CN204136055U - A kind of multi link formula grabbing device - Google Patents
A kind of multi link formula grabbing device Download PDFInfo
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- CN204136055U CN204136055U CN201420608960.1U CN201420608960U CN204136055U CN 204136055 U CN204136055 U CN 204136055U CN 201420608960 U CN201420608960 U CN 201420608960U CN 204136055 U CN204136055 U CN 204136055U
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- connecting rod
- grabbing device
- pin joint
- pull bar
- fork
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Abstract
The utility model discloses a kind of multi link formula grabbing device, 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 fixed; And connecting rod I other end is hinged on flywheel rim; Guide rod coordinates with slide block, and 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.The utility model fork is triangular supports or three-link mechanism, the displacement that the position acquisition grasping mechanism by changing fork pin joint is different; Flywheel is as actuator, and what enhance system is subject to loading capability; Grasping mechanism is driven by electric expansion bar, and its manipulator can become different shapes according to crawled object design, meets and captures needs.
Description
Technical field
The utility model belongs to mechanical field, relates to a kind of multi link formula grabbing device.
Background technology
Link gearing is with stable drive and use the feature that noise is less, make it more and more extensive by what use, but the motion amplitude of most of transmission mechanism final actuating element is less, is difficult to realize long distance mobile, as grabbing device.And most of transmission mechanism structure is more complicated, partial component is as larger in stands under load such as cranks.
Utility model content
In order to solve above-mentioned prior art problem, the utility model is to provide a kind of multi link formula grabbing device, and this device mainly contains multi-connecting-rod mechanism and grasping mechanism composition, can realize the crawl to difformity object.
The technical solution adopted in the utility model is as follows:
A kind of multi link formula grabbing device, comprises 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.
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 vertical gathering sill; 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.
Described manipulator lower end is plate shaped, and for capturing planar end surface type objects, top is v-shaped structure, for snatching cylindrical object.
The shape of described manipulator is consistent with by the shape of grabbing object, can be replaced with difform manipulator according to crawled object.
Described flywheel by driven by servomotor, with incremental encoder.
Described fork is triangle pole mechanism or three-link mechanism.
Described guide rod coordinates with slide block, and described slide block has 2, is contained in frame to feeling at ease, and adopts ball-type or the roller of band retainer;
The length dimension of each rod member is determined according to demand, the longlyest reaches tens meters.
The course of work of the present utility model is as follows:
When flywheel motion, drive link mechanism drives grasping mechanism to move up and down, and flywheel is by driven by servomotor, and with incremental encoder, the mode can rushed by rapid pulse is accurately controlled grasping mechanism and arrives the position required.And then expansion link drives guide block I to drive parallel-crank mechanism to move along horizontal guide slot, and then the manipulator be arranged on guide block II is driven to carry out opening and closing movement in the horizontal direction.After action completes, driven by motor flywheel antiport, and then object is raised up, complete the carrying work of object.When capturing object, connecting rod III can drive grasping mechanism to carry out position adjustments in space.
Major advantage of the present utility model is:
1, the utility model fork is triangular supports or three-link mechanism, the displacement that the position acquisition grasping mechanism by changing fork pin joint is different;
2, the utility model adopts flywheel as actuator, and what enhance system is subject to loading capability;
3, the utility model grasping mechanism is driven by electric expansion bar, and its manipulator can become different shapes according to crawled object design, meets and captures needs;
4, the utility model structure is simple, is convenient to install, the fast construction of feasible system, adopts parallel-crank mechanism to control the folding of manipulator, smooth operation;
5, the utility model has 3 frees degree, grasping mechanism can be driven in space to carry out position adjustment, to capture object smoothly.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is the structural representation of the utility model grasping mechanism.
In figure, 1, flywheel; 2, drive motors; 3, connecting rod I; 4, fork; 5, connecting rod II; 6, slide block; 7, guide rod; 8, grasping mechanism; 801, expansion link; 802, guide block I; 803, pull bar; 804, fixed head; 805, guide block II; 806, manipulator; 9, connecting rod III; 10 pull bars.
Detailed description of the invention
Below in conjunction with Figure of description, the utility model is described further.
As shown in Figure 1, be structural representation of the present utility model.Connecting rod I 3 one end is hinged on flywheel 1 edge, the other end and fork 4 hinged; Connecting rod II 5 one end and fork 4 hinged, another pin joint of fork 4 is connected with frame, by changing the position of this pin joint to change the maximum moving distance of grasping mechanism 8; Fork 4 is triangle pole mechanism or three-link mechanism, greatly strengthen the Rigidity and strength of structure;
Guide rod 7 one end and connecting rod III 9 hinged, the other end and connecting rod II 5 hinged, guide rod 7 can slide in slide block; For ensureing the rigidity requirement of guide rod, slide block 6 has 2, is contained in frame to feeling at ease; Slide block 6 adopts ball-type or the roller of band retainer, and its mounting distance is determined by the movement travel of comprehensive grasping mechanism and the length of guide rod;
Connecting rod III 9 is hinged on guide rod 7, and connecting rod III 9 is driven by motor, and motor is arranged on connecting rod III 9 with on the pin joint of guide rod; Connecting rod III 9 is hinged with pull bar 10, and pull bar 10 is fixed on the fixed head of grasping mechanism; Connecting rod III 9 can drive grasping mechanism to do spatial movement, so that grasping mechanism is adjusted to most suitable position capture object.
Be illustrated in figure 2 the schematic diagram that the utility model captures structure.Expansion link and guide block I 802 affixed, expansion link 501 is arranged in the vertical gathering sill of fixed head 804, can stretch in gathering sill; Manipulator and guide block II 805 affixed, guide block II 805 is arranged in the horizontal guide slot on fixed head, and guide block II 805 can slide along horizontal guide slot; Described guide block I 802, pull bar 803 form parallel-crank mechanism with guide block II 805.
The course of work of the present utility model is as follows:
When flywheel motion, drive link mechanism drives grasping mechanism to move up and down, and flywheel is by driven by servomotor, and with incremental encoder, the mode can rushed by rapid pulse is accurately controlled grasping mechanism and arrives the position required.And then expansion link drives guide block I 802 to drive parallel-crank mechanism to move along horizontal guide slot, and then the manipulator be arranged on guide block II 805 is driven to carry out opening and closing movement in the horizontal direction.After action completes, driven by motor flywheel antiport, and then object is raised up, complete the carrying work of object.When capturing object, connecting rod III 9 can drive grasping mechanism to carry out position adjustments in space.
Manipulator lower end is plate shaped, and for capturing planar end surface type objects, top is v-shaped structure, for snatching cylindrical object, also can be replaced with difform manipulator according to crawled object; The length dimension of each rod member is fixed to adapt to different transport distance requirements according to demand.
The stroke of choose reasonable expansion link when designing, when making it be in maximum tension length, guide rod I is still arranged in the top of Fig. 2 dotted line.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420608960.1U CN204136055U (en) | 2014-10-21 | 2014-10-21 | A kind of multi link formula grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420608960.1U CN204136055U (en) | 2014-10-21 | 2014-10-21 | A kind of multi link formula grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204136055U true CN204136055U (en) | 2015-02-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420608960.1U Active CN204136055U (en) | 2014-10-21 | 2014-10-21 | A kind of multi link formula grabbing device |
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| Country | Link |
|---|---|
| CN (1) | CN204136055U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105253213A (en) * | 2015-10-27 | 2016-01-20 | 昆明理工大学 | Pole-climbing robot |
| CN105563514A (en) * | 2016-03-21 | 2016-05-11 | 珠海市磐石电子科技有限公司 | Mechanical hand device |
-
2014
- 2014-10-21 CN CN201420608960.1U patent/CN204136055U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105253213A (en) * | 2015-10-27 | 2016-01-20 | 昆明理工大学 | Pole-climbing robot |
| CN105563514A (en) * | 2016-03-21 | 2016-05-11 | 珠海市磐石电子科技有限公司 | Mechanical hand device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250101 Shandong city of Ji'nan province high tech Zone (Lixia District) Xinluo Avenue No. 2008 silver bearing building B block 626 Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
|
| CP03 | Change of name, title or address |