CN108161964A - A kind of automatic grasper device and the Intelligent Truss Structures robot with the device - Google Patents
A kind of automatic grasper device and the Intelligent Truss Structures robot with the device Download PDFInfo
- Publication number
- CN108161964A CN108161964A CN201810147165.XA CN201810147165A CN108161964A CN 108161964 A CN108161964 A CN 108161964A CN 201810147165 A CN201810147165 A CN 201810147165A CN 108161964 A CN108161964 A CN 108161964A
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- Prior art keywords
- seat
- box set
- plate
- rectangle
- pin
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- 230000006835 compression Effects 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 7
- 210000005069 ears Anatomy 0.000 claims description 3
- 238000009432 framing Methods 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims 1
- 230000032258 transport Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 239000000725 suspension Substances 0.000 description 6
- 210000002421 cell wall Anatomy 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- VYZAMTAEIAYCRO-UHFFFAOYSA-N Chromium Chemical compound [Cr] VYZAMTAEIAYCRO-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000002421 anti-septic effect Effects 0.000 description 1
- 229910052804 chromium Inorganic materials 0.000 description 1
- 239000011651 chromium Substances 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- -1 nigrescence Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000003827 upregulation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/106—Gripping heads and other end effectors having finger members with three or more finger members moving in parallel relationship
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic grasper device and the Intelligent Truss Structures robot with the device, automatic grasper device include gripping apparatus assembly and safety device.Gripping apparatus assembly includes rectangle seat, gripping apparatus and scalability type power apparatus.Gripping apparatus includes two groups of gripper components for being symmetrically articulated with one offside of rectangle seat, and every group of gripper component includes two grippers, and four grippers are arranged symmetrically in the four corners of rectangle seat.Power plant both ends are hingedly connected in rectangle seat and gripper component, and stretching motion makes gripper component folding.Safety device includes upper adjusting seat, lower adjusting seat, pulling force sensor, plate pin and elastic spacing component；Lower adjusting seat is connected in rectangle seat, and lower part is connected with the plate pin for traversing upper adjusting seat, and pulling force sensor is connected in upper adjusting seat vertically, and the horizontal pin shaft for connecing and passing perpendicularly through plate pin is hung in lower end；Upper adjusting seat and lower adjusting seat can relatively move up and down, make horizontal pin shaft that can move up and down, and elastic spacing component is vertically connected between upper and lower adjustment seat.
Description
Technical field
The present invention relates to a kind of gripping apparatus, and in particular to a kind of automatic grasper device and the Intelligent Truss Structures with the device
Robot.
Background technology
Metal parts will appear corrosion within the service life phase, so as to influence product quality, reduces the service life, influences zero
Part structural strength, so when part produces surface antirust treatment need to be carried out to it.
The antirust treatment of piece surface is generally using treatment measures, wherein PIP skills such as paint, nigrescence, chromium plating, PIP at present
Art is green pollution-free and a kind of excellent aseptic technic of antiseptic property, it uses kinds of processes method, by nonmetallic member
Element and minor metallic element penetrate into metal surface, form the MULTILAYER COMPOSITE being made of metal oxide and nonmetalloid and ooze
Layer, so as to make that anticorrosion antiwear layer is formed simultaneously inside and outside product entirety, is merged with metal surface completely.
When carrying out PIP techniques, a series of stove for high temperature and the gaseous volatilization that is corrosive being put by parts processed is needed
It is handled in slot, the transhipment of part at present is that staff is operated by traditional driving, since operating environment temperature is high and has
Corrosive gaseous volatilization, long-term place in this environment can generate human body certain harm.
When transporting part, part is placed on transhipment fixture, and the weight for transporting fixture is larger, especially for certain big
Type part, the weight for transporting fixture are even up to thousands of kilograms.Transhipment fixture is lifted using suspension hook by tradition driving at present,
Judge that transhipment fixture in place may there are errors in stove slot by human eye, that is to say, that transhipment fixture may really
Position, so when suspension hook is detached from transhipment fixture, transhipment fixture may generate impact to stove slot, and the safe handling of stove slot is made
Into influence.Also to ground, there may be impacts when part is transported after handling well.
When in addition transporting part, it is transported in next stove slot and must be completed in a short period of time from a stove slot, this
Require the speed of travel driven a vehicle quickly, the weight on the one hand transporting fixture is big, and the inertia in transport process is big, and suspension hook connects
The lower end of steel wire rope is connected to, suspension hook hooks transhipment fixture walking, and transhipment fixture in vehicle walking process of being expert at can generate larger shake
It shakes.And the gap very little between stove cell wall and transhipment fixture, so transhipment fixture is easy to strike stove cell wall pair when in place
It causes to damage, and influences the service life of stove slot.
Invention content
It is a primary object of the present invention to provide a kind of be not only avoided that in part transport process to rock, but also can keep away automatically
Exempt to transport the automatic grasper device that fixture generates stove slot or ground impact.
This automatic grasper device provided by the invention, including gripping apparatus assembly and the safety device being attached to.Gripping apparatus
Assembly includes rectangle seat, gripping apparatus and power plant；Gripping apparatus includes two groups of gripper components for being symmetrically articulated with one offside of rectangle seat, often
Group gripper component includes two grippers, and four grippers are arranged symmetrically in the four corners of rectangle seat；Power plant is telescopic
Device, one end are articulated in rectangle seat, and the other end is articulated on gripper component, are grabbed by the stretching motion realization of power plant
The folding of claw assembly.Safety device includes upper adjusting seat, lower adjusting seat, pulling force sensor, plate pin and elastic spacing component；Up-regulation
Section seat includes top plate and the upper box set being connected on the downside of it, and lower adjusting seat includes bottom plate and the lower box set for being attached to side, under
Box set is placed on box set outer wall；The lower part of lower box set, which is connected with, traverses the plate pin that box covers, on the length direction median plane of plate pin
It is provided with rectangular opening vertically；Pulling force sensor is located in upper box set, and upper end is connected on the top plate of box set, lower end
Flap seat is connected with, the lower end of flap seat is connected with the horizontal pin shaft across rectangular opening on plate pin；Upper box set and lower box set can phases up and down
To movement, make horizontal pin shaft that can be moved up and down along the rectangular opening on plate pin, connected between upper box set and lower box set vertically arranged
Elastic spacing component.The bottom plate of lower adjusting seat is fixed on the installing plate of rectangle seat middle position.
The gripper component includes upper beam and is vertically connected at two vertical beams at its both ends, and the lower end of two vertical beams connects respectively
The gripper, the shape of gripper is L-type, has herringbone tie-beam between two vertical beams；One end antisymmetry of two upper beams stretches out in
Outside vertical beam.
The rectangle seat is framing holder, and one is described to being symmetrically welded with two groups of four gripping apparatus hinged seats on the outside of curb girder
It is articulated as one respectively by axis pin and each gripping apparatus hinged seat in the middle part of the vertical beam of gripper component, vertical beam can be rotated around axis pin；It is described
Power plant has two sets, and antisymmetry is arranged in another offside of rectangle seat, one end of power plant and the stretching of the upper beam
Section is hinged, the curb girder of the other end and rectangle seat is hinged, and hinged ear mount, rectangle seat are welded on the upside of the section of stretching out end of upper beam
Side rail outer be welded with lower hinged ear mount.
The pulling force sensor is square S-shaped pulling force sensor, and there is connecting screw hole at both ends respectively.
The upper box set and lower box set are rectangular sleeve, and the lower end of upper box set and the upper end of lower box set are openend；Institute
Pulling force sensor is stated to be located on the vertical median plane of two boxes set.
One end of the plate pin is vertically connected with end plate, and a pair of sidewalls lower part that lower box covers is provided with corresponding to plate pin size
Mounting hole, side-wall outer side corresponds to and connecting plate is both provided at mounting hole, sets corresponding mounting hole on connecting plate, the one of plate pin
End is inserted in the mounting hole in one side wall, and the other end is fastened by connecting plate and bolt；Upper box set side wall corresponds to the plate
Pin passes through place to be provided with the rectangular opening that size is more than plate pin size.
A pair of sidewalls top of the lower box set is connected with guide pad, and the outer end of guide pad is connected with installing plate, installing plate
It is fastened by bolts with the connecting plate of lower box set side wall；The inner end of guide pad passes through the respective side walls of the upper box set, upper box set
Side wall on be provided with size be more than be oriented to block size vertical rectangular opening.
The elastic spacing component includes the pipe being fixed on the lower adjusting seat bottom plate and the pressure for being placed on circular tube external wall
Spring, the original length of compression spring are equal to the maximum distance between the upper adjusting seat top plate and lower adjusting seat bottom plate, the length of pipe
No more than the length of lower box set.
The flap seat includes fixed seat and sliding seat, and fixed seat and sliding seat are ears panel seat, and the top plate of fixed seat connects
It is connected to the lower end of the pulling force sensor, the lower part between two otic placodes is connected with articulated shaft, and the upper end of sliding seat passes through hinge hole
It is hung on the articulated shaft of fixed seat otic placode lower part, the horizontal pin shaft is connected between two otic placodes of sliding seat lower part.
The present invention also provides a kind of truss robot, robot includes above-mentioned automatic grasper device and is connected to automatic
The rigid hoisting mechanisms of gripping apparatus upper end.
This automatic grasper device transports fixture by two pairs four rigid grippers come stable holding, automatic grasper device it is upper
End is also associated with rigid hoisting mechanisms.It avoids when the prior art transports fixture by steel wire rope and suspension hook handling in the presence of rocking
Defect when transhipment fixture is in place in stove slot, will not generate shock to stove cell wall.
Automatic grasper device in the course of work for being promoted and being declined, control system by pulling force sensor whether be in by
Tension state come judge to transport fixture whether in stove slot it is in place or landed.When pulling force sensor is in tension state,
Control system judges that gripping apparatus is in and promotes working condition, that is to say, that part is in transport process；Work as pulling force sensor
During in non-tension state, control system judges that transhipment fixture is in place in stove slot or lands, while gripping apparatus is controlled to fill
Stopping is put to continue to decline.Since fixture is in place or to land be that control system is sentenced automatically by the stress of pulling force sensor
It is disconnected, thus on the one hand can guarantee transhipment fixture really either landed in place can avoid the prior art may to stove slot or
Ground generates the defects of impact, and another aspect operating personnel only need to carry out push-botton operation in control centre, without entering at part
Reason scene can avoid generating harm to body.The setting of elastic spacing component makes box set with lower box set in upper limit, and has
Certain pretightning force, such gripping apparatus will not generate swing in no crawl weight, make pulling force sensor from lateral force
Influence.
Description of the drawings
Fig. 1 is the structure diagram of one embodiment of the invention.
Fig. 2 is the C-C schematic diagrames in Fig. 1.
Fig. 3 is the schematic top plan view of Fig. 1.
Fig. 4 is the axis side structure schematic diagram of the present embodiment（Box set and lower box cover on safety device each two are concealed in figure
Block side plate）.
Fig. 5 is the enlarged structure schematic diagram of safety device in Fig. 1.
Fig. 6 is the A-A schematic diagrames in Fig. 5.
Fig. 7 is the B-B schematic diagrames in Fig. 5.
Fig. 8 is the enlarged structure schematic diagram of upper adjusting seat in Fig. 5.
Fig. 9 is the schematic side view of Fig. 8.
Figure 10 is the enlarged structure schematic diagram of lower adjusting seat in Fig. 5.
Figure 11 is the schematic side view of Figure 10.
Specific embodiment
With reference to Fig. 1 to Fig. 4 as can be seen that this automatic grasper device disclosed in the present embodiment, including gripping apparatus assembly 1 and connects
It is connected to safety device 2 thereon.
Gripping apparatus assembly 1 includes rectangle seat 11, gripping apparatus 12 and power plant 13.
Rectangle seat 11 is framing holder.Gripping apparatus 12 includes two groups of gripper components 121 for being symmetrically articulated with 11 1 offside of rectangle seat.
Every group of gripper component 121 includes two grippers, and four grippers are arranged symmetrically in the four corners of rectangle seat 11.Power plant 13 is
Telescopic device.
Gripper component 121 includes upper beam 1211 and is vertically connected at two vertical beams 1212 at its both ends, the lower end of two vertical beams
Gripper 1213 is connected respectively, and the shape of gripper is L-type, has herringbone tie-beam 1214 between two vertical beams.The one of upper beam 1211
End antisymmetry is stretched out in outside vertical beam 1212.
Two groups of four gripping apparatus hinged seats 111 are symmetrically welded on the outside of a pair of of the curb girder of rectangle seat 11, gripper component 121 erects
1212 middle part of beam is articulated as one respectively by axis pin and each gripping apparatus hinged seat 111, and vertical beam 1212 can be rotated around axis pin.
The power plant 13 of the present embodiment is arranged in another pair of rectangle seat 11 using a pair of of electric cylinders, two electric cylinders antisymmetry
Side.One end of electric cylinders and the section of stretching out of upper beam are hinged, the curb girder of the other end and rectangle seat is hinged.The section of stretching out end of upper beam
Upside is welded with hinged ear mount 112, and the side rail outer of rectangle seat is welded with lower hinged ear mount 113.Pass through the flexible fortune of electric cylinders
The dynamic folding for realizing two pairs of gripper components 121.
With reference to Fig. 5 to Fig. 7 can be seen that safety device 2 include upper adjusting seat 21, lower adjusting seat 22, pulling force sensor 23,
Plate pin 24, compression spring 25, pipe 26, fixed seat 27, sliding seat 28, guide pad 29, horizontal pin shaft 210.
Upper adjusting seat 21 is can be seen that including top plate 211 with reference to Fig. 5, Fig. 6, Fig. 8 and Fig. 9 and is welded in upper on the downside of it
Box set 212.Top plate 211 is rectangular slab, and upper box set 212 is rectangular aperture set.
Lower adjusting seat 22 is can be seen that including bottom plate 221 with reference to Fig. 5, Fig. 6, Fig. 8 and Fig. 9 and is welded under side thereon
Box set 222.Bottom plate 221 is rectangular slab, and lower box set 222 is rectangular aperture set.
It can be seen that with reference to Fig. 1, Fig. 2 in the inner cavity of rectangle seat about symmetrical two companies of its length direction median plane
Beam 114 is connect, the upside of two tie-beams 114 is welded with rectangular slab 115.The bottom plate 221 of lower adjusting seat 22 is installed on square by bolt
On shape plate 115.
Lower box, which is can be seen that, with reference to Fig. 5, Fig. 6, Figure 10 and Figure 11 covers 222 outer walls for being placed on upper box set 212.Lower box set 222
Lower part be connected with the plate pin 24 for traversing box set 212, be provided with vertically on the length direction median plane of plate pin 24
Rectangular opening 241.
From fig. 6, it can be seen that 23 use side's S-shaped pulling force sensor of pulling force sensor of the present embodiment, both ends have respectively
Connecting screw hole.Pulling force sensor 23 is located on the vertical median plane in upper box set 212, and the upper end is bolted to box set
On 212 top plate 211, fixed seat 27, the lower end connection sliding seat 28 of fixed seat 27 is bolted in lower end.27 He of fixed seat
Sliding seat 28 is ears panel seat.The top plate of fixed seat 27 is connected to the lower end of pulling force sensor 23, the lower part between two otic placodes
It is connected with articulated shaft.The upper end of sliding seat 28 is hung on by hinge hole on the articulated shaft of 27 otic placode lower part of fixed seat, sliding seat 28
Lower part between two otic placodes of lower part is connected with horizontal pin shaft 210.Horizontal pin shaft 210 passes through the rectangular opening 241 on plate pin 24, square
The length in shape hole 241 is more than the diameter of horizontal pin shaft 210.
Pulling force sensor 23 is located on the vertical median plane in upper box set 212, makes pulling force sensor stress equalization, can both prevent
Only unbalance loading, and structure space can be saved so that compact-sized, good appearance.
The upper end of pulling force sensor 23 is fixedly connected, lower end flexible connection, using hinge between fixed seat 27 and sliding seat 28
Spindle connects, and is connect between sliding seat 28 and plate pin 24 by horizontal pin shaft 210 vertically arranged with articulated shaft, such structure was both
Can be with lateral stressed in elimination of level face, longitudinal stress that can also be in elimination of level face so that pulling force sensor only by
The power of vertical direction can be influenced to avoid by transverse load, so as to avoid pulling force sensor by signal interference.
The present embodiment sets the rectangular opening of size and 24 matched of plate pin in a pair of sidewalls of lower box set 222, in lower box
Equal welded and installed plate, sets identical rectangular opening on a mounting board on the outside of the two side of set 22.One end vertical welding of plate pin 24
End plate, the end-plate-free end of plate pin 24 is covered from lower box to be passed through in the rectangular opening in a pair of sidewalls, and the other end passes through end plate and lower box set
The installing plate of side wall is fastened by bolts.
Installing plate is respectively provided in a pair of sidewalls of lower box set 222, so that the fixed-direction of plate pin 24 is more flexible.Upper box set
212 two side respective panels pin 24 passes through place to be provided with the rectangular opening that size is more than 24 height dimension of plate pin, so that upper box set
212 can move up and down.The lower guide member that plate pin 24 is moved up and down as upper box set 212.
A pair of sidewalls top of lower box set 222 symmetrically connects guide pad 29, and the outer end of guide pad 29 is connected with installing plate, peace
The connecting plate that loading board covers 222 side walls with lower box is fastened by bolts.The inner end of guide pad 29 passes through the corresponding side of upper box set 212
Wall, upper box cover the rectangular opening for size being set to be more than 29 size of guide pad on 212 side wall, are carried to moving up and down for upper box set 212
It is oriented to for top.Block 29 is preferably directed to be set perpendicular to the orientation of plate pin 24, makes moving up and down for box set 212 more steady in this way
It is fixed.
Upper box set 212 is sleeved in lower box set 222, makes upper and lower box set that can only move up and down, you can to avoid pulling force sensor
It is influenced by transverse load.
Pair of horns of the present embodiment on 22 bottom plate of lower adjusting seat sets two pipes 26, and compression spring 25 is covered on pipe 26
Form vertical elastic spacing component.During original state, the both ends of compression spring 25 are individually fixed in the bottom plate of lower adjusting seat 22 and upper
Between the top plate of adjustment seat 21, the length of pipe 26 is less than the length of compression spring 25, and the length of pipe 26 at most covers 222 with lower box
Upper end it is concordant.Elastic spacing component causes box set 212 in normal state always in upper limit position, lower box set 222
There can be enough downlink spatials.
The upper adjusting seat of intrinsic safety full device is connect with lower adjusting seat by pulling force sensor, flap seat, plate pin and horizontal pin shaft
Get up, rectangular opening is provided on the length direction median plane of plate pin, the lower end of flap seat is connected with the water across rectangular opening on plate pin
Flat-sale axis makes horizontal pin shaft that can be moved up and down in the rectangular opening on plate pin, and the rectangular opening of upper box set side wall, length is more than plate pin
Height, be sleeved in lower box set and slide up and down so as to fulfill upper box, and can also be in connection pulling force sensor and upper adjusting seat
When bolt is surprisingly broken, it is ensured that upper box set will not be detached from lower box set, be played a very good protection.Upper box set and under
Vertically arranged elastic spacing component is connected between box set so that upper box set is covered in upper limit, and have certain with lower box
Pretightning force, such gripping apparatus will not run inertia force when no crawl weight and generate swing, and pulling force sensor is not
It can be influenced by lateral force.
When this automatic grasper device is used for truss robot, in the upper end of safety device upper adjusting seat top plate, connection rigidity carries
Rise mechanism.
This automatic grasper device transports fixture by two pairs four rigid grippers come stable holding, automatic grasper device it is upper
End is also associated with rigid hoisting mechanisms.It avoids when the prior art transports fixture by steel wire rope and suspension hook handling in the presence of rocking
Defect when transhipment fixture is in place in stove slot, will not generate shock to stove cell wall.
When the transhipment fixture that the clamping of automatic grasper device is loaded with part is promoted, pulling force sensor tension, pulling force sensor is defeated
The current signal gone out is judged as promotion state to control system, and when transhipment fixture lands, pulling force sensor does not stress, without electricity
Signal output is flowed, control system is not received by the current signal of pulling force sensor at this time, is judged to transporting fixture in stove
It is in place or landed in slot.Continue to decline if there is abnormal conditions gripping apparatus, at this time the spring quilt of elastic spacing component
Compression, upper box are sleeved on slide downward in lower box set, the process until sliding into lower limit in rectangular opening of the horizontal pin shaft in plate pin
In, sensor does not all stress, and control system can be prompted, if at this time operating personnel could not manual intervention emergent stopping, fixture is also
Continuing to decline, pulling force sensor is pressurized at this time, and pulling force sensor sends out different current signals, and control system is in the same of alarm
When, the hoisting mechanism of gripping apparatus upper end can be lockked so that gripping apparatus stops declining, so as to which protection hoisting mechanism is kept away well
Exempt from it to be damaged.
Claims (10)
1. a kind of automatic grasper device, it is characterised in that：The device includes gripping apparatus assembly and the safety device being attached to；It grabs
Have assembly and include rectangle seat, gripping apparatus and power plant；Gripping apparatus includes two groups of gripper components for being symmetrically articulated with one offside of rectangle seat,
Every group of gripper component includes two grippers, and four grippers are arranged symmetrically in the four corners of rectangle seat；Power plant is scalable
Type device, one end are articulated in rectangle seat, and the other end is articulated on gripper component, are realized by the stretching motion of power plant
The folding of gripper component；Safety device includes upper adjusting seat, lower adjusting seat, pulling force sensor, plate pin and elastic spacing component；On
Adjustment seat includes top plate and the upper box set being connected on the downside of it, and lower adjusting seat includes bottom plate and the lower box set for being attached to side,
Lower box set is placed on box set outer wall；The lower part of lower box set is connected with the plate pin for traversing box set, the length direction median plane of plate pin
On be provided with rectangular opening vertically；Pulling force sensor is located in upper box set, and upper end is connected on the top plate of box set, under
End is connected with flap seat, and the lower end of flap seat is connected with the horizontal pin shaft across rectangular opening on plate pin；Upper box set and lower box set can be upper and lower
Relative movement, makes horizontal pin shaft that can be moved up and down along the rectangular opening on plate pin, and vertically cloth is connected between upper box set and lower box set
The elastic spacing component put；The bottom plate of lower adjusting seat is fixed on the installing plate of rectangle seat middle position.
2. automatic grasper device as described in claim 1, it is characterised in that：The gripper component includes upper beam and vertically connects
Two vertical beams at its both ends are connected to, the lower end of two vertical beams connects the gripper respectively, and the shape of gripper is L-type, is had between two vertical beams
Herringbone tie-beam；One end antisymmetry of two upper beams is stretched out in outside vertical beam.
3. automatic grasper device as claimed in claim 2, it is characterised in that：The rectangle seat is framing holder, and one is to curb girder
Outside be symmetrically welded with two groups of four gripping apparatus hinged seats, pass through axis pin and each gripping apparatus respectively in the middle part of the vertical beam of the gripper component
Hinged seat is articulated as one, and vertical beam can be rotated around axis pin；The power plant has two sets, and antisymmetry is arranged in the another of rectangle seat
Offside, the section of stretching out of one end of power plant and the upper beam is hinged, the curb girder of the other end and rectangle seat is hinged, upper beam
Hinged ear mount is welded on the upside of section of stretching out end, the side rail outer of rectangle seat is welded with lower hinged ear mount.
4. automatic grasper device as described in claim 1, it is characterised in that：The pulling force sensor is square S-shaped pull sensing
There is connecting screw hole at device, both ends respectively.
5. automatic grasper device as described in claim 1, it is characterised in that：The upper box set and lower box set are rectangular sleeve,
The lower end of upper box set and the upper end of lower box set are openend；The pulling force sensor is located on the vertical median plane of two boxes set.
6. automatic grasper device as claimed in claim 5, it is characterised in that：One end of the plate pin is vertically connected with end plate,
A pair of sidewalls lower part of lower box set is provided with mounting hole corresponding with plate pin size, and side-wall outer side is corresponded to and is both provided at mounting hole
Connecting plate sets corresponding mounting hole on connecting plate, and one end of plate pin is inserted in the mounting hole in one side wall, and the other end leads to
Cross connecting plate and bolt fastening；What upper box set side wall corresponded to the plate pin passes through place to be provided with rectangle of the size more than plate pin size
Hole.
7. automatic grasper device as claimed in claim 5, it is characterised in that：A pair of sidewalls top of the lower box set is connected with
Guide pad, the outer end of guide pad are connected with installing plate, and the connecting plate of installing plate and lower box set side wall is fastened by bolts；Guide pad
Inner end pass through the respective side walls of the upper box set, being provided with size on the side wall of upper box set is more than the vertical square for being oriented to block size
Shape hole.
8. automatic grasper device as claimed in claim 5, it is characterised in that：The elastic spacing component includes being fixed on described
Pipe on lower adjusting seat bottom plate and the compression spring for being placed on circular tube external wall, the original length of compression spring be equal to the upper adjusting seat top plate and
Maximum distance between lower adjusting seat bottom plate, the length of pipe are not more than the length of lower box set.
9. automatic grasper device as claimed in claim 4, it is characterised in that：The flap seat includes fixed seat and sliding seat, Gu
Reservation and sliding seat are ears panel seat, and the top plate of fixed seat is connected to the lower end of the pulling force sensor, between two otic placodes
Lower part is connected with articulated shaft, and the upper end of sliding seat is hung on by hinge hole on the articulated shaft of fixed seat otic placode lower part, the level
Axis pin is connected between two otic placodes of sliding seat lower part.
10. a kind of Intelligent Truss Structures robot, it is characterised in that：Robot includes the automatic grasper dress described in claim 1-9
Put and be connected to the rigid hoisting mechanisms of automatic grasper device upper end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147165.XA CN108161964B (en) | 2018-02-12 | 2018-02-12 | Automatic gripping apparatus device and intelligent truss robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810147165.XA CN108161964B (en) | 2018-02-12 | 2018-02-12 | Automatic gripping apparatus device and intelligent truss robot with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108161964A true CN108161964A (en) | 2018-06-15 |
| CN108161964B CN108161964B (en) | 2024-05-10 |
Family
ID=62513896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810147165.XA Active CN108161964B (en) | 2018-02-12 | 2018-02-12 | Automatic gripping apparatus device and intelligent truss robot with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108161964B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112551011A (en) * | 2020-12-11 | 2021-03-26 | 长沙中联重科环境产业有限公司 | Dustbin loading attachment |
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| CN208005703U (en) * | 2018-02-12 | 2018-10-26 | 湖南祥瑞智能机器有限公司 | A kind of automatic grasper device and the Intelligent Truss Structures robot with the device |
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| DE102015223999A1 (en) * | 2015-12-02 | 2017-06-08 | Krones Ag | Parallel kinematic robot for manipulating piece goods with at least one manipulator and at least one actuating device for the at least one manipulator and method for manipulating piece goods by means of at least one parallel kinematic robot |
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| CN208005703U (en) * | 2018-02-12 | 2018-10-26 | 湖南祥瑞智能机器有限公司 | A kind of automatic grasper device and the Intelligent Truss Structures robot with the device |
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| CN112551011A (en) * | 2020-12-11 | 2021-03-26 | 长沙中联重科环境产业有限公司 | Dustbin loading attachment |
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| CN108161964B (en) | 2024-05-10 |
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