CN109577238A - Cone grasping means - Google Patents
Cone grasping means Download PDFInfo
- Publication number
- CN109577238A CN109577238A CN201811359325.3A CN201811359325A CN109577238A CN 109577238 A CN109577238 A CN 109577238A CN 201811359325 A CN201811359325 A CN 201811359325A CN 109577238 A CN109577238 A CN 109577238A
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- CN
- China
- Prior art keywords
- mechanical arm
- cone
- rotary shaft
- pivot center
- grasping means
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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
-
- 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 means, the grasping means are as follows: sucker suction or after holding cone, mechanical arm rotates around it axis under power mechanism driving and rotates in the forward direction afterwards, front mechanical arm reversely rotates under the transmission of rear mechanical arm around the pivot center of rear mechanical arm, the rotary shaft being interspersed in front mechanical arm drives sucker to rotate in the forward direction around the pivot center of rotary shaft under the transmission of front mechanical arm, and the ratio between rear mechanical arm and the angular speed of front mechanical arm are equal to the ratio between rotary shaft and the angular speed of front mechanical arm.It the present invention relates to a kind of cone grasping means, 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 means 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,
" the cone automatic deploying and retracting side Chinese patent ZL201410495146.8 had once successively been declared with 2014 and 2015 by our company
Method " and ZL201510396053.4 " safety bore full-automatic folding and unfolding technique ", the effective solution above problem；But in reality
Application in discovery above-mentioned apparatus volume it is larger, need special vehicle or customization vehicle that could be installed, and jack
Operating radius it is larger, be easy 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 means, 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 means, the grasping means are as follows:
Sucker suction or after holding cone, rear mechanical arm rotates around it axis under power mechanism driving and rotates in the forward direction,
While front mechanical arm subsequent mechanical arm rotation, front mechanical arm reversely rotated around the pivot center of its own, be interspersed in preceding machinery
Rotary shaft on arm drives sucker to rotate in the forward direction around the pivot center of rotary shaft under front mechanical arm transmission, and rear mechanical arm is with before
The ratio between angular speed of mechanical arm is equal to the ratio between rotary shaft and the angular speed of front mechanical arm, the pivot center of front mechanical arm and rear machinery
The distance between arm pivot center is equal to the distance between pivot center and pivot center of rotary shaft of front mechanical arm, to protect
Mechanical arm drives rotary shaft, sucker and cone in vertical direction elevating movement by front mechanical arm after card.
A kind of cone grasping means of the present invention, vacuum evacuation device phase between mechanical arm, front mechanical arm and rotation axis after
Intercommunicated air flue is connected to sucker and adsorbs to cone.
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 an implementation mechanism of cone grasping means of the present invention.
Fig. 2 is a kind of rotation schematic diagram of cone grasping means 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 band 1, driving wheel 3 2.8, driving wheel 4 2.9, transmission belt 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 means of the present invention, the grasping means are as follows:
Sucker suction or after holding cone, rear mechanical arm rotates around it axis under power mechanism driving and rotates in the forward direction,
While front mechanical arm subsequent mechanical arm rotation, front mechanical arm reversely rotated around the pivot center of its own, be interspersed in preceding machinery
Rotary shaft on arm drives sucker to rotate in the forward direction around the pivot center of rotary shaft under the transmission of front mechanical arm, and rear mechanical arm with
The ratio between angular speed of front mechanical arm is equal to the ratio between rotary shaft and the angular speed of front mechanical arm, the pivot center of front mechanical arm and rear machine
The distance between tool arm pivot center is equal to the distance between pivot center and pivot center of rotary shaft of front mechanical arm, thus
Mechanical arm drives rotary shaft, sucker and cone in vertical direction elevating movement by front mechanical arm after guarantee.
Concretely, the air flue connection that vacuum evacuation device is interconnected between mechanical arm, front mechanical arm and rotation axis after
Cone is adsorbed to sucker；
Further, the grasping means is based on but is not limited only to a kind of following grasping mechanisms realizations:
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 transmission belt 1 between driving wheel 1 and driving wheel 2 2.6；Driving wheel is set on one 2.1.3 of sleeve
3 2.8, 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
Transmission belt 2 2.10；And the biography of 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
It moves than equal；Further, above-mentioned driving wheel is the diversified forms such as belt wheel, gear (bevel gear etc.) or sprocket wheel；Above-mentioned transmission belt
For various structures modes such as girdle structure, driving rack structure or driving chain structures；
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 to be driven
Take turns the transmission matching relationship of 4 2.9 and driving wheel 3 2.8, rotation axis 2.3 in company with front mechanical arm 2.2 rotate clockwise 2 α and
α is rotated counterclockwise in company with rear mechanical arm 2.1, rotation axis is equivalent to after superposition and rotates clockwise α；Then consider driving wheel 4 2.9
Rotation axis 2.3 is driven to turn clockwise relative to rear mechanical arm 2.1 with the transmission matching relationship front mechanical arm 2.2 of driving wheel 3 2.8
Dynamic 2 α, then since transmission ratio is 2:1, then rotation axis 2.3 rotates counterclockwise α relative to front mechanical arm 2.2；Therefore be superimposed before
Rotate clockwise after α is superimposed again, the two offsets rotation axis 2.3 and keeps opposing stationary；To guarantee the upper of rotation axis 2.3
Only in vertical direction vertical motion the offset in other directions will not occur for the cone that sucker 2.4 adsorbs；
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 (4)
1. a kind of cone grasping means, it is characterised in that: the grasping means are as follows:
Sucker suction or after holding cone, rear mechanical arm rotates around it axis under power mechanism driving and rotates in the forward direction, preceding machine
While the subsequent mechanical arm rotation of tool arm, front mechanical arm reversely rotated around the pivot center of its own, be interspersed in front mechanical arm
Rotary shaft drive sucker to rotate in the forward direction around the pivot center of rotary shaft, and the ratio between rear mechanical arm and the angular speed of front mechanical arm etc.
In the ratio between rotary shaft and the angular speed of front mechanical arm, the distance between the pivot center of front mechanical arm and rear mechanical arm pivot center
Equal to the distance between the pivot center of front mechanical arm and pivot center of rotary shaft, mechanical arm passes through front mechanical arm band after guarantee
Dynamic rotary shaft, sucker and cone are in vertical direction elevating movement.
2. a kind of cone grasping means as described in claim 1, it is characterised in that:
The air flue that vacuum evacuation device is interconnected between mechanical arm, front mechanical arm and rotation axis after is connected to sucker to cone
It is adsorbed.
3. a kind of cone grasping means as described in claim 1, it is characterised in that:
Pivot center of the front mechanical arm in the case where movable set cooperates in the transmission of the driving wheel on rear mechanical arm around its own is reversed
Rotation；Rotary shaft drives sucker to rotate in the forward direction around the pivot center of rotary shaft under the transmission cooperation of front mechanical arm.
4. a kind of cone grasping means as described in claim 1, it is characterised in that:
Driving wheel is including but not limited to belt wheel, gear or sprocket wheel；Above-mentioned transmission belt is including but not limited to girdle structure, driving rack
Structure or driving chain structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811359325.3A CN109577238A (en) | 2018-11-15 | 2018-11-15 | Cone grasping means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811359325.3A CN109577238A (en) | 2018-11-15 | 2018-11-15 | Cone grasping means |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109577238A true CN109577238A (en) | 2019-04-05 |
Family
ID=65922657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811359325.3A Pending CN109577238A (en) | 2018-11-15 | 2018-11-15 | Cone grasping means |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109577238A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112746575A (en) * | 2020-12-26 | 2021-05-04 | 辽宁艾特斯智能交通技术有限公司 | Traffic cone discharging and recovering device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085658A (en) * | 2009-12-07 | 2011-06-08 | 株式会社安川电机 | Horizontal multi-joint robot and transportation apparatus including the same |
| CN104328750A (en) * | 2014-09-25 | 2015-02-04 | 江阴市艾迪电器科技有限公司 | Traffic cone automatic collecting and releasing method |
| CN206220011U (en) * | 2016-10-26 | 2017-06-06 | 仲几军 | A kind of synchronous belt type cone turning device |
| CN206568156U (en) * | 2017-03-03 | 2017-10-20 | 青岛昊川电子科技有限公司 | A kind of robotic gripping device |
-
2018
- 2018-11-15 CN CN201811359325.3A patent/CN109577238A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085658A (en) * | 2009-12-07 | 2011-06-08 | 株式会社安川电机 | Horizontal multi-joint robot and transportation apparatus including the same |
| CN104328750A (en) * | 2014-09-25 | 2015-02-04 | 江阴市艾迪电器科技有限公司 | Traffic cone automatic collecting and releasing method |
| CN206220011U (en) * | 2016-10-26 | 2017-06-06 | 仲几军 | A kind of synchronous belt type cone turning device |
| CN206568156U (en) * | 2017-03-03 | 2017-10-20 | 青岛昊川电子科技有限公司 | A kind of robotic gripping device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112746575A (en) * | 2020-12-26 | 2021-05-04 | 辽宁艾特斯智能交通技术有限公司 | Traffic cone discharging and recovering device |
| CN112746575B (en) * | 2020-12-26 | 2022-03-25 | 辽宁艾特斯智能交通技术有限公司 | Traffic cone discharging and recovering device |
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20190405 |