder body, a piston rod, a pull rod seal, a sealing ring, a spring seat, a gland, a bearing ring and a pipe joint, wherein the spring is arranged on the spring seat, is fixed at one end of the cylinder body in a threaded connection mode, one end of the piston rod is contacted with the spring seat, the other end extends out of the cylinder body, a sealing ring and a large pull rod seal are sequentially arranged on the inner wall between the piston rod and the cylinder body from inside to outside, a gland is arranged on the outermost side of the piston rod, a sealing ring, a bearing ring, a small pull rod seal and a sealing ring are sequentially arranged between the gland and the piston rod from inside to outside, the gland is fixed with the cylinder body by four screws, a pipe joint is connected with an oil port on the side wall of the cylinder body in a threaded connection mode, oil inlet and oil outlet of the unlocking cylinder are the same oil port, the outside of the oil port is provided with a pipe joint, the retraction action of the piston rod returns by the pressure oil, and the extension action is pushed out by the restoring force of the spring. Because its simple structure, the price is reasonable, the wide application agricultural machine field, the motion of one direction of single-action jar is realized by the oil pressure, and the motion of another direction is realized by the restoring force of spring, nevertheless because the spring restoring force is limited to and the spring produces factors such as deformation influence its restoring force, the condition that the piston rod can not stretch out completely appears easily, can make the hydro-cylinder can not accomplish the action smoothly.
The single-acting spring reset hydraulic oil cylinder introduced by the disclosed invention or the literature focuses on the improvement of the internal structure design of the oil cylinder, the phenomenon that the spring is not restored in place in the application process is not considered, once the problems of spring aging or crushing and the like occur, the oil cylinder can only be disassembled to replace the spring, and the use is influenced in the maintenance process.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a quick transverse moving mechanical claw which is simple in structure and low in use and manufacturing cost, and can avoid the situation that a piston rod can not be completely extended due to insufficient restoring force of a spring in an unlocking cylinder, effectively avoid the situation that the corners of the left end and the right end of a transmission square shaft are inconsistent and a reset sensor can not be effectively triggered due to the rotational stiffness of the transmission square shaft, improve the action stability, improve the reliability of a single-action spring reset oil cylinder and improve the accuracy of system control.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a gripper of quick sideslip, which comprises a housin, fixed subassembly, cup joint the transmission square shaft on fixed subassembly, the inside of fixing subassembly fixed connection on the casing is provided with inside reset spring's unlocking cylinder, the gripper of opening and close is come through the moment of torsion of transmission square shaft transmission that is passed by the transmission square shaft, transmission square shaft both ends fixedly connected with and transmission square shaft looks vertically pendulum rod a, pendulum rod b and pendulum rod c, the front end of the piston rod of unlocking cylinder is provided with the articulated shift fork of being connected with pendulum rod a, still include the outside reset spring an that one end is connected one end and is connected with fixed subassembly with pendulum rod b, one end is connected the outside reset spring b that one end is connected with fixed subassembly with pendulum rod c.
The technical scheme of the invention is further improved as follows: the transmission square shaft is characterized in that two ends of the transmission square shaft are fixedly connected with a cam a and a cam b which are vertical to the transmission square shaft, and the transmission square shaft further comprises a sensor a fixedly connected to the fixed assembly and matched with the cam a in position and a sensor b fixedly connected to the fixed assembly and matched with the cam b in position.
The technical scheme of the invention is further improved as follows: the fixed component comprises a square shaft connecting block a fixedly connected to the bottom surface of the shell, a square shaft connecting block b, a square shaft connecting block c, a square shaft connecting block d, a square shaft connecting round hole copper sleeve a sleeved on the square shaft connecting block a, a square shaft connecting square hole copper sleeve a sleeved on the square shaft connecting block b, a square shaft connecting square hole copper sleeve b sleeved on the square shaft connecting block c, a square shaft connecting round hole copper sleeve b sleeved on the square shaft connecting block d, a transmission square shaft is sleeved on the square shaft connecting round hole copper sleeve a, the square shaft connecting round hole copper sleeve b, the square shaft connecting square hole copper sleeve a and the square shaft connecting square hole copper sleeve b.
The technical scheme of the invention is further improved as follows: the fixing assembly further comprises a square shaft end fixing nut a, a square shaft end fixing nut b, a left damping plate and a right damping plate which are vertically arranged and fixedly connected with the shell, the left end of the transmission square shaft is fixed by the square shaft end fixing nut a, and square shaft connecting blocks a and b are fixed on the left damping plate through screws; the right end of the transmission square shaft is fixed by a square shaft end fixing nut b, square shaft connecting blocks c and d are fixed on the right damping plate through screws, and a square shaft connecting round hole copper sleeve a, a square shaft connecting round hole copper sleeve b, a square shaft connecting square hole copper sleeve a and a square shaft connecting square hole copper sleeve b are arranged between the transmission square shaft and the left damping plate and between the transmission square shaft and the right damping plate.
The technical scheme of the invention is further improved as follows: the side wall of the shell is connected with the lower base a and the lower base b through screws respectively, the side wall of the shell is provided with two threaded holes, the lower base a and the lower base b are provided with a U-shaped groove and four threaded holes corresponding to the two threaded holes of the side wall, the upper base is fixed on the lower base a through screws, and the upper base is provided with a long hole groove corresponding to the four threaded holes of the lower base.
Due to the adoption of the technical scheme, the invention has the technical progress that:
the invention skillfully utilizes the restoring force of the spring, avoids incomplete resetting caused by insufficient restoring force of the spring in the unlocking cylinder, effectively avoids the condition that a piston rod cannot be completely extended due to factors such as limited restoring force of the spring in the unlocking cylinder and the like, and also effectively avoids the condition that the corners of the left end and the right end of the transmission square shaft are inconsistent and a reset sensor cannot be effectively triggered due to the rotational stiffness of the transmission square shaft, thereby improving the action stability, improving the reliability of the single-action spring reset oil cylinder and improving the accuracy of system control; has the advantages of simple structure and low use and manufacturing cost.
The transmission square shaft penetrates through the mechanical claw, the length of the transmission square shaft can be determined according to requirements, the mechanical claw can be opened and closed at any position in the range of the transmission square shaft through rotation of the transmission square shaft, and the opening and closing functions of the mechanical claw in the moving full range are achieved.
The sensor a and the sensor b are respectively positioned near the cam a and the cam b, and the sensor a and the sensor b can be respectively triggered along with the rotation of the cam a and the cam b driven by the transmission square shaft to realize the detection of the opening and closing states of the mechanical claw.
Lower base a and lateral wall, go up base and lower base a and pass through screw connection respectively, the lateral wall is equipped with two screw holes, and lower base is equipped with U type groove and four screw holes corresponding with two screw holes of lateral wall, goes up the base and is equipped with the slot hole groove corresponding with four screw holes of lower base, and the accessible screw slides in U type inslot and adjusts sensor a and cam a's distance, slides through the screw at the slot hole groove and adjusts the distance between sensor b and the cam b.
The square shaft connecting round hole copper sleeve and the square shaft connecting square hole copper sleeve are arranged between the transmission square shaft and the damping plate, and the effects of reducing resistance and preventing explosion can be effectively achieved.
The sensor a and the sensor b are respectively positioned near the cam a and the cam b, and the cam a and the cam b are driven to rotate along with the transmission square shaft, so that the sensor a and the sensor b can be respectively triggered, and the detection of the opening and closing states of the mechanical claw is conveniently realized.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of another form of the present invention;
FIG. 3 is a schematic view of the shaft connection of the transmission side of the present invention;
FIG. 4 is a schematic diagram of the construction of the detection system of the invention;
FIG. 5 is a schematic view of the structure of the unlocking cylinder of the present invention;
wherein, 1, a shell, 2, a left damping plate, 3, a square shaft connecting block a, 4, an external reset spring a, 5, a square shaft connecting block b, 6, a mechanical claw track, 7, a mechanical claw, 8, a square shaft connecting block c, 9, an external reset spring b, 10, a right damping plate, 11, a square shaft connecting block d, 12, a lower base b, 13, an unlocking cylinder, 14, a square shaft end fixing nut a, 15, a square shaft connecting round hole copper sleeve a, 16, a swing rod b, 17, a swing rod a, 18, a square shaft connecting square hole copper sleeve a, 19, a cam a, 20, a cam b, 21, a limiting block, 22, a transmission square shaft, 23, a square shaft connecting square hole copper sleeve b, 24, a swing rod c, 25, a square shaft connecting round hole copper sleeve b, 26, a square shaft end fixing nut b, 27, a lower base a, 28, an upper base, 29, a sensor b, 30, a, 31, a shifting fork, 32, an oil port, 33. piston, 34, internal return spring, 35, spring seat, 36, piston rod.
Detailed Description
The present invention will be described in further detail with reference to the following examples:
as shown in figures 1, 2, 3, 4, 5, specific embodiments of the present invention are illustrated. The embodiments of the present invention will be described in further detail, but the present invention is not limited to the embodiments, and all similar structures and similar variations thereof using the present invention should be included in the scope of the present invention.
As shown in the figure, the quick transverse moving mechanical claw provides a transmission mechanism and a reset scheme thereof aiming at the engineering example that a single-acting spring reset oil cylinder is used as a claw unlocking cylinder, and comprises the following components: the device comprises a transmission square shaft 22, a fixing component, an unlocking component, a resetting component, an unlocking cylinder 13 and a mechanical claw.
The fixing component is used for fixedly connecting the unlocking component, the resetting component, the transmission square shaft and the shell. The fixing component comprises a square shaft connecting block (a square shaft connecting block a3, a square shaft connecting block b5, a square shaft connecting block c8, a square shaft connecting block d 11), a square shaft connecting round hole copper sleeve (a square shaft connecting round hole copper sleeve a15, a square shaft connecting round hole copper sleeve b 25), a square shaft connecting square hole copper sleeve (a square shaft connecting square hole copper sleeve a18, a square shaft connecting square hole copper sleeve b 23), a square shaft end fixing nut (a square shaft end fixing nut a14, a square shaft end fixing nut b 26), and a guide rail left damping plate 2 and a guide rail right damping plate 10. The guide rail 6 is fixed to the housing 1 by screws for the mechanical claw to move fixedly.
The transmission square shaft 22 is used for connecting the unlocking component and the resetting component and transmitting torque.
The unlocking cylinder 13 is provided with two working cavities, one working cavity is a rod cavity, the other working cavity is a rodless cavity, a piston rod 36 is arranged in the rod cavity, a return spring 34 is arranged in the rodless cavity, an oil port 32 is connected with the rod cavity, and a shifting fork 31 is arranged at one extending end of the piston rod 36.
The unlocking assembly comprises a swing rod a17, a cam a19, a sensor a30, a lower base a27, a cam a19 and a swing rod a17 fixed on the transmission square shaft 22, wherein the swing rod a17 is hinged with a shifting fork 31 of the unlocking cylinder 13, and a pin shaft is arranged in front of the shifting fork 31 and directly sleeved on the swing rod a 17. The sensor a30 is fixed on the lower base a27, the lower base a27 is provided with two threaded holes, and the lower base a27 is fixed on the side wall of the casing 1.
The reset assembly comprises a swing rod b16, a swing rod c24, a cam b20, a sensor b29, an upper base 28, an external reset spring a4 and an external reset spring b 9. The cam b20 and the swing rod b16 are fixed on the transmission square shaft 22, the sensor b29 is fixed on the upper base 28, one end of the external reset spring a4 is connected with the swing rod b16, and the other end is fixed on the lower base a27 through a screw.
The cam a19 and the cam b20 are respectively positioned near the sensor a30 and the sensor b29, and as the transmission square shaft 22 drives the cam a19 and the cam b20 to rotate, the sensor a30 and the sensor b29 can be triggered respectively.
The lower base a27 and the side wall, the upper base 28 and the lower base a27 are respectively connected through screws, the side wall of the shell 1 is provided with two threaded holes, the lower base a27 is provided with a long hole groove and four threaded holes corresponding to the two threaded holes of the side wall, the upper base 28 is provided with grooves corresponding to the four threaded holes of the lower base a27, and the distances between the sensor a30 and the cams a19 and between the sensor b29 and the cams b20 can be respectively adjusted through the sliding of the screws in the long hole grooves;
the fixing assembly comprises a square shaft connecting block a3, a square shaft connecting block b5, a square shaft connecting block c8, a square shaft connecting block d11, a square shaft connecting round hole copper sleeve a15, a square shaft connecting round hole copper sleeve b25, a square shaft connecting square hole copper sleeve a18, a square shaft connecting square hole copper sleeve b23, a square shaft end fixing nut a14, a square shaft end fixing nut b26, a left damping plate 2 and a right damping plate 10. The square shaft connecting block b5 is connected with the transmission square shaft 22 through a square shaft connecting square hole copper sleeve a18, the square shaft connecting block a3 is connected with the transmission square shaft 22 through a square shaft connecting round hole copper sleeve a15, the left end of the transmission square shaft 22 is fixed through a square shaft end fixing nut a14, and the square shaft connecting block a3 and the square shaft connecting block b5 are fixed on the left damping plate 2 through screws. The square shaft connecting block c8 is connected with the transmission square shaft 22 through a square shaft connecting square hole copper sleeve b23, the square shaft connecting block d11 is connected with the transmission square shaft 22 through a square shaft connecting round hole copper sleeve b25, the square shaft connecting block c8 and the square shaft connecting block d11 are fixed on the right damping plate 10 through screws, and the right end of the transmission square shaft 22 is fixed through a square shaft end fixing nut b 26.
When an oil inlet 32 of the unlocking cylinder 13 is communicated with an energy accumulator, high-pressure oil flows into a rod cavity, an internal return spring 34 in the rod-free cavity is compressed, a shifting fork 31 at the front end of a piston rod 36 retracts, a swinging rod a17 is pulled, the transmission square shaft 22 rotates anticlockwise when viewed from the left end, unlocking is completed, the swinging rod a17 at the left end of the transmission square shaft 22 rotates under the torque of the transmission square shaft 22, the external return spring a4 extends under the stretching action of the swinging rod a17, the external return spring b9 extends under the stretching action of the swinging rod c24, and at the moment, the cam a19 triggers the sensor a30 to transmit a state signal of 'paw unlocking' to a computer.
When the oil outlet 32 of the unlocking cylinder 13 is communicated with the oil tank, the oil pressure in the unlocking cylinder 13 is higher than the oil tank, the piston rod 36 extends out under the action of the spring resetting force of the internal resetting spring 34, meanwhile, the spring resetting force of the external resetting spring a4 acts on the swing rod a17, the spring resetting force of the external resetting spring b9 acts on the swing rod c24, the resetting forces of the three springs are transmitted to finally act on the transmission square shaft 22, and when the transmission square shaft 22 is observed from the left end, the transmission square shaft 22 rotates clockwise, and the resetting action is completed. At this time, the cam b20 triggers the sensor b29 to transmit a "paw lock" status signal to the computer.
Working principle or using method:
and (3) locking process:
the mechanical claw 7 moves transversely on the track 6 under the action of a hydraulic driving system, after the mechanical claw 7 impacts the probe rod, the upper claw of the mechanical claw 7 is closed under the action of hydraulic driving force and external force, a locking pin in the mechanical claw 7 rotates upwards under the rotating action of the transmission square shaft 22 to the top to lock the mechanical claw, and the external return spring a4 and the external return spring b9 provide restoring force of the rotating action.
When the mechanical claw is in an unlocking state, the sensor a30 is in a compression state, the sensor b29 is in a non-compression state, and a mechanical claw closing signal is fed back. At this time, the outer return spring a4 and the outer return spring b9 are in a stretched state.
An unlocking process:
the gripper 7 is in the locked position with sensor b29 in the compressed state and sensor a30 in the uncompressed state, feeding back the gripper close signal. At this time, the outer return spring a4 and the outer return spring b9 are in the initial positions. When the mechanical claw needs to be unlocked, a hydraulic driving system of the quick mooring device supplies oil to a rod cavity of the unlocking cylinder 13, the piston 33 moves backwards, the linear motion of the piston rod 36 is transmitted to the pin shaft through the shifting fork 31, the pin shaft pushes the swing rod a17 to drive the transmission square shaft 22 to rotate clockwise, the transmission square shaft 22 drives the cam a19 and the cam b20 to rotate clockwise through the shaft sleeve until the locking mechanism in the mechanical claw 7 passes through the dead point position to reach the unlocking position, at the moment, the sensor a30 is compressed to the position by the cam a19, the cam b20 leaves the sensor b29, and the opening signal of the mechanical claw is fed back.
Claims (5)
1. A gripper capable of rapidly traversing is characterized in that: the automatic unlocking device comprises a shell (1), a fixing component, a transmission square shaft (22) sleeved on the fixing component, an unlocking cylinder fixedly connected to the shell (1) through the fixing component and provided with an internal reset spring (34) inside, and a mechanical claw (7) opened and closed through torque transmitted by the transmission square shaft (22) and passed by the transmission square shaft (22), wherein two ends of the transmission square shaft (22) are fixedly connected with a swing rod a (17) perpendicular to the transmission square shaft (22), a swing rod b (16) and a swing rod c (24), a shifting fork (31) hinged with the swing rod a (17) is arranged at the front end of a piston rod (36) of the unlocking cylinder, the automatic unlocking device further comprises an external reset spring a (4) with one end connected with the fixing component and connected with the swing rod b (16), and an external reset spring b (9) with one end connected with the swing rod c (24) and one end connected with the.
2. A quick-traverse gripper as claimed in claim 1, further comprising: the transmission square shaft (22) is fixedly connected with cams a (19) and cams b (20) which are perpendicular to the transmission square shaft (22) at two ends, and further comprises a sensor a (30) which is fixedly connected to the fixed component and is matched with the cam a (19) in position and a sensor b (29) which is fixedly connected to the fixed component and is matched with the cam b (20) in position.
3. A quick-traverse gripper as claimed in claim 1, further comprising: the fixed assembly comprises a square shaft connecting block a (3), a square shaft connecting block b (5), a square shaft connecting block c (8), a square shaft connecting block d (11), a square shaft connecting round hole copper sleeve a (15) sleeved on the square shaft connecting block a (3), a square shaft connecting square hole copper sleeve a (18) sleeved on the square shaft connecting block b (5), a square shaft connecting square hole copper sleeve b (23) sleeved on the square shaft connecting block c (8), a square shaft connecting round hole copper sleeve b (25) sleeved on the square shaft connecting block d (11), and a transmission square shaft (22) sleeved in the square shaft connecting round hole copper sleeve a (15), the square shaft connecting round hole copper sleeve b (25), the square shaft connecting square hole copper sleeve a (18) and the square shaft connecting square hole copper sleeve b (23).
4. A quick-traverse gripper as claimed in claim 3, wherein: the fixing assembly further comprises a square shaft end fixing nut a (14), a square shaft end fixing nut b (26), a vertically arranged left damping plate (2) and a vertically arranged right damping plate (10) which are fixedly connected with the shell (1), the left end of the transmission square shaft (22) is fixed by the square shaft end fixing nut a (14), and the square shaft connecting blocks a (3) and b are fixed on the left damping plate (2) through screws; the right end of the transmission square shaft (22) is fixed by a square shaft end fixing nut b (26), square shaft connecting blocks c (8) and d are fixed on the right damping plate (10) through screws, and a square shaft connecting round hole copper sleeve a (15), a square shaft connecting round hole copper sleeve b (25), a square shaft connecting square hole copper sleeve a (18) and a square shaft connecting square hole copper sleeve b (23) are arranged between the transmission square shaft (22) and the left damping plate (2) and between the transmission square shaft and the right damping plate (10).
5. A quick-traverse gripper as claimed in claim 2, wherein: the novel multifunctional electric kettle is characterized by further comprising a lower base a (27) and a lower base b (12) which are fixedly connected with the side wall of the shell (1), the side wall of the shell (1) is connected with the lower base a (27) and the lower base b (12) through screws respectively, the side wall of the shell (1) is provided with two threaded holes, the lower base a (27) and the lower base b (12) are provided with a U-shaped groove and four threaded holes corresponding to the two threaded holes of the side wall, the upper base (28) is fixed on the lower base a (27) through screws, and the upper base (28) is provided with long hole grooves corresponding to the four threaded holes of the lower base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110384476.XA CN113070897B (en) | 2021-04-09 | 2021-04-09 | A fast traversing mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110384476.XA CN113070897B (en) | 2021-04-09 | 2021-04-09 | A fast traversing mechanical claw |
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| Publication Number | Publication Date |
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| CN113070897A true CN113070897A (en) | 2021-07-06 |
| CN113070897B CN113070897B (en) | 2022-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110384476.XA Active CN113070897B (en) | 2021-04-09 | 2021-04-09 | A fast traversing mechanical claw |
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| Country | Link |
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| CN (1) | CN113070897B (en) |
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| Publication number | Publication date |
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| CN113070897B (en) | 2022-07-29 |
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