CN108818615A - A kind of ejection type quickly grabs robot - Google Patents
A kind of ejection type quickly grabs robot Download PDFInfo
- Publication number
- CN108818615A CN108818615A CN201810572941.0A CN201810572941A CN108818615A CN 108818615 A CN108818615 A CN 108818615A CN 201810572941 A CN201810572941 A CN 201810572941A CN 108818615 A CN108818615 A CN 108818615A
- Authority
- CN
- China
- Prior art keywords
- sleeve
- trigger mechanism
- straight pin
- shaft
- pedestal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- 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
- B25J15/008—Gripping heads and other end effectors with sticking, gluing or adhesive means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Abstract
The present invention relates to a kind of ejection types quickly to grab robot, including trigger mechanism, pedestal, contracting mechanism and adherency grasping mechanism, trigger mechanism includes sleeve one, sleeve two, sleeve three and the sleeve four of descending successively nested encryptions, sleeve four, which is nested with, is connected with trigger mechanism end, several conduits are provided on the barrel of sleeve two, sleeve three and sleeve four, it is attached between adjacent sleeve and by more straight pins between sleeve four and trigger mechanism end, spring is cased with outside every straight pin；Contracting mechanism includes the servo motor installed on pedestal and shaft, and servo motor output shaft is connect with shaft, and the beginning of inelastic cord is fixed in shaft, and the end of elastic string is connected with trigger mechanism end；Adhering to grasping mechanism includes adhesion sheet, and the adhesion sheet is connected with trigger mechanism end by attachment device；Compared with traditional crawl robot, have the characteristics that speed is fast, crawl range is wide, mobility strong, environmental suitability are strong.
Description
Technical field
The present invention relates to Industrial Robot Technology field, especially a kind of ejection type quickly grabs robot.
Background technique
In the prior art, industry crawl robot can be only applied to structured environment, and that there are ontologies is irremovable, does not have
The problems such as limitations such as standby expansion service, environmental suitability be poor, scientist is exploring maneuverability, can stretch both at home and abroad at present
Exhibition, efficient grasp mode.With the multi-disciplinary development such as biomethanics, Machine Design, biomimetic material, optimal control and hand over
Fork fusion, scientific research personnel study miscellaneous crawl robot, such as American scientist Walker using four sections of two degrees of freedom
Sclerotome type elastic support series system simulates the continuous type flexible structure of trunk, and drives rope driving elastomer curved using motor
Song, realizes the remote weight crawl under the imitative continuous humanoid robot unstructured moving grids of trunk, and Trivedi et al. has developed one kind
Imitative octopus feeler robot is had laterally curved using Pneumatic artificial muscle (Pneumatic Artificial Muscle) production
Bent and longitudinal driving unit for extending ability, simulation octopus flexibly roll remote target object.In addition to this, in order to mention
The stretch performance of high robot crawl movement, Guerra devise scalable machinery using the rigid structure that guide rail connects more conduits
Arm effectively improves the crawl space of robot；
Above-mentioned all kinds of robots have stronger expansion service, and opereating specification is larger, can effectively realize remote mesh
Mark crawl, but grasp speed is slow (respectively less than 0.1m/s), the grasp speed requirement being unable to satisfy in practical application.
Summary of the invention
The applicant provides the structurally reasonable ejection type of one kind and quickly grabs for the disadvantage in above-mentioned existing production technology
Robot can be realized the quick crawl of distant object, compared with traditional crawl robot, crawl model fast with speed
The features such as enclosing wide, mobility strong, strong environmental suitability.
The technical solution adopted in the present invention is as follows：
A kind of ejection type quickly grabs robot, including trigger mechanism, pedestal, contracting mechanism and adherency grasping mechanism, institute
Pedestal is stated into U-shaped structure, is provided with trigger mechanism in U-shaped structure, the trigger mechanism includes descending successively nested encryptions
Sleeve one, sleeve two, sleeve three and sleeve four, the two sides of the sleeve one are weldingly fixed in the U-shaped structure, the set
Cylinder four, which is nested with, is connected with trigger mechanism end, is provided with several conduits on the barrel of the sleeve two, sleeve three and sleeve four,
It is attached between adjacent sleeve and by more straight pins between sleeve four and trigger mechanism end, every straight pin
It is cased with spring outside；The contracting mechanism includes shaft, and the shaft is mounted on the base by Bearning mechanism, the pedestal
U-shaped structure bottom bracket is installed, servo motor is installed on bracket, the output shaft of the servo motor is connect with shaft, turn
The beginning of inelastic cord is fixed on axis, inelastic cord winds multi-turn in shaft, and the end of inelastic cord sequentially passes through each set
The centre bore of cylinder bottom centre, and be connected with trigger mechanism end；The adherency grasping mechanism includes adhesion sheet, the adhesion sheet
It is connected with trigger mechanism end by attachment device.
Its further technical solution is：
The straight pin include the first straight pin, the second straight pin and third straight pin and the 4th straight pin, described first
One end of straight pin, the second straight pin and third straight pin is connected through a screw thread respectively is fixed on sleeve one, sleeve two and sleeve
Three bottom, the other end are respectively protruding into the conduit of four barrel of sleeve two, sleeve three and sleeve, one end of the 4th straight pin
It is threadedly attached in the bottom of sleeve four, the other end protrudes into trigger mechanism end.
The structure of the trigger mechanism end is：Prolong one end of the cylindrical body being connected with attachment device, the cylindrical body
Stretching has small cylinder, and the end face of the small cylinder is fixedly connected with the end of inelastic cord.
Beneficial effects of the present invention are as follows：
Structure of the invention is compact, reasonable, easy to operate, by the way that the trigger mechanism of sleeve nested type, servo-drive is arranged
Contracting mechanism and adherency grasping mechanism realize quickly ejection crawl and quickly using the elastic force of spring and the pulling force of inelastic cord
Function is retracted, grasp speed is effectively increased, increases crawl distance, conventional industrial robot is able to solve and grabs limited space
The problem of, product sorting, transmission working efficiency are improved, while can also be used in the related fieldss such as agricultural.
Meanwhile the present invention also has the following advantages that：
1. the traction of the inelastic cord of contracting mechanism of the invention provides the power resources of the retraction of grasping mechanism, by watching
Taking motor drives shaft quickly to rotate withdrawal grasping mechanism, and in the contraction phase, servo motor drives the shaft fast by rotation
Inelastic cord is withdrawn in speed rotation, the set trigger mechanism end being connected with inelastic cord end is withdrawn rapidly, while driving each section
Sleeve is withdrawn rapidly, realizes that the grasping mechanism being connected with trigger mechanism end is withdrawn rapidly.
2. the spring of trigger mechanism of the present invention provides the power source of grasping mechanism ejection, trigger mechanism end is in the ejection stage
By the traction of inelastic cord, all springs are compressed, all springs is made to generate deformation and generate the normal direction contrary with wire saws
Pressure, when cutting off tractive force, all spring release elastic force push each layer sleeve to realize that grasping mechanism emits forward rapidly.
3. setting is cased with the straight pin of spring between each sleeve of the invention, after the spring on straight pin is compressed,
Conduit of the straight pin on each sleeve wall is slided, and realizes the contraction between each sleeve, guarantee grasping mechanism when retracting at
In the filling compressed completely, spring is compressed to greatest extent, provides maximum power for ejection.
4. the quantity of the quantity of sleeve of the invention, size and straight pin can be configured according to actual needs, the present invention
Control module the size of elastic force can be adjusted, sufficiently meet when launching crawl in different operating conditions to power and speed
Demand.
Detailed description of the invention
Fig. 1 is front view of the invention.
Fig. 2 is the A-A view of Fig. 1.
Fig. 3 is perspective view of the invention.
Wherein：1, trigger mechanism end；2, sleeve four；3, sleeve three；4, sleeve two；5, sleeve one；6, pedestal；7, non-ballistic
Property rope；8, servo motor；9, bracket；10, shaft；11, spring；12, the first straight pin；13, the second straight pin；14, third circle
Pin；15, the 4th straight pin；16, attachment device；17, adhesion sheet.
Specific embodiment
Specific embodiments of the present invention will be described below with reference to the accompanying drawings.
As shown in Figure 1, Figure 2 and Figure 3, the ejection type of the present embodiment quickly grabs robot, including trigger mechanism, pedestal 6,
Contracting mechanism and adherency grasping mechanism, pedestal 6 are provided with trigger mechanism at U-shaped structure in U-shaped structure, trigger mechanism include by
Sleeve 1, sleeve 24, sleeve 33 and the sleeve 42 of small successively nested encryptions are arrived greatly, and the two sides of sleeve 1 are weldingly fixed on U
In type structure, sleeve 42, which is nested with, is connected with trigger mechanism end 1, on the barrel of sleeve 24, sleeve 33 and sleeve 42
It is provided with several conduits, is carried out between adjacent sleeve and by more straight pins between sleeve 42 and trigger mechanism end 1
Connection, every straight pin are cased with spring 11 outside；Straight pin includes the first straight pin 12, the second straight pin 13 and third straight pin 14
It is connected through a screw thread respectively with one end of the 4th straight pin 15, the first straight pin 12, the second straight pin 13 and third straight pin 14
It is fixed on the bottom of sleeve 1, sleeve 24 and sleeve 33, the other end is respectively protruding into sleeve 24, sleeve 33 and 42, sleeve
In the conduit of wall, one end of the 4th straight pin 15 is threadedly attached in the bottom of sleeve 42, and the other end protrudes into trigger mechanism end
In end 1；
Contracting mechanism includes shaft 10, and shaft 10 is mounted on pedestal 6 by Bearning mechanism, the U-shaped structure bottom of pedestal 6
Bracket 9 is installed, servo motor 8 is installed on bracket 9, the output shaft of servo motor 8 connect with shaft 10, is fixed in shaft 10
The beginning of inelastic cord 7, inelastic cord 7 wind multi-turn in shaft 10, and the end of inelastic cord 7 sequentially passes through each sleeve bottom
The centre bore at center, and be connected with trigger mechanism end 1；
Adherency grasping mechanism includes adhesion sheet 17, and adhesion sheet 17 is connected with trigger mechanism end 1 by attachment device 16,
The structure of trigger mechanism end 1 is：One end of the cylindrical body being connected with attachment device 16, cylindrical body is extended with small cylinder,
The end face of small cylinder is fixedly connected with the end of inelastic cord 7.
The ejection type of the present embodiment quickly grabs robot, during the work time, trigger mechanism end 1 ejection the stage by
All springs 11 are compressed in the traction of inelastic cord 7, and all springs 11 generate deformation and generate the tractive force direction with inelastic cord 7
Opposite normal pressure, when cutting off tractive force, all springs 11 discharge elastic force and push each sleeve and adherency grasping mechanism to
Preceding transmitting；Servo motor 8 drives shaft 10 quickly to rotate and withdraws inelastic cord 7, be connected with 7 end of inelastic cord by rotation
Trigger mechanism end 1 is withdrawn rapidly, while each sleeve being driven to withdraw rapidly, realizes that adherency grasping mechanism is withdrawn rapidly；
The ejection type of the present embodiment quickly grabs the movement control mode of robot：First detection crawl target position with
And the limit coordinate of barrier calculates initial according to the mathematical relationship between ejection initial velocity, frictional resistance and crawl distance
The size of speed, then be scaled the size of required ejection force, according to ejection force and the elastically-deformable mathematical model of spring 11,
The rotation angle that ejection force corresponds to required shaft 10 is calculated, and is sent to the controller of robot by wireless module, is controlled
Device processed detects information according to feedback channel, after rotation angle needed for calculating servo motor 8, is transmitted to the drive of servo motor 8
Dynamic model block, then, drive module control the contracted length of inelastic cord 7, the spring 11 in each sleeve are compressed, to realize ejection
The adjustment of power size.
Above description is explanation of the invention, is not intended to limit the invention, and limited range of the present invention is referring to right
It is required that within protection scope of the present invention, any type of modification can be made.
Claims (3)
1. a kind of ejection type quickly grabs robot, it is characterised in that：Including trigger mechanism, pedestal (6), contracting mechanism and adherency
Grasping mechanism, the pedestal (6) are provided with trigger mechanism at U-shaped structure in U-shaped structure, the trigger mechanism include by greatly to
Sleeve one (5), sleeve two (4), sleeve three (3) and the sleeve four (2) of small successively nested encryptions, the two sides of the sleeve one (5)
It is weldingly fixed in the U-shaped structure, the sleeve four (2), which is nested with, to be connected with trigger mechanism end (1), the sleeve two
(4), be provided with several conduits on the barrel of sleeve three (3) and sleeve four (2), between adjacent sleeve and sleeve four (2) with
It is attached between trigger mechanism end (1) by more straight pins, is cased with spring (11) outside every straight pin；
The contracting mechanism includes shaft (10), and the shaft (10) is mounted on the pedestal (6) by Bearning mechanism, described
The U-shaped structure bottom of pedestal (6) is equipped with bracket (9), installs servo motor (8) on bracket (9), the servo motor (8)
Output shaft is connect with shaft (10), the beginning of inelastic cord (7) is fixed in shaft (10), inelastic cord (7) is in shaft (10)
Upper winding multi-turn, the end of inelastic cord (7) sequentially pass through the centre bore at each sleeve bottom center, and with trigger mechanism end
(1) it is connected；
The adherency grasping mechanism includes adhesion sheet (17), and the adhesion sheet (17) and trigger mechanism end (1) pass through connection dress
(16) are set to be connected.
2. a kind of ejection type as described in claim 1 quickly grabs robot, it is characterised in that：The straight pin includes first
Straight pin (12), the second straight pin (13) and third straight pin (14) and the 4th straight pin (15), first straight pin (12),
One end of second straight pin (13) and third straight pin (14) is connected through a screw thread respectively is fixed on sleeve one (5), sleeve two (4)
With the bottom of sleeve three (3), the other end is respectively protruding into the conduit of sleeve two (4), sleeve three (3) and sleeve four (2) barrel, institute
The one end for stating the 4th straight pin (15) is threadedly attached in the bottom of sleeve four (2), and the other end protrudes into trigger mechanism end (1)
In.
3. a kind of ejection type as described in claim 1 quickly grabs robot, it is characterised in that：The trigger mechanism end
(1) structure is：The cylindrical body being connected with attachment device (16), one end of the cylindrical body is extended with small cylinder, described
The end face of small cylinder is fixedly connected with the end of inelastic cord (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810572941.0A CN108818615A (en) | 2018-06-06 | 2018-06-06 | A kind of ejection type quickly grabs robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810572941.0A CN108818615A (en) | 2018-06-06 | 2018-06-06 | A kind of ejection type quickly grabs robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108818615A true CN108818615A (en) | 2018-11-16 |
Family
ID=64143388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810572941.0A Pending CN108818615A (en) | 2018-06-06 | 2018-06-06 | A kind of ejection type quickly grabs robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108818615A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397331A (en) * | 2018-12-10 | 2019-03-01 | 浙江清华柔性电子技术研究院 | Telescopic mechanism, mechanical arm and robot system |
| CN110000752A (en) * | 2019-01-24 | 2019-07-12 | 华中科技大学 | A kind of wearable software manipulator and preparation method thereof with quick ejecting function |
| CN110077630A (en) * | 2019-04-28 | 2019-08-02 | 中国空间技术研究院 | A kind of extraterrestrial target is reliably connected system |
| CN110815286A (en) * | 2019-12-05 | 2020-02-21 | 浙江清华柔性电子技术研究院 | Flexible telescopic device and mechanical arm |
| CN112192497A (en) * | 2020-09-30 | 2021-01-08 | 东风富士汤姆森调温器有限公司 | Carbon canister non-woven fabrics assembly devices |
| EP4000821A1 (en) * | 2020-11-19 | 2022-05-25 | Faspar S.p.A. | Tool gripping device |
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| EP0016921A1 (en) * | 1979-02-05 | 1980-10-15 | Georg Fischer Aktiengesellschaft | Telescopic device |
| WO2010101176A1 (en) * | 2009-03-04 | 2010-09-10 | 株式会社ディファレンス | Multistage expansion device |
| CN202895229U (en) * | 2012-11-21 | 2013-04-24 | 北京林业大学 | Bearing-and-pulling type robot telescopic arm |
| CN106078718A (en) * | 2016-08-08 | 2016-11-09 | 江苏捷帝机器人股份有限公司 | A kind of multi-stage expansion type compounding machine mechanical arm |
| CN205671007U (en) * | 2016-05-16 | 2016-11-09 | 陕西科技大学 | Scalable apple-picking device |
| CN206825462U (en) * | 2017-06-05 | 2018-01-02 | 颜贵斌 | A kind of manipulator three-level telescoping mechanism |
| CN108098750A (en) * | 2018-01-31 | 2018-06-01 | 西安科技大学 | A kind of Telescopic arm of robot |
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| EP0016921A1 (en) * | 1979-02-05 | 1980-10-15 | Georg Fischer Aktiengesellschaft | Telescopic device |
| WO2010101176A1 (en) * | 2009-03-04 | 2010-09-10 | 株式会社ディファレンス | Multistage expansion device |
| CN202895229U (en) * | 2012-11-21 | 2013-04-24 | 北京林业大学 | Bearing-and-pulling type robot telescopic arm |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397331A (en) * | 2018-12-10 | 2019-03-01 | 浙江清华柔性电子技术研究院 | Telescopic mechanism, mechanical arm and robot system |
| CN109397331B (en) * | 2018-12-10 | 2024-04-16 | 浙江清华柔性电子技术研究院 | Telescopic mechanism, mechanical arm and robot system |
| CN110000752A (en) * | 2019-01-24 | 2019-07-12 | 华中科技大学 | A kind of wearable software manipulator and preparation method thereof with quick ejecting function |
| CN110000752B (en) * | 2019-01-24 | 2021-01-05 | 华中科技大学 | Wearable soft manipulator with rapid ejection function and preparation method thereof |
| CN110077630A (en) * | 2019-04-28 | 2019-08-02 | 中国空间技术研究院 | A kind of extraterrestrial target is reliably connected system |
| CN110815286A (en) * | 2019-12-05 | 2020-02-21 | 浙江清华柔性电子技术研究院 | Flexible telescopic device and mechanical arm |
| CN110815286B (en) * | 2019-12-05 | 2023-06-27 | 浙江清华柔性电子技术研究院 | Flexible telescopic device and mechanical arm |
| CN112192497A (en) * | 2020-09-30 | 2021-01-08 | 东风富士汤姆森调温器有限公司 | Carbon canister non-woven fabrics assembly devices |
| EP4000821A1 (en) * | 2020-11-19 | 2022-05-25 | Faspar S.p.A. | Tool gripping device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181116 |
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| RJ01 | Rejection of invention patent application after publication |