CN114310999B - Intelligent conjoined robot clamping mechanism telescopic adjusting mechanism - Google Patents
Intelligent conjoined robot clamping mechanism telescopic adjusting mechanism Download PDFInfo
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- CN114310999B CN114310999B CN202210014295.2A CN202210014295A CN114310999B CN 114310999 B CN114310999 B CN 114310999B CN 202210014295 A CN202210014295 A CN 202210014295A CN 114310999 B CN114310999 B CN 114310999B
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- 238000010586 diagram Methods 0.000 description 4
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- 230000005483 Hooke's law Effects 0.000 description 1
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Abstract
The invention discloses an intelligent conjoined robot clamping mechanism telescopic adjusting mechanism, 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 guiding mechanism is fixed on the vehicle body, and the clamping assembly is connected with the guiding mechanism. When the robot carries out the vehicle centre gripping transport, can enter into the vehicle bottom earlier, because the wheelbase of every car is all different, in order to make the centre gripping subassembly of robot can be compatible with the wheel of different wheelbases, driving motor can drive the centre gripping subassembly through drive mechanism and remove along guiding mechanism to realize the position change of centre gripping subassembly, and then adjust to the distance that is fit for the vehicle wheelbase.
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 car mainly has a plurality of forms of car 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 is always propped against the vehicle carrying plate, and is lowest in space utilization rate and transportation efficiency. Although the comb-tooth type robot can be suitable for various types of vehicles, a special parking platform is required to be built, the vehicles are lifted up and lifted up for carrying out lifting, and therefore space utilization is not economical. The clamping robot has the problem that vehicles with different wheelbases cannot be handled, and the self-adjustment cannot be performed according to the wheelbases of the vehicles, so that the application range is limited to a certain extent. Therefore, it is necessary to provide a telescopic adjustment mechanism for an intelligent conjoined robot clamping mechanism, so as to at least partially solve the problems existing in the prior art.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and 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 an intelligent conjoined robot clamping mechanism telescopic adjusting mechanism, 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 guiding mechanism is fixed on the vehicle body, and the clamping assembly is connected with the guiding mechanism.
Preferably, the clamping assemblies are arranged in 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 that the bottom plate is driven to translate.
Preferably, the driving part is a screw rod, the driven part is a screw rod nut, and the screw rod nut is arranged on the bottom plate.
Preferably, the guiding 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 sliding rail, and the moving part is a sliding block.
Preferably, a third placing table and a fourth placing table are arranged on the bottom plate 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, the ends of the third placing table and the fourth placing table are respectively provided with the moving part, and the third placing table and the fourth placing table are connected with the limiting part through the moving part;
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 opening is formed in the side wall of the storage bin, the storage groove is communicated with the outside through the communication opening, first sliding grooves are symmetrically formed in the inner side wall of the storage groove, a driven piece is movably connected with the movable channel through the first sliding grooves, the top cover is arranged at the top of the storage bin, and the driven piece penetrates through the communication opening and is connected with a driving motor shaft;
the driven piece comprises a first movable block, a second movable block, a first connecting rod, a second connecting rod and a third connecting rod; limiting protrusions which are matched with the first sliding grooves are arranged on the side walls of the first movable block and the second movable block, and the limiting protrusions are connected with the first sliding grooves in a sliding mode;
the first connecting rod comprises a motor rod, a first driven rod and a first linkage rod; the motor rod, the first driven rod and the end part of the first linkage rod are connected into a whole, the other end of the motor rod is connected with the motor shaft of the drive motor, the other end of the first driven rod is connected with the first movable block shaft, 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 of the second linkage rod in a shaft way, the other end of the second linkage rod is connected with one end of the second driven rod in a shaft way, and the other end of the second driven rod is connected with the second movable block in a shaft way;
the third placing table is arranged at the top of the first movable block, and the fourth placing table 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 respectively a front wheel plate and a rear wheel plate, 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, and the through hole is positioned at one end opposite to the front wheel plate and the rear wheel plate;
the bottom of the front wheel plate is provided with two second sliding grooves, 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 grooves;
the driven piece comprises two groups of linkage components;
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 of the rear wheel plate through a shaft, the other end of the fourth connecting rod is connected with one end of the fifth connecting rod through a shaft, the other end of the fifth connecting rod is connected with the third movable block through a shaft, the third movable block is connected with the driving motor, a connecting shaft is arranged on the fourth connecting rod, and the two groups of linkage assemblies are symmetrically arranged and connected 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 buffer block hub connection, the gear with first rack meshing, the tip symmetry of rear 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 engagement.
Compared with the prior art, the invention at least comprises the following beneficial effects:
1. when the robot carries out the vehicle centre gripping transport, can enter into the vehicle bottom earlier, because the wheelbase of every car is all different, in order to make the centre gripping subassembly of robot can be compatible with the wheel of different wheelbases, driving motor can drive the centre gripping subassembly through drive mechanism and remove along guiding mechanism to realize the position change of centre gripping subassembly, and then adjust to the distance that is fit for the vehicle wheelbase.
Additional 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 and practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
fig. 1 is a schematic structural diagram of a first embodiment of a clamping mechanism telescopic adjustment mechanism of an intelligent conjoined robot according to the present invention.
Fig. 2 is a schematic structural diagram of a second embodiment of the telescopic adjustment mechanism of the intelligent conjoined robot clamping mechanism according to the present invention.
Fig. 3 is a schematic structural diagram of a third embodiment of the telescopic adjustment mechanism of the intelligent conjoined robot clamping mechanism according to the present invention.
Fig. 4 is an exploded view of fig. 3.
Fig. 5 is a schematic view of the clamping mechanism of fig. 3 deployed.
Fig. 6 is a schematic view of the clamping mechanism of fig. 3 retracted.
Fig. 7 is a schematic structural diagram of a fourth embodiment of the telescopic adjustment mechanism of the clamping mechanism of the intelligent conjoined robot according to the present invention.
Fig. 8 is a schematic cross-sectional view of a fifth embodiment of the telescopic adjustment mechanism of the intelligent conjoined robot clamping mechanism according to the present invention.
In the figure: 1 driving motor, 2 slide rail, 3 bottom plate, 44 third setting table, 45 fourth setting table, 46 moving channel, 461 storage bin, 462 top cover, 463 first chute, 5 worm, 6 worm wheel, 7 lead screw, 8 lead screw nut, 81 forward rotation nut, 82 reverse rotation nut, 9 first movable block, 10 second movable block, 11 first link, 111 motor rod, 112 first driven rod, 113 first link rod, 12 second link rod, 121 second link rod, 122 second driven rod, 13 third link rod, 14 limit protrusion, 15 front wheel plate, 151 second chute, 152 buffer block, 153 first rack, 154 gear, 16 rear wheel plate, 161 second rack, 17 link assembly, 171 fourth link rod, 172 fifth link rod, 173 third movable block, 174 connecting shaft.
Detailed Description
The present invention is described in further detail below with reference to the drawings and examples to enable those skilled in the art to practice the invention by referring 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 to 8, the present invention provides an intelligent conjoined robot clamping mechanism telescopic adjusting mechanism, comprising: the device comprises a driving motor 1, a transmission mechanism, a clamping assembly and a guide mechanism; the driving motor 1 is arranged in the robot, the clamping assembly is connected with the driving motor 1 through the transmission mechanism, the guiding mechanism is fixed on the vehicle body, and the clamping assembly is connected with the guiding mechanism.
The technical scheme has the working principle and beneficial effects that: when the robot carries out the vehicle centre gripping transport, can enter into the vehicle bottom earlier, because the wheelbase of every car is all different, in order to make the centre gripping subassembly of robot can be compatible with the wheel of different wheelbases, driving motor 1 can drive the centre gripping subassembly through drive mechanism and remove along guiding mechanism to realize the position change of centre gripping subassembly, and then adjust to the distance that is fit for the vehicle wheelbase.
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 piece and a driven piece, wherein the driving piece is connected with the driving motor 1, the driving piece can be used as the driving piece by the driving motor 1, the driven piece is arranged on the bottom plate 3, and the driving motor 1 drives the driven piece to translate through the driving piece so as to drive the bottom plate 3 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 structure having a direction limiting function such as a guide shaft mechanism, and a linear slide rail is taken as an example of the guide mechanism, the limit portion is a slide rail 2, and the moving portion is a slider. In the first embodiment, the driving member is a screw rod 7, the driven member is a screw rod nut 8, the screw rod nut 8 is arranged on the bottom plate 3 and connected with the screw rod 7, one end of the screw rod 7 is connected with the driving motor 1, and the other end penetrates through the screw rod nut 8 and is connected with the frame shaft.
The technical scheme has the working principle and beneficial effects that: in this embodiment, use screw transmission as drive mechanism, the driving part has adopted lead screw 7, and the follower has adopted lead screw nut 8, and the threaded connection mode of lead screw 7 and lead screw nut 8 can make guiding mechanism's removal more high-efficient, can provide faster moving speed, makes the position adjustment that can be faster between the clamping assembly, and then increases robot's work efficiency. Similarly, the transmission mechanism can also be replaced by a related mechanism which can enable the clamping assembly to stretch and move, such as gear rack transmission, a telescopic push rod, a telescopic scissor fork and the like.
In a second embodiment, the driving part is a worm 5, the driven part 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 a frame shaft, and the worm wheel 6 is meshed with the worm 5.
The technical scheme has the working principle and beneficial effects that: in this embodiment, the driving part and the driven part of the transmission mechanism respectively adopt the cooperation of the worm 5 and the worm wheel 6 to realize the translation of the clamping assembly, when the distance between the clamping assemblies at the front end and the rear end needs to be adjusted, the driving motor 1 can drive the worm 5 to rotate, and the teeth on the worm 5 are meshed with the worm wheel 6, so that the worm wheel 6 can be driven to rotate when the worm 5 rotates, and then the worm wheel 6 drives the bottom plate 3 to move on the guide mechanism, so that the distance between the clamping assemblies at the front end and the rear end is changed.
In the third embodiment, a third placing table 44 and a fourth placing table 45 are arranged on the bottom plate 3 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 ends of the third placing table 44 and the fourth placing table 45 are respectively provided with the moving part and are connected with the limiting part through the moving part;
the driving part is a driving motor 1;
the moving channel 46 comprises a storage bin 461 and a top cover 462, a storage groove is formed in the top of the storage bin 461, a communication opening is formed in the side wall of the storage bin 461, the storage groove is communicated with the outside through the communication opening, first sliding grooves 463 are symmetrically formed in the inner side wall of the storage groove, a driven piece is movably connected with the moving channel 46 through the first sliding grooves 463, the top cover 462 is arranged on the top of the storage bin 461, and the driven piece penetrates through the communication opening and is connected with the driving motor 1 through a shaft;
the driven piece 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; limiting protrusions 14 which are matched with the first sliding grooves 463 are arranged on the side walls of the first movable block 9 and the second movable block 10, and the limiting protrusions 14 are in sliding connection with the first sliding grooves 463;
the first link 11 includes a motor lever 111, a first driven lever 112, and a first link lever 113; the motor rod 111, the first driven rod 112 and the end part of 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 follower lever 122; the other end of the third connecting rod 13 is connected with one end of the second linkage rod 121 in a shaft way, the other end of the second linkage rod 121 is connected with one end of the second driven rod 122 in a shaft way, and the other end of the second driven rod 122 is connected with the second movable block 10 in a shaft way;
the third setting table 44 is disposed on top of the first movable block 9, and the fourth setting 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 positioning table 44 and the fourth positioning table 45 drive the bottom plate 3 to move, when the distance between the clamping assemblies at the front end and the rear end is increased, the driving motor 1 drives the motor rod 111 to move downwards, so that the first driven rod 112 drives the first movable block 9 to move, the first linkage rod 113 drives the third linkage 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, and further 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 chute 463, so that the third positioning table 44 and the fourth positioning table 45 above the first positioning table and the fourth positioning table move in opposite directions, so that the two bottom plates 3 thereon are far away from each other, and when the distance between the clamping assemblies at the front end and the rear end is reduced, the driving motor 1 drives the motor rod 111 to move downwards, so that the third positioning table 44 and the fourth positioning table 45 move relatively, as shown in fig. 7.
The beneficial effects of the technical scheme are that: in this embodiment, a driving motor 1 is adopted to drive two clamping assemblies to move, so that the dead weight and the volume of the telescopic adjusting mechanism can be effectively reduced, and the transmission mechanism is positioned in the moving channel 46, so that the moving channel 46 can protect the driven member, and the service life of the transmission mechanism is prolonged.
In the fourth embodiment, the bottom plates 3 at the front and rear ends of the frame are respectively a front wheel plate 15 and a rear wheel plate 16, 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;
the end of the front wheel plate 15 is provided with a through hole, and the through hole is positioned at one end opposite to the front wheel plate 15 and the rear wheel plate 16;
the bottom of the front wheel plate 15 is provided with two second sliding grooves 151, 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 grooves 151;
the follower 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 link 171 is connected with an end of the rear wheel plate 16 through a shaft, the other end of the fourth link 171 is connected with one end of the fifth link 172 through a shaft, the other end of the fifth link 172 is connected with the third movable block 173 through a shaft, the third movable block 173 is connected with the driving motor 1, a connecting shaft 174 is arranged on the fourth link 171, and the two groups of linkage assemblies 17 are symmetrically arranged and connected through the connecting shaft 174.
The technical scheme has the working principle and beneficial effects that: in this embodiment, when the wheelbase is adjusted, the driving motor 1 pushes the third movable block 173 to slide in the second sliding groove 151, so that the ends of the fourth link 171 and the fifth link 172 are connected by the shaft, and the fourth link 171 and the fifth link 172 can rotate about the connecting end, and the two sets of linkage assemblies 17 are connected together via the connecting shaft 174 to form a structure that is disposed in a crossed manner, as shown in fig. 8, the two third movable blocks 173 move in opposite directions, so that the linkage assemblies 17 can stretch 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, so that the wheelbase is adjusted, and when not in use, the rear wheel plate 16 can be inserted into the through holes at the ends of the front wheel plate 15, so that the clamping assemblies at the front and rear ends are accommodated as a whole.
In the fifth embodiment, a buffer block 152 is disposed at the bottom of the front wheel plate 15, an outer side wall of the second chute 151 is connected with a side wall of the buffer block 152 through a spring, a first rack 153 is symmetrically disposed on an inner wall of the front wheel plate 15, gears 154 are symmetrically disposed at two ends of the buffer block 152 and are connected with the buffer block 152 in a shaft manner, the gears 154 are meshed with the first rack 153, a second rack 161 is symmetrically disposed at an end of the rear wheel plate 16, teeth of the second rack 161 are opposite to those of the first rack 153, and the second rack 161 can pass through the through hole to be meshed with the gears 154.
The technical scheme has the working principle and beneficial effects that: in this embodiment, when the clamping and carrying task is not performed, the end portion of the rear wheel plate 16 is inserted into the through hole of the front wheel plate 15, so that the clamping assemblies at the front end and the rear end are connected into a whole, when the robot is idle, the center of gravity can be centered, so as to reduce the moment of inertia when the robot turns, further, the robot can travel at a higher speed, the gear 154 is meshed with the first rack 153 and the second rack 161 at the same time, when the clamping and carrying task is required to be performed, the driving motor 1 pushes the third movable block 173 to slide, so that the linkage assembly 17 stretches, at the moment, the first rack 153 and the second rack 161 move towards each other, so that the distance between the front wheel plate 15 and the rear wheel plate 16 is increased, the first rack 153 and the second rack 161 are always in a meshed state with the gear 154, so that the front wheel plate 15 and the rear wheel plate 16 are always in a connected state, further, the robot can not damage the linkage assembly 17 when the robot turns, so that the service life of the robot is prolonged, after the task is performed, the first rack 153 and the second rack 161 is inserted into the front wheel plate 15, and the second rack 151 is prevented from being damaged due to the fact that the second sliding chute 151 is damaged when the second sliding block is pushed into the front wheel plate 16, and the second sliding chute 151 is prevented from being damaged when the second sliding chute is pushed.
In the fifth embodiment, the robot relies on the linkage assembly 17 to perform the stress change completely during the turning, so the limit length of the fifth link 172 should be considered during the selection of the fifth link 172, so the situation that the bending fracture occurs due to the overstress during the turning is avoided, because the linkage assembly 17 is connected to the fourth link 171, the bending of the fourth link 171 can be neglected, that is, the limit stress of the fifth link 172 is calculated by the formula first
Wherein sigma max Is the ultimate stress of the fifth link 172; sigma (sigma) T Is the yield stress of the fifth link 172; sigma (sigma) e The euler stress for the fifth link 172; a is the cross-sectional area of the fifth link 172; w is the cross-sectional area of the maximum compression edge of fifth link 172; epsilon 0 To ignore the initial defect effect, the maximum bending moment of the fifth link 172;
then, assuming that the fifth link 172 is bent at the midpoint, the angle between the bending point and the original shape of the fifth link 172 is θ, the deformation Δl of the fifth link 172 can be calculated by the following formula
Wherein Δl is the deformation of the fifth link 172 under extreme stress; l (L) max A limit length of the fifth link 172; n is the length of the fourth link 171;is the included angle between the fifth connecting rod 172 and the second chute 151; θ is the angle between the bending point and the original shape of the fifth link 172;
finally, the limit length of the fifth connecting rod 172 can be reversely calculated 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 connecting rod 172 is calculated by the formula, the condition that the linkage assembly 17 is broken and damaged can not occur when the robot turns as long as the length of the fifth connecting rod 172 is ensured to be smaller than the limit length during production and manufacture.
The technical scheme has the working principle and beneficial effects that: the limit length of the fifth connecting rod 172 can be calculated through the formula, because the linkage assembly 17 is formed by two groups, the limit length which can be doubled when the fifth connecting rod 172 is selected can not be bent and broken, the length of the selected fifth connecting rod 172 only needs to be smaller than the limit length which is doubled, enough pulling force and strength can be provided when the robot turns after the linkage assembly 17 is straightened to reach the limit position, the situation that the linkage assembly 17 is broken and damaged due to overlarge torque can be avoided, the service life of the robot is prolonged, and the applicable wheelbase range of the robot can be marked and set according to the calculated limit length, so that the situation that the robot is damaged due to a small horse-drawn cart is avoided.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (2)
1. Intelligent conjoined robot fixture telescopic adjustment mechanism, its characterized in that includes: the device comprises a driving motor (1), a transmission mechanism, a clamping assembly and a guide mechanism; the driving motor (1) is arranged in 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 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 driving mechanism comprises a driving piece and a driven piece, the driving piece is connected with the driving motor (1), the driven piece is arranged on the bottom plate (3), and the driving motor (1) drives the driven piece to translate through the driving piece so as to drive the bottom plate (3) 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 bottom plates (3) at the front end and the rear end of the frame are respectively a front wheel plate (15) and a rear wheel plate (16), 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 opposite to the front wheel plate (15) and the rear wheel plate (16);
the bottom of the front wheel plate (15) is provided with two second sliding grooves (151), 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 grooves (151); the bottom of the front wheel plate (15) is provided with a buffer block (152), the outer side wall of the second sliding groove (151) is connected with the side wall of the buffer block (152) through a spring, the inner wall of the front wheel plate (15) is symmetrically provided with a first rack (153), two ends of the buffer block (152) are symmetrically provided with gears (154), the gears (154) are connected with the buffer block (152) through shafts, the gears (154) are meshed with the first rack (153), the end part of the rear wheel plate (16) is symmetrically provided with a second rack (161), teeth of the second rack (161) are opposite to those of the first rack (153), and the second rack (161) can pass through the through holes to be meshed with the gears (154);
the follower comprises two sets 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 the fourth connecting rod (171) is connected with the end part of the rear wheel plate (16) through a shaft, the other end of the fourth connecting rod (171) is connected with one end of the fifth connecting rod (172) through a shaft, the other end of the fifth connecting rod (172) is connected with the third movable block (173) through a 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 two groups of linkage assemblies (17) are symmetrically arranged and are connected through the connecting shaft (174).
2. The intelligent conjoined robot clamping mechanism telescopic adjusting mechanism according to claim 1, wherein the limiting portion is a sliding rail (2), and the moving portion is a sliding block.
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| Application Number | Priority Date | Filing Date | Title |
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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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| CN202210014295.2A CN114310999B (en) | 2022-01-04 | 2022-01-04 | Intelligent conjoined robot clamping mechanism telescopic adjusting mechanism |
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| CN114310999A CN114310999A (en) | 2022-04-12 |
| CN114310999B true CN114310999B (en) | 2024-03-29 |
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