CN112031441A - Large-stroke clamping mechanism with brick size self-adaption function - Google Patents
Large-stroke clamping mechanism with brick size self-adaption function Download PDFInfo
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- CN112031441A CN112031441A CN202010918716.5A CN202010918716A CN112031441A CN 112031441 A CN112031441 A CN 112031441A CN 202010918716 A CN202010918716 A CN 202010918716A CN 112031441 A CN112031441 A CN 112031441A
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- connecting rod
- platform
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- driving motor
- clamping
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- 230000007246 mechanism Effects 0.000 title claims abstract description 53
- 239000011449 brick Substances 0.000 title claims abstract description 41
- 239000000725 suspension Substances 0.000 claims description 9
- 239000012634 fragment Substances 0.000 description 6
- 230000006872 improvement Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000007847 structural defect Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a large-stroke clamping mechanism with brick size self-adaption, which comprises a main bearing frame, wherein a lateral rigidity maintaining mechanism is arranged on one side of the main bearing frame, an upper driving motor and a lower driving motor are respectively arranged on the upper side and the lower side of the main bearing frame, an upper lead screw module is arranged at the output end of the upper driving motor through a coupler, an upper platform is rotatably arranged on the upper lead screw module, the upper platform is positioned on the inner side of the main bearing frame, a lower platform is arranged below the upper platform, the lower platform is positioned above the lower driving motor, a lower lead screw module is arranged at the output end of the lower driving motor through the coupler, the clamping width of the clamping mechanism is increased through the upper driving motor, the clamping force can be increased through the lower driving motor, and the clamping mechanism has large clamping load, the clamping operation is facilitated, and clamping objects with different sizes can be clamped.
Description
Technical Field
The invention relates to the technical field of masonry robots, in particular to a large-stroke clamping mechanism with self-adaption of brick sizes.
Background
In the building industry, the use of the building robot can liberate human beings from repeated traditional building operation, simultaneously greatly reduce labor cost, and the building of bricks is typical repetitive labor in the building field, so that how to accurately clamp bricks with different specifications is a key technology of the building robot;
at present, both patents CN209339627U and CN110817232A relate to brick clamping mechanisms, wherein CN209339627U mentions that if a masonry robot obtains a larger clamping width, the height in the vertical direction needs to be increased, and the structural defect causes the brick clamping mechanism to have an excessively large volume, while the brick clamping mechanism mentioned in CN110817232A has the same defect, and cannot clamp bricks with too small width, but is limited by the height of the top of the wall, and the brick clamping mechanism cannot interfere with the top of the wall when the size is too large and the highest layer of the wall cannot be built;
and after the clamping width is changed, the clamping force is weakened, and the clamping operation is not facilitated, so that the invention provides the large-stroke clamping mechanism with the brick size self-adaption function to solve the problems in the prior art.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a brick scale adaptive large stroke clamping mechanism, which increases the clamping width of the clamping mechanism through an upper driving motor, and increases the clamping force through a lower driving motor, so that the clamping mechanism has a large clamping load, and is beneficial to clamping operation, and can also adapt to clamping objects of different sizes for clamping, and in addition, a large horizontal clamping width can be realized through a small vertical movement range, so that the structure becomes more compact, and the practicability is strong.
In order to realize the purpose of the invention, the invention is realized by the following technical scheme: the utility model provides a big stroke fixture with fragment of brick yardstick self-adaptation, includes main bearing frame, one side of main bearing frame is equipped with side direction rigidity retaining mechanism, and main upper and lower both sides of bearing frame install driving motor and lower driving motor respectively, the lead screw module is installed through the shaft coupling to the output of going up driving motor, it installs the upper mounting plate to rotate on the lead screw module, and the upper mounting plate is located main bearing frame's inboard, the below of upper mounting plate is equipped with down the platform, the platform is located driving motor's top down, and down driving motor's output passes through the shaft coupling and installs down the lead screw module, the lead screw module rotates with lower platform to be connected down, the both sides of platform all are equipped with fixture down, and fixture is equipped with the multiunit, fixture is used for the centre gripping fragment of brick.
The further improvement lies in that: fixture includes first connecting rod, second connecting rod, third connecting rod, fourth connecting rod, fifth connecting rod and sixth connecting rod, articulated connection respectively between first connecting rod, second connecting rod, third connecting rod and the fourth connecting rod, second connecting rod and third connecting rod articulated one end all articulate with the fifth connecting rod, and the one end of fifth connecting rod is articulated with lower platform, third connecting rod and fourth connecting rod articulated one end all articulate with main bearing frame, fourth connecting rod and first connecting rod articulated one end all articulate with the sixth connecting rod, the one end of sixth connecting rod is articulated with last platform.
The further improvement lies in that: lateral rigidity holding mechanism includes support column and bottom suspension dagger, and goes up support column and bottom suspension dagger and all is equipped with the multiunit, go up and install linear bearing on the support column, and go up the linear bearing upper mounting plate and connect, install linear bearing down on the bottom suspension dagger, and linear bearing is connected with the lower mounting plate down.
The further improvement lies in that: infrared laser range finding sensor is all installed in driving motor's the outside down, and infrared laser range finding sensor is equipped with the multiunit, infrared laser range finding sensor's both sides all install binocular vision camera on main bearing frame.
The further improvement lies in that: be equipped with the recess on the first connecting rod, and the inside top of recess installs pressure sensor, pressure sensor's below is at recess internally mounted with removable rubber pad.
The further improvement lies in that: when the upper platform and the lower platform move up and down, the clamping mechanisms with two sides symmetrically arranged are driven to move simultaneously.
The further improvement lies in that: and a rubber pad is arranged on the outer side of the first connecting rod.
The invention has the beneficial effects that: the large-stroke clamping mechanism with the brick size self-adaption has the advantages that the clamping width of the clamping mechanism is increased through the upper driving motor, the clamping force can be increased through the lower driving motor, the clamping mechanism has large clamping load, clamping operation is facilitated, clamping can be performed on clamping objects with different sizes, in addition, the larger horizontal clamping width can be realized through the smaller up-down moving range, the structure is more compact, the practicability is high, in addition, the pose detection of the bricks is realized through the arranged binocular vision camera and the infrared laser ranging sensor, the accuracy is improved, the large-stroke clamping mechanism with the brick size self-adaption has wide application scenes and huge market value, the large-stroke clamping mechanism can be widely applied to the field of construction robots, and meanwhile, the large-stroke clamping mechanism can also be applied to large logistics storage warehouses and various goods transportation, and transportation, And (6) stacking.
Drawings
Fig. 1 is a schematic view of the overall structure of the brick holding mechanism of the present invention.
Fig. 2 is a cross-sectional view (lateral) of the brick holding mechanism of the present invention.
Fig. 3 is a cross-sectional view (in the forward direction) of the brick holding mechanism of the present invention.
Fig. 4 is a schematic view of the brick clamping mechanism of the present invention clamping a narrow brick.
Wherein: 1. a main load frame; 2. an upper drive motor; 3. a lower drive motor; 4. a lead screw module is arranged; 5. an upper platform; 6. a lower platform; 7. a lower lead screw module; 8. a first link; 9. a second link; 10. a third link; 11. a fourth link; 12. a fifth link; 13. a sixth link; 14. an upper support column; 15. a lower support pillar; 16. an upper linear bearing; 17. a lower linear bearing; 18. an infrared laser ranging sensor; 19. a binocular vision camera; 20. a pressure sensor; 21. the rubber pad can be replaced; 22. a rubber pad; 101. a brick is provided.
Detailed Description
In order to further understand the present invention, the following detailed description will be made with reference to the following examples, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.
According to the drawings 1, 2, 3 and 4, the embodiment provides a large-stroke clamping mechanism with brick size self-adaption, which comprises a main bearing frame 1, wherein a lateral rigidity maintaining mechanism is arranged on one side of the main bearing frame 1, an upper driving motor 2 and a lower driving motor 3 are respectively arranged on the upper side and the lower side of the main bearing frame 1, an upper lead screw module 4 is arranged at the output end of the upper driving motor 2 through a coupler, an upper platform 5 is rotatably arranged on the upper lead screw module 4, the upper platform 5 is positioned on the inner side of the main bearing frame 1, the upper driving motor 2 drives the upper platform 5 to move up and down through the upper lead screw module 4, a lower platform 6 is arranged below the upper platform 5, the lower platform 6 is positioned above the lower driving motor 3, a lower lead screw module 7 is arranged at the output end of the lower driving motor 3 through the coupler, and the lower lead screw module 7 is rotatably connected with the lower platform 6, lower driving motor 3 realizes up-and-down translational motion through platform 6 under the drive of lead screw module 7 down, the both sides of platform 6 all are equipped with fixture down, and fixture is equipped with the multiunit, fixture is used for centre gripping fragment of brick 101.
The clamping mechanism comprises a first connecting rod 8, a second connecting rod 9, a third connecting rod 10, a fourth connecting rod 11, a fifth connecting rod 12 and a sixth connecting rod 13, the first connecting rod 8, the second connecting rod 9, the third connecting rod 10 and the fourth connecting rod 11 are connected in a hinged mode respectively, one end, hinged to the fifth connecting rod 12, of the second connecting rod 9 and the third connecting rod 10 is hinged to the fifth connecting rod 12, one end of the fifth connecting rod 12 is hinged to the lower platform 6, one end, hinged to the third connecting rod 10 and the fourth connecting rod 11, of the third connecting rod 10 is hinged to the main bearing frame 1, one end, hinged to the fourth connecting rod 11 and the first connecting rod 8, of the fourth connecting rod 11 is hinged to the sixth connecting rod 13, and one end of the sixth connecting rod 13 is hinged to the upper platform 5.
Lateral rigidity holding mechanism includes support column 14 and bottom suspension dagger 15, and goes up support column 14 and bottom suspension dagger 15 and all is equipped with the multiunit, go up and install linear bearing 16 on the support column 14, and go up linear bearing 16 and go up platform 5 and connect, linear bearing 17 is down installed on the bottom suspension dagger 15, and linear bearing 17 is connected with lower platform 6 down.
All install infrared laser range finding sensor 18 in the outside of driving motor 3 down, and infrared laser range finding sensor 18 is equipped with the multiunit, infrared laser range finding sensor 18's both sides all install binocular vision camera 19 on main load frame 1, realize discerning the position appearance of fragment of brick 101.
Be equipped with the recess on the first connecting rod 8, and the inside top of recess installs pressure sensor 20, and pressure sensor 20 is used for realizing the real-time detection to fragment of brick clamping-force, pressure sensor 20's below is at recess internally mounted with removable rubber pad 21, and removable rubber pad 21 increases the frictional force between first connecting rod 8 and the fragment of brick 101.
When the upper platform 5 and the lower platform 6 move up and down, the two sides of the clamping mechanisms can be driven to be symmetrically arranged at the same time to move, and the movement of the clamping mechanisms drives the two groups of first connecting rods 8 which are symmetrically arranged to move horizontally, so that the bricks 101 are clamped.
A rubber pad 22 is mounted on the outer side of the first link 8.
The large-stroke clamping mechanism with the brick size self-adaption has the advantages that the clamping width of the clamping mechanism is increased through the upper driving motor 2, the clamping force can be increased through the lower driving motor 3, the clamping mechanism has large clamping load, clamping operation is facilitated, clamping operation can be carried out on clamped objects in different sizes, in addition, the larger horizontal clamping width can be realized through the smaller up-down moving range, the structure is more compact, the practicability is high, in addition, the pose detection of the brick 101 is realized through the arranged binocular vision camera 19 and the infrared laser ranging sensor 18, the accuracy is improved, the large-stroke clamping mechanism with the brick size self-adaption has wide application scenes and huge market value, the large-stroke clamping mechanism can be widely applied to the field of construction robots, and meanwhile, the large-scale logistics storage warehouse and various goods transportation, And (6) stacking.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A large-stroke clamping mechanism with brick dimension self-adaptation comprises a main bearing frame (1), and is characterized in that: one side of the main bearing frame (1) is provided with a lateral rigidity maintaining mechanism, the upper side and the lower side of the main bearing frame (1) are respectively provided with an upper driving motor (2) and a lower driving motor (3), the output end of the upper driving motor (2) is provided with an upper screw module (4) through a coupler, the upper screw module (4) is rotatably provided with an upper platform (5), the upper platform (5) is positioned at the inner side of the main bearing frame (1), a lower platform (6) is arranged below the upper platform (5), the lower platform (6) is positioned above the lower driving motor (3), the output end of the lower driving motor (3) is provided with a lower screw module (7) through a coupler, the lower screw module (7) is rotatably connected with the lower platform (6), the two sides of the lower platform (6) are respectively provided with a clamping mechanism, and the clamping mechanisms are provided with a plurality of groups, the clamping mechanism is used for clamping the brick (101).
2. The large-stroke clamping mechanism with brick dimension self-adaption, according to claim 1, is characterized in that: the clamping mechanism comprises a first connecting rod (8), a second connecting rod (9), a third connecting rod (10), a fourth connecting rod (11), a fifth connecting rod (12) and a sixth connecting rod (13), wherein the first connecting rod (8), the second connecting rod (9), the third connecting rod (10) and the fourth connecting rod (11) are respectively hinged, one ends of the second connecting rod (9) and the third connecting rod (10) are hinged to the fifth connecting rod (12), one end of the fifth connecting rod (12) is hinged to the lower platform (6), one ends of the third connecting rod (10) and the fourth connecting rod (11) are hinged to the main bearing frame (1), one ends of the fourth connecting rod (11) and the first connecting rod (8) are hinged to the sixth connecting rod (13), and one end of the sixth connecting rod (13) is hinged to the upper platform (5).
3. The large-stroke clamping mechanism with brick dimension self-adaption, according to claim 1, is characterized in that: lateral rigidity holding mechanism includes support column (14) and bottom suspension dagger (15), and goes up support column (14) and bottom suspension dagger (15) and all is equipped with the multiunit, go up and install linear bearing (16) on support column (14), and go up linear bearing (16) and go up platform (5) and connect, install lower linear bearing (17) on bottom suspension dagger (15), and linear bearing (17) are connected with lower platform (6) down.
4. The large-stroke clamping mechanism with brick dimension self-adaption, according to claim 1, is characterized in that: infrared laser range finding sensor (18) are all installed in the outside of lower driving motor (3), and infrared laser range finding sensor (18) are equipped with the multiunit, binocular vision camera (19) are all installed on main bearing frame (1) in the both sides of infrared laser range finding sensor (18).
5. The large-stroke clamping mechanism with brick dimension self-adaption, according to claim 1, is characterized in that: be equipped with the recess on first connecting rod (8), and pressure sensor (20) are installed to the inside top of recess, removable rubber pad (21) are installed at recess internally to the below of pressure sensor (20).
6. The large-stroke clamping mechanism with brick dimension self-adaption, according to claim 1, is characterized in that: when the upper platform (5) and the lower platform (6) move up and down, the clamping mechanisms with two sides symmetrically arranged are driven to move.
7. The large-stroke clamping mechanism with brick dimension self-adaption, according to claim 2, is characterized in that: and a rubber pad (22) is arranged on the outer side of the first connecting rod (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010918716.5A CN112031441B (en) | 2020-09-04 | 2020-09-04 | Large-stroke clamping mechanism with brick size self-adaption function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010918716.5A CN112031441B (en) | 2020-09-04 | 2020-09-04 | Large-stroke clamping mechanism with brick size self-adaption function |
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| Publication Number | Publication Date |
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| CN112031441A true CN112031441A (en) | 2020-12-04 |
| CN112031441B CN112031441B (en) | 2021-11-02 |
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| CN202010918716.5A Expired - Fee Related CN112031441B (en) | 2020-09-04 | 2020-09-04 | Large-stroke clamping mechanism with brick size self-adaption function |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
| CN109270770A (en) * | 2018-11-21 | 2019-01-25 | 哈尔滨理工大学 | A kind of camera clamping and object support device for binocular vision shooting |
| JP2019116626A (en) * | 2019-02-20 | 2019-07-18 | Ｊｆｅスチール株式会社 | Shaped refractory material stacking system, stacking method of shaped refractory material, and construction method of coke oven |
| CN110065748A (en) * | 2019-03-29 | 2019-07-30 | 杭州电子科技大学 | A kind of rotary automatic access method of cargo and three-dimensional container of machinery Hand supplementary |
| CN210557672U (en) * | 2019-06-19 | 2020-05-19 | 南通瑞强机械制造有限公司 | Brick clamping mechanism with overturning capability for baking-free brick machine |
-
2020
- 2020-09-04 CN CN202010918716.5A patent/CN112031441B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105883424A (en) * | 2016-05-03 | 2016-08-24 | 上海交通大学 | AGV device capable of achieving automatic stacking |
| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
| CN109270770A (en) * | 2018-11-21 | 2019-01-25 | 哈尔滨理工大学 | A kind of camera clamping and object support device for binocular vision shooting |
| JP2019116626A (en) * | 2019-02-20 | 2019-07-18 | Ｊｆｅスチール株式会社 | Shaped refractory material stacking system, stacking method of shaped refractory material, and construction method of coke oven |
| CN110065748A (en) * | 2019-03-29 | 2019-07-30 | 杭州电子科技大学 | A kind of rotary automatic access method of cargo and three-dimensional container of machinery Hand supplementary |
| CN210557672U (en) * | 2019-06-19 | 2020-05-19 | 南通瑞强机械制造有限公司 | Brick clamping mechanism with overturning capability for baking-free brick machine |
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| Publication number | Publication date |
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| CN112031441B (en) | 2021-11-02 |
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