CN112405576A - Double-claw manipulator for rapidly grabbing materials - Google Patents
Double-claw manipulator for rapidly grabbing materials Download PDFInfo
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- CN112405576A CN112405576A CN202011245979.0A CN202011245979A CN112405576A CN 112405576 A CN112405576 A CN 112405576A CN 202011245979 A CN202011245979 A CN 202011245979A CN 112405576 A CN112405576 A CN 112405576A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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Abstract
The invention discloses a double-claw manipulator for quickly grabbing materials. The middle of a supporting plate is connected with an external mechanical arm, the supporting plates on two sides of the external mechanical arm are respectively and fixedly provided with a steering engine, an output shaft of each steering engine penetrates through the supporting plate and then sequentially penetrates through a central hole of each steering wheel, a through hole in the tail end of one branch at one end of a scissors-shaped folding rod assembly and is movably connected with a base plate, the other branch at one end of the scissors-shaped folding rod assembly is movably connected to the base plate, two branches at the other end of the scissors-shaped folding rod assembly are respectively and fixedly connected with a grab rod, the tail end of each grab rod is sleeved with a tail end rubber, the scissors-shaped folding rod assembly and the grab rods form a mechanical arm, the double-claw mechanical arms are symmetrically arranged, each steering engine works independently, the steering engines drive the corresponding mechanical. The invention has simple and high-efficiency control; can adjust according to the actual use condition, adapt to different operational environment.
Description
Technical Field
The invention relates to an actuating mechanism for a material picking end, in particular to a double-claw manipulator for quickly grabbing materials.
Background
The end executing mechanism for picking up objects is always the key point in the research of mechanical arms and robots, and various end executing mechanisms are developed by a plurality of teams according to different picking objects. However, these actuators are only suitable for some kind of geometric objects, or the applicable working environment is single, and they are suitable for complicated geometric end actuators such as multi-joint bionic manipulators, etc. the problems of slow gripping process and complicated control exist, which hinder the development of mechanical arms and robots.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the double-claw manipulator for quickly grabbing materials. The quick rotation of steering wheel can guide the quick extension of manipulator and retrieve, realizes snatching fast and placing of specific article like spherical fruit vegetables. Therefore, the development of the end actuating mechanism which is simple and efficient and can quickly and accurately pick up objects with various geometric shapes has great significance.
The technical scheme adopted by the invention is as follows:
the invention comprises a steering engine, a rudder disk, a supporting plate, a base plate, a scissor-fork-shaped folding rod component, a grab bar and a tail end rubber; the centre of backup pad is opened there is the rectangle through-hole to be used for linking to each other with outside arm, it has each fixed mounting of a steering wheel through-hole to open in the backup pad of outside arm both sides has a steering wheel, the steering wheel output shaft of every steering wheel passes the backup pad and passes respective steering wheel's centre bore again in proper order, through-hole and bed plate swing joint on the branch end of scissors fork folding pole subassembly one end, another branch swing joint of scissors fork folding pole subassembly one end is on the bed plate, two branches of scissors fork folding pole subassembly other end respectively with a grab bar fixed connection, the terminal cover of every grab bar is equipped with terminal rubber, scissors fork folding pole subassembly forms the manipulator with the grab bar, double claw manipulator is symmetrical arrangement, every steering wheel autonomous working, the steering wheel passes through the manipulator that steering wheel drive corresponds, the manipulator accomplishes snatching fast of material.
The scissor fork type folding rod assembly comprises a scissor fork type support and folding short rods, the scissor fork type support is formed by hinging and serially connecting a plurality of X-shaped supports, each X-shaped support is formed by hinging and connecting two folding long rods in an X-shaped crossed manner at the crossed position, one end of each folding short rod is hinged with one folding long rod at one end of the X-shaped support, the other end of each folding short rod is used as one branch at one end of the scissor fork type folding rod assembly and is connected with an output shaft of a steering engine, and the other folding long rod at one end of the X-shaped support is used as the other branch at one end of the scissor fork type folding rod assembly and is hinged on a; the long folding rod at the other end of the scissor-fork-shaped folding rod component is fixedly connected with the grabbing rod, the grabbing rod is in a long-handle crescent shape, the tail end of the grabbing rod is sleeved with a tail end rubber, an included angle is formed when the two grabbing rods are closed, and the tail end rubbers of the two grabbing rods do not collide with each other.
A first short rod through hole and a second short rod through hole are formed in the tail end of a branch of one end of the folding short rod, which serves as a scissor-fork-shaped folding rod component, the first short rod through hole is coaxially connected with the steering engine output shaft and the center hole of the steering wheel disc, the distance between the second short rod through hole and the first short rod through hole is smaller than the radius of the steering wheel disc, and the folding short rod penetrates through the second short rod through hole through a fourth screw nut and is connected onto the steering wheel disc.
The base plate is an isosceles triangle plate, respective steering engine output shafts are mounted at two bottom corner ends of the base plate, another branch at one end of a folding short rod on a scissor-shaped folding rod assembly is mounted at the top corner end of the base plate, and the distance between two through holes in the waist of one side of the base plate is equal to the distance between a first short rod through hole of the folding short rod and a through hole at the other end of the folding short rod.
The length of the folding long rod is twice that of the folding short rod.
The outer mechanical arm of the supporting plate is fixedly connected with one end of the steering engine through a screw nut, the other end of the steering engine is fixedly connected with the base plate, and the other end of the supporting plate is fixedly connected with the copper column.
The supporting plate, the base plate, the scissor-fork-shaped folding rod assembly and the grabbing rod are all made of carbon fiber materials. The end rubber is specially made high-friction high-elasticity rubber.
The invention has the beneficial effects that:
when the manipulator is used for grabbing, the manipulator can be stretched to grab an object at a position far away from the body, so that the object can be placed in a narrow space which is not easy to directly place.
The manipulator is a left-right double-claw mechanism which is complementary left and right and is controlled by an independent steering engine respectively, so that the tasks of grabbing and placing objects can be finished respectively, and the working efficiency and the fault tolerance are improved.
The whole manipulator is of a carbon fiber structure, the manipulator has good strength and can bear larger load, the tail end of the gripper is made of rubber materials, friction force is improved, the gripper has good wrapping performance on grabbed objects, the objects are not prone to slipping, and the gripper can be suitable for grabbing complicated geometric objects such as canned cola and the like and spherical fruits and vegetables which are difficult to pick up in reality.
The manipulator of the invention has light weight and simple control.
The manipulator is simple and efficient in transmission mode, and the grabbing rod can quickly grab and place objects under the rotation guide of the steering engine.
The folding rod part can be adjusted according to actual use requirements, the distance from the tail end of the grabbing rod to the body can be further adjusted by increasing or reducing the number of the folding rods, and therefore different grabbing spaces are met.
Drawings
FIG. 1 is an assembled perspective view of the present invention;
FIG. 2 is a top view of the robot and support plate of the present invention;
FIG. 3 is a rear view of the present invention;
FIG. 4 is a schematic view of an object capture of the present invention;
FIG. 5 is a schematic view of the base of the present invention;
FIG. 6 is a schematic view of a scissors-type folding bar assembly of the present invention;
FIG. 7 is a schematic view of the steering engine drive of the present invention;
fig. 8 is a top disassembled view of the robot of the present invention.
In the figure: 1. the device comprises a steering engine, 2, a support plate, 3, a base plate, 4, a grab bar, 5, a rudder disc, 6, a folding bar, 6a, a folding long bar, 6b, a folding short bar, 6b1, a first short bar through hole, 6b2, a second short bar through hole, 7, a tail end rubber, 8, a connecting copper column, 9, spherical fruits and vegetables, 10, a square object, 11 and an external mechanical arm.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
As shown in fig. 1, 2, 3 and 7, the invention comprises a steering engine 1, a rudder disk 5, a support plate 2, a base plate 3, a scissor-fork-shaped folding rod assembly 6, a grab bar 4 and a tail end rubber 7; the middle of the supporting plate 2 is provided with a rectangular through hole for connecting with an external mechanical arm 11, the supporting plates 2 at two sides of the external mechanical arm 11 are respectively provided with a steering engine through hole which is fixedly provided with a steering engine 1, the steering engine output shaft of each steering engine 1 passes through the supporting plate 2 and then sequentially passes through the central hole of the steering wheel 5, the through hole at the tail end of one branch at one end of the scissor-shaped folding rod component 6 is movably connected with the base plate 3, the other branch at one end of the scissor-shaped folding rod component 6 is movably connected with the base plate 3, the two branches at the other end of the scissor-shaped folding rod component 6 are respectively and fixedly connected with a grab rod 4, the tail end of each grab rod 4 is sleeved with a tail end rubber 7, the scissor-shaped folding rod component 6 and the grab rods 4 form a mechanical arm, the double-claw mechanical arms are symmetrically arranged, each steering engine 1 works independently, the material is spherical fruits and vegetables 9 or a square object 10.
As shown in fig. 8, the scissors-shaped folding rod assembly 6 comprises a scissors-shaped support and a folding short rod 6b, the scissors-shaped support is formed by hinging and serially connecting a plurality of X-shaped supports, the X-shaped supports are formed by hinging and connecting two long folding rods 6a in an X-shaped crossed manner at the crossed positions, one end of the folding short rod 6b is hinged with one long folding rod 6a at one end of the X-shaped support, the other end of the folding short rod 6b is used as a branch at one end of the scissors-shaped folding rod assembly 6 to be connected with an output shaft of a steering engine, and the other long folding rod 6a at one end of the X-shaped support is used as the other branch at one end of the scissors-shaped folding rod assembly 6 to be hinged; the length of the long folding bar 6a is twice the length of the short folding bar 6 b. A long folding rod 6a at the other end of the scissors-shaped folding rod component 6 is fixedly connected with the grabbing rod 4, the grabbing rod 4 is in a long handle crescent shape, a special tail end rubber 7 is sleeved at the tail end of the grabbing rod 4, the friction force of the grabbing rod 4 is enhanced, and certain grabbing buffering is provided; when the two grabbing rods 4 are close, an included angle is formed, the tail ends of the two grabbing rods 7 do not collide with each other, and the scissors fork-shaped folding rod assembly 6 and the grabbing rods 4 form a mechanical arm capable of being unfolded and grabbed greatly.
As shown in fig. 6, a first short rod through hole 6b1 and a second short rod through hole 6b2 are formed at the tail end of a branch of one end of the folding short rod 6b serving as the scissors fork-shaped folding rod assembly 6, the first short rod through hole 6b1 is coaxially connected with the output shaft of the steering engine and the central hole of the steering wheel 5, the distance between the second short rod through hole 6b2 and the first short rod through hole 6b1 is smaller than the radius of the steering wheel 5, and the folding short rod 6b passes through the second short rod through hole 6b2 through a fourth screw and nut to be connected to the steering wheel 5; the steering engine 1 drives a folding short rod 6b of the scissors fork-shaped folding rod assembly 6 through the steering wheel 5, and the folding short rod 6b rotates around the output shaft of the steering engine in a positive and negative mode, so that the opening and closing actions of the grabbing rod 4 are realized, and the grabbing and releasing of the manipulator are formed.
As shown in fig. 5, the base plate 3 is an isosceles triangle plate, two bottom corner ends of the base plate 3 are provided with respective steering engine output shafts, the top corner end of the base plate 3 is provided with another branch of one end of the folding short rod 6b on the respective scissors-shaped folding rod assembly 6, and the distance between the two through holes on the waist of one side of the base plate 3 is equal to the distance between the first short rod through hole 6b1 of the folding short rod 6b and the through hole at the other end.
The outer mechanical arm of the supporting plate 2 is fixedly connected with one end of the steering engine 1 through a screw nut and a connecting copper column 8, and the other end of the connecting copper column 8 is fixedly connected with the base plate 3.
The supporting plate 2, the base plate 3, the scissor-fork-shaped folding rod assembly 6 and the grabbing rod 4 are all made of carbon fiber materials. The end rubber 7 is specially made high friction high elasticity rubber.
As shown in fig. 4, the manipulator is suitable for grabbing square, cylindrical and other objects which are difficult to pick up in reality and spherical fruits and vegetables 9. The invention is provided with a symmetrical double-claw structure, realizes left-right complementation and improves the grabbing efficiency and fault tolerance.
The invention relates to a double-claw manipulator for quickly grabbing materials, which can grab objects with complicated geometric shapes, such as canned cola and the like, which are difficult to pick up and spherical fruits and vegetables in reality. When the manipulator grabs, the manipulator can be stretched to grab an object at a position far away from the body, so that the object can be placed in a narrow space which is not easy to directly place. The manipulator is a left and right double-claw mechanism, is complementary to the left and right, is controlled by the independent steering engine 1 respectively, and finishes the task of grabbing and placing objects respectively, so that the working efficiency is improved. The whole carbon fiber structure that is of manipulator has fine intensity, can bear great load, and the tongs end is rubber material, has improved frictional force, has better parcel nature to the article that snatchs, makes the difficult landing of article. The manipulator is light in weight and simple to control. The transmission mode of manipulator is simple high-efficient, and under the rotation guide of steering wheel, it can accomplish fast and snatch and place article to grab the pole. The folding rod part can be adjusted according to actual use requirements, the distance from the tail end of the grabbing rod to the body can be further adjusted by increasing or reducing the number of the folding rods, and therefore different grabbing spaces are met.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.
Claims (6)
1. The utility model provides a double claw manipulator for material snatchs fast which characterized in that: comprises a steering engine (1), a rudder plate (5), a supporting plate (2), a base plate (3), a scissor-fork-shaped folding rod assembly (6), a grab bar (4) and a tail end rubber (7); the middle of the supporting plate (2) is connected with an external mechanical arm (11), the supporting plates (2) at two sides of the external mechanical arm (11) are respectively and fixedly provided with a steering engine (1), the steering engine output shaft of each steering engine (1) passes through the supporting plate (2) and then sequentially passes through a central hole of each steering wheel (5), a through hole on the tail end of one branch at one end of the scissors fork-shaped folding rod component (6) is movably connected with the base plate (3), the other branch at one end of the scissors fork-shaped folding rod component (6) is movably connected on the base plate (3), two branches at the other end of the scissors fork-shaped folding rod component (6) are respectively and fixedly connected with one grab rod (4), the tail end of each grab rod (4) is sleeved with a tail end rubber rod component (7), the scissors fork-shaped folding rod component (6) and the grab rods (4) form a mechanical arm, the double-claw mechanical, the steering engine (1) drives the corresponding manipulator through the rudder disc (5), and the manipulator finishes rapid grabbing of materials.
2. The double-claw manipulator for quickly grabbing materials as claimed in claim 1, wherein: the scissor-fork-shaped folding rod assembly (6) comprises a scissor-fork-shaped support and folding short rods (6b), the scissor-fork-shaped support is formed by hinging and serially connecting a plurality of X-shaped supports, each X-shaped support is formed by hinging and connecting two folding long rods (6a) in an X-shaped crossed manner at the crossed position, one end of each folding short rod (6b) is hinged with one folding long rod (6a) at one end of the X-shaped support, the other end of each folding short rod (6b) is used as a branch at one end of the scissor-fork-shaped folding rod assembly (6) to be connected with an output shaft of a steering engine, and the other folding long rod (6a) at one end of the X-shaped support is used as the other branch at one end of the scissor-fork-shaped folding rod assembly; cut folding stock (6a) and grabbing pole (4) fixed connection of forked folding pole subassembly (6) other end, grabbing pole (4) and being long handle falcate, grabbing pole (4) end cover and having terminal rubber (7), two grab poles (4) draw close and have the contained angle and respective terminal rubber (7) do not collide with each other.
3. The double-claw manipulator for quickly grabbing materials as claimed in claim 2, wherein: a first short rod through hole (6b1) and a second short rod through hole (6b2) are formed in the tail end of a branch serving as one end of the fork-shaped folding rod assembly (6) of the folding short rod (6b), the first short rod through hole (6b1) is coaxially connected with an output shaft of a steering engine and a central hole of a steering wheel disc (5), the distance between the second short rod through hole (6b2) and the first short rod through hole (6b1) is smaller than the radius of the steering wheel disc (5), and the folding short rod (6b) penetrates through the second short rod through hole (6b2) through a fourth screw nut to be connected onto the steering wheel disc (5).
4. The double-claw manipulator for quickly grabbing materials as claimed in claim 2, wherein: the base plate (3) is an isosceles triangle plate, respective steering engine output shafts are mounted at two bottom corner ends of the base plate (3), another branch at one end of a folding short rod (6b) on a fork-shaped folding rod assembly (6) is mounted at the top corner end of the base plate (3), and the distance between two through holes on one side waist of the base plate (3) is equal to the distance between a first short rod through hole (6b1) of the folding short rod (6b) and a through hole at the other end.
5. The double-claw manipulator for quickly grabbing materials as claimed in claim 2, wherein: the length of the long folding rod (6a) is twice that of the short folding rod (6 b).
6. The double-claw manipulator for quickly grabbing materials as claimed in claim 1, wherein: the outer mechanical arm of the supporting plate (2) is fixedly connected with one end of the steering engine (1) through a screw nut and a connecting copper column (8), and the other end of the connecting copper column (8) is fixedly connected with the base plate (3).
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| CN202011245979.0A CN112405576B (en) | 2020-11-10 | 2020-11-10 | Double-claw manipulator for rapidly grabbing materials |
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| CN202011245979.0A CN112405576B (en) | 2020-11-10 | 2020-11-10 | Double-claw manipulator for rapidly grabbing materials |
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| CN112405576B CN112405576B (en) | 2022-09-06 |
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