CN207682399U - A kind of climbing manipulator - Google Patents
A kind of climbing manipulator Download PDFInfo
- Publication number
- CN207682399U CN207682399U CN201721236894.XU CN201721236894U CN207682399U CN 207682399 U CN207682399 U CN 207682399U CN 201721236894 U CN201721236894 U CN 201721236894U CN 207682399 U CN207682399 U CN 207682399U
- Authority
- CN
- China
- Prior art keywords
- paw
- pedestal
- handgrip
- several
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model embodiment is suitable for mechanical hand technical field, provides a kind of climbing manipulator.The climbing manipulator includes driving device and several self-adapting grasping devices, several self-adapting grasping devices are respectively mounted on the drive means, each self-adapting grasping device includes paw pedestal and several paw components, one end of paw pedestal is installed in rotation in driving device, several paw components are installed on paw pedestal, each paw component includes handgrip and spring, handgrip is movably arranged on paw pedestal, and one end can support paw pedestal, the other end is movable end, spring pocket is set on handgrip, and its both ends bears against the movable end of paw pedestal and handgrip.The utility model by handgrip under the action of driving device driving force and spring force along the axial movement of itself, formed with body surface with adjust automatically and well contacted, well the body surface of adaptive irregular shape.
Description
Technical field
The utility model belongs to manipulator technical field more particularly to a kind of climbing manipulator.
Background technology
The manipulator generally use paw of climbing robot captures body surface, since the dimensional structure of paw is certain
, although can adapt to the body surface of certain areal extent, there are the irregular shapes such as protrusion, bending for part
Body surface, adaptability are poor；And the body surface contact portion of this grasp mode and irregular shape is less, it is likely that
Can exist not enough causes to grab the situation of tree loosely with trunk contact force.Meanwhile the paw of existing climbing robot is opened and is grabbed
It is typically to be completed with linear motor and volute spring to take two actions, and opening action is that linear motor provides active force, is grabbed
It is the elastic force that is provided by volute spring to realize to take action, and this mode only ensures to capture in crawl by the elastic force of spring
State is realized grasping movement by the elastic force of spring itself, can still be existed although energy can be saved to a certain extent
The case where it is unreliable to capture, and generation is grabbed loosely.
Utility model content
The utility model embodiment technical problem to be solved is to provide a kind of climbing manipulator and its implementation,
Aim to solve the problem that manipulator in the prior art has bad adaptability.
The utility model embodiment, which is achieved in that, provides a kind of climbing manipulator comprising driving device and several
Self-adapting grasping device, several self-adapting grasping devices are installed in the driving device, each described adaptive
Grabbing device includes paw pedestal and several paw components, and one end of the paw pedestal is installed in rotation on the driving dress
It sets, several paw components are installed on the paw pedestal, and each paw component includes handgrip and spring,
The handgrip is movably arranged on the paw pedestal, and one end can support the paw pedestal, and the other end is to live
Moved end, the spring pocket is set on the handgrip, and its both ends bears against the activity of the paw pedestal and the handgrip
End.
Further, the handgrip includes guide rod and bluff piece, and the guide rod is arranged on the paw pedestal, and one
End is provided with the block for supporting the paw pedestal, and the bluff piece adjustment is in the other end of the guide rod, the spring pocket
It is located on the guide rod, and between the paw pedestal and bluff piece.
Further, the guide rod is threadedly coupled with the bluff piece.
Further, the bluff piece is provided with an at least tip of a root needle on the end face of body surface.
Further, the paw pedestal is arc-shaped close to the one side of the bluff piece.
Further, there are three the self-adapting grasping device tools, three self-adapting grasping devices are along the circumferential direction
It is uniformly distributed.
Further, there are three the paw component tools, three paw components are arranged in a linear.
Further, the driving device includes pedestal, several driving motors and several driving members, several drives
Dynamic motor is installed on the pedestal, and the driving member is sequentially connected with the driving motor, and the paw pedestal is mounted on
On the driving member.
Further, the driving member includes worm gear, worm screw and connecting rod, and the worm screw is driven with the driving motor
Connection, the worm gear are connected with worm-drive, and the worm gear is fixedly mounted in the connecting rod, and one end of the connecting rod can
It is rotatably mounted on the pedestal, the paw pedestal is mounted on the other end of the connecting rod.
Further, bearing block is installed, the connecting rod is mounted on the bearing block on the pedestal.
Compared with prior art, advantageous effect is the utility model embodiment：The utility model is by will adaptively grab
It takes the paw pedestal on device to install on the drive means, is driven and rotated by driving device, the handgrip on paw component is removable
Be arranged in dynamicly on paw pedestal, when handgrip when moving, one end of handgrip can be supported on paw pedestal, and spring is set in
On handgrip, make the both ends of spring against the movable end of paw pedestal and handgrip；Handgrip on driving device driving paw pedestal
When capturing the body surfaces of irregular shapes such as the trunk of local protuberance, work of the handgrip in driving device driving force and spring force
It can be formed with body surface with adjust automatically and well contacted along the axial movement of itself with lower, ensure the steady of manipulator climbing
Qualitative, there is protrusion in the body surfaces such as adaptive trunk well.
Description of the drawings
Fig. 1 is the climbing manipulator dimensional structure diagram that the utility model embodiment provides；
Fig. 2 is climbing manipulator present invention looks up structural representation shown in FIG. 1；
Fig. 3 is climbing manipulator overlooking structure diagram shown in FIG. 1；
Fig. 4 is the self-adapting grasping device dimensional structure diagram in Fig. 1；
Fig. 5 is self-adapting grasping device schematic cross-sectional view shown in Fig. 4.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
As shown in Figures 1 to 5, it is a kind of climbing manipulator of the utility model embodiment offer.The climbing manipulator packet
Driving device 2 and several self-adapting grasping devices 1 are included, several self-adapting grasping devices 1 are uniformly mounted in driving device 2,
In the present embodiment, there are three the tools of self-adapting grasping device 1, three self-adapting grasping devices 1 are distributed uniformly and circumferentially.Often
One self-adapting grasping device 1 includes that paw pedestal 11 and several paw components 12, one end of paw pedestal 11 are rotatably mounted
In driving device 2, several paw components 12 are uniformly mounted on paw pedestal 11, and paw pedestal 11 is driven by driving device 2
Turn is dynamic, to drive paw component 12 to capture body surface.In the present embodiment, in order to ensure paw component 12 to object
The stability of surface crawl, there are three the tools of paw component 12 on each self-reacting device 1, and three paw components 12 are linearly arranged
Row.Above-mentioned each paw component 12 includes handgrip 13 and spring 14, and handgrip 13 is movably arranged on paw pedestal 11, and
And one end of the handgrip 13 can support paw pedestal 11, the other end is movable end, for holding body surface；Spring 14 is sheathed on
On handgrip 13, and the both ends of the spring 14 bear against the movable end of paw pedestal 11 and handgrip 13, and handgrip 13 is enable to exist
It can be along the axial movement of itself under the action of 14 elastic force of 2 driving force of driving device and spring.
In above-described embodiment, handgrip 13 includes guide rod 131 and bluff piece 132, and guide rod 131 is actively arranged in paw pedestal 11
On, and one end is provided with the block 130 for supporting paw pedestal 11, for being limited to the displacement of handgrip 13.Pawl
Part 132 is mounted on the other end of guide rod 131, and spring 14 is set on guide rod 131, and positioned at paw pedestal 11 and bluff piece 132 it
Between, which supports bluff piece 132 under the effect of elasticity.Specifically, it is provided with screw thread on guide rod 131, there is spiral shell on bluff piece 132
Pit is connected through a screw thread between guide rod 131 and bluff piece 132, can be adjusted by adjusting the cooperation depth of threaded hole and screw thread
The relative position between guide rod 131 and bluff piece 132 is saved, bluff piece 132 is made to have certain stroke to adjust, it is larger range of to adapt to
Body surface.
In above-described embodiment, bluff piece 132 is provided with an at least tip of a root needle 3 on the end face of body surface, in this implementation
In example, more equally distributed prongs are set on bluff piece 132, which can be round needle or angular pin, material can be metal or
Ceramics are contacted for forming many places with body surface, to carry out stablizing crawl to object.In paw pedestal 11 close to bluff piece 132
One side it is arc-shaped, to adapt to the body surface of the curve forms such as trunk.
In above-described embodiment, driving device 2 includes pedestal 21, several driving motors 22 and several driving members 23.Wherein,
Pedestal 21 is in the form of annular discs, and several driving motors 22 are installed on pedestal 21, the quantity of several driving motors 22 with adaptively grab
Take the quantity of device 1 equal, individually controlling respective self-adapting grasping device 1 by each driving motor 22 rotates, with
There are the irregular body surfaces such as different protrusions in the trunk and surface for adapting to different-diameter.Driving member 23 is passed with driving motor 22
Dynamic connection, paw pedestal 11 are mounted on driving member 23.Specifically, driving member 23 includes worm gear 231, worm screw 232 and connection
Bar 233, worm screw 232 are sequentially connected with driving motor 22, and worm gear 231 and worm screw 232 are sequentially connected, and worm gear 231 is fixedly mounted on
The middle part of connecting rod 233 is equipped with bearing block 4 on pedestal 21, and one end of connecting rod 233 is rotationally threaded through on pedestal 21
In bearing block 4, and on the other end that paw pedestal 11 is mounted on connecting rod 233, the both ends of connecting rod 233 are all made of axis use
Snap ring limits the axial displacement of connecting rod 133.Above-mentioned driving device 2 drives worm screw 232 to rotate by driving motor 22, worm screw
232 are driven with the cooperation of worm gear 231, and connecting rod 233 follows worm gear 231 to rotate, and connecting rod 233 is made to drive grabbing on paw pedestal 11
Hand 13 actively captures and unclamps body surface.
Above-mentioned climbing manipulator illustrated for climbing trunk its operation principle approximately as：
When carrying out climbing work, starts driving motor 22 and be driven forward the rotation of worm screw 232, utilize worm gear 231 and worm screw
232 are driven to drive paw pedestal 11 to rotate, when paw pedestal 11 is turned to close to trunk, the prong 3 on bluff piece 132 and tree
Dry surface contact, driving motor 22 work on, 3 stress of prong and tie trunk, simultaneously, effect of the handgrip 13 in stress
The lower axial direction along itself moves, and spring 14 is compressed, since spring 14 can occur in various degree according to different pressure
Elastic deformation, to adapt to trunk surface radian curve form not of uniform size and different shape for lugs.
Simultaneously as driving motor 22 is driven with worm gear 231, the cooperation of worm screw 232, worm gear 231 itself has with worm screw 232
Latching characteristics so that handgrip 13 is after catching trunk, even if the power-off of driving motor 22 still can guarantee that handgrip 13 is steadily grabbed
Firmly for trunk without unclamping, the only reversion of driving motor 22 can just make handgrip 13 unclamp trunk, ensure that the stabilization of actively crawl
Property, and energy can be greatlyd save.When driving motor 22, which is driven reverse handgrip 13, unclamps trunk, the prong 3 on bluff piece 132
It is detached with trunk.
It should be noted that above-mentioned climbing manipulator can not only be used to climb trunk, moreover it can be used to climb surface and not advise
Wall, rock, hillside then etc. and can be used for climb have certain curvature or protrusion body surface, it is small and bear a heavy burden
Ability is strong, applied widely.
In conclusion the climbing manipulator of the utility model has the following advantages that：(1) certainly by the axial movement of handgrip 13
There is protrusion in the dynamic body surfaces such as trunk that adapt to, and pass through the relative distance adjusted between bluff piece 132 and guide rod 131
The body surface within the scope of certain radian is adapted to, it is easy to adjust, it is highly practical；(2) by driving motor 22 and worm gear 231,
The cooperation transmission of worm screw 232, makes handgrip 13 have the ability for actively capturing and unclamping body surface, substantially increases the efficiency of crawl
And stability；(3) by the way that several prongs 3 are arranged on bluff piece 132, handgrip 13 is enable more firmly to catch body surface,
Ensure the fastness of crawl.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (10)
1. a kind of climbing manipulator, including driving device, which is characterized in that the manipulator further includes several self-adapting grasping dresses
It sets, several self-adapting grasping devices are installed in the driving device, and each self-adapting grasping device includes
Paw pedestal and several paw components, one end of the paw pedestal is installed in rotation in the driving device, described
Several paw components are installed on the paw pedestal, and each paw component includes handgrip and spring, and the handgrip can
It is movably arranged on the paw pedestal, and one end can support the paw pedestal, the other end is movable end, the bullet
Spring is sheathed on the handgrip, and its both ends bears against the movable end of the paw pedestal and the handgrip.
2. climbing manipulator as described in claim 1, which is characterized in that the handgrip includes guide rod and bluff piece, the guide rod
It is arranged on the paw pedestal, and one end is provided with the block for supporting the paw pedestal, the bluff piece adjustment
In the other end of the guide rod, the spring is set on the guide rod, and between the paw pedestal and bluff piece.
3. climbing manipulator as claimed in claim 2, which is characterized in that the guide rod is threadedly coupled with the bluff piece.
4. climbing manipulator as claimed in claim 2, which is characterized in that the bluff piece is arranged on the end face of body surface
There is an at least tip of a root needle.
5. climbing manipulator as claimed in claim 2, which is characterized in that one side of the paw pedestal close to the bluff piece
It is arc-shaped.
6. climbing manipulator as described in claim 1, which is characterized in that there are three the self-adapting grasping device tools, three
The self-adapting grasping device is distributed uniformly and circumferentially.
7. climbing manipulator as described in claim 1, which is characterized in that there are three the paw component tools, three hands
Claw assembly is arranged in a linear.
8. climbing manipulator as claimed in any of claims 1 to 7 in one of claims, which is characterized in that the driving device includes seat
Body, several driving motors and several driving members, several driving motors are installed on the pedestal, the driving member
It is sequentially connected with the driving motor, the paw pedestal is mounted on the driving member.
9. climbing manipulator as claimed in claim 8, which is characterized in that the driving member includes worm gear, worm screw and connection
Bar, the worm screw are sequentially connected with the driving motor, and the worm gear is connected with worm-drive, and the worm gear is fixedly mounted on institute
It states in connecting rod, one end of the connecting rod is installed in rotation on the pedestal, and the paw pedestal is mounted on the company
On the other end of extension bar.
10. climbing manipulator as claimed in claim 9, which is characterized in that be equipped with bearing block, the connection on the pedestal
Bar is mounted on the bearing block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721236894.XU CN207682399U (en) | 2017-09-25 | 2017-09-25 | A kind of climbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721236894.XU CN207682399U (en) | 2017-09-25 | 2017-09-25 | A kind of climbing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207682399U true CN207682399U (en) | 2018-08-03 |
Family
ID=62987001
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721236894.XU Active CN207682399U (en) | 2017-09-25 | 2017-09-25 | A kind of climbing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207682399U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696044A (en) * | 2017-09-25 | 2018-02-16 | 香港中文大学（深圳） | A kind of climbing manipulator |
| CN110653839A (en) * | 2019-09-19 | 2020-01-07 | 常州工学院 | Robot tongs with position fine-tuning function |
-
2017
- 2017-09-25 CN CN201721236894.XU patent/CN207682399U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696044A (en) * | 2017-09-25 | 2018-02-16 | 香港中文大学（深圳） | A kind of climbing manipulator |
| CN110653839A (en) * | 2019-09-19 | 2020-01-07 | 常州工学院 | Robot tongs with position fine-tuning function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107696044A (en) | A kind of climbing manipulator | |
| CN207682399U (en) | A kind of climbing manipulator | |
| CN202684926U (en) | Manipulator for grabbing LED (Light Emitting Diode) bulb lamp | |
| CN103846922B (en) | Tooth bar non-return self adaptation under-actuated robot finger device | |
| CN105835082B (en) | A kind of electromagnetic and mechanical gripper equipment | |
| CN108909867B (en) | Climbing robot | |
| CS213617B1 (en) | Catching head particularly for industrial robots | |
| CN110125957A (en) | A kind of mechanical industrial robot end effector | |
| CN203993899U (en) | A kind of robot palletizer hand of adjusting angle is automatically grabbed | |
| CN208022381U (en) | A kind of automation workpiece gripper device | |
| CN102950600B (en) | Manipulator | |
| CN105437253A (en) | Self-locking fluid linkage self-adaptive robot finger device | |
| CN206764813U (en) | A kind of anti-skidding manipulator | |
| CN108045948A (en) | A kind of automation workpiece gripper device | |
| CN103831836B (en) | Allosteric type many seized conditions mechanical paw | |
| CN205838346U (en) | A kind of disconnecting preventing suspension hook | |
| CN109129546B (en) | Electromagnetic paw for robot assembly bearing and use method thereof | |
| CN108098803B (en) | Many specifications clamping device | |
| CN203767856U (en) | Automatic opening and closing type steel pipe hanging clamp | |
| CN206608427U (en) | A kind of bolt | |
| CN207771699U (en) | A kind of object pick device | |
| CN211440015U (en) | Manipulator for fruit sorting | |
| CN203557376U (en) | Smart-type manipulator | |
| CN211967563U (en) | Adsorption type mechanical arm | |
| CN206296900U (en) | The six axis robot device of light-type |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |