CN109338922A - Cone grasping mechanism - Google Patents
Cone grasping mechanism Download PDFInfo
- Publication number
- CN109338922A CN109338922A CN201811359940.4A CN201811359940A CN109338922A CN 109338922 A CN109338922 A CN 109338922A CN 201811359940 A CN201811359940 A CN 201811359940A CN 109338922 A CN109338922 A CN 109338922A
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- China
- Prior art keywords
- mechanical arm
- driving wheel
- rotary shaft
- central axis
- connecting tube
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- 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.)
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
- E01F9/70—Storing, transporting, placing or retrieving portable devices
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of cone grasping mechanisms, include: rear mechanical arm (2.1) is rotated around central axis one；Front mechanical arm (2.2) is also rotated around central axis two while rotation in company with rear mechanical arm (2.1) are synchronous around central axis one；And front mechanical arm (2.2) is equal to the radius of turn that rear mechanical arm (2.1) are rotated around central axis one around the radius of turn that central axis two rotates；Rotary shaft (2.3), it is rotated around central axis three, and the rotational angular velocity ratio of rotary shaft (2.3) and front mechanical arm (2.2) is equal to the rotational angular velocity ratio of rear mechanical arm (2.1) and front mechanical arm (2.2)；Sucker (2.4) is connected on rotary shaft (2.3).It the present invention relates to a kind of cone grasping mechanism, is linked design using front and back mechanical arm, effectively reduces operating radius when rotation, and cone vertical displacement movement always in the process of grasping, ensure that the effect of crawl.
Description
Technical field
The present invention relates to a kind of grasping mechanisms can more particularly, to a kind of method for being grabbed to cone
Applied to the arrangement and storage of cone, to realize automatic operation, belong to road traffic technical field of auxiliary facilities.
Background technique
Currently, in road construction, traffic accident occur when, be required to arrangement cone to realize the isolation to road,
The generation of placement accident；It is artificial to arrange and store cone not only inefficiency, and there are some potential safety problemss, for this purpose,
Chinese patent ZL201520486918.1 had once successively declared with 2014 and 2015 in our company, and " safety bores full-automatic folding and unfolding system
System " and ZL201420553184.X " cone automatic winding-unwinding system ", the effective solution above problem；But actual
It finds that above-mentioned apparatus volume is larger in, needs special vehicle or customization vehicle that could be installed, and jack
Operating radius is larger, is easy to influence contact vehicle；Therefore, a kind of cone grasp mode for capableing of miniaturized application is needed.
Summary of the invention
The purpose of the present invention is to overcome the above shortcomings and to provide a kind of cone grasping mechanisms, utilize front and back mechanical arm
Be linked design, effectively reduces operating radius when rotation, and cone is vertically moved up or down always in the process of grasping
Movement, ensure that the effect of crawl.
The object of the present invention is achieved like this:
A kind of cone grasping mechanism, the grasping mechanism includes:
Mechanical arm afterwards is rotated around central axis one；
Front mechanical arm is also rotated around central axis two while rotation in company with rear mechanical arm is synchronous around central axis one；And
Front mechanical arm is equal to the radius of turn that rear mechanical arm is rotated around central axis one around the radius of turn that central axis two rotates；
Rotary shaft is rotated around central axis three, and the rotational angular velocity of rotary shaft and front mechanical arm ratio is equal to rear mechanical arm
With the rotational angular velocity ratio of front mechanical arm；
Sucker is connected in rotary shaft；
Air flue is connected to sucker after mechanical arm, front mechanical arm and rotary shaft after.
A kind of cone grasping mechanism of the present invention, the rear mechanical arm include by rear transverse connecting pipe and rear vertical connection
The L shape structure that pipe is constituted, and rear transverse connecting pipe is connected with the lumen of rear vertical connecting tube, vertical connecting tube after described
Bottom is horizontally connected with a sleeve one, and the preceding transverse connecting pipe activity of the front mechanical arm is inserted in above-mentioned sleeve one, before this
A through-hole being connected with rear vertical connecting tube, preceding transverse connecting pipe and preceding vertical connection are provided on the tube wall of transverse connecting pipe
Pipe constitutes a L shape structure, and preceding transverse connecting pipe is connected with the lumen of preceding vertical connecting tube, and the bottom of preceding vertical connecting tube
It is communicated with a sleeve two, rotary shaft activity is inserted in sleeve two, and central cavity is provided in rotary shaft, the axial wall of rotary shaft
The through-hole of upper setting is connected to the central cavity of rotary shaft and the lumen of preceding vertical connecting tube, is equipped with a sucker in rotary shaft, and
The central cavity of rotary shaft is connected with sucker；The length of vertical connecting tube is consistent with the length of preceding vertical connecting tube after above-mentioned；
It is set with driving wheel one on transverse connecting pipe after described, driving wheel two, institute are set on the preceding transverse connecting pipe
It states and is wound with driving chain one between driving wheel one and driving wheel two；Driving wheel three, the rotation are set on the sleeve one
It is set with driving wheel four on axis, is wound with driving chain two between the driving wheel three and driving wheel four；And driving wheel one and pass
The transmission ratio of driving wheel two is equal with the transmission ratio of driving wheel four and driving wheel three.
A kind of cone grasping mechanism of the present invention, the rear transverse connecting pipe is driven by power mechanism to be rotated, and afterwards laterally
Connecting tube is connected with a vacuum evacuation device.
A kind of cone grasping mechanism of the present invention, transmission ratio, driving wheel four and the driving wheel of driving wheel one and driving wheel two
Three transmission ratio is 1:2.
A kind of cone grasping mechanism of the present invention is equipped with shift fork on the sucker, which is "eight" shape structure, and
The back side of sucker is articulated in the middle part of shift fork, the two sides of left and right two fork arms towards the suckers of the shift fork of "eight" shape structure are oblique to be set
It sets, the bottom of above-mentioned sleeve two is equipped with limited block, is provided with torsional spring in the middle part of shift fork between the back side of sucker, and in the middle part of shift fork
Protrusion is shelved on limited block.
Compared with prior art, the beneficial effects of the present invention are:
The present invention effectively reduces the operation half when rotation using the design that is linked of front mechanical arm and rear mechanical arm
Diameter is conducive to Miniaturization Design；And pass through rear mechanical arm and the length matching design of front mechanical arm and matching for transmission ratio
It closes, so that cone vertical displacement movement always in the process of grasping, ensure that the effect of crawl.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of cone grasping mechanism of the present invention.
Fig. 2 is a kind of rotation schematic diagram of cone grasping mechanism of the present invention.
Wherein:
Mechanical arm 2.1, front mechanical arm 2.2, rotary shaft 2.3, sucker 2.4, driving wheel 1, driving wheel 2 2.6, biography afterwards
Dynamic chain 1, driving wheel 3 2.8, driving wheel 4 2.9, driving chain 2 2.10, shift fork 2.11, limited block 2.12；
Transverse connecting pipe 2.1.1, rear vertical connecting tube 2.1.2, one 2.1.3 of sleeve afterwards；
Preceding transverse connecting pipe 2.2.1, preceding vertical connecting tube 2.2.2, two 2.2.3 of sleeve
Specific embodiment
Referring to Fig. 1~2, a kind of cone grasping mechanism of the present invention,
Mechanical arm 2.1 afterwards, around central axis one (central axis of transverse connecting pipe 2.1.1 after i.e.) rotation；
Front mechanical arm 2.2, while rotation in company with rear mechanical arm 2.1 is synchronous around central axis one, also around central axis two
Rotation (central axis of transverse connecting pipe 2.2.1 before i.e.)；And the radius of turn etc. that front mechanical arm 2.2 is rotated around central axis two
In the radius of turn that rear mechanical arm 2.1 is rotated around central axis one；
Rotary shaft 2.3 is rotated around central axis three (i.e. the central axis of rotary shaft 2.3), and rotary shaft 2.3 and preceding machinery
Rotational angular velocity ratio of the rotational angular velocity of arm 2.2 than being equal to rear mechanical arm 2.1 and front mechanical arm 2.2；
Sucker 2.4 is connected in rotary shaft 2.3；
Air flue is connected to sucker 2.4 after mechanical arm 2.1, front mechanical arm 2.2 and rotary shaft 2.3 after；
The grasping mechanism includes rear mechanical arm 2.1 and front mechanical arm 2.2, and the rear mechanical arm 2.1 includes by rear
The L shape structure that transverse connecting pipe 2.1.1 and rear vertical connecting tube 2.1.2 are constituted, and rear transverse connecting pipe 2.1.1 and rear vertical
The lumen of connecting tube 2.1.2 is connected, and the rear transverse connecting pipe 2.1.1 is driven by being installed on the intracorporal power mechanism of main case
Rotation, and rear transverse connecting pipe 2.1.1 is connected with a vacuum evacuation device, the bottom of vertical connecting tube 2.1.2 is lateral after described
It is communicated with one 2.1.3 of a sleeve, the preceding transverse connecting pipe 2.2.1 activity of the front mechanical arm 2.2 is inserted in above-mentioned sleeve one
2.1.3 in, a through-hole being connected with rear vertical connecting tube 2.1.2 is provided on the tube wall of the preceding transverse connecting pipe 2.2.1, it is preceding
Transverse connecting pipe 2.2.1 and preceding vertical connecting tube 2.2.2 constitutes a L shape structure, preceding transverse connecting pipe 2.2.1 and preceding vertically connects
The lumen of adapter tube 2.2.2 is connected, and the bottom of preceding vertical connecting tube 2.2.2 is communicated with two 2.2.3 of a sleeve, rotary shaft 2.3
Activity is inserted in two 2.2.3 of sleeve, and central cavity is provided in rotary shaft 2.3, and what is be arranged on the axial wall of rotary shaft 2.3 is logical
Hole is connected to the central cavity of rotary shaft 2.3 and the lumen of preceding vertical connecting tube 2.2.2, is equipped with a sucker in rotary shaft 2.3
2.4, and the central cavity of rotary shaft 2.3 is connected with sucker 2.4；The length of vertical connecting tube 2.1.2 and preceding vertical after above-mentioned
The length of connecting tube 2.2.2 is consistent；
It is movably installed with driving wheel 1 on transverse connecting pipe 2.1.1 after described, which laterally connects with rear
The central axis of adapter tube 2.1.1 coincides, and driving wheel 1 is fixed that (concretely, which can fix
In on host shell), the preceding transverse connecting pipe 2.2.1 is equipped with driving wheel 2 2.6, institute across the end sleeve of one 2.1.3 of sleeve
It states and is wound with driving chain 1 between driving wheel 1 and driving wheel 2 2.6；Transmission is set on one 2.1.3 of sleeve
3 2.8 are taken turns, driving wheel 4 2.9 is set in the rotary shaft 2.3, is wound between the driving wheel 3 2.8 and driving wheel 4 2.9
There is driving chain 2 2.10；And the transmission ratio of driving wheel 1 and driving wheel 2 2.6 and driving wheel 4 2.9 and driving wheel 3 2.8
Transmission ratio it is equal；Further, above-mentioned driving wheel is the diversified forms such as belt wheel, gear (bevel gear etc.) or sprocket wheel；Above-mentioned biography
Dynamic band is the various structures modes such as girdle structure, driving rack structure or driving chain structure；
Preferably, the biography of the transmission ratio of driving wheel 1 and driving wheel 2 2.6, driving wheel 4 2.9 and driving wheel 3 2.8
Dynamic ratio is 1:2 (i.e. the rotation of driving wheel 1 is turned around, two circle of the rotation of driving wheel 2 2.6)；
It is analyzed in conjunction with Fig. 2, when it is α that rear mechanical arm 2.1 turns over angle counterclockwise, the preceding transverse direction of front mechanical arm 2.2
Then vertical connecting tube 2.1.2 rotates counterclockwise α to connecting tube 2.2.1, then in the biography of driving wheel 1 and driving wheel 2 2.6
Under dynamic cooperation, the preceding transverse connecting pipe 2.2.1 of front mechanical arm 2.2 rotates clockwise 2 α around the wherein heart, due to vertically connecting after above-mentioned
The length of adapter tube 2.1.2 is consistent with the length of preceding vertical connecting tube 2.2.2, the preceding vertical connecting tube 2.2.2's of front mechanical arm 2.2
Always it disposes in vertical direction end.
Then it analyzes: the relationship between front mechanical arm 2.2 and rotation axis 2.3；When not considering driving wheel 4 2.9 and driving wheel
3 2.8 transmission matching relationship, rotation axis 2.3 in company with front mechanical arm 2.2 rotate clockwise 2 α and in company with rear mechanical arms 2.1
α is rotated counterclockwise, rotation axis is equivalent to after superposition and rotates clockwise α；Then consider driving wheel 4 2.9 and driving wheel 3 2.8
Transmission matching relationship front mechanical arm 2.2 drives rotation axis 2.3 to rotate clockwise 2 α relative to rear mechanical arm 2.1, then due to transmission
Than for 2:1, then rotation axis 2.3 rotates counterclockwise α relative to front mechanical arm 2.2；Therefore α is rotated clockwise again with what is be superimposed before
After secondary superposition, the two offsets rotation axis 2.3 and keeps opposing stationary；To guarantee the friendship that the upper sucker 2.4 of rotation axis 2.3 adsorbs
Only in vertical direction vertical motion the offset of other unwrapping wire will not occur for logical cone；
Further, shift fork 2.11 is installed on the sucker 2.4, which is "eight" shape structure, and shift fork
2.11 middle part is articulated with the back side of sucker 2.4, and the fork arm of left and right two of the shift fork 2.11 of "eight" shape structure is towards sucker 2.4
Two sides are angularly disposed, and the bottom of above-mentioned two 2.2.3 of sleeve is equipped with limited block 2.12, the back at shift fork 2.11 middle part and sucker 2.4
Torsional spring is provided between face, and 2.11 middle part protrusion of shift fork is shelved on limited block 2.12；When sucker suction lives cone or benefit
When forking cone with shift fork 2.11, shift fork 2.11 is limited the blocking of block 2.12, to play a supporting role；When after mechanical arm
When 2.1 180 ° of rotations collect cone position to top, front mechanical arm 2.2 rotates 180 ° in company with rear mechanical arm 2.1, front mechanical arm
2.2 itself reversely rotate 360 °, so that when removing cone at this time, shift fork 2.11 can be suitable by the rotation of limited block 2.12 to upper
It is rotated, and will not be impacted；
In addition: it should be noted that above-mentioned specific embodiment is only a prioritization scheme of this patent, the skill of this field
Any change or improvement that art personnel are done according to above-mentioned design, within the protection domain of this patent..
Claims (5)
1. a kind of cone grasping mechanism, it is characterised in that: the grasping mechanism includes:
Mechanical arm (2.1) afterwards are rotated around central axis one；
Front mechanical arm (2.2), while rotation in company with rear mechanical arm (2.1) are synchronous around central axis one, also around central axis two
Rotation；And front mechanical arm (2.2) is equal to rear mechanical arm (2.1) around the radius of turn that central axis two rotates and revolves around central axis one
The radius of turn turned；
Rotary shaft (2.3) is rotated around central axis three, and the rotational angular velocity ratio etc. of rotary shaft (2.3) and front mechanical arm (2.2)
Rotational angular velocity ratio in rear mechanical arm (2.1) and front mechanical arm (2.2)；
Sucker (2.4) is connected on rotary shaft (2.3)；
Air flue is connected to sucker (2.4) after mechanical arm (2.1), front mechanical arm (2.2) and rotary shaft (2.3) after.
2. a kind of cone grasping mechanism as described in claim 1, it is characterised in that: after described mechanical arm (2.1) include by
The L shape structure that transverse connecting pipe (2.1.1) and rear vertical connecting tube (2.1.2) are constituted afterwards, and rear transverse connecting pipe (2.1.1)
It is connected with the lumen of rear vertical connecting tube (2.1.2), the bottom of vertical connecting tube (2.1.2) is horizontally connected with a set of after described
One (2.1.3) of cylinder, preceding transverse connecting pipe (2.2.1) activity of the front mechanical arm (2.2) are inserted in above-mentioned sleeve one (2.1.3)
In, a through-hole being connected with rear vertical connecting tube (2.1.2) is provided on the tube wall of the preceding transverse connecting pipe (2.2.1), it is preceding
Transverse connecting pipe (2.2.1) and preceding vertical connecting tube (2.2.2) constitute a L shape structure, preceding transverse connecting pipe (2.2.1) and before
The lumen of vertical connecting tube (2.2.2) is connected, and the bottom of preceding vertical connecting tube (2.2.2) is communicated with a sleeve two
(2.2.3), rotary shaft (2.3) activity are inserted in sleeve two (2.2.3), and are provided with central cavity in rotary shaft (2.3), are revolved
The central cavity for through-hole connection rotary shaft (2.3) being arranged on the axial wall of shaft (2.3) and the pipe of preceding vertical connecting tube (2.2.2)
Chamber is equipped with a sucker (2.4) in rotary shaft (2.3), and the central cavity of rotary shaft (2.3) is connected with sucker (2.4)；On
The length of vertical connecting tube (2.1.2) is consistent with the length of preceding vertical connecting tube (2.2.2) after stating；
It is movably installed with driving wheel one (2.5) on the transverse connecting pipe (2.1.1) afterwards, the driving wheel one (2.5) and rear transverse direction
The central axis of connecting tube (2.1.1) coincides, and driving wheel one (2.5) is fixed, the preceding transverse connecting pipe (2.2.1)
On be set with driving wheel two (2.6), be wound with driving chain one between the driving wheel one (2.5) and driving wheel two (2.6)
(2.7)；It is set with driving wheel three (2.8) on the sleeve one (2.1.3), is set with driving wheel four on the rotary shaft (2.3)
(2.9), driving chain two (2.10) is wound between the driving wheel three (2.8) and driving wheel four (2.9)；And driving wheel one
(2.5) and the transmission ratio of driving wheel two (2.6) is equal with the transmission ratio of driving wheel four (2.9) and driving wheel three (2.8).
3. a kind of cone grasping mechanism as claimed in claim 2, it is characterised in that: after described transverse connecting pipe (2.1.1) by
Power mechanism driving rotation, and rear transverse connecting pipe (2.1.1) is connected with a vacuum evacuation device.
4. a kind of cone grasping mechanism as claimed in claim 2, it is characterised in that: driving wheel one (2.5) and driving wheel two
(2.6) transmission ratio of transmission ratio, driving wheel four (2.9) and driving wheel three (2.8) is 1:2.
5. a kind of cone grasping mechanism as claimed in claim 2, it is characterised in that: be equipped with shift fork on the sucker (2.4)
(2.11), which is "eight" shape structure, and the back side of sucker (2.4) is articulated in the middle part of shift fork (2.11),
The two sides of the fork arm of left and right two towards the sucker (2.4) of the shift fork (2.11) of "eight" shape structure are angularly disposed, above-mentioned sleeve two
The bottom of (2.2.3) is equipped with limited block (2.12), is provided with torsion between the back side of sucker (2.4) in the middle part of shift fork (2.11)
Spring, and protrusion is shelved on limited block (2.12) in the middle part of shift fork (2.11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811359940.4A CN109338922A (en) | 2018-11-15 | 2018-11-15 | Cone grasping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811359940.4A CN109338922A (en) | 2018-11-15 | 2018-11-15 | Cone grasping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109338922A true CN109338922A (en) | 2019-02-15 |
Family
ID=65315544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811359940.4A Withdrawn CN109338922A (en) | 2018-11-15 | 2018-11-15 | Cone grasping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109338922A (en) |
-
2018
- 2018-11-15 CN CN201811359940.4A patent/CN109338922A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190215 |
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| WW01 | Invention patent application withdrawn after publication |