Connecting rod-synchronized mechanical gripper

Abstract

A connecting rod-synchronized mechanical gripper, pertaining to the field of mechanical design. The mechanical gripper comprises a power source outputting power in the form of linear motion, the power source being rotatably disposed; and comprises a first gripper finger (4) and a second gripper finger (3) which are oppositely arranged, the first gripper finger and the second gripper finger both being rotatably disposed, and the first gripper finger and the second gripper finger being connected to one another by means of a transmission rod (8). The power source drives the first gripper finger to rotate, such that under the driving of the transmission rod, the first gripper finger and the second gripper finger are synchronously spread out or synchronously carry out gripping. The connecting rod-synchronized mechanical gripper can achieve synchronous gripping and loosening of the gripper fingers on both sides, which greatly reduces the space of motion required for gripping a drill pipe by the mechanical gripper, and facilitates optimization of the structure of the mechanical gripper and related components. Meanwhile, the synchronized motion of the gripper fingers on both sides effectively avoids position deviation of the drill pipe when being gripped, which better ensures the accuracy in delivery of the drill pipe.

Description

Connecting rod synchronous clamping mechanical claw Technical Field

[0001] The invention belongs to the field of mechanical design and relates to a connecting rod synchronous clamping mechanical claw. Background Art

[0002] Existing manipulators primarily implement single-sided clamping and double-sided clamping. In the field of drill rod clamping for mining drill rigs, single-sided clamping manipulators are commonly used. One jaw is relatively fixed, while the other is movable. The manipulator clamps the drill rod by "fishing" upward from the bottom side. While this type of manipulator is simple and reliable, its structure and operating principle limit the space required for the movable jaw. During the drill rod grasping process, the asynchronous jaws on both sides can easily cause the drill rod to shift, resulting in improper delivery of the drill rod.

[0003] Common double-sided clamping grippers typically use hydraulic cylinders to drive a dual-sided rack and pinion mechanism to achieve clamping and release. While this type of gripper solves the problem of synchronized dual-sided clamping, it is structurally complex and requires high-strength, precision transmission of a small rack and pinion within the gripper's confined space. This high manufacturing cost and difficulty make it difficult to apply to drill rod clamping in mining rigs.

[0004] Summary of the Invention

[0005] In view of this, the object of the present invention is to provide a connecting rod synchronous clamping mechanical claw, which can synchronously transmit power through a transmission rod to achieve synchronous opening and closing of the clamping claws on both sides of the mechanical claw.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A connecting rod synchronous clamping mechanical claw,

[0008] comprising a power source for outputting power in the form of linear movement, said power source being rotatably arranged;

[0009] It comprises a first clamping jaw and a second clamping jaw which are arranged opposite to each other, wherein the first clamping jaw and the second clamping jaw are both rotatably arranged, and the first clamping jaw and the second clamping jaw are connected via a transmission rod;

[0010] The power source drives the first clamping jaw to rotate, and driven by the transmission rod, the first clamping jaw and the second clamping jaw are synchronously opened or clamped.

[0011] Optionally, the power source outputs power in the form of a moving pair T1, and the power source is fixedly arranged via a rotating pair R1;

[0012] The first clamping jaw and the power source form a rotation pair R2; the first clamping jaw is fixed by the rotation pair R3;

[0013] The second clamping jaw is fixedly arranged via a revolving pair R4;

[0014] The transmission rod forms a rotation pair R5 with the first clamping jaw, and forms a rotation pair R6 with the second clamping jaw;

[0015] The center line between R2 and R5, and the center line between R3 and R4 are perpendicular to the moving direction of T1;

[0016] The transmission rod is located on the perpendicular midline of the line connecting the midpoints of R3 and R4, and R6 is located below the line connecting the midpoints of R3 and R4.

[0017] Optionally, the power source is an oil cylinder, and the oil cylinder outputs power through a piston rod.

[0018] Optionally, a connector is included, wherein a mounting cavity is provided inside the connector, the power source is arranged in the mounting cavity via a first pin shaft passing through the connector, and the first clamp is connected to the power source via a second pin shaft.

[0019] Optionally, the connecting body is provided with two side plates arranged opposite to each other, and the first clamping jaw and the second clamping jaw are both provided on the connecting body via clamping jaw fixing pins passing through the side plates.

[0020] Optionally, the first jaw and the second jaw both include a connected connecting section and a clamping section, the connecting section of the first jaw is connected to the transmission rod and the power source; the connecting section of the second jaw is connected to the transmission rod.

[0021] Optionally, the clamping section is arc-shaped.

[0022] Optionally, the connecting section of the first clamping jaw is in the shape of a "7".

[0023] Optionally, the connecting section of the second clamping jaw is arranged inside the connecting section of the first clamping jaw.

[0024] Optionally, at least two pin holes are formed on the transmission rod, and the transmission rod is connected to the first clamping jaw and the second clamping jaw respectively through a transmission rod pin shaft.

[0025] The beneficial effects of the present invention are:

[0026] (1) By setting the two rotating pairs of the fixed axis of the two jaws and the connecting section of the first jaw in a special position, and setting the transmission rod on the mid-perpendicular line of the line connecting the fixed axis of the two jaws, the synchronous clamping and loosening of the two jaws is achieved, which greatly reduces the movement space required for the jaws to clamp the drill rod, and helps to optimize the structure of the mechanical jaws and related components. At the same time, the synchronous movement of the two jaws effectively avoids the position deviation of the drill rod during the clamping process, which can better ensure the accuracy of drill rod delivery.

[0027] (2) While the hydraulic cylinder drives the gripper to move, the gripper feedback drives the hydraulic cylinder to swing a small angle, which reduces the hydraulic cylinder drive stroke required for clamping and helps to reduce the size of the mechanical gripper and manipulator.

[0028] (3) A connecting rod mechanism is used to achieve synchronous clamping of the clamps on both sides, which has a simple structure and is easy to manufacture.

[0029] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following description or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0031] FIG1 is an axonometric view of some embodiments of the present invention;

[0032] FIG2 is a front view of some embodiments of the present invention;

[0033] Figure 3 is a front view of the connector;

[0034] FIG4 is a side view of the connector;

[0035] FIG5 is an axonometric view of the first clamping jaw;

[0036] FIG6 is an axonometric view of the second clamping jaw;

[0037] FIG7 is an axonometric view of the transmission rod;

[0038] Figure 8 is a schematic diagram of the mechanism;

[0039] Figure 9 is a schematic diagram of the mechanism movement.

[0040] Figure markings: 1 connecting body, 2 oil cylinder, 3 second clamping jaw, 4 first clamping jaw, 5 clamping jaw fixed pin, 6 first pin, 7 second pin, 8 transmission rod, 9 transmission rod pin, 101 first pin hole, 102 stop, 103 second pin hole, 104 mounting cavity, 105 reinforcing rib, 106 third pin hole, 107 clamping jaw movable cavity, 401 connecting section, 401a oil cylinder connecting hole, 401b transmission rod connecting hole, 401c fixed pin connecting hole, 401d transmission rod mounting groove, 402 clamping section, 301 connecting section, 301a fixed pin connecting hole, 301b transmission rod connecting hole, 301c transmission rod mounting groove, 302 clamping section, 801 rod body, 802 pin hole. DETAILED DESCRIPTION

[0041] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0042] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0043] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0044] Referring to Figures 1 to 9 , this 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, and a transmission rod pin 9. The primary functions and structural features of each component are as follows.

[0045] (1) Connector 1

[0046] It is used for fixing and installing parts such as cylinders and clamps, and is also used to connect the mechanical clamp to the arm or other related parts. The connector 1 is a basically symmetrical open thick-walled cavity structure. The top is the arm connection end, which can be a variety of connection structures. The figure shows the preferred pin plus stopper socket connection method. Therefore, it is provided with a first pin hole 101 and stopper 102 for fixing the pin, and a second pin hole 103 for fixing the first pin 6. The middle part is provided with a cylinder installation cavity 104 and a reinforcing rib 105. The lower part is the clamp installation structure, which is provided with a third pin hole 106 for installing the clamp fixing pin 5 and a clamp movable cavity 107.

[0047] (2) First clamping jaw 4

[0048] The first clamping jaw 4 is divided into two parts. The upper half is a "7"-shaped connecting section 401, which is equipped with a cylinder connection hole 401a, a transmission rod connection hole 401b, and a fixed pin connection hole 401c. These are used to pass the second pin 7, the transmission rod pin 9, and the clamping jaw fixed pin 5, respectively, thereby forming a rotational pair with the cylinder piston rod, the transmission rod 8, and the connector 1. The connecting section is equipped with a transmission rod mounting groove 401d extending downward from the top plane for mounting the transmission rod 8. The lower half is a clamping section 402, with both inner and outer surfaces primarily composed of arcs, which is used to clamp the drill rod. The inner arc of the clamping section 402 matches the outer surface of the drill rod, and the outer shape is designed according to the structure of the drill rod storage device and the layout of the drill rods.

[0049] (3) Second clamping jaw 3

[0050] The second clamping jaw 3 is divided into two parts. The upper portion is the connecting section 301, which is equipped with a fixing pin connection hole 301a and a transmission rod connection hole 301b. These holes are respectively used to pass the clamping jaw fixing pin 5 and the transmission rod pin 9, thereby forming a rotational pair with the connector and the transmission rod. The connecting section 301 has a transmission rod mounting groove 301c extending downward from the top plane for mounting the transmission rod 8. The lower portion is the clamping section 302, with both inner and outer surfaces primarily arc-shaped, used to clamp the drill rod. The inner arc of the clamping section 302 matches the outer surface of the drill rod, while the outer shape is designed based on the structure of the drill rod storage device and the drill rod placement.

[0051] (4) Transmission rod 8

[0052] The transmission rod 8 is a flat connecting rod. The upper and lower ends of the rod body 801 are each provided with a connection hole 802 for installing the transmission rod pin 9, thereby forming two rotation pairs with the second clamping jaw 3 and the first clamping jaw 4. The ends of the rod body 801 are arc-shaped to save movement space.

[0053] The component setting method in this embodiment:

[0054] Connector 1, which is connected to the upper components, such as the arm, serves as the gripper's fixed frame. The cylinder and connector 1 form a revolute pair R1, the cylinder and piston rod form a translation pair T1, the piston rod and first jaw 4 form a revolute pair R2, the first jaw 4 and connector 1 form a revolute pair R3, the second jaw 3 and connector 1 form a revolute pair R4, and the transmission rod 8 forms revolute pairs R5 and R6 with the first jaw 4 and second jaw 3, respectively. When the gripper is released, the various components and kinematic pairs are shown in Figure 8.

[0055] The gripper mechanism is a five-link mechanism with a single degree of freedom. Therefore, a driving member (oil cylinder 2) is used to enable the mechanism to have a certain movement, thereby achieving the clamping and release of the first clamping jaw 4 and the second clamping jaw 3.

[0056] The setting features and functions of components and kinematic pairs are as follows:

[0057] (1) The line connecting the center points of the revolving pairs R2 and R5, and the line connecting the center points of R3 and R4 are both perpendicular to the axis of the cylinder 2.

[0058] (2) The transmission rod 8 is parallel to the axis of the oil cylinder 2 and is located on the perpendicular bisector of the line connecting the center points of R3 and R4, and the center point of R6 is located below the line connecting the center points of R3 and R4.

[0059] The movement process of the mechanical claw is as follows:

[0060] (1) Assume that the cylinder 2 is fully extended and the clamping jaws are completely released as the initial state.

[0061] (2) When the oil cylinder 2 retracts, the piston rod drives the connecting section 401 of the first clamping jaw 4 to swing upward by a specific angle θ, and the clamping section 402 of the first clamping jaw 4 swings inward by an angle θ, thus achieving inward contraction. At the same time, the oil cylinder piston rod drives the cylinder barrel to swing right by a specific angle (approximately 1 / 3θ) due to the feedback motion of the swinging of the first clamping jaw 4.

[0062] (3) The first jaw 4 transmits the swing to the second jaw 3 synchronously through the transmission rod 8, driving the clamping section 302 of the second jaw 3 to swing upward by an angle θ, and the clamping section 302 of the second jaw 3 swings inward by an angle θ, realizing synchronous inward contraction with the first jaw 4, thereby clamping the drill rod.

[0063] (4) When the mechanical claw needs to be released, the cylinder 2 extends and the rods move in the opposite direction.

[0064] The above technical solution can solve the problem that the single-sided clamping mechanical claw of the drill rod grasping manipulator requires a large movement space, which is not conducive to the mechanical claw's structural layout, and the problem that the drill rod is easily deflected during the grasping process. It can also solve the problem that the existing double-sided clamping mechanical claw has a complex structure, high manufacturing cost and difficulty.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A connecting rod synchronous clamping mechanical claw, characterized in that: It includes a power source, outputting power in the form of linear movement, and the power source is rotatably arranged; It comprises a first clamping jaw and a second clamping jaw which are arranged opposite to each other, the first clamping jaw and the second clamping jaw are both rotatably arranged, and the first clamping jaw and the second clamping jaw are connected via a transmission rod; The power source drives the first clamping jaw to rotate, and driven by the transmission rod, the first clamping jaw and the second clamping jaw are opened or clamped synchronously.

2. The connecting rod synchronous clamping mechanical claw according to claim 1, characterized in that: The power source outputs power in the form of a moving pair T1, and the power source is fixedly arranged by a rotating pair R1; The first clamping jaw and the power source form a rotation pair R2; the first clamping jaw is fixedly arranged by a rotation pair R3; The second clamping jaw is fixedly arranged by a revolving pair R4; The transmission rod forms a rotation pair R5 with the first clamping jaw, and forms a rotation pair R6 with the second clamping jaw; The center line between R2 and R5, and the center line between R3 and R4 are perpendicular to the moving direction of T1; The transmission rod is located on the perpendicular midline of the line connecting the midpoints of R3 and R4, and R6 is located below the line connecting the midpoints of R3 and R4.

3. The connecting rod synchronous clamping mechanical claw according to claim 1, characterized in that: The power source is an oil cylinder, and the oil cylinder outputs power through a piston rod.

4. The connecting rod synchronous clamping mechanical claw according to claim 1, characterized in that: It comprises a connecting body, an installation cavity is arranged inside the connecting body, and the power source is arranged in the installation cavity via a first pin shaft passing through the connecting body.

5. The connecting rod synchronous clamping mechanical claw according to claim 4, characterized in that: The connecting body is provided with two side plates arranged opposite to each other, and the first clamping jaw and the second clamping jaw are both arranged on the connecting body via clamping jaw fixing pins passing through the side plates.

6. The connecting rod synchronous clamping mechanical claw according to claim 1, characterized in that: The first clamp and the second clamp both include a connected connecting section and a clamping section. The connecting section of the first clamp is connected to the transmission rod and the power source; the connecting section of the second clamp is connected to the transmission rod.

7. The connecting rod synchronous clamping mechanical claw according to claim 6, characterized in that: The clamping section is in an arc shape.

8. The connecting rod synchronous clamping mechanical claw according to claim 6, characterized in that: The connecting section of the first clamping jaw is in the shape of a letter "7".

9. The connecting rod synchronous clamping mechanical claw according to claim 8, characterized in that: 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 mechanical claw according to claim 6, characterized in that: At least two pin holes are formed on the transmission rod, and the transmission rod is connected to the first clamping jaw and the second clamping jaw respectively through a transmission rod pin shaft.

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