CN206263978U - For mobile robot three use paw, robot arm and mobile robot - Google Patents
For mobile robot three use paw, robot arm and mobile robot Download PDFInfo
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- CN206263978U CN206263978U CN201621281866.5U CN201621281866U CN206263978U CN 206263978 U CN206263978 U CN 206263978U CN 201621281866 U CN201621281866 U CN 201621281866U CN 206263978 U CN206263978 U CN 206263978U
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- finger
- mechanical
- mobile robot
- shell fragment
- door
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- 239000012634 fragment Substances 0.000 claims abstract description 56
- 230000009975 flexible effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
Paw, robot arm and mobile robot are used the utility model discloses three for mobile robot, the paw includes base plate, base plate is fixed with the mechanical arm of mobile robot and rotated with the rotation of mechanical arm, mechanical finger is fixed with base plate, two mechanical fingers are arranged in pairs to clamp the rib of door knob or valve handle or valve handle, the mechanical finger being arranged in pairs is provided with least two on the base plate, mechanical finger is rotated under the rotation of mechanical arm, with the door where opening or closing valve or door knob；The utility model on the inside of mechanical finger by being provided with raised finger shell fragment, can be realized through door handle by using the elastic reaction of finger shell fragment, and be fixed by raised door handle spacing, preferably realize to the unlatching of door handle simultaneously, the fixed form of shell fragment both ensure that the fixation of shell fragment, and flexible effect can be played again.
Description
Technical field
The utility model is related to manufacture and control field, and in particular to for mobile robot three use paw, robot
Arm and mobile robot.
Background technology
In Power Robot application field now, the work of class is not being contented just to using robot make an inspection tour
Make, but it is more and more the need for robot replace manually carry out some operations on the spot, such as in the valve Room of bad environments
Open, close valve, open, close regulator cubicle, to check regulator cubicle internal problem etc., regulator cubicle door knob is usually strip
Type, valve is usually the handwheel with rib of valve with handles or circle.Currently there are no and opened for door knob, valve
Or the mechanical paw closed and set, if rely solely on mechanical arm, or common electric pawl, can not open well or
Door knob or valve are closed, when its problem is that simple electricity pawl is opened the door or opened valve event, will be to robot
Control brings many difficulties, loses time more, and, if control is not in place, easily door handle is caused to damage, cause
Handle is frequently necessary to be replaced.
Therefore, if can be opened using robot with valve to electric cabinet door, a kind of stability is needed, positioning is more preferable
Robot manipulation's paw.
Utility model content
Regarding to the issue above, in order to solve the deficiencies in the prior art, the first purpose of the present utility model is to provide a kind of use
In mobile robot three use paw, are coordinated by the paw and mechanical arm, are capable of achieving to make regulator cubicle door knob and valve
Open or close and close, and the service life of door knob or valve is effectively ensured.
Second purpose of the present utility model is to provide a kind of robot arm, and the arm includes foregoing paw, by this
The setting of arm, can smoothly realize opening or closing door knob, valve handle or this valve handle.
3rd purpose of the present utility model is to provide a kind of mobile robot, and the mobile robot is including above-mentioned for moving
The three of mobile robot use paw or above-mentioned robot arm.
The utility model provide the first string be：
Paw is used for the three of mobile robot, including：Base plate, base plate is fixed and random with the mechanical arm of mobile robot
The rotation of tool arm and rotate,
Mechanical finger is fixed with base plate, two mechanical fingers are arranged in pairs to clamp door knob or valve handle or valve hand
The rib of wheel, the mechanical finger being arranged in pairs is provided with least two on the base plate, and mechanical finger is under the rotation of mechanical arm
Rotate, with the trolley where opening or closing valve or door knob, the surface of mechanical finger is matte surface increasing machinery
Frictional force between finger and door knob or valve.
Clamp door knob or valve handles by two mechanical fingers, or valve handle rib, one is realized to door knob, two
It is to realize to valve handle, three are realization to the respective release of valve handle or tighten, and three purposes of paw are realized, in machine
Under the drive of tool arm, mechanical finger is rotated so as to realize the rotation to door knob or valve handle or valve handle, realizes door
Or opening or the closing of valve, purposes scope is wide, and uses two and more than two paired mechanical fingers, to handle
Or the clamping stability of valve is high, the disengaging of mechanical finger is prevented effectively from, opens or closes action fast.
When two pairs of mechanical fingers are provided with, two pairs of center lines of mechanical finger are set on same straight line, such as to vertical
The door handle of setting, when electrical control cabinet door is opened, only can be realized to door handle or valve handle by a pair of mechanical fingers
The opening of hand；Upper and lower two groups of combinations of fingers should be one on the other position relationship with through the handwheel of valve realize valve is beaten
Open.
Further, the face that the mechanical finger is contacted with door knob or valve handle or valve handle is provided with finger bullet
Piece, two ends and the mechanical finger of finger shell fragment are fixed, and middle part is provided with projection, when door knob or valve handle or valve handle are clamped
When the projection position-limiting action is played to door knob, in order to ensure mechanical finger passes rapidly through valve handle, the lug boss of finger shell fragment
Smooth surface is divided into, except convex surfaces are set to matte surface, to strengthen the frictional force in rotation process.
The effective support to door knob is realized in setting by above-mentioned finger shell fragment in mechanical finger, realizes simulation staff
Finger pinches the effect of door knob, and simple structure is practical, effectively realizes in the environment of bad environments to valve, regulator cubicle door knob
The unlatching of hand.
Described finger shell fragment two ends are provided with perforate, and alignment pin corresponding with position of opening is provided with the mechanical finger
Hole, the two ends of finger shell fragment are fixed by finger cover plate and mechanical finger, are set on finger cover plate and dowel hole cooperation
Cover plate pin, the preliminary fixation for realizing opponent's finger playing piece is coordinated after cover plate pin passes through perforate with dowel hole, meanwhile, it is
Gap between finger cover plate and finger shell fragment sets and provides larger possibility.
Further, the perforate is strip hole, special by the perforate on finger shell fragment in order to coordinate the contraction of finger shell fragment
It is set to strip hole.
Further, in order to realize the fixation to finger cover plate, the finger cover plate is in door frame shaped, the both sides of finger cover plate
Face is fixed by fastener with described mechanical finger.
In order to the shape for coordinating finger cover plate is set, the two sides of the mechanical finger are provided with the finger cover plate two
Engagement sides support block, the side of finger cover plate is respectively provided with two support blocks.
The first gap is left between the finger shell fragment and the finger cover plate, when finger shell fragment is pressurized, finger shell fragment
To be stretched along this gap, so that finger shell fragment highly declines, to allow passing through for door knob or valve handle rib, this
Outward, mechanical finger middle part is slightly bent outwardly relative to the center of two mechanical fingers being arranged in pairs, and assigns mechanical finger certain
Elasticity.
The second gap is left between the mechanical finger outer and adpting flange, the purpose for so setting is to meet chi
Very little larger door handle, when door handle is wider, finger shell fragment be compressed to maximum distance still can not by when, now door handle
The mechanical finger of both sides will be extruded, mechanical finger is routed up laterally, finger by along the deformation laterally of the gap of finger bottom surface,
So that door handle passes through finger shell fragment；If the gap of finger is closed together with adpting flange, now finger reaches maximum
Deformed state, that is, door handle it is maximum by size.
Paw is used for the three of mobile robot for be provided with least one pair of mechanical finger in adpting flange end,
When electric cabinet door door knob or valve handle is opened, comprise the following steps that：
1) position of mechanical finger is determined, ensures that mechanical finger just aligns the door of electric cabinet door by rotating mechanical arm
Or valve handle；Specifically, the pivot for being directed at door knob by adpting flange center enters come the position to mechanical finger
Row positioning；
2) towards door knob or valve propelling machinery arm, door knob or valve handle are supported and extruded by extrusion structure；
3) propelling machinery arm is continued so that door handle pushes through the raised high point of finger shell fragment, and finger shell fragment is in natural resiliency
Original state is returned in the presence of deformation, door knob or valve handle are stuck in two mechanical fingers；
4) ensure that mechanical arm rotating shaft is concentric with door handle rotating shaft, rotating mechanical arm, door knob or valve handle are opened.
Action is opposite when closing door knob；
When valve is opened, comprise the following steps that：
1) two groups of combinations of fingers are respectively inserted into the gap of valve handle, align the position of paw；
2) gently turn mechanical arm tail end, mechanical finger is stuck on the muscle of valve handle, then proceed to rotating mechanical arm end,
Open or close valve.
The utility model provide second scheme be：A kind of robot arm, the end of robot arm is provided with described
Use paw for the three of mobile robot.
The utility model provide the 3rd scheme be：A kind of mobile robot, including it is described for mobile robot
Three use paw.
The utility model provide the 4th scheme be：A kind of mobile robot, including a kind of described robot arm.
The beneficial effects of the utility model are：
1) the utility model provides the structure of a set of solution handle for opening door or valve, meets robot in adverse circumstances
Operation, effectively increasing robot carries out the efficiency of this generic operation, and a tractor serves several purposes, makes full use of resource.
2) setting that the utility model passes through extrusion structure, cooperative mechanical finger realizes utility model purpose, simple structure,
It is practical, it is easy to accomplish.
3) the utility model is by being provided with the inside of mechanical finger the finger shell fragment of projection, by using finger shell fragment
Elastic reaction can realize through door handle, and be fixed by raised door handle it is spacing, preferably realize to door handle
Open simultaneously, the fixed form of shell fragment both ensure that the fixation of shell fragment, and flexible effect can be played again.
Brief description of the drawings
Fig. 1 is the utility model structural representation；
Fig. 2 is the utility model finger structure schematic diagram；
Fig. 3 is the utility model finger mounted schematic diagram one；
Fig. 4 is the utility model finger mounted schematic diagram two；
Fig. 5 is the utility model finger mounted schematic diagram three；
Fig. 6 is the utility model finger motion schematic diagram；
Fig. 7 (a) is the utility model opening door operation schematic diagram one；
Fig. 7 (b) is the utility model opening door operation neutral body figure one；
Fig. 8 (a) is the utility model opening door operation schematic diagram two；
Fig. 8 (b) is the utility model opening door operation neutral body figure two；
Fig. 9 is the utility model opening door operation schematic diagram three；
Figure 10 is that the utility model operates valve schematic diagram；
Wherein, 1, mechanical arm, 2, adpting flange, 3, mechanical finger combination, 4, finger shell fragment, 5, finger cover plate, 6, machinery
Finger, the 7, first screw, 8, cover plate pin, 9, dowel hole, the 10, first gap, the 11, second screw, the 12, second gap, 13,
Door knob.
Specific embodiment
With reference to Figure of description specific embodiment, the utility model will be further described：
Embodiment 1
For mobile robot three use paw, and as shown in Fig. 1, Fig. 8, paw grabs combination 3 to control door by manipulator
13, then rotated by the end motor of mechanical arm 1, open, close door knob, realize the purpose of the electric cabinet door of operation.
Specifically, adpting flange 2 is provided with by screw on the end motor of mechanical arm 1, first is passed through on adpting flange 2
Screw 7 is fixed with 2 groups of hands and grabs combination 3.
Paw combination 3 each includes two mechanical fingers 6, and mechanical finger 6 is symmetrical two-by-two and installs in opposite directions, mechanical finger 6
In basic L-type, the curved shape in the side more long of mechanical finger 6, the shorter side of mechanical finger 6 is provided with screw thread at two
Hole, that nearest group screwed hole is only installed when fixed, realizes mechanical finger 6 with adpting flange 2 by the second screw 11
It is fixed, as shown in figure 5, making the bottom outer of combinations of fingers 3 leave adjustment gap i.e. the second gap 12 with adpting flange 2, so set
The purpose put is that, in order to meet larger-size door handle, when door handle is wider, finger shell fragment 4 is compressed to maximum distance still
Can not by when, now door handle will extrude the mechanical finger of both sides, mechanical finger is routed up laterally, and finger shell fragment 4 is by edge
Set about the gap deformation laterally of the bottom surface of finger playing piece 4, so that door handle passes through finger shell fragment；If the gap of finger and connection method
Blue closed together, then now finger reaches largest deformation state, that is, door handle it is maximum by size.
As shown in Figure 2 and Figure 3, finger shell fragment 4 is provided with the inside of mechanical finger, finger shell fragment 4 is the shell fragment of an arc,
Respectively there is a strip perforate shell fragment both sides；On mechanical finger 6 dowel hole 9, dowel hole are provided with the relative position of finger shell fragment 4
9 is concentric with perforate outer most edge；The lower surface of finger cover plate 5 is provided with a cover plate pin 8, by cover plate pin 8 and dowel hole 9 pairs
, then be buckled in finger cover plate 5 on finger shell fragment 4 by standard, finger cover plate 5 is fixed on mechanical finger 6 with screw finally, so
Finger shell fragment 4 is under two positioning of finger cover plate pin 8, it is impossible to left and right, move up and down.As shown in figure 4, finger shell fragment 4 with
There is certain gap between finger cover plate 5, finger shell fragment 4 can be made under the positioning of finger cover plate pin 8, along finger shell fragment
4 perforate or so is stretched.
Additionally, in order to realize the fixation to finger cover plate 4, the finger cover plate 4 is in door frame shaped, the both sides of finger cover plate 4
Face is fixed by fastener with described mechanical finger 6；In order to the shape for coordinating finger cover plate 4 is set, the mechanical finger 6
Two sides are provided with and engage support block with the two sides of the finger cover plate.
As shown in fig. 6, when finger shell fragment 4 is subject to downward extruding, finger shell fragment 4 will stretch to two ends；Squeezed when cancelling
After pressure, finger shell fragment 4 will contract in the presence of natural resiliency deformation to reclaiming, and the material of finger shell fragment 4 is preferably Elastic Steel,
Effectively realize the deformation of finger shell fragment 4 and shrink.
As shown in Fig. 7 (a) and 7 (b), when opening door operation is carried out using this mechanism, comprise the following steps that：
The center of adpting flange 2 is aligned the spindle central of door knob first；The end of rotating mechanical arm 1, makes two manipulators
Refer to that 6 can just align door handle；Mechanical arm 1 is pushed ahead, door handle is stuck in the two finger shell fragments 4 of combinations of fingers 3 in left and right
On；Under the squeezing action of door handle, left and right two panels finger shell fragment 4 allows door handle to pass through finger bullet to contract
Piece；As shown in Fig. 8 (a) and 8 (b), door handle is by left and right two panels finger shell fragment 4, effect of the finger shell fragment 4 in self-deformation
Under, original state is returned to, now left and right two panels finger shell fragment 4 will block door handle and play position-limiting action.As shown in figure 9, machine
The end rotate counterclockwise of tool arm 1, door handle is opened.Mechanical arm 1 is drawn back, band of the door handle in left and right two panels finger shell fragment 4
Under dynamic, outwardly opened along mechanical arm 1, this is door opening process.Close the door the inverse process acted for this.
As shown in Figure 10, when on off valve door operation is carried out using this mechanism, two groups of combinations of fingers are along adpting flange 2
Center line be symmetrical arranged, can by two groups of combinations of fingers see integrally, respectively insertion valve handwheel gap in, adjust connection method
Blue 2 centers alignment valve handle axle center, gently turns the end of mechanical arm 1, combinations of fingers 3 is pinned on the muscle of valve handle, then
Continue the end of rotating mechanical arm 1, open/closed valve door.
Structure above can realize the opening to door knob, valve handle or valve handle, realize that a structure is multiplex, nothing
The use of multiple use under complex situations is met by paw need to be changed.
Additionally, in order to simplify structure, it is also possible to be only provided with a pair of mechanical fingers, the action of door knob and valve handle is opened
Ibid, to valve handle, two are spaced in the same hole that the mechanical finger of setpoint distance setting is passed through on valve handle jointly,
The opening to valve handle or closing are realized under the drive of mechanical arm rotation.
Embodiment 2
The present embodiment is with the difference of embodiment 1：
Between mechanical finger and adpting flange and it is not provided with adjusting gap in the present embodiment, like this, whole machinery
Paw is only applicable to the unlatching of the door handle or valve of specific width scope.
Embodiment 3
A kind of robot arm, the end of robot arm is provided with embodiment 1 and uses hand for the three of mobile robot
Pawl.
Embodiment 4
In a kind of mobile robot, including embodiment 1 paw is used for the three of mobile robot.
Embodiment 5
A kind of a kind of robot arm in mobile robot, including embodiment 3.
Preferred embodiment of the present utility model is the foregoing is only, is not whole embodiments of the present utility model,
Be not used to limit the utility model, all any modifications within spirit of the present utility model and principle, made, equivalent,
Improve etc., should be included within protection domain of the present utility model.
In addition to technical characteristic described in specification, remaining technical characteristic is technology known to those skilled in the art, in order to prominent
Go out innovative characteristicses of the present utility model, above-mentioned technical characteristic will not be repeated here.
Claims (10)
1. be used for mobile robot three use paw, it is characterised in that including：
Base plate, base plate is fixed with the mechanical arm of mobile robot and rotated with the rotation of mechanical arm,
It is fixed with mechanical finger on base plate, two mechanical fingers are arranged in pairs to clamp door knob or valve handle or valve handle
Rib, the mechanical finger being arranged in pairs is provided with least two on the base plate, and mechanical finger is rotated under the rotation of mechanical arm,
With the door where opening or closing valve or door knob, the surface of mechanical finger is matte surface.
2. it is according to claim 1 three to use paw for mobile robot, it is characterised in that the mechanical finger and door
Or valve handle or valve handle contact face be provided with finger shell fragment, two ends and the mechanical finger of finger shell fragment are fixed, in
Portion is provided with projection, and when door knob or valve handle or clamped valve handle, the projection plays position-limiting action to door handle.
3. it is according to claim 2 three to use paw for mobile robot, it is characterised in that described finger shell fragment two
End is provided with perforate, and dowel hole corresponding with position of opening is provided with the mechanical finger, and the two ends of finger shell fragment pass through hand
Refer to that cover plate is fixed with mechanical finger, the cover plate pin coordinated with dowel hole is set on finger cover plate.
4. it is according to claim 3 three to use paw for mobile robot, it is characterised in that the finger shell fragment and institute
State and leave the first gap between finger cover plate, when finger shell fragment is pressurized, finger shell fragment will stretch along this gap.
5. it is according to claim 3 three to use paw for mobile robot, it is characterised in that the finger cover plate is in door
Frame-type.
6. it is according to claim 1 three to use paw for mobile robot, it is characterised in that the mechanical finger outer
The second gap is left between the base plate.
7. it is according to claim 3 three to use paw for mobile robot, it is characterised in that the two of the mechanical finger
Side is provided with the support block engaged with the two sides of the finger cover plate.
8. a kind of robot arm, it is characterised in that the end of robot arm is provided with according to any one of claim 1-7 institutes
That states uses paw for the three of mobile robot.
9. a kind of mobile robot, it is characterised in that including according to any one of claim 1-7 for moving machine
The three of people use paw.
10. a kind of mobile robot, it is characterised in that including a kind of robot arm according to claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621281866.5U CN206263978U (en) | 2016-11-23 | 2016-11-23 | For mobile robot three use paw, robot arm and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621281866.5U CN206263978U (en) | 2016-11-23 | 2016-11-23 | For mobile robot three use paw, robot arm and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206263978U true CN206263978U (en) | 2017-06-20 |
Family
ID=59042922
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621281866.5U Active CN206263978U (en) | 2016-11-23 | 2016-11-23 | For mobile robot three use paw, robot arm and mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206263978U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718020A (en) * | 2017-10-12 | 2018-02-23 | 长沙展朔轩兴信息科技有限公司 | Multi-functional combined paw of nuclear and chemical reconnaissance robot |
| CN108247309A (en) * | 2017-12-20 | 2018-07-06 | 东莞市亚登电子有限公司 | The memory alloy wire installation method of micro-optical camera module |
-
2016
- 2016-11-23 CN CN201621281866.5U patent/CN206263978U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718020A (en) * | 2017-10-12 | 2018-02-23 | 长沙展朔轩兴信息科技有限公司 | Multi-functional combined paw of nuclear and chemical reconnaissance robot |
| CN108247309A (en) * | 2017-12-20 | 2018-07-06 | 东莞市亚登电子有限公司 | The memory alloy wire installation method of micro-optical camera module |
| CN108247309B (en) * | 2017-12-20 | 2020-05-22 | 东莞市亚登电子有限公司 | Memory alloy wire mounting method for micro optical camera module |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after: State Grid Co., Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201028 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: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |