CN115383775A

CN115383775A - Controllable trailing/pushing mechanical arm tail end claw hooking device

Info

Publication number: CN115383775A
Application number: CN202211013659.1A
Authority: CN
Inventors: 赵立军; 周柏宇; 刘沁雨; 金子旭
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2022-08-23
Filing date: 2022-08-23
Publication date: 2022-11-25

Abstract

A controllable trailing/pushing mechanical arm tail end claw hooking device relates to a mechanical arm tail end claw hooking device. The invention aims to solve the problem that the existing claw design is poor in stability and adaptability. The rescue tool comprises square steel (4), a hook module (1), a track module (2) and a buffer module (3), wherein the track module (2) is slidably mounted on the square steel (4), the hook module (1) is mounted on the side end face of the track module (2) and used for hooking an object to be rescued, one end of the buffer module (3) is connected with the track module (2), and the other end of the buffer module (3) is connected with the square steel (4) and used for buffering when the hook module (1) is impacted. The invention has stable hooking and unhooking prevention functions, and the height of the dragged cross beam can be automatically adjusted. The invention is suitable for the operations of dragging, propelling and the like of indoor and outdoor robot rescue, and is mainly used for rescue mechanisms of emergency rescue and dangerous scenes.

Description

Controllable trailing/pushing mechanical arm tail end claw hooking device

Technical Field

The invention relates to a tail end claw hooking device of a mechanical arm, in particular to a controllable dragging/pushing tail end claw hooking device of the mechanical arm. The robot mechanical arm end device is mainly used for the robot mechanical arm end device in emergency rescue or dangerous scenes, and is stably butted with a rescue target.

Background

In dangerous scenes such as emergency rescue or disaster relief, robot rescue and unmanned change are more and more taken into consideration, and some rescue is exchanged possibly due to equipment or personnel. The structure form is similar to that of a common traditional bionic mechanical arm, the three-finger or two-finger clamping mechanism is used for carrying out full-automatic or semi-automatic multi-axis attitude adjustment through the detection sensing of multiple sensors, and therefore rescue actions of complex terrains are achieved. The mechanism is complex in design, high in maintenance cost and poor in stability.

For rescue objects, a simple and heavy-load mechanism is urgently needed for connecting a robot arm of the rescue robot, a controllable dragging/pushing mechanism can realize the rescue robot to operate a rescue target, and the device can meet the requirements on stability and adaptability.

In conclusion, the existing claw design has the problems of poor stability and poor adaptability.

Disclosure of Invention

The invention aims to solve the problem that the existing claw design is poor in stability and adaptability. Further provides a controllable end claw device of the dragging/pushing mechanical arm.

The technical scheme of the invention is as follows: the utility model provides a controllable formula pulls/impels terminal claw device that colludes of arm includes the crossbeam, and it still includes colludes claw module, track module and buffer module, and track module slidable mounting is on the crossbeam, colludes claw module and installs on the side end face of track module for the hook waits to rescue the object, and buffer module's one end is connected with track module, and buffer module's the other end is connected with the crossbeam, is used for colluding claw module and gives the buffering when receiving the impact.

Furthermore, the claw hooking module comprises a claw piece, a claw pushing cylinder, a rack and a sliding rail, the sliding rail is vertically installed on the rail module, the rack is installed on the sliding rail in a sliding mode, the claw pushing cylinder is installed on the sliding rail, the extending end of the claw pushing cylinder is connected with the rack and drives the rack to slide on the sliding rail, one end of the claw piece is suspended, the other end of the claw piece is hinged to the rail module, teeth are arranged at the other end of the claw piece, and the teeth are meshed with the rack.

Furthermore, the inner side wall of the hooking bent part of the claw piece is in a variable curved surface shape, the contact surface between the variable curved surface shape and the object to be rescued is in line contact, and the hooking opening of the claw piece is one fourth of the whole claw piece.

Furthermore, collude the claw module and still include a plurality of claw part spacer pins, a plurality of claw part spacer pins demountable installation are on the track module, and a plurality of claw part spacer pins are located the other end pin joint of claw piece all around.

Further, the track module comprises bilateral guide rails, bilateral slide blocks, a first supporting plate and a second supporting plate, the bilateral slide blocks are installed on one side end face of the first supporting plate, the bilateral slide blocks are installed on the bilateral guide rails in a sliding mode, the second supporting plate is installed on the other side end face of the first supporting plate in parallel, and the hook claw module is clamped by the first supporting plate and the second supporting plate.

Further, the area of the second support plate is smaller than the area of the first support plate.

Furthermore, a strip shape is vertically arranged on the second supporting plate.

Further, the buffer module comprises a connecting seat, a withdrawing cylinder and a connecting head, the connecting seat is connected with the cross beam, one end of the withdrawing cylinder is rotatably connected with the connecting seat, and the other end of the withdrawing cylinder is connected with the first supporting plate through the connecting head.

Furthermore, the connector is a Y-shaped connector.

Furthermore, the buffer module further comprises a floating joint, and the withdrawing cylinder is connected with the connector through the floating joint.

Compared with the prior art, the invention has the following effects:

1. the invention has the following stability aspects: at a forward speed of 5m/s it is still possible to ensure that a slope angle of 0-35 ° is passed without unhooking. Meanwhile, the hook can not be unhooked on a continuously bumpy road section. The device realizes the function of a spring by utilizing the redundant non-power stroke of the claw pushing cylinder, achieves the self-adaptive effect, and ensures that the claw piece carrying part always gives certain downward pressure so as to ensure that the claw piece cannot be easily unhooked in bumping.

2. The invention has the function of anti-jamming: the hook claws can not be blocked when being used in pairs because of turning because the hook claws are provided with the buffer modules, and the retreating cylinder close to the inner side can be stressed more greatly to retract when the hook claws are turned, thereby realizing the function of preventing the blocking.

3. The invention has high adaptability: besides the sizes mentioned above, the other sizes can be properly adjusted for each place, and the beam with different sizes and heights can be adapted, so that the beam has a high use prospect. For example, the existing garbage station has the same requirement for carrying large-size boxes during recycling and carrying, and the structure can be easily adapted to the requirement after being amplified in a certain proportion.

4. According to the invention, the carbon fiber plate is selected as the claw body of the hook claw, the material easy to process has excellent mechanical property, and the shape and size of the hook claw can be conveniently adjusted according to the required hook size and angle.

5. The double-acting air cylinder is selected as the power source of the claw hooking module, so that two effects can be realized: firstly, the instantaneous response speed of the cylinder is fast; and secondly, when the cylinder rod of the double-acting cylinder extends out, the double-acting cylinder plays a role of a spring due to the fact that large air pressure exists inside the double-acting cylinder, so that the hook claw can give a downward force no matter whether the hook claw accurately hooks the cross beam or not, and the force effectively inhibits unhooking possibility caused by various jolts and up and down slopes.

6. The shaft system of the claw adopts a mode of plugging bolts and penetrating through flange deep groove ball bearings, corresponding nylon locking nuts are used for axial limiting, and parts used by the shaft system are all standard parts, so that the mechanism is provided with certain interchangeability.

7. The track module of the invention adopts double-track guiding, and the form can ensure higher precision and bear larger stress in each direction.

8. The double-end supporting plates (the first supporting plate 2-2 and the second supporting plate 2-4) are connected at different positions by adopting hexagonal lengthened nuts with different materials as connection, wherein the 304 steel hexagonal lengthened nuts simultaneously play a role in limiting the hook claw up and down and serve as first heavy protection for preventing the damage of the mechanism caused by instantaneous impact; the other parts adopt common copper columns, so that the cost and the weight are reduced, and a better connecting effect is achieved.

9. The middle of the second supporting plate 2-4 is provided with an elongated slot which corresponds to the rectangular bulge on the surface of the rack of the claw hooking module and also plays a role in limiting protection, and the limiting is the second protection of the whole mechanism.

10. The buffer module provided by the invention adopts the air cylinder as a power source, and can play a buffer role in storage and work. The floating joint is connected to the cylinder front end, eliminates the power of the uncertain atress in place ahead non-cylinder pole direction that brings, prevents the cylinder pole damage problem of back-withdrawing cylinder to a very big extent, has reduced the maintenance cost.

Drawings

Fig. 1 is a front view of the present invention with the second supporting plate 2-4 removed, wherein the arrow directions represent three force-bearing directions of the present invention when hooking an object to be rescued, which are respectively represented by F1, F2 and F3, the direction of walking when dragging the object to be rescued is the traveling direction on the right side in the figure, and the propelling direction is opposite to the dragging direction. Fig. 2 is a top view of fig. 1. Fig. 3 is a side view of fig. 1. Fig. 4 is an isometric view of the present invention. Fig. 5 is a schematic view of the present invention in use.

Detailed Description

The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 4, and the controllable trailing/pushing mechanical arm end hooking device of the embodiment includes a cross beam 4, and further includes a hooking module 1, a track module 2 and a buffer module 3, the track module 2 is slidably mounted on the cross beam 4, the hooking module 1 is mounted on a side end surface of the track module 2 and used for hooking an object to be rescued, one end of the buffer module 3 is connected with the track module 2, and the other end of the buffer module 3 is connected with the cross beam 4 and used for buffering when the hooking module 1 is impacted.

The hooking module 1 of the present embodiment is used for hooking with an unpowered vehicle (referring to an object to be rescued, preferably an unpowered vehicle) so as to transmit motion. The track module 2 is used for guiding the storage, extension and buffering of the hook claw. The buffer module 3 is used for buffering when the claw hooking module 1 is impacted greatly, and can be adaptive to turning at various angles. The hooking stability of the embodiment is high, the unhooking prevention function is achieved, and the height of the dragged cross beam can be automatically adjusted. The invention is suitable for the operations of dragging, propelling and the like of indoor and outdoor robot rescue, and is mainly used for rescue mechanisms of emergency rescue and dangerous scenes.

The second embodiment is as follows: the embodiment is described with reference to fig. 4, a claw hooking module 1 of the embodiment includes a claw piece 1-1, a claw pushing cylinder 1-2, a rack 1-3 and a slide rail 1-4, the slide rail 1-4 is vertically installed on the rail module 2, the rack 1-3 is slidably installed on the slide rail 1-4, the claw pushing cylinder 1-2 is installed on the slide rail 1-4, an extending end of the claw pushing cylinder 1-2 is connected with the rack 1-3 and drives the rack 1-3 to slide on the slide rail 1-4, one end of the claw piece 1-1 is suspended, the other end of the claw piece 1-1 is hinged on the rail module 2, and teeth are arranged on the other end of the claw piece 1-1 and meshed with the rack 1-3.

So set up, the other end center of claw piece 1-1 is screwed in and is passed through the stopper bolt of bearing. The shape and length of the claw sheet 1-1 and the cylinder diameter size of the claw pushing cylinder are adjustable, so that the invention can meet different production requirements. The device can complete the dragging or pushing forward without hooking when receiving different dragging beam heights. Other components and connections are the same as in the first embodiment.

The third concrete implementation mode: referring to fig. 4, the inner side wall of the hooking bent portion of the claw piece 1-1 of the present embodiment is a curved surface shape, the curved surface shape is in line contact with the contact surface between the object to be rescued, and the hooking opening of the claw piece 1-1 is a quarter of the whole claw piece 1-1. So set up, effectual unhook that prevents. Other compositions and connections are the same as in the first or second embodiments.

The fourth concrete implementation mode: the embodiment is described with reference to fig. 4, the claw module 1 of the embodiment further includes a plurality of claw portion limiting pins 1-5, the plurality of claw portion limiting pins 1-5 are detachably mounted on the track module 2, and the plurality of claw portion limiting pins 1-5 are located around a hinge point at the other end of the claw piece 1-1. So set up, restrict the extreme position of the claw piece. Other compositions and connection relationships are the same as in the first, second or third embodiment.

The fifth concrete implementation mode: referring to fig. 4, the track module 2 of the present embodiment includes a double-sided guide rail 2-1, a double-sided slider 2-3, a first support plate 2-2, and a second support plate 2-4, the double-sided slider 2-3 is mounted on one side end surface of the first support plate 2-2, the double-sided slider 2-3 is slidably mounted on the double-sided guide rail 2-1, the second support plate 2-4 is mounted on the other side end surface of the first support plate 2-2 in parallel, and the first support plate 2-2 and the second support plate 2-4 clamp the claw module 1. With the arrangement, the bilateral guide rails 2-1 are used for preventing the claw hook from deforming due to improper stress, and the first support plate 2-2 and the second support plate 2-4 are used for packaging the whole mechanism and simultaneously play a role in limiting the claw hook and supporting the two ends of the claw hook shaft. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.

The sixth specific implementation mode: referring to fig. 3, the second support plate 2-4 of the present embodiment has an area smaller than that of the first support plate 2-2. So set up, be convenient for the installation collude claw module 1 and buffer module 3. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.

The seventh embodiment: referring to fig. 5, the second supporting plate 2-4 of the present embodiment is vertically provided with a strip 2-5. So set up, the rectangle arch that corresponds claw module rack surface plays spacing protection's effect equally, and this department is the second protection of whole this mechanism. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.

The specific implementation mode is eight: referring to fig. 5 for explaining the present embodiment, the cushion module 3 of the present embodiment includes a connecting seat 3-4, a withdrawing cylinder 3-1 and a connecting head 3-3, the connecting seat 3-4 is connected to the cross beam 4, one end of the withdrawing cylinder 3-1 is rotatably connected to the connecting seat 3-4, and the other end of the withdrawing cylinder 3-1 is connected to the first supporting plate 2-2 through the connecting head 3-3. So set up, for the accomodating of colluding the claw module provides power to the inside atmospheric pressure of accessible back cylinder plays the air spring buffering and prevents to collude the claw card and die or receive the effect of assaulting. Other constitutions and connection relations are the same as those of any one of the first to seventh embodiments.

The specific implementation method nine: in this embodiment, the connector 3-3 of the present embodiment is a Y-shaped connector, which will be described with reference to fig. 5. So set up, connect simple and convenient, convenient to detach. Other compositions and connection relations are the same as those of any one of the first to eighth embodiments.

The detailed implementation mode is ten: referring to fig. 4, the buffer module 3 of the present embodiment further includes a floating joint 3-2, and the connection head 3-3 is connected to the retraction cylinder 3-1 through the floating joint 3-2. So set up, offset the non-axial force who transmits for the cylinder of withdrawing when whole mechanism receives transverse impact to the life of extension cylinder of withdrawing. Other constitutions and connection relationships are the same as those of any one of the first to eighth embodiments.

The working principle of the invention is explained in connection with fig. 1 to 5:

firstly, the cylinder of the claw can provide continuous downward power, so that the beam can be ensured not to be unhooked whether being correctly clamped or not, and the conditions of ascending and descending or violent jolting can be perfectly met, so that the claw has higher stability; the adaptation is embodied and is adopted the standard component more at this device, is convenient for choose the model for use according to operating condition, colludes the claw design simultaneously and be carbon fiber sheet material, can freely customize required colluding claw shape and length.

Although the invention has been described with respect to one or more embodiments thereof, it will be understood by those skilled in the art that the foregoing and other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.

Claims

1. The utility model provides a controllable formula is dragged/is impeld terminal collude claw device of arm, it includes crossbeam (4), its characterized in that: the rescue hook is characterized by further comprising a hook claw module (1), a track module (2) and a buffer module (3), wherein the track module (2) is slidably mounted on the cross beam (4), the hook claw module (1) is mounted on the side end face of the track module (2) and used for hooking an object to be rescued, one end of the buffer module (3) is connected with the track module (2), and the other end of the buffer module (3) is connected with the cross beam (4) and used for buffering when the hook claw module (1) is impacted.

2. The apparatus of claim 1, wherein the controllable drag/push robotic end pointing device comprises: the claw hooking module (1) comprises claw pieces (1-1), a claw pushing cylinder (1-2), racks (1-3) and sliding rails (1-4), the sliding rails (1-4) are vertically installed on the rail module (2), the racks (1-3) are installed on the sliding rails (1-4) in a sliding mode, the claw pushing cylinder (1-2) is installed on the sliding rails (1-4), the extending end of the claw pushing cylinder (1-2) is connected with the racks (1-3) and drives the racks (1-3) to slide on the sliding rails (1-4), one end of each claw piece (1-1) is suspended, the other end of each claw piece (1-1) is hinged to the rail module (2), teeth are arranged on the other end of each claw piece (1-1), and the teeth are meshed with the racks (1-3).

3. The controllable trailing/pushing arm end pointing device according to claim 1 or 2, wherein: the inner side wall of the hooking bent part of the claw piece (1-1) is in a variable curved surface shape, the contact surface between the variable curved surface shape and an object to be rescued is in line contact, and the hooking opening of the claw piece (1-1) is one fourth of the whole claw piece (1-1).

4. The apparatus as claimed in claim 3, wherein the controllable drag/push robotic arm end pointing device comprises: the claw hooking module (1) further comprises a plurality of claw part limiting pins (1-5), the claw part limiting pins (1-5) are detachably mounted on the track module (2), and the claw part limiting pins (1-5) are located around a hinge point at the other end of the claw piece (1-1).

5. The apparatus as claimed in claim 4, wherein the controllable trailing/pushing arm end grappling device comprises: the track module (2) comprises double-side guide rails (2-1), double-side sliding blocks (2-3), a first supporting plate (2-2) and a second supporting plate (2-4), the double-side sliding blocks (2-3) are installed on one side end face of the first supporting plate (2-2), the double-side sliding blocks (2-3) are installed on the double-side guide rails (2-1) in a sliding mode, the second supporting plate (2-4) is installed on the other side end face of the first supporting plate (2-2) in parallel, and the claw hooking module 1 is clamped by the first supporting plate (2-2) and the second supporting plate (2-4).

6. The apparatus as claimed in claim 5, wherein the controllable drag/push robotic arm end pointing device comprises: the area of the second supporting plate (2-4) is smaller than that of the first supporting plate (2-2).

7. The apparatus as claimed in claim 6, wherein the controllable drag/push robotic arm end pointing device comprises: the second supporting plate (2-4) is vertically provided with a strip-shaped (2-5).

8. The apparatus as claimed in claim 1 or 7, wherein the controllable trailing/pushing arm end grappling device comprises: the buffer module (3) comprises a connecting seat (3-4), a withdrawing cylinder (3-1) and a connecting head (3-3), the connecting seat (3-4) is connected with the cross beam (4), one end of the withdrawing cylinder (3-1) is rotatably connected with the connecting seat (3-4), and the other end of the withdrawing cylinder (3-1) is connected with the first supporting plate (2-2) through the connecting head (3-3).

9. The apparatus as claimed in claim 8, wherein the controllable drag/push robotic arm end pointing device comprises: the connector (3-3) is a Y-shaped connector.

10. The apparatus as claimed in claim 9, wherein the controllable trailing/pushing arm end grappling device comprises: the buffer module (3) further comprises a floating joint (3-2), and the backward cylinder (3-1) and the connector (3-3) are connected through the floating joint (3-2).