CN107116546B - Mechanical detection grabbing mechanism - Google Patents
Mechanical detection grabbing mechanism Download PDFInfo
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- CN107116546B CN107116546B CN201710544312.2A CN201710544312A CN107116546B CN 107116546 B CN107116546 B CN 107116546B CN 201710544312 A CN201710544312 A CN 201710544312A CN 107116546 B CN107116546 B CN 107116546B
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- sweep
- connecting shaft
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- plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a mechanical detection grabbing mechanism, wherein a connecting shaft I (18) and a connecting shaft II (19) are arranged on the side surfaces of a second car plate (2) and a third car plate (3), a bottom end through hole of a connecting rod I (20) is connected to the connecting shaft I (18), a top end through hole of the connecting rod I (20) is connected with a connecting shaft III (21), the connecting shaft III (21) is arranged on the side surface of a bearing plate (22), a bottom end through hole of a connecting rod II (23) is connected to the connecting shaft II (19), a top end through hole of the connecting rod II (23) is connected with a connecting shaft IV (24), the connecting shaft IV (24) is arranged on the side surface of the bearing plate (22), a connecting rope (25) is arranged at the head end of the bearing plate (22), and the connecting rope (25) is connected to a steel wire (13); the invention improves the working efficiency and grasps the best grabbing time.
Description
Technical Field
The invention belongs to the field of machine manufacturing and assembling, and particularly relates to a mechanical detection grabbing mechanism.
Background
The existing mechanical grabbing device is a single grabbing device, the adaptability to a curved road is poor, the mechanical grabbing device cannot grab a curved road for multiple times in practical use and is transported back once, the working efficiency is low, energy is wasted, and the best grabbing time is delayed.
Disclosure of Invention
The invention provides a mechanical detection grabbing mechanism which can effectively solve the problems, so that the working efficiency is improved, and the best grabbing time is grasped.
In order to achieve the purpose, the invention adopts the following technical means:
a mechanical detection grabbing mechanism comprises a turning plate, wherein the turning plate comprises a first turning plate, a second turning plate, a third turning plate, a fourth turning plate, a fifth turning plate, a sixth turning plate and a seventh turning plate, the first turning plate, the second turning plate, the third turning plate, the fourth turning plate, the fifth turning plate, the sixth turning plate and the seventh turning plate are sequentially connected, two adjacent turning plates are connected through an oval chain, the first turning plate, the second turning plate, the third turning plate, the fifth turning plate, the sixth turning plate and the seventh turning plate are all matched with rollers,
the upper top surface of the first sweep plate is provided with a motor I, the upper top surface of the seventh sweep plate is provided with a motor II, the output shaft of the motor I is connected with a spool I, a steel wire is wound on the spool I, the steel wire passes through a pulley and is connected with the spool II, the spool II is connected with the output shaft of the motor II,
a fixed shaft is arranged at the center of the pulley, the fixed shaft is connected to a support rod with an arc top end, the support rod with the arc top end is erected on the upper surface of the sweep IV,
the side surface of the second turning plate is provided with a connecting shaft I, the side surface of the third turning plate is provided with a connecting shaft II, the connecting shaft I is connected with a bottom through hole of a connecting rod I, a top through hole of the connecting rod I is connected with a connecting shaft III, the connecting shaft III is arranged on the side surface of the bearing plate, the connecting shaft II is connected with a bottom through hole of the connecting rod II, a top through hole of the connecting rod II is connected with a connecting shaft IV, the connecting shaft IV is arranged on the side surface of the bearing plate, the head end of the bearing plate is provided with a connecting rope, and the connecting rope is connected to a steel wire;
a connecting shaft V is arranged on the side surface of the fourth carriage plate, a connecting shaft VI is arranged on the side surface of the fifth carriage plate, a bottom end through hole of a connecting rod III is connected to the connecting shaft V, a top end through hole of the connecting rod III is connected to the connecting shaft VII, the connecting shaft VII is arranged on the side surface of an extending support plate, a bottom end through hole of a connecting rod IV is connected to the connecting shaft VI, a top end through hole of the connecting rod IV is connected to a connecting shaft VIII, and the connecting shaft VIII is arranged on the side surface of the extending support plate;
the tail end of the extension supporting plate is provided with a gravity control box, the head end of the extension supporting plate is provided with a motor III, an output shaft of the motor III is fixedly connected with a screw rod with an external thread, the screw rod is in threaded connection with an inner ring of a bearing with an internal thread, the outer surface of the bearing is connected with one end of an electric telescopic diamond frame, and the other end of the electric telescopic diamond frame is connected with a infinity type clamping hand.
Furthermore, the intersection of the left O-shaped gripper and the right O-shaped gripper of the infinity-shaped gripper is superposed, the left O-shaped gripper is transversely divided into a left upper gripper and a left lower gripper, the right O-shaped gripper is transversely divided into a right upper gripper and a right lower gripper,
the left upper clamping hand and the left lower clamping hand are controlled to open and close through a motor IV;
the right upper clamping hand and the right lower clamping hand are controlled to open and close through a motor V;
an output shaft of the motor IV is connected with a connecting shaft IX through a coupling I, the motor V is connected with the connecting shaft IX through a coupling II, and the connecting shaft IX enables a left side O-shaped clamping hand and a right side O-shaped clamping hand to be mutually connected.
Furthermore, a wireless receiving module is arranged in the control gravity box, receives signals of a remote controller, transmits the signals to the single chip microcomputer, and transmits the signals to the motor I, the motor II, the motor III, the motor IV, the motor V and the electric telescopic diamond frame respectively.
The invention has the following beneficial effects:
1. the infinity-shaped gripper can simultaneously grip two articles, and the left O-shaped gripper and the right O-shaped gripper are independently controlled by the two motors, so that the gripping between the left O-shaped gripper and the right O-shaped gripper does not influence each other;
2. the supporting plate is matched with an infinity-shaped clamping hand for use, can be placed on the supporting plate after being clamped, and is clamped again, so that the effect of once withdrawing after multiple clamping is realized;
3. the first vehicle plate, the second vehicle plate, the third vehicle plate, the fourth vehicle plate, the fifth vehicle plate, the sixth vehicle plate and the seventh vehicle plate are connected through the oval chains, so that the invention is suitable for places with more bends, and smooth transportation can be realized.
Drawings
Fig. 1 is the left half of the structural schematic of the present invention.
Fig. 2 is the right half of the structural schematic of the present invention.
FIG. 3 is an enlarged partial schematic view of the elliptical chain of FIG. 1.
Fig. 4 is a left side view of an ∞ type gripper of the present invention.
FIG. 5 is a right side view of an ∞ type gripper of the present invention.
FIG. 6 is a signal flow diagram of the present invention.
The structure of the present invention will be described in further detail with reference to the drawings and the detailed description, and the front, rear, left and right in the present specification are the same as the directions in the drawings.
Detailed Description
As shown in fig. 1, a mechanical detection grabbing mechanism comprises a vehicle plate, wherein the vehicle plate comprises a vehicle plate I1, a vehicle plate II 2, a vehicle plate III 3, a vehicle plate IV 4, a vehicle plate V5, a vehicle plate VI 6 and a vehicle plate VII 7, the vehicle plate I1, the vehicle plate II 2, the vehicle plate III 3, the vehicle plate IV 4, the vehicle plate V5, the vehicle plate VI 6 and the vehicle plate VII 7 are sequentially connected, two adjacent vehicle plates are connected through an oval chain 8, the vehicle plate I1, the vehicle plate II 2, the vehicle plate III 3, the vehicle plate V5, the vehicle plate VI 6 and the vehicle plate VII 7 are all matched with a roller 9,
the upper top surface of the sweep plate I1 is provided with a motor I10, the upper top surface of the sweep plate seven 7 is provided with a motor II 11, the output shaft of the motor I10 is connected with a spool I12, a steel wire 13 is wound on the spool I12, the steel wire 13 passes through a pulley 14 to be connected with a spool II 15, the spool II 15 is connected with the output shaft of the motor II 11,
a fixed shaft 16 is arranged at the center of the pulley 14, the fixed shaft 16 is connected to a support rod 17 with an arc top end, the support rod 17 with the arc top end is erected on the upper surface of the sweep four 4,
the side surface of the second turning plate 2 is provided with a connecting shaft I18, the side surface of the third turning plate 3 is provided with a connecting shaft II 19, the connecting shaft I18 is connected with a bottom through hole of a connecting rod I20, a top through hole of the connecting rod I20 is connected with a connecting shaft III 21, the connecting shaft III 21 is arranged on the side surface of a bearing plate 22, the connecting shaft II 19 is connected with a bottom through hole of a connecting rod II 23, a top through hole of the connecting rod II 23 is connected with a connecting shaft IV 24, the connecting shaft IV 24 is arranged on the side surface of the bearing plate 22, the head end of the bearing plate 22 is provided with a connecting rope 25, and the connecting rope 25 is connected to the steel wire 13;
a connecting shaft V26 is arranged on the side surface of the carriage plate IV 4, a connecting shaft VI 30 is arranged on the side surface of the carriage plate V5, a bottom end through hole of a connecting rod III 27 is connected to the connecting shaft V26, a top end through hole of the connecting rod III 27 is connected with a connecting shaft VII 28, the connecting shaft VII 28 is arranged on the side surface of an extending support plate 29, a bottom end through hole of a connecting rod IV 31 is connected to the connecting shaft VI 30, a top end through hole of the connecting rod IV 31 is connected with a connecting shaft VIII 32, and the connecting shaft VIII 32 is arranged on the side surface of the extending support plate 29;
the tail end of the extension supporting plate 29 is provided with a gravity control box 33, the head end of the extension supporting plate 29 is provided with a motor III 34, an output shaft of the motor III 34 is fixedly connected with a screw 35 with an external thread, the screw 35 is in threaded connection with an inner ring of a bearing 36 with an internal thread, the outer surface of the bearing 36 is connected with one end of an electric telescopic diamond frame 37, and the other end of the electric telescopic diamond frame 37 is connected with a infinity clamp 38.
Further, the intersection of the left O-shaped gripper and the right O-shaped gripper of the infinity-shaped gripper 38 is overlapped, the left O-shaped gripper is transversely divided into a left upper gripper 39 and a left lower gripper 40, the right O-shaped gripper is transversely divided into a right upper gripper 41 and a right lower gripper 42,
the left upper clamping hand 39 and the left lower clamping hand 40 are controlled to open and close through a motor IV 43;
the right upper clamping hand 41 and the right lower clamping hand 42 are controlled to open and close through a motor V44;
an output shaft of the motor IV 43 is connected with a connecting shaft IX through a coupling I, the motor V44 is connected with the connecting shaft IX through a coupling II, and the connecting shaft IX enables a left side O-shaped clamping hand and a right side O-shaped clamping hand to be mutually connected.
Further, a wireless receiving module is arranged in the gravity control box 33 and receives signals of a remote controller, the wireless receiving module transmits the signals to the single chip microcomputer, and the single chip microcomputer transmits the signals to the motor I10, the motor II 11, the motor III 34, the motor IV 43, the motor V44 and the electric telescopic diamond 37 respectively.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (3)
1. The utility model provides a mechanical detection snatchs mechanism which characterized in that: the device comprises a sweep, the sweep comprises a sweep I (1), a sweep II (2), a sweep III (3), a sweep IV (4), a sweep V (5), a sweep VI (6) and a sweep VII (7), the sweep I (1), the sweep II (2), the sweep III (3), the sweep IV (4), the sweep V (5), the sweep VI (6) and the sweep VII (7) are sequentially connected, two adjacent sweeps are connected through an oval chain (8), the sweep I (1), the sweep II (2), the sweep III (3), the sweep V (5), the sweep VI (6) and the sweep VII (7) are all matched with rollers (9),
the upper top surface of the sweep I (1) is provided with a motor I (10), the upper top surface of the sweep seven (7) is provided with a motor II (11), the output shaft of the motor I (10) is connected with a spool I (12), a steel wire (13) is wound on the spool I (12), the steel wire (13) passes through a pulley (14) to be connected with a spool II (15), the spool II (15) is connected with the output shaft of the motor II (11),
a fixed shaft (16) is arranged at the center of the pulley (14), the fixed shaft (16) is connected to a support rod (17) with an arc top end, the support rod (17) with the arc top end is erected on the upper surface of the sweep four (4),
a connecting shaft I (18) is arranged on the side face of the second car plate (2), a connecting shaft II (19) is arranged on the side face of the third car plate (3), a bottom end through hole of a connecting rod I (20) is connected to the connecting shaft I (18), a top end through hole of the connecting rod I (20) is connected with a connecting shaft III (21), the connecting shaft III (21) is arranged on the side face of the bearing plate (22), a bottom end through hole of a connecting rod II (23) is connected to the connecting shaft II (19), a top end through hole of the connecting rod II (23) is connected with a connecting shaft IV (24), the connecting shaft IV (24) is arranged on the side face of the bearing plate (22), a connecting rope (25) is arranged at the head end of the bearing plate (22), and the connecting rope (25) is connected to the steel wire (13);
a connecting shaft V (26) is arranged on the side face of the carriage plate IV (4), a connecting shaft VI (30) is arranged on the side face of the carriage plate V (5), a bottom end through hole of a connecting rod III (27) is connected to the connecting shaft V (26), a top end through hole of the connecting rod III (27) is connected with the connecting shaft VII (28), the connecting shaft VII (28) is arranged on the side face of the extending support plate (29), a bottom end through hole of a connecting rod IV (31) is connected to the connecting shaft VI (30), a top end through hole of the connecting rod IV (31) is connected with a connecting shaft VIII (32), and the connecting shaft VIII (32) is arranged on the side face of the extending support plate (29);
the tail end of extension backup pad (29) set up control gravity box (33), the head end of extension backup pad (29) set up motor III (34), the fixed screw rod (35) of connecting band external screw thread of output shaft of motor III (34), screw rod (35) threaded connection have the inner circle of internal screw thread bearing (36), the surface connection electric telescopic diamond frame's (37) one end of bearing (36), electric telescopic diamond frame's (37) other end connect ∞ type tong (38).
2. The mechanical probe gripping mechanism of claim 1, wherein: the intersection of the left O-shaped gripper and the right O-shaped gripper of the infinity-shaped gripper (38) is superposed, the left O-shaped gripper is transversely divided into a left upper gripper (39) and a left lower gripper (40), the right O-shaped gripper is transversely divided into a right upper gripper (41) and a right lower gripper (42),
the left upper clamping hand (39) and the left lower clamping hand (40) are controlled to open and close through a motor IV (43);
the right upper clamping hand (41) and the right lower clamping hand (42) are controlled to open and close through a motor V (44);
an output shaft of the motor IV (43) is connected with a connecting shaft IX through a coupling I, the motor V (44) is connected with the connecting shaft IX through a coupling II, and the connecting shaft IX enables a left side O-shaped clamping hand and a right side O-shaped clamping hand to be mutually connected.
3. The mechanical probe gripping mechanism of claim 2, wherein: the gravity control box (33) is internally provided with a wireless receiving module, the wireless receiving module receives signals of a remote controller, the wireless receiving module transmits the signals to the single chip microcomputer, and the single chip microcomputer transmits the signals to the motor I (10), the motor II (11), the motor III (34), the motor IV (43), the motor V (44) and the electric telescopic diamond frame (37) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710544312.2A CN107116546B (en) | 2017-07-06 | 2017-07-06 | Mechanical detection grabbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710544312.2A CN107116546B (en) | 2017-07-06 | 2017-07-06 | Mechanical detection grabbing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107116546A CN107116546A (en) | 2017-09-01 |
| CN107116546B true CN107116546B (en) | 2020-06-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710544312.2A Active CN107116546B (en) | 2017-07-06 | 2017-07-06 | Mechanical detection grabbing mechanism |
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| Country | Link |
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| CN (1) | CN107116546B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4187051A (en) * | 1978-05-26 | 1980-02-05 | Jerry Kirsch | Rotary video article centering, orienting and transfer device for computerized electronic operating systems |
| CN201455989U (en) * | 2009-05-27 | 2010-05-12 | 重庆电子工程职业学院 | Electric gripper robot |
| CN201619887U (en) * | 2010-01-29 | 2010-11-03 | 顾云祥 | Automatic drinking water barrel stacker |
| CN104552230A (en) * | 2013-10-22 | 2015-04-29 | 西华大学 | Book fetching robot for library |
| CN104528380B (en) * | 2014-12-31 | 2017-05-17 | 桂林电子科技大学 | Intelligent three-dimensional flexible grabbing transferring mechanism |
| CN106335079A (en) * | 2015-07-17 | 2017-01-18 | 佛山市禾才科技服务有限公司 | Conical mechanical arm |
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2017
- 2017-07-06 CN CN201710544312.2A patent/CN107116546B/en active Active
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| CN107116546A (en) | 2017-09-01 |
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Effective date of registration: 20200601 Address after: 318020 room 404, unit 1, building 16, Juzhou new village, Dongcheng Street, Huangyan District, Taizhou City, Zhejiang Province Applicant after: Wang Lingwei Address before: 241000 Champs Elysees 426, Shicheng, Wuhu Economic and Technological Development Zone, Anhui Province Applicant before: WUHU ZHIXIANG THREE DIMENSIONAL PRINTING SERVICES Co.,Ltd. |
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