CN109333502B - Rotatable mechanical arm that presss from both sides and get - Google Patents
Rotatable mechanical arm that presss from both sides and get Download PDFInfo
- Publication number
- CN109333502B CN109333502B CN201811396410.7A CN201811396410A CN109333502B CN 109333502 B CN109333502 B CN 109333502B CN 201811396410 A CN201811396410 A CN 201811396410A CN 109333502 B CN109333502 B CN 109333502B
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- China
- Prior art keywords
- mechanical arm
- driving
- frame
- lock pin
- arm body
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- 238000000034 method Methods 0.000 claims abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 244000126211 Hericium coralloides Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention discloses a rotatable clamping mechanical arm which comprises a lock pin device, a locking limiting block, a rack, a driving device, a mechanical arm body, a mechanical arm rotating shaft, a driving connecting shaft and a driving pull rod, wherein the locking limiting block is arranged on the rack; the locking pin device is arranged on the frame; the driving device comprises a screw rod and a driving block, the driving block and the frame form a sliding block guide rail structure, and the driving block can slide along the frame; the driving block is connected with a driving pull rod through a driving connecting shaft, and the driving pull rod is connected with the mechanical arm body; the locking limiting block and the frame form a sliding block guide rail structure, and the locking limiting block can slide along the frame; the mechanical arm body is connected with the locking limiting block through a mechanical arm rotating shaft; the mechanical arm body is provided with a thrust column, and the frame is provided with a groove through which the thrust column can pass. The invention not only can realize that the mechanical arm moves again when being completely unfolded, but also can limit the closing action in the moving process, has high locking structure strength, simple structure and reliable work, and increases the applicable scene of the mechanical arm.
Description
Technical Field
The invention belongs to the field of mechanical arms, and particularly relates to a rotatable clamping mechanical arm for a wheeled robot.
Background
With the rapid development of society, automobiles are becoming more popular, but the problem of parking is becoming a difficult problem in large and medium cities. In order to solve the problems of difficult parking and low efficiency of the existing stock parking lot and novel parking lot, the intelligent parking robot is more and more popular in application. At present, the intelligent robot for storing and taking the car mainly has a plurality of forms of carrying a car plate, combing teeth and clamping a mechanical arm. In the prior art, a vehicle carrying plate type robot is required to be always propped against a vehicle carrying plate, and the space utilization rate and the transportation efficiency are the lowest. The comb-tooth type robot needs to build a special parking platform, lifts the car and lifts the car, so that the space utilization rate is not economical. The mechanical arm clamping type vehicle carrying robot does not need to construct a special parking platform, and can directly enter the bottom of the vehicle to carry out taking and parking. And (5) automatically guiding according to the instruction of the intelligent scheduling system of the parking lot. In the running process, the robot can freely move forward, backward, transversely move, rotate and the like in multiple directions. Therefore, not only the walking space is saved, but also the occupied area of the parking space is reduced. Since the advantage of the robot with the robot arm gripping is most remarkable, development of the related robot arm unit is also particularly important.
Disclosure of Invention
In order to enable the robot with the clamping type mechanical arm to be better used, the invention provides the rotatable clamping type mechanical arm.
The aim of the invention is realized by the following technical scheme: a rotatable clamping mechanical arm comprises a lock pin device, a locking limiting block, a rack, a driving device, a mechanical arm body, a mechanical arm rotating shaft, a driving connecting shaft and a driving pull rod;
the lock pin device is arranged on the frame;
the driving device comprises a screw rod and a driving block, the screw rod is connected with a motor speed reducer, the motor speed reducer is fixed on the driving block, the driving block and the frame form a sliding block guide rail structure, and the driving block can slide along the frame;
the driving block is connected with a driving pull rod through a driving connecting shaft, and the driving pull rod is connected with the mechanical arm body;
the locking limiting block and the frame form a sliding block guide rail structure, and the locking limiting block can slide along the frame;
the mechanical arm body is connected with the locking limiting block through a mechanical arm rotating shaft;
the mechanical arm body is provided with a thrust column, and the rack is provided with a groove through which the thrust column can pass.
Further, the latch device includes a latch rotation shaft, a latch spring seat, and a latch, the latch being mounted on the latch spring seat by the latch rotation shaft, the latch spring seat being mounted on the frame.
Further, the arm body is including pressing from both sides and getting the arm body, arm upper junction plate, upper junction plate thrust post, lower junction plate thrust post and arm lower junction plate, press from both sides and get the arm body and be connected with arm upper junction plate and arm lower junction plate respectively, have first boss characteristic on the arm upper junction plate, install the upper junction plate thrust post on the first boss characteristic, have the second boss characteristic on the arm lower junction plate, install lower junction plate thrust post on the second boss characteristic.
Further, two driving pull rods are adopted, one ends of the two driving pull rods are connected with the driving connecting shaft and can rotate around the driving connecting shaft, and the other ends of the two driving pull rods are respectively connected with the mechanical arm upper connecting plate and the mechanical arm lower connecting plate.
Further, grooves are formed in the upper portion and the lower portion of one side of the frame, and when the mechanical arm body is completely opened, the upper connecting plate thrust column and the lower connecting plate thrust column enter the frame through the grooves in the upper portion and the lower portion respectively.
Further, when the lock pin of the lock pin device bounces towards the inner side of the frame, the position of the locking limiting block can be locked, and the locking limiting block is prevented from moving.
Further, when the mechanical arm body is completely opened, the mechanical arm body is in contact with the lock pin device, and the lock pin of the lock pin device can be pressed back to the rack, so that the lock of the lock pin to the locking limiting block is released.
Further, the frame includes two vertical symmetrical arrangement's backup pad, and the guide rail is arranged along arm direction of movement to the inboard of backup pad, drive piece and locking stopper can follow the guide rail and slide.
Three states exist in the use process of the mechanical arm: from closed to open, fully open, mobile gripping.
The mechanical arm is opened from closed: the lock pin of the lock pin device is in a bouncing state, and the lock pin clamps the locking limiting block to prevent the locking limiting block from moving; when the driving device provides power for movement, the driving pull rod transmits power to the mechanical arm body, and the mechanical arm body only rotates by taking the mechanical arm rotating shaft as the axis;
the mechanical arm is fully opened: when the mechanical arm body is completely opened, the mechanical arm body is in contact with the lock pin of the lock pin device, and the lock pin is pressed back to the rack, so that the lock of the lock pin to the locking limiting block is released; when the driving device continues to provide power for movement, the mechanical arm body drives the locking limiting block to move forwards together;
the mechanical arm moves and clamps: when the mechanical arm body is opened, the thrust column on the mechanical arm body enters the inside of the frame through the groove on the frame; when the mechanical arm moves, the thrust column also leaves the groove position; when the clamping device is used for clamping, the thrust column is blocked in the rack by the rack, and the mechanical arm is limited to perform closing action, so that the clamping function is realized under the drive of the driving device.
The beneficial effects of the invention are as follows: the invention provides a rotatable clamping mechanical arm, which utilizes a lock pin device to clamp a locking limiting block, and by designing a structure for driving a pull rod and a mechanical arm rotating shaft, the mechanical arm body only takes the mechanical arm rotating shaft as an axle center to do rotary motion; when the mechanical arm body is completely opened, the mechanical arm body is contacted with the lock pin, the locking of the locking limiting block is released, and at the moment, the mechanical arm body drives the locking limiting block to move forwards together; the structure that the thrust column is matched with the groove is designed, and the closing action of the mechanical arm is limited, so that the movable clamping is realized; the invention not only can realize that the mechanical arm moves again when being completely unfolded, but also can limit the closing action in the moving process, has high locking structure strength, simple structure and reliable work, and increases the applicable scene of the mechanical arm.
Drawings
FIG. 1 is a top view of a rotatable gripping robot (closed robot) according to the present invention;
FIG. 2 is a partial view A of a rotatable gripping robot arm according to the present invention;
FIG. 3 is a top view of a rotatable gripping robot (a closed robot perspective) according to the present invention;
FIG. 4 is an isometric view of a rotatable gripping robot (closed robot) according to the present invention;
FIG. 5 is a top view of a rotatable gripping robot (open robot) according to the present invention;
FIG. 6 is a partial view B of a rotatable gripping robot arm according to the present invention;
FIG. 7 is a top view of a rotatable gripping robot (a perspective view of an opened robot) according to the present invention;
FIG. 8 is a top view of a rotatable gripping robot (robot movement) according to the present invention;
in the figures, a lock pin device 1, a lock stop block 2, a frame 3, a driving device 4, a mechanical arm body 5, a mechanical arm rotating shaft 6, a driving connecting shaft 7, a driving pull rod 8, a lock pin rotating shaft 11, a lock pin spring seat 12, a lock pin 13, a screw 41, a nut seat 42, a driving block 43, a clamping arm body 51, a mechanical arm upper connecting plate 52, an upper connecting plate thrust column 53, a lower connecting plate thrust column 54, a mechanical arm lower connecting plate 55 and a U-shaped feature 31 are shown.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific examples.
The invention provides a novel rotatable clamping mechanical arm which comprises a lock pin device 1, a locking limiting block 2, a frame 3, a driving device 4, a mechanical arm body 5, a mechanical arm rotating shaft 6, a driving connecting shaft 7 and a driving pull rod 8, wherein the figures 1 and 3 are shown in the drawings.
The lock pin device 1 includes a lock pin rotation shaft 11, a lock pin spring seat 12, a lock pin 13, and the like, see fig. 2.
The driving device 4 comprises a screw 41, a nut seat 42, a driving block 43, etc., see fig. 4.
The mechanical arm body 5 comprises a clamping arm body 51, an upper mechanical arm connecting plate 52, an upper connecting plate thrust post 53, a lower connecting plate thrust post 54, a lower mechanical arm connecting plate 55 and the like, as shown in fig. 4.
The assembly sequence of the mechanical arm is as follows:
step one: the lock pin 13 is arranged on the lock pin spring seat 12 through the lock pin rotating shaft 11 to form the lock pin device 1; the locking pin device 1 is bolted to the frame 3 (see fig. 2);
step two: the screw 41 and the nut seat 42 are matched and connected with a motor speed reducer to provide power; the nut seat 42 and the driving block 43 are bolted together to form a driving device 4; the driving device 4 is connected with the frame 3 through a slide block guide rail (see fig. 1 and 3);
step three: the locking limiting block 2 is connected with the frame 3 through a sliding block guide rail (see figure 3);
step four: the clamping arm body 51 is bolted with the mechanical arm upper connecting plate 52 and the mechanical arm lower connecting plate 55 through bolts; the mechanical arm upper connecting plate 52 is provided with a boss feature, and an upper connecting plate thrust post 53 is arranged on the boss feature; the lower arm connection plate 55 has a boss feature on which the lower connection plate thrust post 54 is mounted; thereby being assembled into a robot arm body 5 (see fig. 4);
step five: the mechanical arm body 5 is connected with the locking limiting block 2 through a mechanical arm rotating shaft 6 so as to be fixed on the robot body (see figure 1);
step six: the driving device 4 is connected with a driving pull rod 8 through a driving connecting shaft 7; the two driving pull rods 8 are respectively connected with the mechanical arm upper connecting plate 52 and the mechanical arm lower connecting plate 55; the driving force can be transmitted from the driving device 4 to the robot arm body 5 through a series of connections (see fig. 1, 3, 4).
The specific implementation method of the mechanical arm comprises the following steps:
three states exist in the use process of the mechanical arm: from closed to open, fully open, mobile gripping.
1: see FIGS. 1-4 (closed to open)
Status characteristics: the lock pin 13 in the lock pin device 1 is in a sprung state; the lock pin 13 clamps the locking limiting block 2 to prevent the locking limiting block 2 from moving; because the locking limiting block 2 cannot move, when the driving device 4 provides power for movement, the driving pull rod 8 transmits power to the mechanical arm body 5, and the mechanical arm body 5 only rotates by taking the mechanical arm rotating shaft 6 as the axis.
2: see FIGS. 5-7 (fully open)
Status characteristics: when the mechanical arm body 5 is completely opened, the mechanical arm upper connecting plate 52 is in contact with the lock pin 13 and presses the lock pin 13 into the lock pin spring seat 12, so that the lock of the lock pin 13 to the locking limiting block 2 is released; when the driving device 4 continues to provide power for movement, the mechanical arm body 5 drives the locking limiting block 2 to move forwards together.
3: see FIGS. 7-8 (Mobile gripping)
Status characteristics: the frame 3 is provided with a U-shaped feature, and when the mechanical arm body 5 is opened, the upper connecting plate thrust column 53 and the lower connecting plate thrust column 54 enter the frame 3 through the U-shaped feature respectively; during the movement of the mechanical arm, the upper connecting plate thrust column 53 and the lower connecting plate thrust column 54 leave the U-shaped characteristic positions along with the mechanical arm; when the clamping arm is clamped, the upper connecting plate thrust column 53 and the lower connecting plate thrust column 54 are blocked inside the frame 3 by the frame 3, so that the mechanical arm is limited to be closed, and the clamping function of the clamping arm is realized under the drive of the driving device 4.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (7)
1. The rotatable clamping mechanical arm is characterized by comprising a lock pin device (1), a locking limiting block (2), a frame (3), a driving device (4), a mechanical arm body (5), a mechanical arm rotating shaft (6), a driving connecting shaft (7) and a driving pull rod (8);
the lock pin device (1) is arranged on the frame (3);
the driving device (4) comprises a screw rod (41) and a driving block (43), the screw rod (41) is connected with a motor speed reducer, the motor speed reducer is fixed on the driving block (43), the driving block (43) and the frame (3) form a sliding block guide rail structure, and the driving block (43) can slide along the frame (3);
the driving block (43) is connected with the driving pull rod (8) through the driving connecting shaft (7), and the driving pull rod (8) is connected with the mechanical arm body (5);
the locking limiting block (2) and the frame (3) form a sliding block guide rail structure, and the locking limiting block (2) can slide along the frame (3);
the mechanical arm body (5) is connected with the locking limiting block (2) through a mechanical arm rotating shaft (6);
the mechanical arm body (5) is provided with a thrust column, and the frame (3) is provided with a groove through which the thrust column can pass;
when the lock pin (13) of the lock pin device (1) is sprung towards the inner side of the frame (3), the position of the locking limiting block (2) can be locked, and the locking limiting block (2) is prevented from moving;
when the mechanical arm body (5) is completely opened, the mechanical arm body is in contact with the lock pin device (1), and can press the lock pin (13) of the lock pin device (1) back to the stand (3), so that the lock of the lock pin (13) to the locking limiting block (2) is released.
2. A rotatable gripping robot arm according to claim 1, characterized in that the locking pin arrangement (1) comprises a locking pin rotation shaft (11), a locking pin spring seat (12) and a locking pin (13), the locking pin (13) being mounted on the locking pin spring seat (12) by means of the locking pin rotation shaft (11), the locking pin spring seat (12) being mounted on the frame (3).
3. The rotatable clamped mechanical arm according to claim 1, wherein the mechanical arm body (5) comprises a clamping arm body (51), a mechanical arm upper connecting plate (52), an upper connecting plate thrust column (53), a lower connecting plate thrust column (54) and a mechanical arm lower connecting plate (55), the clamping arm body (51) is connected with the mechanical arm upper connecting plate (52) and the mechanical arm lower connecting plate (55) respectively, the mechanical arm upper connecting plate (52) is provided with a first boss feature, the first boss feature is provided with the upper connecting plate thrust column (53), and the mechanical arm lower connecting plate (55) is provided with a second boss feature, and the second boss feature is provided with the lower connecting plate thrust column (54).
4. A rotatable clamping mechanical arm according to claim 3, characterized in that two driving pull rods (8) are adopted, one ends of the two driving pull rods (8) are connected with the driving connecting shaft (7) and can rotate around the driving connecting shaft (7), and the other ends of the two driving pull rods (8) are respectively connected with the mechanical arm upper connecting plate (52) and the mechanical arm lower connecting plate (55).
5. A rotatable gripping mechanical arm according to claim 3, characterized in that grooves are formed above and below one side of the frame (3), and when the mechanical arm body (5) is completely opened, the upper connecting plate thrust column (53) and the lower connecting plate thrust column (54) enter the frame (3) through the grooves at the upper and lower sides respectively.
6. The rotatable clamping mechanical arm according to claim 1, wherein the frame (3) comprises two support plates which are vertically and symmetrically arranged, guide rails are arranged on the inner sides of the support plates along the moving direction of the mechanical arm, and the driving blocks (43) and the locking limiting blocks (2) can slide along the guide rails.
7. A method of object movement gripping using the robotic arm of any of claims 1-6, wherein the robotic arm has three states: from closed to open, fully open, mobile gripping;
the mechanical arm is opened from closed: the lock pin (13) of the lock pin device (1) is in a bouncing state, and the lock pin (13) clamps the locking limiting block (2) to prevent the locking limiting block (2) from moving; when the driving device (4) provides power for movement, the driving pull rod (8) transmits power to the mechanical arm body (5), and the mechanical arm body (5) only rotates by taking the mechanical arm rotating shaft (6) as the axis;
the mechanical arm is fully opened: when the mechanical arm body (5) is completely opened, the mechanical arm body (5) is in contact with the lock pin (13) of the lock pin device (1) and presses the lock pin (13) back to the frame (3), so that the lock of the lock pin (13) to the locking limiting block (2) is released; when the driving device (4) continues to provide power for movement, the mechanical arm body (5) drives the locking limiting block (2) to move forwards together;
the mechanical arm moves and clamps: when the mechanical arm body (5) is opened, a thrust column on the mechanical arm body (5) enters the inside of the frame (3) through a groove on the frame (3); in the moving process of the mechanical arm, the thrust column also leaves the groove position; when the clamping device is used for clamping, the thrust column is blocked in the frame (3) by the frame (3), and the mechanical arm is limited to perform closing action, so that the clamping function is realized under the drive of the driving device (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811396410.7A CN109333502B (en) | 2018-11-22 | 2018-11-22 | Rotatable mechanical arm that presss from both sides and get |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811396410.7A CN109333502B (en) | 2018-11-22 | 2018-11-22 | Rotatable mechanical arm that presss from both sides and get |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109333502A CN109333502A (en) | 2019-02-15 |
| CN109333502B true CN109333502B (en) | 2023-12-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811396410.7A Active CN109333502B (en) | 2018-11-22 | 2018-11-22 | Rotatable mechanical arm that presss from both sides and get |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109333502B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3435498A (en) * | 1965-11-19 | 1969-04-01 | Kerney & Trecker C V A Ltd | Multiple operation machine tools |
| JP2002160188A (en) * | 2000-11-24 | 2002-06-04 | Mitsubishi Heavy Ind Ltd | Robot arm mechanism |
| CN207513271U (en) * | 2017-10-31 | 2018-06-19 | 杭州极木科技有限公司 | A kind of intelligent parking robot |
| CN108406747A (en) * | 2018-03-22 | 2018-08-17 | 吉林大学 | Boosting manipulator |
| CN108705517A (en) * | 2018-06-16 | 2018-10-26 | 上海晓奥享荣汽车工业装备有限公司 | Integrated flexible captures plateform system |
| CN209190761U (en) * | 2018-11-22 | 2019-08-02 | 杭州极木科技有限公司 | A kind of mechanical arm of rotatable clamping |
-
2018
- 2018-11-22 CN CN201811396410.7A patent/CN109333502B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3435498A (en) * | 1965-11-19 | 1969-04-01 | Kerney & Trecker C V A Ltd | Multiple operation machine tools |
| JP2002160188A (en) * | 2000-11-24 | 2002-06-04 | Mitsubishi Heavy Ind Ltd | Robot arm mechanism |
| CN207513271U (en) * | 2017-10-31 | 2018-06-19 | 杭州极木科技有限公司 | A kind of intelligent parking robot |
| CN108406747A (en) * | 2018-03-22 | 2018-08-17 | 吉林大学 | Boosting manipulator |
| CN108705517A (en) * | 2018-06-16 | 2018-10-26 | 上海晓奥享荣汽车工业装备有限公司 | Integrated flexible captures plateform system |
| CN209190761U (en) * | 2018-11-22 | 2019-08-02 | 杭州极木科技有限公司 | A kind of mechanical arm of rotatable clamping |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109333502A (en) | 2019-02-15 |
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