CN106826888A - A kind of coordinated type elastic mechanical paw - Google Patents
A kind of coordinated type elastic mechanical paw Download PDFInfo
- Publication number
- CN106826888A CN106826888A CN201710131708.4A CN201710131708A CN106826888A CN 106826888 A CN106826888 A CN 106826888A CN 201710131708 A CN201710131708 A CN 201710131708A CN 106826888 A CN106826888 A CN 106826888A
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- China
- Prior art keywords
- plate
- lower carriage
- mobile push
- coordinated type
- outer sleeve
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Classifications
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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
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to technical field of automation in industry, more particularly to a kind of coordinated type elastic mechanical paw, it includes upper bracket and lower carriage, mobile push-plate is provided between the upper bracket and the lower carriage and is used to the pushing mechanism for promoting mobile push-plate to move up；Outer sleeve top is connected in upper bracket, and outer sleeve bottom passes through mobile push-plate to connect with lower carriage, locking component is set in mobile push-plate, and locking component coordinates with the perforate of overcoat drum outer wall；Supporting bar top is connected in upper bracket, and support bar bottom passes through mobile push-plate to connect with lower carriage, and the support bar outer wall between upper bracket and mobile push-plate is provided with ejection elastic component；Lower carriage bottom sets buffer unit, and buffer unit bottom is stretched into the outer sleeve through lower carriage, and the outer wall of mobile push-plate rotates even push rod, and push rod rotates connection pawl thorn, and pawl thorn is provided with connecting portion, and connecting portion is rotated with lower carriage and connected.The present invention can realize that fast and stable reliably captures release to surfaces such as aluminum honeycomb panel, thin aluminum sheet, planks.
Description
Technical field
The present invention relates to technical field of automation in industry, more particularly to a kind of coordinated type elastic mechanical paw.
Background technology
Robot hand is a Mechatronic Systems highly integrated, with various perceptional functions in the middle of Robot Design,
It is both a perceptron for active perception working environment information, is again the actuator of robot end, during specific design,
It is related to analysis, the determination of workpiece anchor point and clamping mode, the workpiece sensing sensor of robot hand Workpiece structure form
The relevant design requirement such as position and determination of amount, the cleaning of workpiece surface, the security of paw.At present, robot hand is also
Its relative status information cannot be provided, it is impossible to realize fast and stable reliably crawl and capture.
Therefore, robot field is in the urgent need to a kind of aluminum honeycomb panel, thin aluminum sheet, the attachment of board surface, slow of can realizing
Punching, promptly, release etc. function mechanical paw so that for robot hand modern industry manufacture field promotion and application carry
For technical support.
The content of the invention
(1) technical problem to be solved
The present invention provides a kind of coordinated type elastic mechanical paw, the deficiency for solving existing robot hand, there is provided
Planting can realize that fast and stable reliably captures the paw of release to the general surface of target.
(2) technical scheme
In order to solve the above-mentioned technical problem, the present invention provides a kind of coordinated type elastic mechanical paw, including upper bracket, lower branch
Frame, support bar and outer sleeve, be provided between the upper bracket and the lower carriage mobile push-plate and being used to promote mobile push-plate to
The pushing mechanism of upper movement；One end of the outer sleeve connects the upper bracket, and the other end of the outer sleeve passes through the shifting
Dynamic push-plate is connected with the lower carriage, is provided with locking component in the mobile push-plate, outside the locking component and the outer sleeve
The perforate of wall coordinates,；One end of the support bar connects the upper bracket, and the other end of the support bar is pushed away through the movement
Disk connects the lower carriage, and the support bar outer wall between the upper bracket and the mobile push-plate is provided with ejection elasticity
Part；The lower carriage bottom is provided with buffer unit, and the outer sleeve is stretched into one end of the buffer unit through the lower carriage
Interior, the buffer unit can move up and down along the outer sleeve in the outer sleeve and the locking component disengaging can be made described
Outer sleeve；The outer wall of the mobile push-plate is symmetrically rotatably connected to coordinated type hook, and the coordinated type hook includes being connected to institute
State the push rod of mobile push-plate and the pawl thorn being connected is rotated with the push rod, the pawl body of the pawl thorn is provided with connecting portion, the connection
Portion rotates with the lower carriage and is connected.
Wherein, the pushing mechanism includes the pushing disk below the mobile push-plate, the pushing disk and lifting silk
Thick stick is connected, the up and down motion for realizing the pushing disk.
Wherein, the other end of the other end of the support bar and the outer sleeve sequentially passes through the mobile push-plate and institute
Pushing disk is stated to be connected with the lower carriage.
Wherein, the elevating screw is connected with motor, and the motor is located on the upper bracket, the driving
The output shaft of motor is connected through the upper bracket with one end of the elevating screw, and the other end of the elevating screw passes through institute
Mobile push-plate and the pushing disk is stated to be connected with lower carriage rotation.
Wherein, the buffer unit includes interior loop bar, and one end of the interior loop bar is stretched into outside described through the lower carriage
In sleeve, the other end of the interior loop bar is connected with buffering foot, the described interior loop bar buffered between sufficient and described lower carriage
Outer wall be provided with snubber elastomeric part.
Wherein, the snubber elastomeric part is buffer spring.
Wherein, the locking component includes locking elastic component and fix bar, and institute is fixed in one end of the locking elastic component
The inwall of mobile push-plate is stated, the other end of the locking elastic component connects the fix bar, the fix bar and the outer sleeve
Perforate coordinate.
Wherein, the locking elastic component is locking spring.
Wherein, the pawl thorn includes the first kink and the second kink, and first kink turns with the lower carriage
Dynamic connection.
Wherein, between the push rod and the mobile push-plate, between the push rod and pawl thorn and the connecting portion with
By rotating pin connection between the lower carriage.
(3) beneficial effect
The coordinated type elastic mechanical paw that the present invention is provided, has the characteristics that compared to prior art：
1st, coordinated type elastic mechanical paw of the invention, is realized whole by upper bracket, lower carriage, support bar and outer sleeve
The support of device；Moving up and down for mobile push-plate is realized by pushing mechanism and ejection elastic component；Realize moving by locking component
Dynamic push-plate is locked with outer sleeve, and the disengaging of locking component and outer sleeve is realized by buffer unit；By mobile push-plate
Up and down motion realize the folding of coordinated type hook；The coordinated type elastic mechanical paw, simple structure can be realized to target
Promptly discharging for fast and reliable stabilization, possesses landing buffer, quick penetration and punctures and capture etc. function；
2nd, coordinated type elastic mechanical paw of the invention, realizes that movement is pushed away by motor, elevating screw and pushing disk
The upward motion of disk, and being rotated round about using motor, realizes that pushing disk moves down to keep in the center；By
Locking elastic component and fix bar, fix bar and the cooperation of outer sleeve opening are set in mobile push-plate, mobile push-plate and outer sleeve is realized
Be locked.
Brief description of the drawings
The overall structure figure of Fig. 1, the 2 coordinated type elastic mechanical paws provided for the present invention；
The sectional view of the coordinated type elastic mechanical paw that Fig. 3 is provided for the present invention；
In figure, 1：Upper bracket；2：Lower carriage；3：Support bar；4：Outer sleeve；5：Mobile push-plate；6：Pushing mechanism；61：Push away
Moving plate；62：Elevating screw；63：Motor；7：Locking component；71：Locking elastic component；72：Fix bar；8：Ejection elastic component；
9：Buffer unit；91：Interior loop bar；92：Buffering foot；93：Snubber elastomeric part；10：Coordinated type hook；101：Push rod；102：Pawl is pierced；
102-1：First kink；102-2：Second kink.
Specific embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give better embodiment of the invention.The preferred embodiments of the present invention are these are only, not thereby limits of the invention special
Sharp scope, equivalent structure or equivalent flow conversion that every utilization description of the invention and accompanying drawing content are made, directly or
Connect and be used in other related technical fields, be included within the scope of the present invention.
Unless otherwise defined, all of technologies and scientific terms used here by the article with belong to technical field of the invention
The implication that technical staff is generally understood that is identical.The term for being used in the description of the invention herein is intended merely to description tool
The purpose of the implementation method of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more
The arbitrary and all of combination of related Listed Items.
The present invention provides a kind of coordinated type elastic mechanical paw, the deficiency for solving existing robot hand, there is provided
Planting can realize that fast and stable reliably captures the paw of release to the general surface of target.
As Figure 1-3, a kind of coordinated type elastic mechanical paw, including upper bracket 1, lower branch are provided in the embodiment of the present invention
Frame 2, support bar 3 and outer sleeve 4, are provided with mobile push-plate 5 and pushing mechanism 6 between upper bracket 1 and lower carriage 2, the pushing mechanism 6
Mobile push-plate 5 can be promoted to move up；One end of outer sleeve 4 is fixedly connected on the bottom of upper bracket 1, outer sleeve 4 it is another
End is fixedly connected through mobile push-plate 5 with the top of lower carriage 2, and locking component 7 is provided with mobile push-plate 5, the locking component 7
One end is located on the inwall of mobile push-plate 5, and the other end can coordinate with the perforate of the outer wall of outer sleeve 4, i.e., locking component 7 is another
End can be penetrated in the perforate of outer sleeve 4；One end of support bar 3 is fixedly connected on the bottom of upper bracket 1, support bar 3 it is another
End is fixedly connected through mobile push-plate 5 with the top of lower carriage 2, additionally, outside upper bracket 1 and the support bar 3 for moving between push-plate 5
Ejection elastic component 8 is additionally provided with wall, the ejection elastic component 8 can promote to move push-plate when locking component 7 and outer sleeve 4 depart from
5 releases, that is, cause that mobile push-plate 5 is moved downward；It is understood that the ejection elastic component 8 can use spring, that is, launch bullet
Spring；The bottom of lower carriage 2 is provided with buffer unit 9, and one end of buffer unit 9 is stretched into outer sleeve 4 through lower carriage 2, buffer unit 9
Can be moved up and down along outer sleeve 4 in outer sleeve 4, and the top of buffer unit 9 can promote locking component 7 to disengage it from
Outer sleeve 4；The outer wall of mobile push-plate 5 is provided with the coordinated type hook 10 being arranged symmetrically, and coordinated type hook 10 is rotationally connected with movement
On the outer wall of push-plate 5, wherein, coordinated type hook 10 includes push rod 101 and pawl thorn 102, wherein, push rod 101 is rotationally connected with shifting
On the outer wall of dynamic push-plate 5, pawl thorn 102 is rotationally connected with push rod 101, and is additionally provided with connecting portion with the pawl of pawl thorn 102, should
Connecting portion is rotated with lower carriage 2 and is connected.
It is understood that for action preferably to target, coordinated type hook 10 is set to 4,4 coordinated type hooks
Pawl 10 is evenly arranged in the outside of mobile push-plate 5 and lower carriage 2, wherein, push rod 101 is rotationally connected with the outer of mobile push-plate 25
Wall, the connecting portion of pawl thorn 102 is rotationally connected with the outer wall of lower carriage 2.
The coordinated type elastic mechanical paw that the present invention is provided, is divided into inactive state, ejection process and returns in motion process
Position process；
Wherein, inactive state, pushing mechanism 6 rests in the upper surface of lower carriage 2, the other end and overcoat of locking component 7
Perforate on cylinder 4 coordinates, and mobile push-plate 5 is locked on outer sleeve 4, now, the bullet between mobile push-plate 5 and upper bracket 1
Penetrate elastic component and be in Pre strained state；Coordinated type hook is in open configuration；
Ejection process, the motion upwards under external force of buffer unit 9, promotion penetrates the locking component 7 in outer sleeve 4,
Locking component is set to detach outer sleeve 4, so that mobile push-plate 5 departs from outer sleeve 4, due to launching the effect of elastic component,
Mobile push-plate 4 is launched downwards the upper surface of pushing mechanism 6 by original position, and mobile push-plate 4 drives push rod 101 to move down, pawl thorn 102
Rotated clockwise around lower carriage 2, realize the closure of coordinated type hook；On the other hand, the external force to buffer unit 9, buffering are released
Part 9 will be moved down along outer sleeve 4 and kept in the center；
Playback process, pushing mechanism 6 is moved up, and promotes mobile push-plate 5 to move upwards so that ejection elastic component tightens up poly-
Collection elastic force, while the push rod 101 being connected on mobile push-plate 5 is together moved upwards, pawl thorn 102 turns counterclockwise around lower carriage 2
It is dynamic, opening for coordinated type hook is realized, when mobile push-plate moves upward to the locking component 7 of mobile push-plate 5 and opening for outer sleeve 4
When hole just coordinates, mobile push-plate is fixed；On the other hand, pushing mechanism 6 revert to the upper surface of lower carriage 2.
Coordinated type elastic mechanical paw of the invention, simple structure can realize the attachment to the general surface of target, delay
Punching, promptly, release etc. action, such as to aluminum honeycomb panel, thin aluminum sheet, the attachment on plank surface, buffering, promptly, discharge etc. act,
Possess landing buffer, the function that quick penetration is punctured and captured, therefore, the coordinated type elastic mechanical paw can be to target
Realize that fast and stable reliably captures release.
In the present embodiment, in order to realize impetus, pushing mechanism 6 includes being located at the pushing disk 61 of the mobile lower section of push-plate 5,
The pushing disk 61 is connected with elevating screw 62, and moving up and down for pushing disk 61 is realized by elevating screw 62, pushing disk 6 to
Upper movement progress movement push-plate 5 is moved upwards, and pushing disk 6 is moved downward to keep in the center and rests in the upper surface of lower carriage 2.
In the present embodiment, outer sleeve 4 is uniformly arranged located at the center of the mechanical paw, support bar 3 around outer sleeve 4
There are 3, and the other end of support bar 3 and the other end of outer sleeve 4 sequentially pass through mobile push-plate 5 and pushing disk 61 with lower branch
Frame 2 is connected.
In the present embodiment, in order to realize moving up and down for pushing disk 61, elevating screw 62 is arranged on upper bracket 1 and lower carriage
Between 2, elevating screw 62 is connected with motor 63, and motor 63 on upper bracket 1, wear by the output shaft of motor 63
Cross upper bracket 1 to be connected with one end of elevating screw 62, the other end of elevating screw 62 passes through mobile push-plate 5 and pushing disk 61 with
Support 2 rotates connection.It is understood that motor 63 drives elevating screw 62 to rotate, in the presence of worm drive, with
The pushing disk that elevating screw 62 is connected is moved up and down.
In the present embodiment, as shown in figure 3, buffer unit 9 includes interior loop bar 91, one end of interior loop bar 91 passes through lower carriage 2
Stretch into outer sleeve 4, the other end of interior loop bar 91 is connected with buffering foot 92, the interior loop bar 91 between buffering foot 92 and lower carriage 2
Outer wall be provided with snubber elastomeric part 93.It is understood that the snubber elastomeric part 93 can use spring, as buffer spring；
The other end of interior loop bar 91 is fixed on buffering foot 92；In the action process of buffer unit 9, external force acts on buffering foot 92, delays
The motion upwards of punching foot 92, the buffer spring between buffering foot 92 and lower carriage 2 compresses upwards, in impaction state, buffering foot 92
Loop bar 91 is moved upwards along outer sleeve 4 in driving, and the top of interior loop bar 91 promotes the locking component 7 coordinated on outer sleeve 4, makes
Locking component 7 is obtained to depart from outer sleeve 4.
In the present embodiment, as shown in figure 3, the locking in order to realize moving push-plate 5 and outer sleeve 4, locking component 7 is including locking
The inwall of mobile push-plate 5 is fixed in only elastic component 71 and fix bar 72, one end of locking elastic component 71, locking elastic component 71 it is another
One end is connected bar 72, and fix bar 72 coordinates with the perforate of outer sleeve 4.It is understood that the locking elastic component 71 is used
Spring, as locking spring.
In the present embodiment, in order to realize folding of the coordinated type hook 10 in the presence of mobile push-plate 5, pawl thorn 102 includes
First kink 102-1 and the second kink 102-2, wherein, the first kink 102-1 is rotated with lower carriage 2 and is connected, and first is curved
Folding part 102-1 outward bendings, the second kink 102-2 bends inwards, for the action such as realizing firmly grasping workpiece, discharging.
In the present embodiment, in order to realize that the rotation between connection member is connected, between push rod 101 and mobile push-plate 5, push rod
101 and pawl thorn 102 between and the first kink 102-1 and lower carriage 2 between by rotating pin connection.
The integral-rack of coordinated type elastic mechanical paw of the invention uses aluminum, and aluminum amount is lighter, can be effective
Mitigate the deadweight of single unit system.
Coordinated type hook motion state of the invention is divided into inactive state, ejection process, the part of playback process three；
Wherein, inactive state, motor is static, and pushing disk rests in the upper surface of lower carriage, and ejection-spring is in pre-
Tight state, the fix bar in mobile push-plate, under the pressure effect of locking spring, fix bar front end passes through outer sleeve
Hole, makes to move the locked fixation of push-plate, and the push rod being connected on mobile push-plate and pawl thorn are in open configuration, at buffer spring
In the state not deformed upon；
Ejection process, in the presence of external object collision or upward power, motion, makes buffer spring to buffering foot upwards
Compression, in impaction state, the interior loop bar being connected on buffering foot is moved upwards, and promotion is fixed on the fix bar on outer sleeve,
Fix bar is set to detach the fixation of outer sleeve, so that mobile push-plate release, under the driving of the down force of ejection-spring,
By original position ejection to pushing disk upper surface, the push rod pawl thorn that drive is connected on mobile push-plate is moved downward, and pawl is pierced closure,
On the other hand, foot is buffered to be kept in the center in the presence of buffer spring；
Playback process, motor rotates elevating screw, in the presence of worm drive, moves up pushing disk,
Promote mobile push-plate to move upwards, ejection-spring is tightened up aggregation spring force, while the push rod and pawl that are connected on mobile push-plate
Thorn together motion upwards, pawl thorn opens, and when fixed position is moved upward to, fix bar passes through outer in the presence of locking spring
Sleeve, makes to move push-plate and fixes, and last pushing disk revert to the upper surface of lower carriage by the reversion of motor.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. a kind of coordinated type elastic mechanical paw, it is characterised in that described including upper bracket, lower carriage, support bar and outer sleeve
Mobile push-plate is provided between upper bracket and the lower carriage and is used to the pushing mechanism for promoting mobile push-plate to move up；It is described outer
One end of sleeve connects the upper bracket, and the other end of the outer sleeve is connected through the mobile push-plate with the lower carriage,
Locking component is provided with the mobile push-plate, the locking component coordinates with the perforate of the overcoat drum outer wall；The support bar
One end connect the upper bracket, the other end of the support bar is connected through the mobile push-plate with the lower carriage, described
The support bar outer wall between upper bracket and the mobile push-plate is provided with ejection elastic component；The lower carriage bottom is provided with slow
Part is rushed, one end of the buffer unit is stretched into the outer sleeve through the lower carriage, the buffer unit is described outer
Can be moved up and down along the outer sleeve in sleeve and the locking component can be made to depart from the outer sleeve；Outside the mobile push-plate
Wall is symmetrically rotatably connected to coordinated type hook, the coordinated type hook include being connected to the push rod of the mobile push-plate and with it is described
Push rod rotates the pawl thorn of connection, and the pawl body of the pawl thorn is provided with connecting portion, and the connecting portion is rotated with the lower carriage and is connected.
2. coordinated type elastic mechanical paw according to claim 1, it is characterised in that the pushing mechanism includes being located at institute
The pushing disk below mobile push-plate is stated, the pushing disk is connected with elevating screw, for realizing the upper and lower of the pushing disk
Motion.
3. coordinated type elastic mechanical paw according to claim 2, it is characterised in that the other end of the support bar and institute
The other end for stating outer sleeve sequentially passes through the mobile push-plate and the pushing disk is connected with the lower carriage.
4. coordinated type elastic mechanical paw according to claim 2, it is characterised in that the elevating screw is connected with driving
Motor, on the upper bracket, the output shaft of the motor passes through the upper bracket and the liter to the motor
One end connection of leading screw is dropped, and the other end of the elevating screw passes through the mobile push-plate and the pushing disk and the lower carriage
Rotate connection.
5. coordinated type elastic mechanical paw according to claim 1, it is characterised in that the buffer unit includes inner sleeve
Bar, one end of the interior loop bar is stretched into the outer sleeve through the lower carriage, and the other end of the interior loop bar is connected with slow
Punching foot, the outer wall for buffering the described interior loop bar between sufficient and described lower carriage is provided with snubber elastomeric part.
6. coordinated type elastic mechanical paw according to claim 5, it is characterised in that the snubber elastomeric part is buffering elastic
Spring.
7. coordinated type elastic mechanical paw according to claim 1, it is characterised in that the locking component includes locking bullet
The inwall of the mobile push-plate is fixed in property part and fix bar, one end of the locking elastic component, the locking elastic component it is another
One end connects the fix bar, and the fix bar coordinates with the perforate of the outer sleeve.
8. coordinated type elastic mechanical paw according to claim 7, it is characterised in that the locking elastic component is locking bullet
Spring.
9. the coordinated type elastic mechanical paw according to any one of claim 1-8, it is characterised in that the pawl thorn includes
First kink and the second kink, first kink are rotated with the lower carriage and are connected.
10. the coordinated type elastic mechanical paw according to any one of claim 1-8, it is characterised in that the push rod with
By rotating and the connecting portion and the lower carriage between the mobile push-plate, between the push rod and pawl thorn
Pin connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710131708.4A CN106826888B (en) | 2017-03-07 | 2017-03-07 | Linkage elastic mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710131708.4A CN106826888B (en) | 2017-03-07 | 2017-03-07 | Linkage elastic mechanical gripper |
Publications (2)
| Publication Number | Publication Date |
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| CN106826888A true CN106826888A (en) | 2017-06-13 |
| CN106826888B CN106826888B (en) | 2023-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710131708.4A Active CN106826888B (en) | 2017-03-07 | 2017-03-07 | Linkage elastic mechanical gripper |
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| CN107160420A (en) * | 2017-07-08 | 2017-09-15 | 佛山市正略信息科技有限公司 | A kind of mechanical paw with stopping means |
| CN108044643A (en) * | 2017-12-18 | 2018-05-18 | 珠海格力智能装备有限公司 | Robot tongs and have its robot |
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| CN108908389A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of the claw clamping device and its robot of separating action |
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| CN112518794A (en) * | 2020-11-04 | 2021-03-19 | 中国空间技术研究院 | Gripping device and control method thereof |
| CN113147946A (en) * | 2021-03-23 | 2021-07-23 | 北京空间飞行器总体设计部 | Foot end mechanism |
| CN113305816A (en) * | 2021-06-18 | 2021-08-27 | 中海辉固地学服务（深圳）有限公司 | Locking device for underwater steel cable crawling mechanism |
| WO2022143666A1 (en) * | 2020-12-30 | 2022-07-07 | 浙江工业大学台州研究院 | Shock-absorbing and anti-impact device for flexible manipulator |
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