CN112873261A - Mechanical claw for grabbing ball objects - Google Patents
Mechanical claw for grabbing ball objects Download PDFInfo
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- CN112873261A CN112873261A CN202110198418.8A CN202110198418A CN112873261A CN 112873261 A CN112873261 A CN 112873261A CN 202110198418 A CN202110198418 A CN 202110198418A CN 112873261 A CN112873261 A CN 112873261A
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- fixed
- spring
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- rod
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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Abstract
The invention discloses a mechanical claw for grabbing ball objects, wherein a connecting plate is provided with a slot, a first rotating shaft is fixed in the slot, a claw is hinged to the connecting plate through the first rotating shaft, one end of a linkage rod is fixed on the inner side of the claw, the other end of the linkage rod is fixed on a second connecting ring, a threaded rod is driven by a first motor to enable a threaded sleeve ring to ascend so as to enable the claw to be folded, the ball objects are grabbed, and a rebound device is arranged on the connecting plate and connected with the claw and used for enabling the claw to rotate under the action of elastic force and loosening the ball objects. This application has improved all needs drive arrangement to exert energy to the hand claw when current gripper is grabbed and is put ball object to the realization presss from both sides tightly or unclamp the ball object by the clamp, and the energy that causes is extravagant.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a mechanical claw for grabbing ball objects.
Background
The mechanical claw is a device which can imitate certain action functions of human hands and is used for realizing the grabbing, carrying of objects or operation of tools. The advantages of both human and machine are combined in construction and performance. The mechanical claw is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. The prior mechanical claw needs a driving device to apply energy to a paw when a ball object is grabbed and released so as to clamp or loosen the clamped ball object, which causes energy waste.
Disclosure of Invention
The present invention is directed to a gripper for gripping a ball object to solve the above-mentioned problems of the background art.
In order to achieve the above purpose, the present application provides the following technical solutions: a mechanical claw for grabbing ball objects comprises a shell, a first output shaft, a first motor, a threaded rod, a moving plate, a first connecting ring, a first steel cable, a second connecting ring, a linkage rod, a first rotating shaft, a connecting plate, a claw, a slot, a threaded lantern ring, a fixed rod, a first sliding chute and a rebounding device, wherein the shell is provided with a first output shaft;
the connecting plate is provided with a slot, the first rotating shaft is fixed in the slot, and the paw is hinged to the connecting plate through the first rotating shaft;
a shell is fixed above the connecting plate, a first motor is fixed above the shell, a threaded rod, a movable plate, a threaded sleeve ring, a fixed rod and a first output shaft are arranged in the shell, the output end of the first motor is fixedly connected with the first output shaft, the first output shaft is fixed with the threaded rod, the threaded sleeve ring is in threaded sleeve connection with the threaded rod, the fixed rod is fixed on the outer ring of the threaded sleeve ring, and the other end of the fixed rod is fixed with the movable plate;
the surface of the shell is provided with a first sliding chute, the first connecting ring is fixed on the moving plate, is limited in the first sliding chute and rotates around a first rotating shaft, one end of the first steel cable is connected with the first connecting ring, and the other end of the first steel cable is connected with the second connecting ring;
one end of a linkage rod is fixed on the inner side of the paw, and the other end of the linkage rod is fixed on a second connecting ring;
the rebounding device is arranged on the connecting plate and connected with the paw, and is used for enabling the paw to rotate under the action of elastic force to loosen ball objects.
Preferably, the rebounding device includes: the limiting device comprises a limiting sleeve, a spring, a limiting block and a limiting shaft;
the limiting shaft is fixed on the outer side of the paw, the outer edge of the connecting plate is fixed with a limiting sleeve, the limiting shaft is partially located in the limiting sleeve, a limiting block is fixed on the limiting shaft, the spring is sleeved on the limiting shaft and compressed between the limiting block and the outer end of the limiting sleeve, and two ends of the spring are respectively fixedly connected with the limiting block and the limiting sleeve.
Preferably, the radius of the limiting sleeve is the same as that of the limiting shaft.
Preferably, the number of the first connecting ring, the first steel cable, the second connecting ring, the linkage rod, the first rotating shaft, the gripper, the limiting sleeve, the spring, the limiting block, the limiting shaft, the slot and the first chute is four.
Preferably, the robot further comprises a movable robot arm, the movable robot arm comprising: the device comprises a supporting piece, a supporting shaft, a connecting shaft, a worm, a first connecting rod, a first telescopic rod, a hinged shaft, a second connecting rod, a second telescopic rod, a third telescopic rod, a hinged support, a second output shaft, a first gear, a second gear, a worm wheel, a rolling bearing, a box body, a motor supporting block, a second motor, a moving box, a fourth telescopic rod, a universal wheel and a first thrust bearing;
the movable box is arranged around the box body, the fourth telescopic rod is fixed in the movable box, the universal wheel is fixed on the fourth telescopic rod and is positioned in the movable box, the motor supporting block and the supporting piece are fixed on the lower surface of the box body, the second motor is fixed on the motor supporting block, one end of the second output shaft is fixedly connected with the output end of the second motor, the first gear is fixed at the other end of the second output shaft, the second gear is meshed with the first gear, the worm penetrates through the second gear and is fixed in the middle of the second gear, rolling bearings are arranged on two sides of the inner wall of the box body, and the worm is sleeved on the rolling bearings;
the utility model discloses a bearing, including back shaft, connecting axle, worm wheel, worm and worm, the back shaft sets up in the support piece top, first thrust bearing installs between back shaft and support piece, the back shaft upper end is fixed with the connecting axle, the connecting axle lower extreme is fixed with the worm wheel, worm wheel and worm meshing, the connecting axle upper end is fixed with first connecting rod, the second connecting rod passes through the articulated shaft and articulates with first connecting rod, the second connecting rod has outstanding position, can hold two hinges, first telescopic link one end articulates in first connecting rod lower extreme, and the other end articulates in the first half of the outstanding position of second connecting rod, the third telescopic link articulates in second connecting rod upper end, second telescopic link one end articulates in the outstanding position latter half of second connecting rod, and the other end articulates in third telescopic link shell front end, the third telescopic link stretches.
Preferably, the device further comprises a paw cleaning device, and the paw cleaning device comprises: the device comprises a connecting box body, a motor supporting column, a third motor, a driving bevel gear, a driven bevel gear, a second thrust bearing, a transmission shaft, a connecting piece, a second rotating shaft, a third rotating shaft, a first fixed pulley, a second steel cable, a third steel cable, a second sliding groove, a first protrusion, a sliding shaft, a second protrusion, a supporting rod, a cleaning head, an L-shaped limiting block, a spray head, a third sliding groove, a motor connecting plate, a fourth motor, a third gear, an arc-shaped rack, a fifth motor, a first wire collecting wheel, a fourth rotating shaft, a fifth rotating shaft, a sixth motor and a second wire collecting wheel;
the upper end of the connecting box body is fixed to the lower surface of the connecting plate and located on the outer side of the paw, the motor supporting column is fixed to the lower inner surface of the connecting box body, the third motor is fixed to the motor supporting column, the driving bevel gear is fixed to the output end of the third motor, the driven bevel gear is meshed with the driving bevel gear, one end of the transmission shaft is fixed to the driven bevel gear and extends out of the connecting box body, the second thrust bearing is located between the driven bevel gear and the lower inner surface of the connecting box body and is sleeved on the transmission shaft, and the connecting piece is fixed to the;
the second rotating shaft, the third rotating shaft, the first fixed pulley, the second chute, the first wire collecting wheel, the fourth rotating shaft, the fifth rotating shaft and the second wire collecting wheel are all arranged in the connecting piece, the fifth motor and the sixth motor are all fixed on the outer wall of the connecting piece, the second rotating shaft, the third rotating shaft, the fourth rotating shaft and the fifth rotating shaft rotate on the inner wall of the connecting piece, the third rotating shaft is fixed with the output end of the fifth motor, the fifth rotating shaft is fixed with the output end of the sixth motor, the first fixed pulley is arranged on the second rotating shaft, the second fixed pulley is arranged on the third rotating shaft, the first wire collecting wheel is arranged on the third rotating shaft, and the second wire collecting wheel is arranged on the fifth rotating shaft;
sliding shafts are arranged on two sides of the head end of the supporting rod, the supporting rod is connected with the connecting piece through the matching of the sliding shafts and the second sliding groove, a first protrusion is fixed on the upper surface of the head end of the supporting rod, a second protrusion is fixed on the upper surface of the tail end of the supporting rod, one end of a second steel cable is fixed with the second protrusion, the other end of the second steel cable penetrates through a second fixed pulley and is fixed on a second wire collecting wheel, one end of a third steel cable is fixed with the first protrusion, and the other end of the third steel cable penetrates through the first fixed pulley and is fixed with the first;
the utility model discloses a cleaning machine, including bracing piece, support bar, first spout, L type stopper, motor connecting plate, fourth motor, third gear, first concave surface, the bracing piece end is fixed with L type stopper, L type stopper is two of longitudinal symmetry distribution, the overhead surface of clearance all is equipped with the third spout, L type stopper and third spout cooperation, the fixed surface that L type stopper kept away from the third spout has the motor connecting plate, the fourth motor is fixed in the motor connecting plate, the third gear is fixed in fourth motor output, the first concave surface one side of clearance is fixed with the arc rack, third gear and arc rack toothing, first evagination face one side of clearance is provided with the shower nozzle.
Preferably, the spring state detection device further includes:
the displacement sensor is arranged at the position of the limiting block and used for detecting the displacement of the limiting block and judging the actual compression amount of the spring by detecting the displacement of the limiting block;
the force sensor is arranged at the joint of the spring and the limiting block and used for detecting the pressure of the spring on the limiting block;
a counter for recording the number of times the spring is compressed;
the timer records the time of the compression process of the spring;
an alarm located outside the housing;
the speed sensor is used for detecting the moving speed of the limiting block;
the controller, the controller respectively with displacement sensor, speedtransmitter, force transducer, time-recorder, counter and alarm electric connection, the controller is based on displacement sensor, speedtransmitter, force transducer, time-recorder and counter control alarm work includes:
step 1: the controller obtains the axial deformation of the spring at the mth compression without failure based on the force sensor and the formula (1):
wherein, amAxial deflection of the spring at the m-th compression without failure, FmThe pressure on the mth spring detected by the force sensor during compression is detected, D is the diameter of the spring, D is the diameter of a spring wire, n is the effective number of turns of the spring, and G is the elastic modulus of the spring;
step 2: the controller calculates the reliability of the mth compression of the spring based on the displacement sensor, the speed sensor, the force sensor and a formula (2):
wherein R ismThe reliability of the mth compression of the spring is shown, exp is an exponential function with a natural constant e as a base, T is the curvature coefficient of the spring, and pi is the circumferential rate; m represents the mth compression spring and is recorded by the counter; l is the maximum compression length of the spring, AiThe actual compression amount, a, of the spring compressed the ith time detected by the displacement sensormFor the m-th axial deformation of the spring without failure, AmThe actual compression amount of the spring m times of compression detected by the displacement sensor is delta is the Poisson's ratio of the spring tmFor the timer, the time of the mth compression process of the spring, VmThe value of the speed sensor when the spring is compressed for the mth time, and e is a natural constant and takes the value of 2.72K is the average precision of the displacement sensor, the speed sensor and the force sensor;
and when the reliability of the spring exceeds a preset reference value range, the controller controls the alarm to give an alarm.
Drawings
FIG. 1 is a schematic front view of the present application;
FIG. 2 is a schematic structural diagram of a moving plate connecting mechanism according to the present application;
FIG. 3 is a schematic view of the housing structure of the present application;
FIG. 4 is a schematic diagram of a connecting plate structure according to the present application;
FIG. 5 is a schematic view of the slotting structure of the present application;
FIG. 6 is a schematic view of a gripper of the present application;
FIG. 7 is a schematic diagram of the mounting position of the mobile robotic arm of the present application;
FIG. 8 is a schematic structural diagram of a case of the present application;
FIG. 9 is a schematic structural diagram of a power mechanism inside the case of the present application;
FIG. 10 is a schematic view of the mobile case structure of the present application;
FIG. 11 is a schematic view of the present application showing the installed position of the paw cleaning device;
FIG. 12 is a schematic view of the power section of the paw cleaning device of the present application;
FIG. 13 is a schematic view of a connection portion of the paw cleaning device of the present application;
FIG. 14 is a schematic structural view showing the relative positions of the fixed pulley and the wire collecting wheel of the paw cleaning device of the present application;
FIG. 15 is a schematic diagram of a relative position structure of fifth and sixth motors of the paw cleaning device of the present application;
FIG. 16 is a schematic structural diagram of relative positions of two sets of fixed pulleys and a wire collecting wheel of the paw cleaning device;
FIG. 17 is a schematic view of the relative positions of the support rod and the cleaning head of the paw cleaning device of the present application;
fig. 18 is a schematic view of a cleaning head structure of the paw cleaning device of the present application.
In the figure: 1. a housing; 2. a first output shaft; 3. a first motor; 4. a threaded rod; 5. moving the plate; 6. a first connecting ring; 7. a first wire rope; 8. a second connection ring; 9. a linkage rod; 10. a first rotating shaft; 11. a connecting plate; 12. a paw; 13. a limiting sleeve; 14. a spring; 15. a limiting block; 16. a limiting shaft; 17. grooving; 18. a threaded collar; 19. fixing the rod; 20. a first chute; 21. a fourth said rod, 22, universal wheels; 23. a first thrust bearing; 24. a support member; 25 supporting the shaft; 26. a connecting shaft; 27. a worm; 28. a first link; 29. a first telescopic rod; 30. hinging a shaft; 31. a second link; 32. a second telescopic rod; 33. a third telescopic rod; 34. hinging and supporting; 35. a second output shaft; 36. a first gear; 37. a second gear; 38. a worm gear; 39. a rolling bearing; 40. a box body; 41. a motor support block; 42. a second motor; 43. a mobile box; 44. connecting the box body; 45. a motor support column; 46. a third motor; 47. a drive bevel gear; 48. a driven bevel gear; 49. a second thrust bearing; 50. a drive shaft; 51. a connecting member; 52. a second rotating shaft; 53. a third rotating shaft; 54. a first fixed pulley; 55. a second fixed pulley; 56. a second wire rope; 57. a third steel cord; 58. a second chute; 59. a first protrusion; 60. a sliding shaft; 61. a second protrusion; 62. a support bar; 63. cleaning the head; 64. an L-shaped limiting block; 65. a spray head; 66. a third chute; 67. a motor connecting plate; 68. a fourth motor; 69. a third gear; 70. an arc-shaped rack; 71. a fifth motor; 72. a first wire collecting wheel; 73. a fourth rotating shaft; 74. a fifth rotating shaft; 75. a sixth motor; 76. and a second wire collecting wheel.
Detailed Description
The descriptions of the first, second, etc. in this application are for illustrative purposes only, and are not intended to refer to an order or sequence, nor to limit the application, but rather are used to distinguish one element or operation from another element or operation described in the same technical language and are not intended to indicate or imply relative importance or imply quantity of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions and technical features between various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present application.
Example 1
Referring to fig. 1-6, an embodiment of the present application: a mechanical claw for grabbing ball objects comprises a shell 1, a first output shaft 2, a first motor 3, a threaded rod 4, a moving plate 5, a first connecting ring 6, a first steel cable 7, a second connecting ring 8, a linkage rod 9, a first rotating shaft 10, a connecting plate 11, a claw 12, a slot 17, a threaded lantern ring 18, a fixed rod 19, a first sliding groove 20 and a rebounding device;
the connecting plate 11 is provided with a slot 17, the first rotating shaft 10 is fixed in the slot 17, and the paw 12 is hinged to the connecting plate 11 through the first rotating shaft 10;
a shell 1 is fixed above the connecting plate 11, a first motor 3 is fixed above the shell 1, a threaded rod 4, a moving plate 5, a threaded sleeve ring 18, a fixed rod 19 and a first output shaft 2 are arranged inside the shell 1, the output end of the first motor 3 is fixedly connected with the first output shaft 2, the first output shaft 2 is fixed with the threaded rod 4, the threaded sleeve ring 18 is in threaded sleeve connection with the threaded rod 4, the fixed rod 19 is fixed on the outer ring of the threaded sleeve ring 18, and the other end of the fixed rod 19 is fixed with the moving plate 5;
the surface of the shell 1 is provided with a first sliding chute 20, the first connecting ring 6 is fixed on the moving plate 5, is limited in the first sliding chute 20 and rotates around a first rotating shaft 10, one end of the first steel cable 7 is connected with the first connecting ring 6, and the other end of the first steel cable is connected with the second connecting ring 8;
one end of a linkage rod 9 is fixed on the inner side of the paw 12, and the other end of the linkage rod 9 is fixed on the second connecting ring 8;
the rebounding device is arranged on the connecting plate 11, connected with the paw 12 and used for enabling the paw 12 to rotate under the action of elastic force to loosen the ball objects.
The working principle and the beneficial effects of the technical scheme are as follows: when the ball catching device is used, the first motor 3 starts to rotate to drive the first output shaft 2 to rotate, the threaded rod 4 is fixed to the first output shaft 2 and sleeved on the threaded sleeve ring 18 to be meshed with threads in the threaded sleeve ring 18, the threaded sleeve ring 18 is fixed on the moving plate 5 through the fixed rod 19, so that the threaded rod 4 is driven to rotate by the first output shaft 2 and simultaneously drives the threaded sleeve ring 18 to start to ascend or descend, the moving plate 5 is limited to move up and down in the first sliding groove 20 to drive the first connecting ring 6 to ascend or descend, the first connecting ring is connected to the second connecting ring 8 through the first connecting ring 7, the claw 12 is drawn in by the movement of the second connecting ring 8, and the unfolding action is completed under the action of the rebounding device, the energy consumption of the gripper 12 in the operation is saved, and the problem that energy is wasted because the driving device is required to apply energy to the gripper to clamp or loosen the clamped ball object when the existing mechanical gripper catches or releases the ball object is solved.
Example 2
Referring to fig. 1 to 6, on the basis of the above embodiment 1, the rebounding device includes: a limiting sleeve 13, a spring 14, a limiting block 15 and a limiting shaft 16;
the limiting shaft 16 is fixed on the outer side of the paw 12, the limiting sleeve 13 is fixed on the outer edge of the connecting plate 11, the limiting shaft 16 is partially located in the limiting sleeve 13, the limiting block 15 is fixed on the limiting shaft 16, the spring 14 is sleeved on the limiting shaft 16, the spring 14 is compressed between the limiting block 15 and the outer end of the limiting sleeve 13, and two ends of the spring 14 are respectively fixedly connected with the limiting block 15 and the limiting sleeve 13.
The working principle and the beneficial effects of the technical scheme are as follows: the limiting sleeve 13, the spring 14, the limiting block 15 and the limiting shaft 16 are arranged on the outer side of the paw 12, under the condition that the linkage rod 9 is not pulled, the spring 14 starts to extend to drive the paw 12 to open, meanwhile, the limiting sleeve 13 is matched with the limiting shaft 16, so that the opening track of the paw 12 is fixed, the stability of the invention is improved, the linkage rod 9 inside the paw 12 is connected with the second connecting ring 8, and a power source is provided for the paw 12 to overcome the elasticity of the spring 14 and then to be folded.
Example 3
Referring to fig. 1, on the basis of the above embodiment 2, the radius of the limiting sleeve 13 is the same as that of the limiting shaft 16.
The working principle and the beneficial effects of the technical scheme are as follows: the limiting sleeve 13 and the limiting shaft 16 are provided with the same radius, so that the limiting sleeve and the limiting shaft can be perfectly matched in the process of opening and closing the paw 12.
Example 4
Referring to fig. 1 to 6, on the basis of embodiment 2, the first connecting ring 6, the first steel cable 7, the second connecting ring 8, the linkage 9, the first rotating shaft 10, the claw 12, the limiting sleeve 13, the spring 14, the limiting block 15, the limiting shaft 16, the slot 17, and the first sliding groove 20 are all four in number.
The working principle and the beneficial effects of the technical scheme are as follows: the first connecting ring 6, the first steel cable 7, the second connecting ring 8, the linkage rod 9, the first rotating shaft 10, the gripper 12, the limiting sleeve 13, the spring 14, the limiting block 15, the limiting shaft 16, the notch 17, the first sliding groove 20 and the like are arranged into four groups, so that the mechanical gripper is a closed body after being folded, the gripping can be realized under the condition that a ball body is small, and the application range of the invention is wider.
Example 5
Referring to fig. 7 to 10, in addition to any one of embodiments 1 to 4, the robot further includes a mobile robot arm, the mobile robot arm including: the support piece 24, the support shaft 25, the connecting shaft 26, the worm 27, the first connecting rod 28, the first telescopic rod 29, the hinge shaft 30, the second connecting rod 31, the second telescopic rod 32, the third telescopic rod 33, the hinge support 34, the second output shaft 35, the first gear 36, the second gear 37, the worm wheel 38, the rolling bearing 39, the box body 40, the motor support block 41, the second motor 42, the moving box 43, the fourth telescopic rod 21, the universal wheel 22 and the first thrust bearing 23;
the movable box 43 is arranged around the box body 40, the fourth telescopic rod 21 is fixed in the movable box 43, the universal wheel 22 is fixed on the fourth telescopic rod 21 and is positioned in the movable box 43, the motor supporting block 41 and the supporting piece 24 are fixed on the lower surface of the box body 40, the second motor 42 is fixed on the motor supporting block 41, one end of the second output shaft 35 is fixedly connected with the output end of the second motor 42, the other end of the second output shaft is fixed with the first gear 36, the second gear 37 is meshed with the first gear 36, the worm 27 penetrates through the second gear 37 and is fixed in the middle of the second gear 37, rolling bearings 39 are arranged on two sides of the inner wall of the box body 40, and the worm 27 is sleeved on the rolling bearings 39;
the supporting shaft 25 is arranged above the supporting piece 24, the first thrust bearing 23 is arranged between the supporting shaft 25 and the supporting piece 24, the connecting shaft 26 is fixed at the upper end of the supporting shaft 25, the worm wheel 38 is fixed at the lower end of the connecting shaft 26, the worm wheel 38 is meshed with the worm 27, the first connecting rod 28 is fixed at the upper end of the connecting shaft 26, the second connecting rod 31 is hinged with the first connecting rod 28 through a hinge shaft 30, the second connecting rod 31 has a protruding position and can accommodate two hinge joints, one end of the first telescopic rod 29 is hinged at the lower end of the first connecting rod 28, the other end of the first telescopic rod is hinged at the upper half part of the protruding position of the second connecting rod 31, the third telescopic rod 33 is hinged at the upper end of the second connecting rod 31, one end of the second telescopic rod 32 is hinged at the lower half of the protruding position of the second connecting rod 31, the hinge support 34 is fixedly connected with the upper end of the shell 1.
The working principle and the beneficial effects of the technical scheme are as follows: the gripper is fixed on the mechanical arm to realize the movement of the gripper, when the mechanical arm is moved for a long distance, the fourth telescopic rod 21 extends, the universal wheel 22 is contacted with the ground to realize the movement, when the mechanical arm is moved to a specific position, the fourth telescopic rod 21 contracts, the universal wheel 22 is separated from the ground, the moving box 43 is contacted with the ground to increase the contact area and increase the stability, when the gripper is moved for a small range, the second motor 42 is started to drive the second output shaft 35, the first gear 36, the second gear 37, the worm 27 and the worm 27 to rotate, so that the connecting shaft 26 rotates for 360 degrees around the shaft center, the extension of the first telescopic rod 29 drives the second connecting rod 31 to rotate around the hinge shaft 30, the extension of the second telescopic rod 32 also drives the rotation of the third telescopic rod 33, the extension and retraction of the third telescopic rod 33 also influences the position of the gripper, and the setting of the hinge support 34 enables the gripper to face downwards all the time, the accurate grabbing of the ball objects is guaranteed, the grabbing range of the mechanical claw is guaranteed due to the design of the movable mechanical arm, and the practicability of the ball grabbing device is improved.
Example 6
Referring to fig. 11 to 18, on the basis of any one of the above embodiments 1 to 5, the present invention further includes a paw cleaning device, including: the device comprises a connecting box 44, a motor supporting column 45, a third motor 46, a driving bevel gear 47, a driven bevel gear 48, a second thrust bearing 49, a transmission shaft 50, a connecting piece 51, a second rotating shaft 52, a third rotating shaft 53, a first fixed pulley 54, a second fixed pulley 55, a second steel cable 56, a third steel cable 57, a second sliding chute 58, a first protrusion 59, a sliding shaft 60, a second protrusion 61, a supporting rod 62, a cleaning head 63, an L-shaped limiting block 64, a spray head 65, a third sliding chute 66, a motor connecting plate 67, a fourth motor 68, a third gear 69, an arc-shaped rack 70, a fifth motor 71, a first wire collecting wheel 72, a fourth rotating shaft 73, a fifth rotating shaft 74, a sixth motor 75 and a second wire collecting wheel 76;
the upper end of the connecting box body 44 is fixed on the lower surface of the connecting plate 11 and is positioned outside the gripper 12, the motor supporting column 45 is fixed on the lower inner surface of the connecting box body 44, the third motor 46 is fixed on the motor supporting column 45, the drive bevel gear 47 is fixed with the output end of the third motor 46, the driven bevel gear 48 is meshed with the drive bevel gear 47, one end of the transmission shaft 50 is fixed with the driven bevel gear 48 and extends out of the connecting box body 44, the second thrust bearing 49 is positioned between the driven bevel gear 48 and the lower inner surface of the connecting box body 44 and is sleeved on the transmission shaft 50, and the connecting piece 51 is fixed at the other end of the transmission;
the second rotating shaft 52, the third rotating shaft 53, the first fixed pulley 54, the second fixed pulley 55, the second chute 58, the first wire collecting wheel 72, the fourth rotating shaft 73, the fifth rotating shaft 74 and the second wire collecting wheel 76 are all arranged in the connecting piece 51, the fifth motor 71 and the sixth motor 75 are all fixed on the outer wall of the connecting piece 51, the second rotating shaft 52, the third rotating shaft 53, the fourth rotating shaft 73 and the fifth rotating shaft 74 rotate on the inner wall of the connecting piece 51, the third rotating shaft 53 is fixed with the output end of the fifth motor 71, the fifth rotating shaft 74 is fixed with the output end of the sixth motor 75, the first fixed pulley 54 is arranged on the second rotating shaft 52, the second fixed pulley 55 is arranged on the third rotating shaft 53, the first wire collecting wheel 72 is arranged on the third rotating shaft 53, and the second wire collecting wheel 76 is arranged on the fifth rotating shaft 74;
sliding shafts 60 are arranged on two sides of the head end of the supporting rod 62, the supporting rod 62 is connected with the connecting piece 51 through the matching of the sliding shafts 60 and the second sliding groove 58, a first protrusion 59 is fixed on the upper surface of the head end of the supporting rod 62, a second protrusion 61 is fixed on the upper surface of the tail end of the supporting rod 62, one end of the second steel cable 56 is fixed with the second protrusion 61, the other end of the second steel cable passes through the second fixed pulley 55 and is fixed on the second wire collecting wheel 76, one end of the third steel cable 57 is fixed with the first protrusion 59, and the other end of the third steel cable passes through the first fixed pulley 54 and is fixed on;
the terminal L type stopper 64 that is fixed with of bracing piece 62, L type stopper 64 is two of longitudinal symmetry distribution, the upper and lower surface all is equipped with third spout 66 about clearance head 63, L type stopper 64 and the cooperation of third spout 66, the fixed surface that third spout 66 was kept away from to L type stopper 64 has motor connecting plate 67, fourth motor 68 is fixed in motor connecting plate 67, third gear 69 is fixed in the output of fourth motor 68, concave surface one side is fixed with arc rack 70 in the clearance head 63, third gear 69 and the meshing of arc rack 70, clearance head 63 evagination one side is provided with shower nozzle 65.
The working principle and the beneficial effects of the technical scheme are as follows: when the paw 12 needs to be cleaned, the sixth motor 75 is started to release the second steel cable 56, the tail end of the supporting rod 62 slides down under the limitation of the second chute 58, the spray head 65 starts to spray cleaning liquid, meanwhile, the fourth motor 68 rotates to drive the cleaning head 63 to swing, the contact range of the cleaning liquid is larger, the forward and reverse rotation of the fifth motor 71 enables the length of the released third steel cable 57 to change, the supporting rod 62 rotates around the sliding shaft 60, the spray head 65 is driven to spray the cleaning liquid in an up-and-down swinging mode, when the initial contact surface of the cleaning head 63 is cleaned, the third motor 46 is started, the connecting piece 51, the supporting rod 62 and the cleaning head 63 rotate around the transmission shaft 50 through the matching of the driven bevel gear 48 and the driving bevel gear 47, and after a certain angle is rotated, the third motor 46 stops, the sixth motor 75, the second motor 75, the third motor 63 and the cleaning head 63 rotate, The fourth motor 68 and the fifth motor 71 repeat the above actions to drive the cleaning head 63 and the spray head 65 to move, so that the cleaning liquid is fully distributed in the space surrounded by the whole paw 12, and the paw 12 is cleaned.
Example 7
On the basis of the above embodiment 2, the present invention further includes a spring state detection device, including:
the displacement sensor is arranged at the position of the limiting block 15 and used for detecting the displacement of the limiting block 15 and judging the actual compression amount of the spring 14 by detecting the displacement of the limiting block 15;
the force sensor is arranged at the joint of the spring 14 and the limiting block 15 and used for detecting the pressure of the spring 14 on the limiting block 15;
a counter that records the number of times the spring 14 is compressed;
a timer for recording the time during which the spring 14 is compressed;
an alarm located outside the housing 1;
a speed sensor for detecting the moving speed of the stopper 15;
the controller, the controller respectively with displacement sensor, speedtransmitter, force transducer, time-recorder, counter and alarm electric connection, the controller is based on displacement sensor, speedtransmitter, force transducer, time-recorder and counter control alarm work includes:
step 1: the controller derives the axial deflection at the mth compression of the spring 14 without failure based on the force sensor and equation (1):
wherein, amThe axial deflection of the spring 14 at the m-th compression without failure, FmThe pressure on the mth spring 14 detected by the force sensor during compression, D is the diameter of the spring 14, D is the diameter of the spring 14, n is the effective number of turns of the spring 14, and G is the elastic modulus of the spring 14;
step 2: the controller calculates the reliability of the mth compression of the spring 14 based on the displacement sensor, the speed sensor, the force sensor and the formula (2):
wherein R ismThe reliability of the mth compression of the spring 14 is shown, exp is an exponential function with a natural constant e as a base, and T is the curvature coefficient of the spring 14 and takes a value of 0.01-0.015; pi is the circumference ratio, and the value is 3.14; m is the compression spring 14 representing the mth compression, recorded by the counter; l is the maximum compressed length of the spring 14; a. theiThe actual compression amount of the spring 14 compressed the ith time detected by the displacement sensor; a ismIs the mth axial deflection of spring 14 without failure; a. themThe actual compression amount of the spring 14 compressed the m-th time detected for the displacement sensor; delta is the Poisson's ratio of the spring 14, and the value is 0.25-0.3; t is tmRecording the time of the mth compression process of the spring 14 for the timer; vmIs the velocity sensor value at the mth time the spring 14 is compressed; e is a natural constant, and the value is 2.72; k is the average precision of the displacement sensor, the speed sensor and the force sensor, and the value is 0.99-1.01;
when the reliability of the spring 14 exceeds a preset reference value range, the controller controls the alarm to give an alarm.
The working principle and the beneficial effects of the technical scheme are as follows: when the device is used, the spring 14 inevitably has a series of problems such as aging and failure, and the like, the displacement sensor is arranged between the limiting blocks 15 and is used for detecting the actual compression amount of the spring 14, meanwhile, the axial deformation amount of the spring 14 under the condition of no failure is obtained by calculation according to the diameter of the spring 14, the diameter of a spring wire of the spring 14, the effective number of turns of the spring 14 and the elastic modulus of the spring 14 and a formula (1), then, the reliability of the spring 14 can be obtained by calculation according to the actual compression amount of the spring 14 detected by the displacement sensor, the calculation result of the formula (1) and a formula (2), when the reliability of the spring 14 exceeds a preset reference value range, the controller can control the alarm to give an alarm prompt so as to remind field workers of repairing and replacing the spring 14, the controller is arranged to control the alarm to give an alarm, and the workers can be timely reminded of repairing the device according to the reliability of the, the working state of the spring 14 is monitored, so that the working abnormality of the equipment can be found by workers in time, and the working efficiency of the equipment and the intelligent degree of the equipment are improved.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. A gripper for gripping a ball object, the gripper comprising:
the device comprises a shell (1), a first output shaft (2), a first motor (3), a threaded rod (4), a moving plate (5), a first connecting ring (6), a first steel cable (7), a second connecting ring (8), a linkage rod (9), a first rotating shaft (10), a connecting plate (11), a paw (12), a slot (17), a threaded lantern ring (18), a fixing rod (19), a first sliding chute (20) and a rebound device;
the connecting plate (11) is provided with a groove (17), the first rotating shaft (10) is fixed in the groove (17), and the paw (12) is hinged to the connecting plate (11) through the first rotating shaft (10);
a shell (1) is fixed above the connecting plate (11), a first motor (3) is fixed above the shell (1), a threaded rod (4), a moving plate (5), a threaded sleeve ring (18), a fixing rod (19) and a first output shaft (2) are arranged inside the shell (1), the output end of the first motor (3) is fixedly connected with the first output shaft (2), the first output shaft (2) is fixed with the threaded rod (4), the threaded sleeve ring (18) is in threaded sleeve connection with the threaded rod (4), the fixing rod (19) is fixed on the outer ring of the threaded sleeve ring (18), and the other end of the fixing rod (19) is fixed with the moving plate (5);
the surface of the shell (1) is provided with a first sliding groove (20), the first connecting ring (6) is fixed on the moving plate (5) and limited in the first sliding groove (20) to rotate around a first rotating shaft (10), one end of the first steel cable (7) is connected with the first connecting ring (6), and the other end of the first steel cable is connected with the second connecting ring (8);
one end of a linkage rod (9) is fixed on the inner side of the paw (12), and the other end of the linkage rod (9) is fixed on a second connecting ring (8);
the rebounding device is arranged on the connecting plate (11), is connected with the paw (12) and is used for enabling the paw (12) to rotate under the action of elastic force to loosen ball objects.
2. The gripper of claim 1, wherein: the rebounding device comprises: a limiting sleeve (13), a spring (14), a limiting block (15) and a limiting shaft (16);
spacing axle (16) are fixed in the hand claw (12) outside, connecting plate (11) outer fringe is fixed with spacing sleeve (13), spacing axle (16) part is located spacing sleeve (13), spacing axle (16) are fixed with spacing piece (15), spring (14) cup joint in spacing axle (16), spring (14) are compressed between spacing piece (15) and spacing sleeve (13) outer end, spring (14) both ends respectively with spacing piece (15) and spacing sleeve (13) fixed connection.
3. The gripper of claim 2, wherein: the limiting sleeve (13) and the limiting shaft (16) have the same radius.
4. The gripper of claim 2, wherein: the connecting device comprises four first connecting rings (6), four first steel cables (7), four second connecting rings (8), four linkage rods (9), four first rotating shafts (10), four claws (12), four limiting sleeves (13), four springs (14), four limiting blocks (15), four limiting shafts (16), four grooves (17) and four first sliding grooves (20).
5. The gripper of claim 1, wherein: still include the portable arm, the portable arm includes: the device comprises a support piece (24), a support shaft (25), a connecting shaft (26), a worm (27), a first connecting rod (28), a first telescopic rod (29), a hinge shaft (30), a second connecting rod (31), a second telescopic rod (32), a third telescopic rod (33), a hinge support (34), a second output shaft (35), a first gear (36), a second gear (37), a worm wheel (38), a rolling bearing (39), a box body (40), a motor supporting block (41), a second motor (42), a moving box (43), a fourth telescopic rod (21), a universal wheel (22) and a first thrust bearing (23);
the movable box (43) is arranged on the periphery of the box body (40), the fourth telescopic rod (21) is fixed in the movable box (43), the universal wheel (22) is fixed on the fourth telescopic rod (21) and is positioned in the movable box (43), a motor supporting block (41) and a supporting piece (24) are fixed on the lower surface of the box body (40), the second motor (42) is fixed on the motor supporting block (41), one end of the second output shaft (35) is fixedly connected with the output end of the second motor (42), the other end of the second output shaft is fixed with the first gear (36), the second gear (37) is meshed with the first gear (36), the worm (27) penetrates through the second gear (37) and is fixed in the middle of the second gear (37), rolling bearings (39) are arranged on two sides of the inner wall of the box body (40), and the worm (27) is sleeved on the rolling bearings (39);
the supporting shaft (25) is arranged above the supporting piece (24), the first thrust bearing (23) is arranged between the supporting shaft (25) and the supporting piece (24), the upper end of the supporting shaft (25) is fixedly provided with a connecting shaft (26), the lower end of the connecting shaft (26) is fixedly provided with a worm wheel (38), the worm wheel (38) is meshed with the worm (27), the upper end of the connecting shaft (26) is fixedly provided with a first connecting rod (28), the second connecting rod (31) is hinged with the first connecting rod (28) through a hinge shaft (30), the second connecting rod (31) has a protruding position and can accommodate two hinge joints, one end of the first telescopic rod (29) is hinged at the lower end of the first connecting rod (28), the other end of the first telescopic rod is hinged at the upper half part of the protruding position of the second connecting rod (31), the third telescopic rod (33) is hinged at the upper end of the second connecting rod (31), one end of the second telescopic rod (32, the other end of the third telescopic rod (33) is hinged to the front end of the shell of the third telescopic rod (33), the extending end of the third telescopic rod (33) is hinged to a hinge support (34), and the hinge support (34) is fixedly connected with the upper end of the shell (1).
6. The gripper of claim 1, wherein: still include hand claw cleaning device, hand claw cleaning device includes: the gear box comprises a connecting box body (44), a motor supporting column (45), a third motor (46), a driving bevel gear (47), a driven bevel gear (48), a second thrust bearing (49), a transmission shaft (50), a connecting piece (51), a second rotating shaft (52), a third rotating shaft (53), a first fixed pulley (54), a second fixed pulley (55), a second steel cable (56), a third steel cable (57), a second sliding groove (58), a first protrusion (59), a sliding shaft (60), a second protrusion (61), a supporting rod (62), a cleaning head (63), an L-shaped limiting block (64), a spray head (65), a third sliding groove (66), a motor connecting plate (67), a fourth motor (68), a third gear (69), an arc-shaped rack (70), a fifth motor (71), a first wire collecting wheel (72), a fourth rotating shaft (73), a fifth rotating shaft (74), a sixth motor (75), A second wire collector (76);
the upper end of the connecting box body (44) is fixed to the lower surface of the connecting plate (11) and located on the outer side of the gripper (12), the motor supporting column (45) is fixed to the lower inner surface of the connecting box body (44), the third motor (46) is fixed to the motor supporting column (45), the driving bevel gear (47) is fixed to the output end of the third motor (46), the driven bevel gear (48) is meshed with the driving bevel gear (47), one end of the transmission shaft (50) is fixed to the driven bevel gear (48) and extends out of the connecting box body (44), the second thrust bearing (49) is located between the driven bevel gear (48) and the lower inner surface of the connecting box body (44) and is sleeved on the transmission shaft (50), and the connecting piece (51) is fixed to the other end of the transmission shaft (;
the second rotating shaft (52), the third rotating shaft (53), the first fixed pulley (54), the second fixed pulley (55), the second sliding chute (58), the first wire collecting wheel (72), the fourth rotating shaft (73), the fifth rotating shaft (74) and the second wire collecting wheel (76) are arranged in the connecting piece (51), the fifth motor (71) and the sixth motor (75) are fixed on the outer wall of the connecting piece (51), the second rotating shaft (52), the third rotating shaft (53), the fourth rotating shaft (73) and the fifth rotating shaft (74) are rotated on the inner wall of the connecting piece (51), the third rotating shaft (53) is fixed with the output end of the fifth motor (71), the fifth rotating shaft (74) is fixed with the output end of the sixth motor (75), the first fixed pulley (54) is arranged on the second rotating shaft (52), and the second fixed pulley (55) is arranged on the third rotating shaft (53), the first wire collecting wheel (72) is arranged on a third rotating shaft (53), and the second wire collecting wheel (76) is arranged on a fifth rotating shaft (74);
sliding shafts (60) are arranged on two sides of the head end of the supporting rod (62), the supporting rod (62) is connected with the connecting piece (51) through the matching of the sliding shafts (60) and the second sliding groove (58), a first protrusion (59) is fixed on the upper surface of the head end of the supporting rod (62), a second protrusion (61) is fixed on the upper surface of the tail end of the supporting rod (62), one end of a second steel cable (56) is fixed with the second protrusion (61), the other end of the second steel cable passes through a second fixed pulley (55) and is fixed on a second wire collecting wheel (76), one end of a third steel cable (57) is fixed with the first protrusion (59), and the other end of the third steel cable passes through a first fixed pulley (54) and is fixed with the first wire collecting wheel;
the utility model discloses a cleaning machine, including bracing piece (62), support bar (62), L type stopper (64), third spout (66) are all equipped with to the surface about the clearance head (63), L type stopper (64) and third spout (66) cooperation, the fixed surface that third spout (66) were kept away from in L type stopper (64) has motor connecting plate (67), fourth motor (68) are fixed in motor connecting plate (67), third gear (69) are fixed in fourth motor (68) output, concave surface one side is fixed with arc rack (70) in clearance head (63), third gear (69) and arc rack (70) meshing, clearance head (63) evagination one side is provided with shower nozzle (65).
7. The gripper of claim 2, wherein: still include spring state detection device, spring state detection device includes:
the displacement sensor is arranged at the position of the limiting block (15) and used for detecting the displacement of the limiting block (15) and judging the actual compression amount of the spring (14) by detecting the displacement of the limiting block (15);
the force sensor is arranged at the joint of the spring (14) and the limiting block (15) and used for detecting the pressure of the spring (14) on the limiting block (15);
a counter for recording the number of times the spring (14) is compressed;
a timer for recording the time of the compression process of the spring (14);
the alarm is positioned outside the shell (1);
the speed sensor is used for detecting the moving speed of the limiting block (15);
the controller, the controller respectively with displacement sensor, speedtransmitter, force transducer, time-recorder, counter and alarm electric connection, the controller is based on displacement sensor, speedtransmitter, force transducer, time-recorder and counter control alarm work includes:
step 1: the controller obtains the axial deformation of the spring (14) at the mth compression without failure based on the force sensor and formula (1):
wherein, amIs the axial deformation of the spring (14) at the m-th compression without failure, FmThe pressure of the spring (14) in the compression of the mth time detected by the force sensor is detected, D is the diameter of the spring (14), D is the diameter of a spring wire of the spring (14), n is the effective number of turns of the spring (14), and G is the elastic modulus of the spring (14);
step 2: the controller calculates the reliability of the mth compression of the spring (14) based on the displacement sensor, the speed sensor, the force sensor and the formula (2):
wherein R ismThe reliability of the mth compression of the spring (14), exp is an exponential function with a natural constant e as a base, T is the curvature coefficient of the spring (14), and pi is the circumferential rate; m is a compression spring (14) representing the mth compression, recorded by said counter; l is the maximum compression length of the spring (14), AiThe actual compression amount, a, of the spring (14) that is the ith compression detected by the displacement sensormFor the mth axial deformation of the spring (14) without failure, AmThe actual compression amount of the spring (14) which is m times compressed and detected by the displacement sensor is delta is the Poisson ratio of the spring (14), tmFor the timer, the time of the mth compression process of the spring (14), VmThe value of a speed sensor when the spring (14) is compressed for the mth time, e is a natural constant and is 2.72, and K is the average precision of a displacement sensor, a speed sensor and a force sensor;
when the reliability of the spring (14) exceeds a preset reference value range, the controller controls the alarm to give an alarm.
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| CN202110198418.8A CN112873261B (en) | 2021-02-22 | 2021-02-22 | Mechanical claw for grabbing ball objects |
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| CN115194741A (en) * | 2022-09-15 | 2022-10-18 | 江苏和为警用器材制造有限公司 | Manipulator arm assembly, manipulator and use method of manipulator |
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