CN204136055U - A kind of multi link formula grabbing device - Google Patents

Abstract

The utility model discloses a multi-link grabbing device, which comprises a flywheel driven by a motor and successively hinged connecting rods I, swing rods, connecting rods II, guide rods, connecting rods III and pull rods; wherein the swing rods have three The hinge point, the first hinge point is connected with one end of the connecting rod I, the second hinge point is connected with the connecting rod II, and the third hinge point is fixed; and the other end of the connecting rod I is hinged on the edge of the flywheel; the guide rod cooperates with the slider, The connecting rod III is driven by a motor, and the motor is installed on the hinge point between the connecting rod III and the guide rod; one end of the pull rod is hinged with the connecting rod III, and the other end of the pull rod is fixedly connected to the fixed plate of the grabbing mechanism. The swing rod of the utility model is a triangular bracket or a three-link mechanism, which can obtain different moving distances of the grabbing mechanism by changing the position of the hinge point of the swing rod; Driven by a telescopic rod, its manipulator can be designed into different shapes according to the objects to be grasped to meet the grasping needs.

Description

A multi-link grabbing device

technical field

The utility model belongs to the mechanical field and relates to a multi-link grabbing device.

Background technique

The connecting rod transmission is characterized by stable transmission and low noise, making it more and more widely used, but the movement amplitude of most actuators at the end of the transmission mechanism is small, and it is difficult to achieve long-distance movement, such as grabbing devices . Moreover, most transmission mechanisms have complex structures, and some components such as cranks are heavily loaded.

Utility model content

In order to solve the above-mentioned problems in the prior art, the utility model provides a multi-link grabbing device, which is mainly composed of a multi-link mechanism and a grabbing mechanism, and can realize grabbing objects of different shapes.

The technical scheme that the utility model adopts is as follows:

A multi-link grabbing device, including a flywheel driven by a motor and sequentially hinged connecting rod I, swing rod, connecting rod II, guide rod, connecting rod III, and pull rod; the swing rod has three hinge points, the first The hinge point is connected with one end of the connecting rod I, the second hinge point is connected with the connecting rod II, and the third hinge point is hinged on the frame; and the other end of the connecting rod I is hinged on the edge of the flywheel; the guide rod and the slider In cooperation, the connecting rod III is driven by a motor, and the motor is installed on the hinge point between the connecting rod III and the guide rod; one end of the pull rod is hinged to the connecting rod III, and the other end of the pull rod is fixedly connected to the fixed plate of the grabbing mechanism.

The grasping mechanism includes telescopic rod, guide block I, pull rod, fixed plate, guide block II and manipulator, the telescopic rod is fixedly connected with guide block I, and the telescopic rod is installed in the vertical guide groove; the manipulator and guide The block II is fixed, and the guide block II is installed in the horizontal guide groove on the fixed plate; the guide block I, the pull rod and the guide block II form a parallelogram mechanism.

The lower end of the manipulator is in the shape of a flat plate for grabbing objects with flat ends, and the upper part has a V-shaped structure for grabbing cylindrical objects.

The shape of the manipulator is consistent with the shape of the object to be grasped, and can be replaced with manipulators of different shapes according to the object to be grasped.

The flywheel is driven by a servo motor with an incremental encoder.

The swing link is a triangular link mechanism or a three-link mechanism.

The guide rod is matched with the slider, and there are 2 sliders, which are installed on the frame with the center, adopting the ball type or the roller type with a cage;

The length and size of each rod is determined according to the demand, and the longest can reach tens of meters.

The working process of the present utility model is as follows:

When the flywheel moves, the driving link mechanism drives the grabbing mechanism to move up and down. The flywheel is driven by a servo motor with an incremental encoder, which can precisely control the grabbing mechanism to reach the required position by counting pulses. Furthermore, the telescopic rod drives the guide block I to drive the parallelogram mechanism to move along the horizontal guide groove, and then drives the manipulator installed on the guide block II to perform opening and closing actions in the horizontal direction. After the action is completed, the motor drives the flywheel to run in reverse, and then the object is lifted up to complete the handling of the object. When grabbing an object, the connecting rod III can drive the grabbing mechanism to adjust its position in space.

The main advantage of the utility model is:

1. The pendulum of the utility model is a triangular bracket or a three-link mechanism, and different moving distances of the grasping mechanism can be obtained by changing the position of the hinge point of the pendulum;

2. The utility model adopts the flywheel as the driving part, which enhances the load-bearing capacity of the system;

3. The grabbing mechanism of this utility model is driven by an electric telescopic rod, and its manipulator can be designed into different shapes according to the objects to be grabbed to meet the grabbing needs;

4. The utility model has a simple structure, is easy to install, and can realize rapid construction of the system. The parallelogram mechanism is used to control the opening and closing of the manipulator, and the operation is stable;

5. The utility model has three degrees of freedom, which can drive the grasping mechanism to adjust its position in space, so as to smoothly grasp objects.

Description of drawings

Fig. 1 is the overall structural representation of the utility model;

Fig. 2 is a structural schematic diagram of the gripping mechanism of the present invention.

In the figure, 1. Flywheel; 2. Drive motor; 3. Connecting rod I; 4. Swing rod; 5. Connecting rod II; 6. Slider; 7. Guide rod; 8. Grabbing mechanism; 802, guide block I; 803, pull rod; 804, fixed plate; 805, guide block II; 806, manipulator; 9, connecting rod III; 10 pull rod.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described.

As shown in Figure 1, it is a structural representation of the utility model. One end of the connecting rod Ⅰ3 is hinged on the edge of the flywheel 1, and the other end is hinged with the swing rod 4; one end of the connecting rod II5 is hinged with the swing rod 4, and the other hinge point of the swing rod 4 is connected with the frame. By changing the hinge point position to change the maximum moving distance of the grasping mechanism 8; the swing rod 4 is a triangular rod mechanism or a three-link mechanism, which greatly enhances the rigidity and strength of the structure;

One end of the guide rod 7 is hinged to the connecting rod Ⅲ9, and the other end is hinged to the connecting rod Ⅱ5. The guide rod 7 can slide in the slider; in order to ensure the rigidity requirements of the guide rod, there are 2 sliders 6, which are installed on the frame centering ; The slider 6 adopts a ball type or a roller type with a cage, and its installation distance is determined by the movement stroke of the comprehensive grabbing mechanism and the length of the guide rod;

The connecting rod III9 is hinged on the guide rod 7, and the connecting rod III9 is driven by a motor, and the motor is installed on the hinge point between the connecting rod III9 and the guide rod; the connecting rod III9 is hinged with the pull rod 10, and the pull rod 10 is fixed on the fixed plate of the grasping mechanism Above; connecting rod III9 can drive the grabbing mechanism to move in space, so that the grabbing mechanism can be adjusted to the most suitable position to grab objects.

As shown in Fig. 2, it is a schematic diagram of the grasping structure of the utility model. The telescopic rod is fixedly connected with the guide block Ⅰ802, and the telescopic rod 501 is installed in the vertical guide groove of the fixed plate 804, and can be stretched in the guide groove; In the groove, the guide block II 805 can slide along the horizontal guide groove; the guide block I 802, the pull rod 803 and the guide block II 805 form a parallelogram mechanism.

The working process of the present utility model is as follows:

When the flywheel moves, the driving link mechanism drives the grabbing mechanism to move up and down. The flywheel is driven by a servo motor with an incremental encoder, which can precisely control the grabbing mechanism to reach the required position by counting pulses. Furthermore, the telescopic rod drives the guide block I 802 to drive the parallelogram mechanism to move along the horizontal guide groove, and then drives the manipulator installed on the guide block II 805 to perform opening and closing actions in the horizontal direction. After the action is completed, the motor drives the flywheel to run in reverse, and then the object is lifted up to complete the handling of the object. When grabbing an object, the connecting rod III9 can drive the grabbing mechanism to adjust its position in the space.

The lower end of the manipulator is flat, used to grab flat-end surface objects, and the upper part is V-shaped structure, used to grab cylindrical objects, and can also be replaced with different shapes of manipulators according to the grasped objects; the length of each rod is according to It depends on the demand to adapt to different handling distance requirements.

Reasonably select the travel of the telescopic rod during design so that the guide rod I is still above the dotted line in Figure 2 when it is at the maximum stretching length.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (8)

1. a multi link formula grabbing device, is characterized in that: comprise by motor-driven flywheel and connecting rod I hinged successively, fork, connecting rod II, guide rod, connecting rod III, pull bar; Wherein fork has three pin joints, and the first pin joint is connected with one end of connecting rod I, and the second pin joint is connected with connecting rod II, and the 3rd pin joint is hinged in frame; And connecting rod I other end is hinged on flywheel rim; Described guide rod coordinates with slide block, and described connecting rod III is driven by motor, and motor is arranged on connecting rod III with on the pin joint of guide rod; Pull bar one end and connecting rod III hinged, the pull bar other end is fixed on the fixed head of grasping mechanism.

2. multi link formula grabbing device as claimed in claim 1, it is characterized in that: described grasping mechanism comprises expansion link, guide block I, pull bar, fixed head, guide block II and manipulator, described expansion link and guide block I affixed, expansion link is arranged in the vertical gathering sill of fixed head; Manipulator and guide block II affixed, guide block II is arranged in the horizontal guide slot on fixed head; Described guide block I, pull bar and guide block II form parallel-crank mechanism.

3. multi link formula grabbing device as claimed in claim 2, it is characterized in that: described manipulator lower end is plate shaped, manipulator top is v-shaped structure.

4. multi link formula grabbing device as claimed in claim 2, is characterized in that: the shape of described manipulator is consistent with by the shape of grabbing object.

5. multi link formula grabbing device as claimed in claim 1, is characterized in that: described flywheel by driven by servomotor, with incremental encoder on motor.

6. multi link formula grabbing device as claimed in claim 1, is characterized in that: described fork is triangle pole mechanism or three-link mechanism.

7. multi link formula grabbing device as claimed in claim 1, is characterized in that: described slide block comprises 2, being contained in frame feeling at ease.

8. multi link formula grabbing device as claimed in claim 1, is characterized in that: described slide block adopts ball-type or the roller of band retainer.