CN107139206B - Variable-posture garbage pickup end effector - Google Patents

Variable-posture garbage pickup end effector Download PDF

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Publication number
CN107139206B
CN107139206B CN201710348597.2A CN201710348597A CN107139206B CN 107139206 B CN107139206 B CN 107139206B CN 201710348597 A CN201710348597 A CN 201710348597A CN 107139206 B CN107139206 B CN 107139206B
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China
Prior art keywords
gear
clamping
connecting rod
sliding block
clamping body
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Active
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CN201710348597.2A
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Chinese (zh)
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CN107139206A (en
Inventor
龚智强
常数数
梁三金
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Chaohu University
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Chaohu University
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Priority to CN201710348597.2A priority Critical patent/CN107139206B/en
Publication of CN107139206A publication Critical patent/CN107139206A/en
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Publication of CN107139206B publication Critical patent/CN107139206B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • B25J11/0085Cleaning

Abstract

The invention discloses a variable-posture garbage picking end effector, and particularly relates to the technical field of environment-friendly mechanical equipment. The connecting rod mechanism is connected to the rack through bolts, the clamping devices are located on the upper portion of the rack and connected to the connecting rod mechanism through bolts, the limiting device is located on the upper portion of the rack, the two clamping devices are connected to the rack through screws, and the locking device is connected to the tail portion of the rack through bolts. The invention is mainly used for grabbing cylindrical objects with different sizes and has the characteristics of high grabbing precision and large grabbing range.

Description

Variable-posture garbage pickup end effector
Technical Field
The invention belongs to the technical field of environment-friendly mechanical equipment, and particularly relates to a variable-posture garbage picking end effector.
Background
Along with people's standard of living constantly improves, more and more people select to go out to travel or go to the park, the scenic spot plays as the dominant mode of leisure, the rubbish problem that comes with is also more and more serious, clear up rubbish in the scenic spot of present stage still depends on clearance personnel's manual work to pick up, the scenic spot that the condition is good can be equipped with dedicated picking up the instrument for clearance personnel, but use this kind of instrument can influence the efficiency of picking up rubbish, can not carry out picking up of rubbish very fast, still can directly go to pick up rubbish with the hand sometimes, this has caused certain injury to clearance personnel's health.
The picking tool matched with the scenic spot cannot change the working posture of the picking tool and only can use a single posture, so that the picking efficiency of the garbage is reduced, the garbage can not be thoroughly cleaned, and the research on the aspects is not too much in colleges and research institutes, so that the tail end effector capable of changing the posture is urgently needed to complete the picking of various types of garbage.
Disclosure of Invention
The invention provides an end effector capable of picking up garbage with different diameters, which aims to solve the problems that the existing picking end effector is single in garbage picking size and low in picking rate and the like.
The technical problem to be solved by the invention is realized by adopting the following technical scheme.
The utility model provides an end effector is picked up to variable attitude rubbish which characterized in that: the clamping device comprises a rack, a connecting rod mechanism, a limiting device, a clamping device and a locking device, wherein the rack comprises an installation plate and a rectangular boss, and the rectangular boss is installed on the installation plate; the connecting rod mechanism is arranged on the mounting plate and converts the rotary motion of the transmission shaft into the linear motion of the sliding block; the limiting device is positioned above the connecting rod mechanism and used for locking the first gear to stop rotating; the two clamping devices are respectively connected to the sliding block through bolts and used for clamping objects; the locking device is arranged at the tail part of the mounting plate and is used for connecting the manipulator with the end effector;
the connecting rod mechanism comprises a transmission shaft, a connecting rod, an O-shaped sliding block and a sliding block, and the transmission shaft is arranged in the guide block and used for transmitting power; the O-shaped sliding block is arranged on the transmission shaft and forms a screw pair with the transmission shaft; the two sliding blocks are symmetrically distributed on the mounting plate, and both the two sliding blocks and the rectangular boss form a sliding pair for mounting the clamping device; the two connecting rods are symmetrically distributed on two sides of the rotating shaft, one end of one connecting rod and the sliding block form a rotating pair, the other end of the connecting rod and the O-shaped sliding block form a rotating pair, one end of the other connecting rod and the sliding block form a rotating pair, and the other end of the connecting rod and the O-shaped sliding block form a rotating pair.
The locking device comprises a connecting body, a guide block, an adjustable bolt, a stop column and a compression spring, wherein the connecting body is provided with a guide groove, a step and a mounting hole and is connected to the mounting plate through the bolt; one end of the guide block is arranged on the connecting body, and the other end of the guide block is connected to the mounting plate through a bolt; the stop column is positioned in the mounting hole and forms a moving pair with the mounting hole; the adjustable bolt is arranged on the mounting hole and forms a screw pair together with the mounting hole; the compression spring is positioned in the mounting hole, one end of the compression spring is connected with the adjustable bolt, and the other end of the compression spring is connected with the stop column.
The limiting device comprises a base, a servo motor, an H-shaped frame, a rack, a U-shaped frame, a compression spring and a limiting block, wherein the base is positioned at the upper part of the transmission shaft and is connected to the mounting plate through a bolt; the servo motor is connected to the base through a bolt and used for providing power; the H-shaped frame is arranged on a rotating shaft of the servo motor, forms a moving pair with the mounting plate and is used for mounting the rack; the two racks are respectively connected to two sides of the H-shaped frame through screws; four compression springs are symmetrically arranged on the U-shaped frame; the two limiting blocks are symmetrically arranged on the U-shaped frame and form a moving pair with the U-shaped frame, and the moving pair is used for stopping the rotation of the first gear.
The clamping device comprises a first clamping body, a connecting screw rod, a first gear and a second clamping body, wherein the first gear is connected to the connecting screw rod through a key; the first clamping body and the second clamping body are arranged at two ends of the connecting screw rod; the clamping body I is the same as the clamping body II in structure and is connected to the sliding block through a bolt, the clamping body I comprises a clamping body mounting frame, a gear II, a gear III, a lower clamping finger, a gear IV, a torsion spring and an upper clamping finger, the gear II is located inside the clamping body mounting frame and is connected to the connecting screw rod through a key, the gear III is connected to the clamping body mounting frame through a bolt, the gear IV is two and is fixedly connected to the clamping body mounting frame through the upper clamping finger and the lower clamping finger respectively, the upper clamping finger is connected to the clamping body mounting frame through a bolt, the lower clamping finger is connected to the clamping body mounting frame through a bolt, and two ends of the torsion spring are fixedly connected to the upper clamping finger and the lower clamping finger respectively and are used for enabling the upper clamping finger and the lower clamping finger to reset.
During the use, external power source makes the transmission shaft do clockwise rotation to drive and install O type slider downstream on the transmission shaft, install the contained angle at the connecting rod of O type slider both sides, along with the contained angle between two connecting rods of O type slider's the removal constantly reduces, make the slider that is connected with the connecting rod move to the axis direction of transmission shaft, thereby drive the clamping device who installs on the slider and also remove thereupon.
When the diameter of the object to be clamped is larger, the O-shaped sliding block is only required to move downwards continuously, so that the clamping device arranged on the sliding block moves towards the axis direction of the transmission shaft, and finally the object is tightly clamped. When the object needs to be released, the transmission shaft only needs to rotate anticlockwise, the two clamping devices are separated, and the clamped object can automatically slide down;
when the diameter of an object to be clamped is smaller, the O-shaped sliding block moves downwards, the servo motor arranged on the base starts to operate, the H-shaped frame arranged on the rotating shaft of the servo motor is enabled to move upwards, so that racks arranged on two sides of the H-shaped frame are driven to move upwards, the clamping device arranged on the sliding block is driven to move along with the continuous downward movement of the O-shaped sliding block, the first gear on the clamping device is meshed with the racks to drive the connecting screw rod to rotate, the second gear arranged on the connecting screw rod is driven to rotate, the third gear meshed with the second gear starts to rotate, the fourth gear fixedly connected with the upper clamping finger and the fourth gear fixedly connected with the lower clamping finger are driven to start to rotate, so that the angle between the upper clamping finger and the lower clamping finger is increased, along with the movement of the clamping device, when the first gear on the clamping device is in contact with the limiting block, the servo motor rotates to enable the racks arranged on two sides of the H-shaped frame to move downwards, so that the first gear and the first gear are separated from the racks and are not meshed, the angle between the upper clamping finger and the lower clamping finger is maximized, the clamping device continues to move towards the axis direction of the rotating shaft along with the rotation of the transmission shaft, the upper clamping fingers at two ends of the clamping device clamp an object, the object with a smaller diameter is clamped, when the object clamped by the clamping device is loosened, the transmission shaft only needs to rotate anticlockwise, the distance between the two clamping devices is continuously increased, the clamped object automatically slides downwards, the distance between the two clamping devices is continuously increased, when the first gear on the clamping device is separated from a limiting block on the limiting device, and the upper clamping finger and the lower clamping finger return to the initial position under the action of the torsion spring.
The invention has the beneficial effects that: according to the invention, through the action of the limiting device, the included angle between the upper clamping body and the lower clamping body on the clamping device can be adjusted, so that objects with different diameters can be grabbed, and two modes of grabbing on one end effector are realized, thereby improving the efficiency.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the clamping device of the present invention;
fig. 3 is a schematic structural view of the locking device of the present invention.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the invention is further explained by combining the specific embodiments and the drawings.
As shown in fig. 1, an end effector for picking up garbage with variable postures is characterized in that: the clamping device comprises a rack 1, a link mechanism 2, a limiting device 3, a clamping device 4 and a locking device 5, wherein the rack 1 comprises an installation plate 11 and a rectangular boss 12, and the rectangular boss 12 is installed on the installation plate 11; the link mechanism 2 is arranged on the mounting plate 11 and converts the rotary motion of the transmission shaft 21 into the linear motion of the sliding block 24; the limiting device 3 is positioned above the connecting rod mechanism 2 and used for locking the first gear 43 to stop rotating; the two clamping devices 4 are respectively connected to the sliding block 24 through bolts and used for clamping objects; the locking device 5 is arranged at the tail part of the mounting plate 11 and is used for connecting the manipulator with the end effector;
as shown in fig. 1, the link mechanism 2 includes a transmission shaft 21, a link 22, an O-shaped slider 23, and a slider 24, wherein the transmission shaft 21 is installed in a guide block 52 for transmitting power; the O-shaped sliding block 23 is arranged on the transmission shaft 21 and forms a screw pair with the transmission shaft 21; the two sliding blocks 24 are symmetrically distributed on the mounting plate 11, and both form a moving pair with the rectangular boss 12 for mounting the clamping device 4; the two connecting rods 22 are symmetrically distributed on two sides of the rotating shaft 21, one end of one connecting rod 22 and the sliding block 24 form a rotating pair, the other end of the other connecting rod 22 and the O-shaped sliding block 23 form a rotating pair, one end of the other connecting rod 22 and the sliding block 24 form a rotating pair, and the other end of the other connecting rod 22 and the O-shaped sliding block 23 form a rotating pair.
As shown in fig. 1 and 3, the locking device 5 includes a connecting body 51, a guide block 52, an adjustable bolt 53, a stop column 54, and a compression spring 55, wherein the connecting body 51 is provided with a guide groove 511, a step 512, and a mounting hole 513, and is connected to the mounting plate 11 by a bolt; one end of the guide block 52 is installed on the connecting body 51, and the other end is connected to the mounting plate 11 through a bolt; the stop column 54 is positioned in the mounting hole 513 and forms a moving pair with the mounting hole 513; the adjustable bolt 53 is arranged on the mounting hole 513 and forms a screw pair with the mounting hole 513; the compression spring 55 is located in the mounting hole 513, and one end of the compression spring is connected to the adjustable bolt 53, and the other end is connected to the stop column 54.
As shown in fig. 1, the limiting device 3 includes a base 31, a servo motor 32, an H-shaped frame 33, a rack 34, a U-shaped frame 35, a compression spring 36, and a limiting block 37, wherein the base 31 is located on the upper portion of the transmission shaft 21 and is connected to the mounting plate 11 through a bolt; the servo motor 32 is connected to the base 31 through a bolt and used for providing power; the H-shaped frame 33 is arranged on a rotating shaft of the servo motor 32, forms a moving pair with the mounting plate 11 and is used for mounting the rack 34; the number of the racks 34 is two, and the racks are respectively connected to two sides of the H-shaped frame 33 through screws; four compression springs 36 are symmetrically arranged on the U-shaped frame 35; the two limiting blocks 37 are symmetrically installed on the U-shaped frame 35 and form a moving pair with the U-shaped frame 35, and the moving pair is used for stopping the first gear 43 from rotating.
As shown in fig. 1 and 2, the clamping device 4 includes a first clamping body 41, a connecting screw rod 42, a first gear 43, and a second clamping body 44, wherein the first gear 43 is connected to the connecting screw rod 42 through a key; the first clamping body 41 and the second clamping body 44 are arranged at two ends of the connecting screw rod 42; the first clamping body 41 and the second clamping body 44 have the same structure and are connected to the sliding block 24 through bolts, which comprises a holding body mounting rack 411, a second gear 412, a third gear 413, a lower holding finger 414, a fourth gear 415, a torsion spring 416 and an upper holding finger 417, wherein the second gear 412 is positioned inside the holding body mounting rack 411, is connected on the connecting screw rod 42 through a key, the gear three 413 is connected on the clamping body mounting rack 411 through a bolt, the number of the gears 415 is two, the gears are respectively fixedly connected with the upper clamping fingers 417 and the lower clamping fingers 414, the upper clamping fingers 417 are coupled to the clamping body mounting bracket 411 by bolts, the lower clamping fingers 414 are coupled to the clamping body mounting bracket 411 by bolts, two ends of the torsion spring 416 are respectively fixedly connected to the upper clamping finger 417 and the lower clamping finger 414, so as to reset the upper clamping finger 417 and the lower clamping finger 414.
When the clamping device is used, the transmission shaft 21 rotates clockwise by an external power source, so that the O-shaped sliding blocks 23 arranged on the transmission shaft 21 are driven to move downwards, the included angles of the connecting rods 22 arranged on the two sides of the O-shaped sliding blocks 23 are reduced along with the movement of the O-shaped sliding blocks 23, the sliding blocks 24 connected with the connecting rods 22 move towards the axis direction of the transmission shaft 21, and the clamping device 4 arranged on the sliding blocks 24 is driven to move along with the movement of the sliding blocks.
When the diameter of the object to be clamped is larger, the O-shaped sliding block 23 is only required to move downwards continuously, so that the clamping device 4 arranged on the sliding block 24 moves towards the axial direction of the transmission shaft 21, and finally the object is tightly clamped. When the object needs to be released, the transmission shaft 21 only needs to rotate anticlockwise, the two clamping devices 4 are separated, and the clamped object can automatically slide down;
when the diameter of the object to be clamped is smaller, the servo motor 32 installed on the base 31 starts to operate while the O-shaped sliding block 23 moves downwards, so that the H-shaped frame 33 installed on the rotating shaft of the servo motor 32 moves upwards, the racks 34 installed on the two sides of the H-shaped frame 33 are driven to move upwards, the clamping device 4 installed on the sliding block 24 is driven to move along with the continuous downward movement of the O-shaped sliding block 23, the first gear 43 on the clamping device 4 is meshed with the racks 34, the connecting screw rod 42 is driven to rotate, the second gear 412 installed on the connecting screw rod 42 is driven to rotate, the third gear 413 meshed with the second gear 412 starts to rotate, the fourth gear 415 fixedly connected with the upper clamping finger 417 and the fourth gear 415 fixedly connected with the lower clamping finger 414 are driven to rotate, and therefore, the angle between the upper clamping finger 417 and the lower clamping finger 414 is increased, along with the movement of the clamping device 4, when the first gear 43 on the clamping device 4 contacts with the limiting block 37 on the limiting device 3, the servo motor 32 rotates to make the racks 34 arranged at the two sides of the H-shaped frame 33 move downwards, so that the first gear 43 is separated from the racks 34 and is not meshed any more, at this time, the angle between the upper clamping finger 417 and the lower clamping finger 414 reaches the maximum, along with the rotation of the transmission shaft 21, the clamping device 4 continues to move towards the axial direction of the rotation shaft 21, so that the upper clamping fingers 417 at the two ends of the clamping device 4 clamp the object, the clamping of the object with smaller diameter is completed, when the object clamped by the clamping device 4 is released, only the transmission shaft 21 needs to rotate anticlockwise, the distance between the two clamping devices 4 is continuously increased, so that the clamped object automatically slides downwards, along with the distance between the two clamping devices 4 is continuously increased, when the first gear 43 on the clamping device 4 is separated from the limiting block 37 in the limiting device 3, the upper and lower clamping fingers 417 and 414 return to their original positions under the action of the torsion spring 416.

Claims (1)

1. The utility model provides an end effector is picked up to variable attitude rubbish which characterized in that: the clamping device comprises a rack, a connecting rod mechanism, a limiting device, a clamping device and a locking device, wherein the rack comprises an installation plate and a rectangular boss, and the rectangular boss is installed on the installation plate; the connecting rod mechanism is arranged on the mounting plate; the limiting device is positioned above the connecting rod mechanism; the two clamping devices are respectively connected to the sliding block through bolts; the locking device is arranged at the tail part of the mounting plate;
the connecting rod mechanism comprises a transmission shaft, a connecting rod, an O-shaped sliding block and a sliding block, and the transmission shaft is arranged in the guide block; the O-shaped sliding block is arranged on the transmission shaft and forms a screw pair with the transmission shaft; the two sliding blocks are symmetrically distributed on the mounting plate and form a sliding pair with the rectangular boss; the two connecting rods are symmetrically distributed on two sides of the rotating shaft, one end of one connecting rod and the sliding block form a rotating pair, the other end of the connecting rod and the O-shaped sliding block form a rotating pair, one end of the other connecting rod and the sliding block form a rotating pair, and the other end of the connecting rod and the O-shaped sliding block form a rotating pair;
the locking device comprises a connecting body, a guide block, an adjustable bolt, a stop column and a compression spring, wherein the connecting body is provided with a guide groove, a step and a mounting hole and is connected to the mounting plate through the bolt; one end of the guide block is arranged on the connecting body, and the other end of the guide block is connected to the mounting plate through a bolt; the stop column is positioned in the mounting hole and forms a moving pair with the mounting hole; the adjustable bolt is arranged on the mounting hole and forms a screw pair together with the mounting hole; the compression spring is positioned in the mounting hole, one end of the compression spring is connected with the adjustable bolt, and the other end of the compression spring is connected with the stop column;
the limiting device comprises a base, a servo motor, an H-shaped frame, a rack, a U-shaped frame, a compression spring and a limiting block, wherein the base is positioned at the upper part of the transmission shaft and is connected to the mounting plate through a bolt; the servo motor is connected to the base through a bolt; the H-shaped frame is arranged on a rotating shaft of the servo motor and forms a moving pair with the mounting plate; the two racks are respectively connected to two sides of the H-shaped frame through screws; four compression springs are symmetrically arranged on the U-shaped frame; the two limiting blocks are symmetrically arranged on the U-shaped frame and form a sliding pair with the U-shaped frame; the first gear is used for stopping rotating;
the clamping device comprises a first clamping body, a connecting screw rod, a first gear and a second clamping body, wherein the first gear is connected to the connecting screw rod through a key;
the first clamping body and the second clamping body are arranged at two ends of the connecting screw rod; the structure of clamping body one with clamping body two the same, it includes clamping body mounting bracket, gear two, gear three, down the centre gripping indicate, gear four, torque spring, go up the centre gripping indicates, gear two be located the inside of clamping body mounting bracket, through the key-type connection on connecting screw, gear three through bolted connection on clamping body mounting bracket, gear four be two, respectively with last centre gripping indicate with down the centre gripping indicate link firmly together, last centre gripping indicate through bolted connection on clamping body mounting bracket, lower centre gripping indicate through bolted connection on clamping body mounting bracket, torque spring's both ends link firmly respectively on last centre gripping indicates and lower centre gripping indicates.
CN201710348597.2A 2017-05-17 2017-05-17 Variable-posture garbage pickup end effector Active CN107139206B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201710348597.2A CN107139206B (en) 2017-05-17 2017-05-17 Variable-posture garbage pickup end effector

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CN107139206B true CN107139206B (en) 2020-06-09

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