CN207669317U - Switch gate manipulator and the switch gate robot for using the manipulator - Google Patents
Switch gate manipulator and the switch gate robot for using the manipulator Download PDFInfo
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- CN207669317U CN207669317U CN201721711828.3U CN201721711828U CN207669317U CN 207669317 U CN207669317 U CN 207669317U CN 201721711828 U CN201721711828 U CN 201721711828U CN 207669317 U CN207669317 U CN 207669317U
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- door lock
- switch gate
- clamping jaw
- manipulator
- fingertip
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Abstract
The utility model discloses a kind of switch gate manipulators, it is characterised in that：Turn tongue clamping device including door lock and door lock button touches mechanism, the door lock turns tongue clamping device and door lock button touching mechanism is installed on connecting seat, and the connecting seat is connected to by stiffness spring in fixed seat.The switch gate machinery hand of the utility model at switch gate robot action execution unit, for replacing artificial realize to be equipped with the automatic switch cabinet door for turning bolt door lock hinge cabinet door, smart structural design, performance is stablized, it is highly practical, it effectively solves to realize the technical barrier for how mechanically removing cabinet door that data center machine room automation inspection is faced.
Description
Technical field
The utility model is related to a kind of switch gate manipulator, use the switch gate robot of the manipulator.
Background technology
Science and technology be constantly progressive and the development of Information and Communication Technology, computer room operational reliability and importance are therewith
Increase, computer room inspection work receives more attention.Data center machine room inspection is one of daily maintenance work of data center,
By the inspection and monitoring to all kinds of production equipment states, failure or potential faults can be found at the first time, and be subject in time
Repair and strick precaution, it is ensured that the safety and stabilization of production.In actual mechanical process, computer room inspection often through manual inspection side
Formula carries out, and polling period is usually 1-3 times/day.
However, manual inspection that but there is polling periods is long, there are the prolonged rest periods, exist leakage see, it is wrong see can
Can and increase the inspection frequency can bring the drawbacks such as higher human cost.On the other hand, with the arrival of Internet era, number
According to explosive increase cause the number of devices of data center machine room to steeply rise, the workload of computer room inspection greatly increases, and
There are various unfavorable duty factors for computer room, and for example there is a large amount of electromagnetic waves, to be damaged to personnel's body.Therefore,
There is an urgent need to a kind of automation schemes to go liberation staff for computer room inspection.
Automation inspection for computer room, what is primarily solved is how to go to complete similarly to grasp with manpower by mechanical means
Make.However human hand is compared, mechanical hand dexterity is often relatively low, mechanically goes to substitute manually, is all in most cases
A big difficulty.As in computer room inspection, inspection and monitoring for equipment state, it is necessary to which solution is how to open cabinet
Door, targetedly to be supervised the electrical equipment of the inside.Human hand is undoubtedly swum in the operation of switch cabinet door this respect
Sword is had a surplus, but if going to realize by way of manipulator, degree-of-difficulty factor among these will greatly increase.
Realize the automation inspection of data center machine room, it is in the urgent need to address how mechanically to remove switch cabinet
This great problem of door, through fully investigating, there has been no related patents and documents, refer to the specific solution of the problem.
Invention content
The utility model provides a kind of switch gate manipulator, replaces and manually switchs the cabinet door of cabinet, smart structural design,
Performance is stablized, and highly practical, manipulator itself has flexibility, can be between manipulator center of rotation and door lock axis of rotation
Position deviation compensates, and ensures reliability when robot work well, effectively avoids the damage to door lock handle.
In order to solve the above-mentioned technical problem, the utility model provides a kind of switch gate manipulator, including door lock turns tongue folder
Mechanism and door lock button touching mechanism are held, the door lock turns tongue clamping device and door lock button touching mechanism is installed in connecting seat
On, the connecting seat is connected to by stiffness spring in fixed seat.
In one preferred embodiment of the utility model, it includes that a pair can to further comprise that the door lock turns tongue clamping device
The bare terminal end of the clamping jaw of folding, the clamping jaw is equipped with " V " font boss.
In one preferred embodiment of the utility model, it further includes that clamping jaw drives to further comprise that the door lock turns tongue clamping device
Dynamic device, the clamping jaw driver are mounted on connecting seat, and the clamping jaw driver is equipped with a pair of of sliding block, and a pair of clamping jaw is logical
Clamping jaw connector is crossed to be separately fixed on a pair of of sliding block.
In one preferred embodiment of the utility model, further comprise that the clamping jaw connector is equipped with reinforcing rib.
In one preferred embodiment of the utility model, further comprise the clamping jaw driver be equipped with line slide rail, one
Sliding block is arranged on the line slide rail.
In one preferred embodiment of the utility model, further comprise that the clamping jaw driver being capable of self-locking.
In one preferred embodiment of the utility model, further comprise that door lock button touching mechanism includes fingertip, cunning
Lever and fingertip fixed block, the fingertip fixed block are mounted on connecting seat, and axis hole, the cunning are equipped in the fingertip fixed block
Lever is threaded through in axis hole, and the fingertip is connected to sliding bar and stretches out on the outwardly extending end of axis hole.
In one preferred embodiment of the utility model, further comprise that the sliding bar can be reciprocal in an axial direction in axis hole
It is mobile, it is additionally provided with buffer spring in the axis hole, one end of the buffer spring is connected on fingertip fixed block, and the other end supports
Connect sliding bar.
In order to solve the above-mentioned technical problem, the utility model additionally provides a kind of switch gate robot, including multiple degrees of freedom
The switch gate manipulator of mechanical arm and the above structure, the switch gate manipulator are mounted on multi freedom degree mechanical by its fixed seat
On the ring flange in the last joint of arm.
The switch gate manipulator of one, the utility model turns bolt door lock hinge cabinet door for replacing artificial realization to be equipped with
Automatic switch cabinet door, smart structural design, performance stablize, it is highly practical, effectively solve realize data center machine room automation
The technical barrier for how mechanically removing cabinet door that inspection is faced.
Secondly, manipulator itself have flexibility, can be to the position between manipulator center of rotation and door lock axis of rotation
Deviation compensates, and ensures reliability when robot work well, effectively avoids the damage to door lock handle.
Description of the drawings
Fig. 1 is the dimensional structure diagram of manipulator in the preferred embodiment in the utility model；
Fig. 2 is the configuration schematic diagram of manipulator in the preferred embodiment in the utility model；
Fig. 3 is the structural schematic diagram of door lock button touching mechanism in the preferred embodiment in the utility model；
Fig. 4 is the structural schematic diagram of clamping jaw connector in Fig. 1；
Fig. 5 is the structural schematic diagram of clamping jaw in Fig. 1；
Fig. 6 is the structural schematic diagram of connecting seat in Fig. 1；
Fig. 7 is the structural schematic diagram of robot in the utility model second embodiment；
Fig. 8 is the process schematic that switch gate robot opens door lock.
Wherein：100- door locks turn tongue, 101- buttons；
2- door locks turn tongue clamping device, 21- clamping jaws, 22- boss, 23- clamping jaw drivers, 24- sliding blocks, 25- reinforcing ribs,
26- line slide rails, 27- clamping jaw connectors；
4- door lock buttons touch mechanism, 41- fingertips, 42- sliding bars, 43- fingertip fixed blocks, 44- buffer springs；
6- connecting seats, 7- fixed seats, 8- stiffness springs, 9- multi-degree-of-freemechanical mechanical arms, 10- ring flanges；20- switch gate machineries
Hand.
Specific implementation mode
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, so that those skilled in the art
The utility model may be better understood and can be practiced, but illustrated embodiment is not as the restriction to the utility model.
Embodiment one
As shown in figures 1 to 6, present embodiment discloses a kind of switch gate manipulators, including door lock to turn tongue clamping device 2 and door
It locks button and touches mechanism 4, door lock turns tongue clamping device 2 and turns tongue for door lock to be clamped, and door lock button touches mechanism 4 for contacting simultaneously
Press door lock button.It is existing to turn bolt door lock and be pressed back door lock in door lock button to turn tongue automatic spring, after door lock turns tongue pop-up
The clamping door lock of tongue clamping device 2 is turned by door lock and turns tongue, door lock, which turns to rotate after tongue is clamped, can open door lock.The present embodiment technology
Above-mentioned door lock turns tongue clamping device 2 in scheme and door lock button touching mechanism 4 is installed on connecting seat 6, and above-mentioned connecting seat 6 is logical
It crosses stiffness spring 8 to be connected in fixed seat 7, when switch gate manipulator is installed and used, switch gate manipulator is entirely through fixed seat 7
On installation to mechanical arm.8 one side of stiffness spring have enough rigidity, can ensure switch gate manipulator be not carried out it is dynamic
Horizontality is in when making, it is in hang to avoid the occurrence of robot relative to mechanical arm, in turn results in manipulator behavior precision
Substantially reduce；On the other hand, stiffness spring 8 is not absolute rigidity component, can make to be fixed on being used for for stiffness spring one end
The execution unit of switch gate can generate certain amplitude of oscillation under external force so that manipulator itself have it is appropriate soft
Property, when executing switch gate action, the flexibility that manipulator has can make it show significant advantage：In cooperative mechanical arm
When rotation door lock turns tongue with opening hinge door, the center of rotation of manipulator and the axis of rotation for turning bolt door lock can inevitably exist centainly
Position deviation, and then so that door lock is turned tongue and receive the additional additional force applied by manipulator.Since manipulator has flexibility,
It will make the swing of its execution unit generation by a small margin, compensate for the center of rotation of manipulator and turn the position of the axis of rotation of bolt door lock
Deviation is set, the effect that additional force turns door lock in tongue is substantially reduced, protection door lock is against damages.
As shown in fig. 6, for connecting seat 6 it is preferable to use connecting flange, door lock turns tongue clamping device 2 in the present embodiment technical solution
The upper and lower ends of connecting flange are separately fixed at door lock button touching mechanism.And fixed seat 7 it is preferable to use with joint of mechanical arm
The mounting flange of ring flange cooperation.
As shown in Fig. 1-2,4-5, above-mentioned door lock turns tongue clamping machine, and 2 include a pair of clamping jaw 21 that can be opened and closed, a pair of of clamping jaw
21 under the driving of clamping jaw driver 23 be clamped or discharge door lock turn tongue.Connect specifically, above-mentioned clamping jaw driver 23 is mounted on
On joint chair 6, above-mentioned clamping jaw driver 23 is equipped with a pair of of sliding block 24, and a pair of above-mentioned clamping jaw 21 is solid respectively by clamping jaw connector 27
It is scheduled on a pair of of sliding block 24.Above-mentioned clamping jaw driver 23 can self-locking, can ensure that manipulator can be pressed from both sides reliably at work
Tight door lock turns tongue.In the present embodiment technical solution, above-mentioned clamping jaw driver preferably uses Electric Actuator, and Electric Actuator is by electricity
Machine drives, and when being powered to Electric Actuator and giving control time appropriate, two sliding blocks 24 generate relative motion, realize folder
The opening and closing movement of pawl 21, and then be clamped or discharge door lock and turn tongue.It can reliably be clamped, avoid to ensure that door lock turns tongue
The bare terminal end of the occurrence of loosening, above-mentioned clamping jaw 21 is equipped with " V " font boss；In addition, when the clamping door lock of clamping jaw 21 turns tongue,
Clamping jaw 21 is in direct contact with tongue is turned, and is worn door lock in order to prevent and is turned tongue, clamping jaw 21 is preferably made of high-strength engineering plastic.
As described in Figure 4, above-mentioned 27 shape of clamping jaw connector is " L " font, which is provided with reinforcing rib 25 to improve its connection
Rigidity.
Above-mentioned clamping jaw driver 23 is equipped with line slide rail 26, and a pair of of sliding block 24 is arranged on above-mentioned line slide rail 26.
Line slide rail 26 constrains 24 linear slide of sliding block, and the clamping stability and clamp precision of clamping jaw 21 are improved with this.
As shown in Figs. 1-3, above-mentioned door lock button touching mechanism 4 is gentle including fingertip 41, sliding bar 42, fingertip fixed block 43
Spring 44 is rushed, above-mentioned fingertip fixed block 43 is mounted on connecting seat 6, and axis hole, above-mentioned sliding are equipped in above-mentioned fingertip fixed block 43
Bar 42 is threaded through in axis hole and can in an axial direction be moved back and forth in axis hole, and above-mentioned fingertip 41 is connected to 42 projecting shaft of sliding bar
On the outwardly extending end in hole, one end of above-mentioned buffer spring 44 is connected on fingertip fixed block 43, and the other end abuts sliding
Bar 42.41 tapered shape of above-mentioned fingertip, the one end stretched out with sliding bar are fixedly connected, in order to avoid fingertip is executed in manipulator
When switch gate acts, on door lock button and turn tongue and be in direct contact the abrasion being likely to result in, the material of fingertip 41 preferably makes
With the engineering plastics with high-wearing feature and high intensity.Above-mentioned fingertip 41, sliding bar 42, fingertip fixed seat 43 and buffer spring 44
Having collectively constituted one, there is contact mechanism flexible, manipulator to execute in switch gate action process, when on fingertip and door lock
Button and when turning tongue instantaneous touch, it will generate larger impact force at contact, due to the flexibility of contact mechanism, impact force at contact will
So that above-mentioned sliding bar 42 bounces back, and then compresses buffer spring, the absorption of spring 44 would be buffered in final contact impact energy, to
The damage of door lock may be caused by avoiding the direct rigid contact of fingertip and door lock.
Embodiment two
As shown in fig. 7, present embodiment discloses a kind of switch gate robot, including multi-degree-of-freemechanical mechanical arm 9 and the above knot
The switch gate manipulator of structure, above-mentioned switch gate manipulator are mounted on the last joint of multi-degree-of-freemechanical mechanical arm 9 by its fixed seat 7
On ring flange 10.The manipulator of the above structure forms the action execution unit of multi-degree-of-freemechanical mechanical arm 9, in multi-degree-of-freemechanical mechanical arm
The automatic opening and closing door of overturning hinge door is completed under 9 driving.
It is as follows that it completes the step of hinge door switch：
(1), as shown in figure 8, enabling step is：
(K1), 9 driving switch door manipulator of multi-degree-of-freemechanical mechanical arm is on close level door lock, is fixed on 42 end of sliding bar
Fingertip 41 is touched and presses the button 101 on above-mentioned door lock；
(K2), it presses above-mentioned 101 back door lock of button and turns 100 automatic spring of tongue, a pair of of clamping jaw 21 of clamping jaw driver driving presss from both sides
It holds above-mentioned door lock and turns tongue 100；
(K3), the last joint ring flange 10 of multi-degree-of-freemechanical mechanical arm 9 executes rotation, drives switch gate manipulator and is clamped
Door lock turn 90 ° of 100 synchronous rotary of tongue, open door lock；
(K4), multi-degree-of-freemechanical mechanical arm 9 pulls door handle, opening hinge door, a pair of of clamping jaw release of clamping jaw driver driving
Above-mentioned door lock turns tongue 100；
(2), shutdown step is：
(G1), 9 driving switch door manipulator of multi-degree-of-freemechanical mechanical arm is moved to the position that door lock turns tongue 100, and door lock turns
Tongue 100 is located at the centre of a pair of of clamping jaw 21；
(G2), a pair of of the clamping of clamping jaw 21 door lock of clamping jaw driver driving turns tongue 100；
(G3), 9 driving switch door manipulator of multi-degree-of-freemechanical mechanical arm and clamped door lock turn the rotation of 100 negative direction of tongue
90°；
(G4), a pair of of clamping jaw release door lock of clamping jaw driver driving turns tongue, 9 driving switch door machine tool of multi-degree-of-freemechanical mechanical arm
Hand is detached from door lock and turns tongue 100；
(G5), the 21 horizontal pressing door lock of fingertip of 9 driving switch door manipulator of multi-degree-of-freemechanical mechanical arm turns the upper surface of tongue
Until door lock turns tongue reset, overturning hinge door is closed.
More than, switch gate machinery hand manually realizes installation at the action execution unit of switch gate robot for replacing
There is the automatic switch cabinet door for turning bolt door lock hinge cabinet door, smart structural design, performance is stablized, highly practical, effectively solves to realize
The technical barrier for how mechanically removing cabinet door that data center machine room automation inspection is faced.
Embodiment described above is only the preferred embodiment lifted to absolutely prove the utility model, the utility model
Protection domain it is without being limited thereto.Those skilled in the art on the basis of the utility model made by equivalent substitute or change
It changes, both is within the protection scope of the present invention.The scope of protection of the utility model is subject to claims.
Claims (9)
1. a kind of switch gate manipulator, it is characterised in that：Turn tongue clamping device including door lock and door lock button touches mechanism, it is described
Door lock turns tongue clamping device and door lock button touching mechanism is installed on connecting seat, and the connecting seat is connected by stiffness spring
In fixed seat.
2. switch gate manipulator as described in claim 1, it is characterised in that：It includes a pair of of energy that the door lock, which turns tongue clamping device,
The bare terminal end of the clamping jaw enough opened and closed, the clamping jaw is equipped with " V " font boss.
3. switch gate manipulator as claimed in claim 2, it is characterised in that：It further includes clamping jaw that the door lock, which turns tongue clamping device,
Driver, the clamping jaw driver are mounted on connecting seat, and the clamping jaw driver is equipped with a pair of of sliding block, a pair of clamping jaw
It is separately fixed on a pair of of sliding block by clamping jaw connector.
4. switch gate manipulator as claimed in claim 3, it is characterised in that：The clamping jaw connector is equipped with reinforcing rib.
5. switch gate manipulator as claimed in claim 3, it is characterised in that：The clamping jaw driver is equipped with line slide rail,
A pair of of sliding block is arranged on the line slide rail.
6. switch gate manipulator as claimed in claim 3, it is characterised in that：The clamping jaw driver being capable of self-locking.
7. switch gate manipulator as described in claim 1, it is characterised in that：Door lock button touching mechanism include fingertip,
Sliding bar and fingertip fixed block, the fingertip fixed block are mounted on connecting seat, and axis hole is equipped in the fingertip fixed block, described
Sliding bar is threaded through in axis hole, and the fingertip is connected to sliding bar and stretches out on the outwardly extending end of axis hole.
8. switch gate manipulator as claimed in claim 7, it is characterised in that：The sliding bar can be past in an axial direction in axis hole
It is multiple mobile, it is additionally provided with buffer spring in the axis hole, one end of the buffer spring is connected on fingertip fixed block, the other end
Abut sliding bar.
9. a kind of switch gate robot, it is characterised in that：Including multi-degree-of-freemechanical mechanical arm and as described in claim any one of 1-8
Switch gate manipulator, the switch gate manipulator by its fixed seat be mounted on multi-degree-of-freemechanical mechanical arm last joint flange
On disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721711828.3U CN207669317U (en) | 2017-12-11 | 2017-12-11 | Switch gate manipulator and the switch gate robot for using the manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721711828.3U CN207669317U (en) | 2017-12-11 | 2017-12-11 | Switch gate manipulator and the switch gate robot for using the manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207669317U true CN207669317U (en) | 2018-07-31 |
Family
ID=62967592
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721711828.3U Active CN207669317U (en) | 2017-12-11 | 2017-12-11 | Switch gate manipulator and the switch gate robot for using the manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207669317U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825450A (en) * | 2017-12-11 | 2018-03-23 | 苏州元谋智能机器人系统有限公司 | Switch gate manipulator, switch gate robot and switch gate method |
| CN111923074A (en) * | 2020-07-15 | 2020-11-13 | 重庆城市职业学院 | Artificial intelligent robot hand and use method thereof |
-
2017
- 2017-12-11 CN CN201721711828.3U patent/CN207669317U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825450A (en) * | 2017-12-11 | 2018-03-23 | 苏州元谋智能机器人系统有限公司 | Switch gate manipulator, switch gate robot and switch gate method |
| CN107825450B (en) * | 2017-12-11 | 2024-04-05 | 苏州新优化投资咨询有限公司 | Door opening and closing mechanical arm, door opening and closing robot and door opening and closing method |
| CN111923074A (en) * | 2020-07-15 | 2020-11-13 | 重庆城市职业学院 | Artificial intelligent robot hand and use method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220224 Address after: Room 707A, Guanghong building, No. 287, Dongping street, Dushuhu, Suzhou Industrial Park, Jiangsu 215000 Patentee after: Suzhou New Optimization Investment Consulting Co.,Ltd. Address before: 215000 units 6-701 and 702, creative industrial park, No. 328, Xinghu street, Suzhou Industrial Park, Jiangsu Province Patentee before: SUZHOU UMORE ROBOTICS Co.,Ltd. |