CN114310999A - Intelligent integrated robot clamping mechanism telescopic adjusting mechanism - Google Patents
Intelligent integrated robot clamping mechanism telescopic adjusting mechanism Download PDFInfo
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- CN114310999A CN114310999A CN202210014295.2A CN202210014295A CN114310999A CN 114310999 A CN114310999 A CN 114310999A CN 202210014295 A CN202210014295 A CN 202210014295A CN 114310999 A CN114310999 A CN 114310999A
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Abstract
The invention discloses a telescopic adjusting mechanism of a clamping mechanism of an intelligent conjoined robot, which comprises: the device comprises a driving motor, a transmission mechanism, a clamping assembly and a guide mechanism; the driving motor is arranged in the robot, the clamping assembly is connected with the driving motor through the transmission mechanism, the guide mechanism is fixed on the vehicle body, and the clamping assembly is connected with the guide mechanism. The robot can enter into the vehicle bottom earlier when carrying out vehicle centre gripping transport because the wheel base of every car is all inequality, in order to make the centre gripping subassembly of robot can suit with the wheel of different wheel bases, driving motor can drive the centre gripping subassembly through drive mechanism and remove along guiding mechanism to realize the position transform of centre gripping subassembly, and then adjust to the distance that is fit for the vehicle wheel base.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a telescopic adjusting mechanism of an intelligent conjoined robot clamping mechanism.
Background
At present, the intelligent robot for storing and taking the vehicles mainly has a plurality of forms of vehicle carrying plates, comb teeth and rails. In the prior art, the vehicle carrying plate can be suitable for vehicles of various types, but the vehicle carrying plate type robot always pushes against the vehicle carrying plate, and the space utilization rate and the transportation efficiency are the lowest. Although the comb-tooth type robot can adapt to vehicles of various models, a special parking platform needs to be built to lift the vehicle, and then the vehicle is lifted and carried, so that the space utilization rate is not economical. The robot of clamp formula has the problem then can not deal with the vehicle of different wheel bases, can't carry out the self-regulation according to the wheel base difference of vehicle, and then leads to application range to have certain limitation. Therefore, there is a need for a smart connected robot gripper mechanism telescoping adjustment mechanism that at least partially solves the problems of the prior art.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In order to at least partially solve the above problems, the present invention provides a telescopic adjustment mechanism for a clamping mechanism of an intelligent conjoined robot, comprising: the device comprises a driving motor, a transmission mechanism, a clamping assembly and a guide mechanism; the driving motor is arranged in the robot, the clamping assembly is connected with the driving motor through the transmission mechanism, the guide mechanism is fixed on the vehicle body, and the clamping assembly is connected with the guide mechanism.
Preferably, the clamping assemblies are two groups and are respectively arranged at the front end and the rear end of the frame.
Preferably, the clamping assembly comprises a clamping unit and a bottom plate; the clamping unit is arranged on the bottom plate and penetrates through the frame, and the bottom plate is connected with the guide mechanism.
Preferably, the transmission mechanism comprises a driving part and a driven part, the driving part is connected with the driving motor, the driven part is arranged on the bottom plate, and the driving motor drives the driven part to translate through the driving part, so as to drive the bottom plate to translate.
Preferably, the driving part is a lead screw, the driven part is a lead screw nut, and the lead screw nut is arranged on the bottom plate.
Preferably, the guide mechanism comprises a limiting part and a moving part; the limiting part is arranged on the frame, and the bottom plate is connected with the limiting part through the moving part.
Preferably, the limiting part is a slide rail, and the moving part is a slide block.
Preferably, a third placing table and a fourth placing table are arranged on the bottom plate positioned at the front end and the rear end of the frame, and the third placing table and the fourth placing table are connected with the transmission mechanism through the moving channel; the transmission mechanism is arranged in the moving channel, and the moving parts are arranged at the end parts of the third placing table and the fourth placing table and are connected with the limiting part through the moving parts;
the driving part is a driving motor;
the movable channel comprises a storage bin and a top cover, a storage groove is formed in the top of the storage bin, a communication port is formed in the side wall of the storage bin and used for communicating the storage groove with the outside, first sliding grooves are symmetrically formed in the inner side wall of the storage groove, the driven piece is movably connected with the movable channel through the first sliding grooves, the top cover is arranged on the top of the storage bin, and the driven piece penetrates through the communication port and is connected with the driving motor shaft;
the driven part comprises a first movable block, a second movable block, a first connecting rod, a second connecting rod and a third connecting rod; the side walls of the first movable block and the second movable block are respectively provided with a limiting bulge which is adaptive to the first sliding groove and is in sliding connection with the first sliding groove through the limiting bulge;
the first connecting rod comprises a motor rod, a first driven rod and a first linkage rod; the end parts of the motor rod, the first driven rod and the first linkage rod are connected into a whole, the other end of the motor rod is connected with the shaft of the driving motor, the other end of the first driven rod is connected with the shaft of the first movable block, and the other end of the first linkage rod is connected with one end shaft of the third connecting rod;
the second connecting rod comprises a second linkage rod and a second driven rod; the other end of the third connecting rod is connected with one end shaft of the second linkage rod, the other end of the second linkage rod is connected with one end shaft of the second driven rod, and the other end of the second driven rod is connected with the second movable block shaft;
the third arrangement platform is arranged at the top of the first movable block, and the fourth arrangement platform is arranged at the top of the second movable block.
Preferably, the bottom plates at the front end and the rear end of the frame are a front wheel plate and a rear wheel plate respectively, the driving part is the driving motor, the driving motor is arranged in the front wheel plate, and the front wheel plate is movably connected with the rear wheel plate through the driven part;
the end part of the front wheel plate is provided with a through hole which is positioned at one end of the front wheel plate opposite to the rear wheel plate;
the bottom of the front wheel plate is provided with a second sliding groove, the number of the driving motors is two, the two driving motors are symmetrically arranged on the inner side wall of the front wheel plate, and the two driving motors are both positioned in the second sliding groove;
the driven part comprises two groups of linkage assemblies;
the linkage assembly comprises a fourth connecting rod, a fifth connecting rod and a third movable block; one end of the fourth connecting rod is connected with the end part shaft of the rear wheel plate, the other end of the fourth connecting rod is connected with one end shaft of the fifth connecting rod, the other end of the fifth connecting rod is connected with the third movable block shaft, the third movable block is connected with the driving motor, a connecting shaft is arranged on the fourth connecting rod, and the linkage assemblies are symmetrically arranged and pass through the connecting shaft.
Preferably, the bottom of front wheel board is provided with the buffer block, the lateral wall of second spout pass through the spring with the lateral wall of buffer block is connected, the inner wall symmetry of front wheel board is provided with first rack, the both ends symmetry of buffer block is provided with the gear, the gear with the buffer block hub connection, the gear with first rack toothing, the tip symmetry of back wheel board is provided with the second rack, the tooth of second rack with the tooth of first rack is relative, the second rack can pass the through-hole with gear toothing.
Compared with the prior art, the invention at least comprises the following beneficial effects:
1. the robot can enter into the vehicle bottom earlier when carrying out vehicle centre gripping transport because the wheel base of every car is all inequality, in order to make the centre gripping subassembly of robot can suit with the wheel of different wheel bases, driving motor can drive the centre gripping subassembly through drive mechanism and remove along guiding mechanism to realize the position transform of centre gripping subassembly, and then adjust to the distance that is fit for the vehicle wheel base.
Other advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a first embodiment of a clamping mechanism telescopic adjusting mechanism of an intelligent connected robot according to the invention.
Fig. 2 is a schematic structural diagram of a second embodiment of the intelligent connected robot clamping mechanism telescopic adjusting mechanism according to the invention.
Fig. 3 is a schematic structural diagram of a third embodiment of the intelligent connected robot clamping mechanism telescopic adjusting mechanism according to the invention.
Fig. 4 is an exploded view of fig. 3.
FIG. 5 is a schematic view of the clamping mechanism of FIG. 3 shown deployed.
FIG. 6 is a schematic view of the clamping mechanism of FIG. 3 shown retracted.
Fig. 7 is a schematic structural diagram of a fourth embodiment of the intelligent connected robot clamping mechanism telescopic adjusting mechanism according to the invention.
Fig. 8 is a schematic cross-sectional view of a fifth embodiment of the intelligent connected robot gripping mechanism telescopic adjustment mechanism according to the present invention.
In the figure: the device comprises a driving motor 1, a sliding rail 2, a bottom plate 3, a third mounting table 44, a fourth mounting table 45, a moving channel 46, a 461 storage bin, a top cover 462, a first chute 463, a worm 5, a worm wheel 6, a screw rod 7, a screw rod 8, a screw nut 81, a forward rotating nut 82, a reverse rotating nut 82, a first movable block 9, a second movable block 10, a first connecting rod 11, a motor rod 111, a first driven rod 112, a first linkage rod 113, a second connecting rod 12, a second linkage rod 121, a second driven rod 122, a third connecting rod 13, a limiting bulge 14, a front wheel plate 15, a second chute 151, a buffer block 152, a first rack 153, a gear 154, a rear wheel plate 16, a connecting shaft 161 second rack, a linkage assembly 17, a fourth connecting rod 171, a fifth connecting rod 172, a third movable block 173 and a fourth movable block 174.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-8, the present invention provides a clamping mechanism telescopic adjusting mechanism of an intelligent conjoined robot, comprising: the device comprises a driving motor 1, a transmission mechanism, a clamping assembly and a guide mechanism; the driving motor 1 is arranged inside the robot, the clamping assembly is connected with the driving motor 1 through the transmission mechanism, the guide mechanism is fixed on the vehicle body, and the clamping assembly is connected with the guide mechanism.
The working principle and the beneficial effects of the technical scheme are as follows: the robot can enter into the vehicle bottom earlier when carrying out vehicle centre gripping transport because the wheel base of every car is all inequality, in order to make the centre gripping subassembly of robot can suit with the wheel of different wheel bases, driving motor 1 can drive centre gripping subassembly through drive mechanism and remove along guiding mechanism to realize centre gripping subassembly's position transform, and then adjust to the distance that is fit for the vehicle wheel base.
The clamping assemblies are two groups and are respectively arranged at the front end and the rear end of the frame. The clamping assembly comprises a clamping unit and a bottom plate 3; the clamping unit is arranged on the bottom plate 3 and penetrates through the frame, and the bottom plate 3 is connected with the guide mechanism. The transmission mechanism comprises a driving part and a driven part, the driving part is connected with the driving motor 1, the driving part can also be used as the driving part by the driving motor 1, the driven part is arranged on the bottom plate 3, and the driving motor 1 drives the driven part to translate through the driving part, so that the bottom plate 3 is driven to translate. The guide mechanism comprises a limiting part and a moving part; the limiting part is arranged on the frame, and the bottom plate 3 is connected with the limiting part through the moving part. The guide mechanism may be replaced by a guide shaft mechanism or other structure having a direction limiting function, and a linear slide rail is exemplified as the guide mechanism below, the limiting portion is the slide rail 2, and the moving portion is a slider. In the first embodiment, the driving member is a lead screw 7, the driven member is a lead screw nut 8, the lead screw nut 8 is disposed on the bottom plate 3 and connected with the lead screw 7, one end of the lead screw 7 is connected with the driving motor 1, and the other end of the lead screw passes through the lead screw nut 8 and is connected with the frame shaft.
The working principle and the beneficial effects of the technical scheme are as follows: in this embodiment, the lead screw transmission is used as the transmission mechanism, the driving part adopts the lead screw 7, the driven part adopts the lead screw nut 8, and the lead screw 7 and the lead screw nut 8 are in threaded connection, so that the guide mechanism can be moved more efficiently, faster moving speed can be provided, the position adjustment can be performed faster between the clamping assemblies, and further the working efficiency of the robot is increased. In a similar way, the transmission mechanism can be replaced by a gear and rack transmission mechanism, a telescopic push rod mechanism, a telescopic scissors fork mechanism and other related mechanisms which can enable the clamping assembly to move in a telescopic mode.
In the second embodiment, the driving member is a worm 5, the driven member is a worm wheel 6, the worm wheel 6 is arranged on the bottom plate 3, one end of the worm 5 is connected with the driving motor 1, the other end of the worm 5 penetrates through the worm wheel 6 and then is connected with the frame shaft, and the worm wheel 6 is meshed with the worm 5.
The working principle and the beneficial effects of the technical scheme are as follows: in this embodiment, drive mechanism's driving part and follower have adopted worm 5 and worm wheel 6's cooperation respectively to realize centre gripping subassembly's translation, before needs adjustment, when the centre gripping subassembly distance at back both ends, driving motor 1 can drive worm 5 and rotate, tooth and worm wheel 6 on the worm 5 mesh mutually, consequently can drive worm wheel 6 and rotate when worm 5 pivoted, and then make worm wheel 6 drive bottom plate 3 and remove on guiding mechanism, thereby it changes to realize preceding, the distance of the centre gripping subassembly at back both ends takes place.
In the third embodiment, a third placing table 44 and a fourth placing table 45 are arranged on the bottom plate 3 positioned at the front end and the rear end of the frame, and the third placing table 44 and the fourth placing table 45 are connected with the transmission mechanism through the moving channel 46; the transmission mechanism is arranged in the moving channel 46, and the moving parts are arranged at the end parts of the third placing table 44 and the fourth placing table 45 and are connected with the limiting parts through the moving parts;
the driving part is a driving motor 1;
the moving channel 46 comprises a storage bin 461 and a top cover 462, wherein a storage groove is arranged at the top of the storage bin 461, a communication port is arranged on the side wall of the storage bin 461, the communication port communicates the storage groove with the outside, first sliding grooves 463 are symmetrically arranged on the inner side wall of the storage groove, the driven member is movably connected with the moving channel 46 through the first sliding grooves 463, the top cover 462 is arranged at the top of the storage bin 461, and the driven member is connected with the shaft of the driving motor 1 through the communication port;
the driven part comprises a first movable block 9, a second movable block 10, a first connecting rod 11, a second connecting rod 12 and a third connecting rod 13; the side walls of the first movable block 9 and the second movable block 10 are both provided with a limiting protrusion 14 adapted to the first sliding groove 463, and are slidably connected with the first sliding groove 463 through the limiting protrusion 14;
the first connecting rod 11 comprises a motor rod 111, a first driven rod 112 and a first linkage rod 113; the ends of the motor rod 111, the first driven rod 112 and the first linkage rod 113 are connected into a whole, the other end of the motor rod 111 is connected with the driving motor 1 through a shaft, the other end of the first driven rod 112 is connected with the first movable block 9 through a shaft, and the other end of the first linkage rod 113 is connected with one end of the third connecting rod 13 through a shaft;
the second link 12 includes a second link lever 121 and a second driven lever 122; the other end of the third connecting rod 13 is connected with one end shaft of the second linkage rod 121, the other end of the second linkage rod 121 is connected with one end shaft of the second driven rod 122, and the other end of the second driven rod 122 is connected with the second movable block 10;
the third placement table 44 is disposed on top of the first movable block 9, and the fourth placement table 45 is disposed on top of the second movable block 10.
The working principle of the technical scheme is as follows: in this embodiment, the third platform 44 and the fourth platform 45 drive the bottom plate 3 to move, when the distance between the clamping assemblies at the front and rear ends is increased, the driving motor 1 will drive the motor rod 111 to move downward, so that the first driven rod 112 drives the first movable block 9 to move, the first linkage rod 113 will drive the third link rod 13 to pull the second linkage rod 121, so that the second driven rod 122 drives the second movable block 10 to move, as shown in fig. 6, so that the first movable block 9 and the second movable block 10 slide in opposite directions through the cooperation of the limiting protrusion 14 and the first sliding slot 463, so that the third platform 44 and the fourth platform 45 above the two are moved toward each other, so that the two bottom plates 3 above the third platform 44 and the fourth platform 45 are away from each other, when the distance between the clamping assemblies at the front and rear ends is decreased, the driving motor 1 drives the motor rod 111 to move downward, so that the third platform 44 and the fourth platform 45 move toward each other, as shown in fig. 7.
The beneficial effects of the above technical scheme are that: adopt a driving motor 1 to drive two centre gripping subassemblies and remove in this embodiment, can effectively reduce this telescopic adjusting mechanism's dead weight and volume, drive mechanism is located removal passageway 46's inside for removal passageway 46 can protect the follower, thereby increases drive mechanism's life.
In the fourth embodiment, the bottom plates 3 at the front and rear ends of the frame are a front wheel plate 15 and a rear wheel plate 16 respectively, the driving member is the driving motor 1, the driving motor 1 is arranged in the front wheel plate 15, and the front wheel plate 15 is movably connected with the rear wheel plate 16 through the driven member;
a through hole is formed in the end part of the front wheel plate 15 and is positioned at one end, opposite to the front wheel plate 15 and the rear wheel plate 16, of the through hole;
the bottom of the front wheel plate 15 is provided with a second sliding groove 151, the number of the driving motors 1 is two, the two driving motors 1 are symmetrically arranged on the inner side wall of the front wheel plate 15, and the two driving motors 1 are both positioned in the second sliding groove 151;
the driven member comprises two sets of linkage assemblies 17;
the linkage assembly 17 includes a fourth link 171, a fifth link 172, and a third movable block 173; one end of the fourth connecting rod 171 is connected with the end shaft of the rear wheel plate 16, the other end of the fourth connecting rod 171 is connected with one end shaft of the fifth connecting rod 172, the other end of the fifth connecting rod 172 is connected with the third movable block 173 shaft, the third movable block 173 is connected with the driving motor 1, the fourth connecting rod 171 is provided with a connecting shaft 174, and the linkage assemblies 17 are symmetrically arranged and pass through the connecting shaft 174.
The working principle and the beneficial effects of the technical scheme are as follows: in this embodiment, when adjusting the wheel base, the driving motor 1 may push the third movable block 173 to slide in the second sliding groove 151, the fourth connecting rod 171 and the end shaft of the fifth connecting rod 172 are connected, so that the two can rotate with the connecting end as the shaft, two sets of linkage assemblies 17 are connected together via the connecting shaft 174 to form a cross structure, as shown in fig. 8, the two third movable blocks 173 move in opposite directions, so that the linkage assemblies 17 can extend to push the rear wheel plate 16 and the front wheel plate 15 to move relatively, and further the distance between the front wheel plate 15 and the rear wheel plate 16 is increased, thereby adjusting the wheel base, when not in use, the rear wheel plate 16 may be inserted into the through hole at the end of the front wheel plate 15, and thus the clamping assemblies at the front and rear ends are accommodated as a whole.
In a fifth embodiment, a buffer block 152 is disposed at the bottom of the front wheel plate 15, the outer side wall of the second sliding groove 151 is connected to the side wall of the buffer block 152 through a spring, first racks 153 are symmetrically disposed on the inner wall of the front wheel plate 15, gears 154 are symmetrically disposed at two ends of the buffer block 152, the gears 154 are connected to the buffer block 152 through shafts, the gears 154 are engaged with the first racks 153, second racks 161 are symmetrically disposed at the end of the rear wheel plate 16, the teeth of the second racks 161 are opposite to the teeth of the first racks 153, and the second racks 161 can pass through the through holes to be engaged with the gears 154.
The working principle and the beneficial effects of the technical scheme are as follows: in this embodiment, when the clamping and transporting task is not performed, the end of the rear wheel plate 16 is inserted into the through hole of the front wheel plate 15, so that the clamping components at the front end and the rear end are connected into a whole, when the robot is unloaded, the center of gravity can be centered, so that the moment of inertia when the robot turns is reduced, and the robot can run at a higher speed, the gear 154 is simultaneously engaged with the first rack 153 and the second rack 161, when the clamping and transporting task needs to be performed, the driving motor 1 pushes the third movable block 173 to slide, so that the linkage component 17 extends, at this time, the first rack 153 and the second rack 161 move in opposite directions, so that the front wheel plate 15 and the rear wheel plate 16 move in opposite directions, so that the distance between the clamping components at the front end and the rear end is increased, the first rack 153 and the second rack 161 are always engaged with the gear 154, so that the front wheel plate 15 and the rear wheel plate 16 are always connected, and then can not cause the harm to linkage assembly 17 when making the robot turn to increase the life of robot, after having carried out the task, in order to avoid the too fast emergence striking when rear wheel board 16 inserts in the front wheel board 15, there is buffer block 152 at the rear side of second spout 151 through spring coupling, thereby avoid leading to third slider 173 to extrude the condition that second spout 151 makes its damage to appear because of the speed is too fast.
In the fifth embodiment, the robot completely depends on the linkage assembly 17 to change the stress when turning, so the limit length of the fifth link 172 should be considered when selecting the fifth link 172, thereby avoiding the situation of bending and breaking caused by excessive stress when turning, and because the linkage assembly 17 is connected on the fourth link 171, the bending of the fourth link 171 can be ignored, that is, the limit stress of the fifth link 172 is calculated by formula first
Wherein σmaxIs the ultimate stress of the fifth link 172; sigmaTIs the yield stress of the fifth link 172; sigmaeEuler stress of the fifth link 172; a is the cross-sectional area of the fifth link 172; w is the cross-sectional area of the maximum compressed edge of the fifth link 172; epsilon0The maximum bending moment of the fifth connecting rod 172 after ignoring the influence of the initial flaw;
then, assuming that the fifth link 172 is located at the midpoint when being bent, and the included angle between the bending point and the original shape of the fifth link 172 is θ, the deformation amount Δ l of the fifth link 172 can be calculated by the following formula
Where Δ l is the amount of deformation of the fifth link 172 under ultimate stress; l ismaxThe extreme length of the fifth link 172; n is the length of the fourth link 171;
is the angle between the fifth connecting rod 172 and the second sliding chute 151; theta is an included angle between the bending point and the original shape of the fifth connecting rod 172;
finally, the limit length of the fifth link 172 can be calculated reversely according to Hooke's law
Wherein E is the elastic modulus of the fifth link 172; s is the cross-sectional area of the fifth link 172;
after the limit length of the fifth link 172 is calculated through a formula, as long as the length of the fifth link 172 is ensured to be less than the limit length during production and manufacturing, the situation that the linkage assembly 17 is broken or damaged during turning of the robot can be avoided.
The working principle and the beneficial effects of the technical scheme are as follows: the limit length of the fifth connecting rod 172 can be calculated through the formula, because the linkage assembly 17 is composed of two groups, the double limit length can be reached when the fifth connecting rod 172 is selected, the fifth connecting rod 172 is not bent and broken, the length of the selected fifth connecting rod 172 only needs to be less than the double limit length, and after the linkage assembly 17 is straightened to reach the limit position, the robot can provide enough tension and strength when turning, so that the condition that the linkage assembly 17 is broken and damaged due to overlarge torque can be avoided, the service life of the robot is prolonged, the applicable axle distance range of the robot can be marked and set according to the calculated limit length, and the condition that the robot is damaged due to the fact that a small horse cart is pulled is avoided.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. The utility model provides a flexible guiding mechanism of intelligent disjunctor robot fixture which characterized in that includes: the device comprises a driving motor (1), a transmission mechanism, a clamping assembly and a guide mechanism; the robot comprises a robot body, a driving motor (1), a clamping assembly, a transmission mechanism, a guide mechanism and a clamping assembly, wherein the driving motor (1) is arranged inside the robot body, the clamping assembly is connected with the driving motor (1) through the transmission mechanism, the guide mechanism is fixed on the robot body, and the clamping assembly is connected with the guide mechanism.
2. The intelligent connected robot clamping mechanism telescopic adjusting mechanism of claim 1, wherein the clamping assemblies are two groups and are respectively arranged at the front end and the rear end of the frame.
3. The intelligent connected robot clamping mechanism telescopic adjusting mechanism of claim 2, wherein the clamping assembly comprises a clamping unit and a bottom plate (3); the clamping unit is arranged on the bottom plate (3) and penetrates through the frame, and the bottom plate (3) is connected with the guide mechanism.
4. The intelligent connected robot clamping mechanism stretching adjusting mechanism according to claim 3, wherein the transmission mechanism comprises a driving part and a driven part, the driving part is connected with the driving motor (1), the driven part is arranged on the bottom plate (3), and the driving motor (1) drives the driven part to translate through the driving part, so as to drive the bottom plate (3) to translate.
5. The intelligent connected robot clamping mechanism telescopic adjusting mechanism according to claim 4, wherein the driving member is a lead screw (7), the driven member is a lead screw nut (8), and the lead screw nut (8) is arranged on the bottom plate (3).
6. The intelligent connected robot clamping mechanism telescopic adjusting mechanism according to claim 4, wherein the guide mechanism comprises a limiting part and a moving part; the limiting part is arranged on the frame, and the bottom plate (3) is connected with the limiting part through the moving part.
7. The intelligent connected robot clamping mechanism telescopic adjusting mechanism according to claim 6, wherein the limiting part is a slide rail (2), and the moving part is a slide block.
8. The intelligent connected robot clamping mechanism stretching adjusting mechanism is characterized in that a third placing table (44) and a fourth placing table (45) are arranged on the bottom plate (3) positioned at the front end and the rear end of the frame, and the third placing table (44) and the fourth placing table (45) are connected with the transmission mechanism through the moving channel (46); the transmission mechanism is arranged in the moving channel (46), and the moving parts are arranged at the end parts of the third placing table (44) and the fourth placing table (45) and are connected with the limiting part through the moving parts;
the driving part is a driving motor (1);
the moving channel (46) comprises a storage bin (461) and a top cover (462), wherein a storage groove is formed in the top of the storage bin (461), a communication port is formed in the side wall of the storage bin (461), the storage groove is communicated with the outside through the communication port, first sliding grooves (463) are symmetrically formed in the inner side wall of the storage groove, the driven piece is movably connected with the moving channel (46) through the first sliding grooves (463), the top cover (462) is arranged at the top of the storage bin (461), and the driven piece penetrates through the communication port and is connected with a shaft of the driving motor (1);
the driven part comprises a first movable block (9), a second movable block (10), a first connecting rod (11), a second connecting rod (12) and a third connecting rod (13); the side walls of the first movable block (9) and the second movable block (10) are respectively provided with a limiting protrusion (14) matched with the first sliding groove (463), and are in sliding connection with the first sliding groove (463) through the limiting protrusions (14);
the first connecting rod (11) comprises a motor rod (111), a first driven rod (112) and a first linkage rod (113); the end parts of the motor rod (111), the first driven rod (112) and the first linkage rod (113) are connected into a whole, the other end of the motor rod (111) is connected with the shaft of the driving motor (1), the other end of the first driven rod (112) is connected with the shaft of the first movable block (9), and the other end of the first linkage rod (113) is connected with one end shaft of the third connecting rod (13);
the second connecting rod (12) comprises a second connecting rod (121) and a second driven rod (122); the other end of the third connecting rod (13) is connected with one end shaft of the second linkage rod (121), the other end of the second linkage rod (121) is connected with one end shaft of the second driven rod (122), and the other end of the second driven rod (122) is connected with the second movable block (10) shaft;
the third placement table (44) is disposed on top of the first movable block (9), and the fourth placement table (45) is disposed on top of the second movable block (10).
9. The intelligent connected robot clamping mechanism telescopic adjusting mechanism according to claim 6, wherein the bottom plates (3) at the front end and the rear end of the frame are a front wheel plate (15) and a rear wheel plate (16), respectively, the driving part is the driving motor (1), the driving motor (1) is arranged in the front wheel plate (15), and the front wheel plate (15) is movably connected with the rear wheel plate (16) through the driven part;
the end part of the front wheel plate (15) is provided with a through hole, and the through hole is positioned at one end of the front wheel plate (15) opposite to the rear wheel plate (16);
the bottom of the front wheel plate (15) is provided with a second sliding groove (151), the number of the driving motors (1) is two, the driving motors (1) are symmetrically arranged on the inner side wall of the front wheel plate (15), and the two driving motors (1) are located in the second sliding groove (151);
the driven member comprises two groups of linkage assemblies (17);
the linkage assembly (17) comprises a fourth connecting rod (171), a fifth connecting rod (172) and a third movable block (173); one end of a fourth connecting rod (171) is connected with the end shaft of the rear wheel plate (16), the other end of the fourth connecting rod (171) is connected with one end shaft of a fifth connecting rod (172), the other end of the fifth connecting rod (172) is connected with a third movable block (173) shaft, the third movable block (173) is connected with the driving motor (1), a connecting shaft (174) is arranged on the fourth connecting rod (171), and the linkage assembly (17) is symmetrically arranged and passes through the connecting shaft (174) for connection.
10. The intelligent connected robot clamping mechanism stretching adjusting mechanism is characterized in that a buffer block (152) is arranged at the bottom of the front wheel plate (15), the outer side wall of the second sliding groove (151) is connected with the side wall of the buffer block (152) through a spring, first racks (153) are symmetrically arranged on the inner wall of the front wheel plate (15), gears (154) are symmetrically arranged at two ends of the buffer block (152), the gears (154) are connected with the buffer block (152) through shafts, the gears (154) are meshed with the first racks (153), second racks (161) are symmetrically arranged at the end of the rear wheel plate (16), the teeth of the second racks (161) are opposite to the teeth of the first racks (153), and the second racks (161) can penetrate through the through holes to be meshed with the gears (154).
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| CN202210014295.2A CN114310999B (en) | 2022-01-04 | 2022-01-04 | Intelligent conjoined robot clamping mechanism telescopic adjusting mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114263384A (en) * | 2022-01-05 | 2022-04-01 | 深圳爱络凯寻科技有限公司 | Omnidirectional intelligent parking robot based on Internet of things |
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| CN114263384B (en) * | 2022-01-05 | 2024-05-24 | 深圳爱络凯寻科技有限公司 | Omnidirectional intelligent parking robot based on Internet of things |
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