CN207858878U - A kind of mechanical automation grabbing device - Google Patents
A kind of mechanical automation grabbing device Download PDFInfo
- Publication number
- CN207858878U CN207858878U CN201820027554.4U CN201820027554U CN207858878U CN 207858878 U CN207858878 U CN 207858878U CN 201820027554 U CN201820027554 U CN 201820027554U CN 207858878 U CN207858878 U CN 207858878U
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- China
- Prior art keywords
- arm
- curved base
- base arm
- basketball
- arcing
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Abstract
The utility model discloses a kind of mechanical automation grabbing devices,Wherein curved base arm is horizontal positioned and left and right ends are bent forward respectively along the same circular arc,The left end of curved base arm is hinged with arcing engagement arm,The right end of curved base arm is hinged with pendulum connecting bolt,Together with the right end of curved base arm is connected with the right end of arcing engagement arm,It puts connecting bolt right-to-left and is embedded in arcing engagement arm,So that arcing engagement arm and curved base arm tighten together,Arcing engagement arm and curved base arm constitute a matrix circle in a ring,Matrix circle can be nested in basketball periphery from top to bottom,The basketball in matrix circle is carried out along certain circular arc uniformly distributed crawl female tab using three while squeezing folder,Utilize outer connecting seat engagement mechanical arm,The basketball of crawl is lifted when mechanical arm lifts,Basketball is moved in completion,It can avoid the problem that basketball under-inflation and capture unsuccessfully.
Description
Technical field
The utility model belongs to the technical field of mechanical equipment more particularly to a kind of mechanical automation grabbing device.
Background technology
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.The Development Transformation for having benefited from China's economic, in order to adapt to
The economic needs of high speed development, domestic artificial intelligence and robotics development are rapid, the execution part manipulator kind of robot
Class diversification explosion type develops.
In the mechanical automation grabbing device that basketball picks up ball, existing automation grabbing device is generally using imitation human hand
Grabbing device vertical from top to bottom, but the under-inflation in basketball be easy to cause automatic crawl failure and basketball
The case where slippage.
Utility model content
For the above existing problem, the utility model provides a kind of mechanical automation grabbing device, is arranged one
The matrix circle being made of curved base arm and arcing engagement arm, matrix circle can be nested in basketball periphery, utilize three from top to bottom
A crawl female tab uniformly distributed along certain circular arc carries out the basketball in matrix circle while squeezing folder, utilizes outer connecting seat engagement mechanical
Arm lifts the basketball of crawl when mechanical arm lifts, and basketball is moved in completion, can be avoided basketball under-inflation and be captured mistake
The problem of losing.
The technical solution of the utility model is：
The utility model provides a kind of mechanical automation grabbing device, including connection socket, connection bolt, curved base
Arm, sleeve, servo motor, motor set, curved rod, pendulum connecting bolt, arcing engagement arm, crawl female tab, telescopic rod and driving silk
Bar, the curved base arm is horizontal positioned and left and right ends are bent facing forward, the curved base arm respectively along the same circular arc
Left end be hinged with the arcing engagement arm, the right end of the curved base arm is hinged with the pendulum connecting bolt, the arc base
Together with the right end of body arm is connected with the right end of the arcing engagement arm, the pendulum connecting bolt right-to-left is embedded in the arc and connects
Close arm so that the arcing engagement arm and the curved base arm tighten together, the arcing engagement arm and the arc base
Body arm constitutes a matrix circle in a ring, and three institutes towards described matrix circle center are uniformly fixed on described matrix circle
Sleeve is stated, a center for being fixed at the arcing engagement arm is fixed at the arc with two in three sleeves
On shape matrix, one end of the sleeve towards described matrix circle center is embedded with the telescopic rod, and the telescopic rod is described in
One end of matrix circle center is hinged with the crawl female tab, and the telescopic rod is in being partially submerged into the sleeve and screw thread connects
It is connected to the driving lead screw, the driving lead screw is along the straight line Jing Guo described matrix circle center to far from described matrix circle center
Direction extend and stretch out the sleeve, the driving lead screw, which stretches out on the part of the sleeve, is connected with the servo motor,
For the servo motor in being horizontally arranged and being nested with the motor set, the internal face of the motor set is outer with the servo motor
Wall surface close fit is fixedly installed the curved rod respectively towards the left and right sides of the motor set in front, two
The curved rod extends back respectively along the bending of the same circular arc and is fixedly connected respectively with motor set described in other two.
Further, the crawl female tab is made of rubber, and towards the end face of described matrix circle center in concave shape.
Further, the central rear end of the curved base arm is fixedly installed connection socket, and the connection socket is in two
The stud structure of a openings vertically upward, two openings of the connection socket run through from bottom to top respectively is inserted with inserting
Plate, the set plate is L-shape and extends back in the lower end level of horizontal straight panel shape and is fixedly installed the outer connection in H shapes
Seat sequentially passes through forward the outer connecting seat, the rear wall for connecting socket and set plate from the rear end of the outer connecting seat and is provided with
Connect bolt.
Further, there are four the external hole of rectangular distribution for the front and back perforation setting in the upper end of the outer connecting seat
Further, three servo motors are connected using the parallel connection structure of power supply synchronization.
As a result of above-mentioned technology, be allowed to specific positive beneficial effect compared with prior art is the utility model：
1, a matrix circle being made of curved base arm and arcing engagement arm is arranged in the utility model, and matrix circle can be certainly
It is nested in basketball periphery under above, the basketball in matrix circle is carried out together along certain circular arc uniformly distributed crawl female tab using three
When squeeze folder, using outer connecting seat engagement mechanical arm, the basketball of crawl is lifted when mechanical arm lifts, completion basketball is moved,
It can avoid the problem that basketball under-inflation and capture unsuccessfully.
2, the utility model structure is safe and reliable, has good market prospects.
3, the utility model good product performance, service life are long.
4, the utility model is easy to use, convenient and efficient.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of external frame in the utility model；
Fig. 3 is the dependency structure schematic diagram of detachable arc block in the utility model；
Fig. 4 is the sectional view at A-A in Fig. 3.
In figure：The outer connecting seats of 1-, 2- external holes, 3- connection sockets, 4- cover plate, 5- connection bolts, 6- curved bases
Arm, 7- sleeves, 8- servo motors, 9- motor sets, 10- curved rods, 11- put connecting bolt, 12- arcing engagement arms, 13- crawls
Female tab, 14- telescopic rods, 15- drive lead screw.
Specific implementation mode
In order to clarify the technical characteristics of the invention, below by specific implementation mode, and its attached drawing is combined, to this reality
It is described in detail with novel.Following disclosure provides many different embodiments or example is used for realizing the utility model
Different structure.In order to simplify the disclosure of the utility model, hereinafter the component of specific examples and setting are described.In addition,
The utility model can in different examples repeat reference numerals and/or letter.This repetition is to simplify and clear mesh
, the relationship between discussed various embodiments and/or setting itself is not indicated.It should be noted that illustrated in the accompanying drawings
Component is not drawn necessarily to scale.The description to known assemblies and treatment technology and process is omitted to avoid not in the utility model
Necessarily limit the utility model.
In addition, in the description of the present invention, it should be noted that term " center ", "center", "upper", "lower",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "inner", "outside" be orientation based on ... shown in the drawings or
Position relationship is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply the indicated device or member
Part must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply relative importance.
As shown in attached drawing 1- attached drawings 3, a kind of mechanical automation grabbing device of the utility model offer, including connection socket 3,
Connect bolt 5, curved base arm 6, sleeve 7, servo motor 8, motor set 9, curved rod 10, pendulum connecting bolt 11, arcing engagement
Arm 12, crawl female tab 13, telescopic rod 14 and driving lead screw 15, curved base arm 6 is horizontal positioned and left and right ends are respectively along same
One circular arc bending is facing forward, and the left end of curved base arm 6 is hinged with arcing engagement arm 12, and the right end of curved base arm 6 is hinged with
Connecting bolt 11 is put, together with the right end of curved base arm 6 is connected with the right end of arcing engagement arm 12, puts 11 right-to-left of connecting bolt
Embedded arcing engagement arm 12 so that arcing engagement arm 12 and curved base arm 6 tighten together, arcing engagement arm 12 and arc
Matrix arm 6 constitutes a matrix circle in a ring, and three sleeves 7 towards matrix circle center are uniformly fixed on matrix circle,
A center for being fixed at arcing engagement arm 12 is fixed at two on curved base in three sleeves 7,7 court of sleeve
It is embedded with telescopic rod 14 to one end of matrix circle center, one end of telescopic rod 14 towards matrix circle center is hinged with crawl female tab
13, telescopic rod 14 is in being partially submerged into sleeve 7 and is threaded with driving lead screw 15, and driving lead screw 15 is along by matrix
The straight line of circle center extends and stretches out sleeve 7 to the direction far from matrix circle center, and driving lead screw 15 stretches out on the part of sleeve 7
It is connected with servo motor 8, servo motor 8 is in horizontal positioned and is nested with motor set 9, internal face and the servo motor 8 of motor set 9
Outside wall surface close fit, be fixedly installed curved rod 10, two arcs respectively towards the left and right sides of the motor set 9 in front
Shape connecting rod 10 extends back respectively along the bending of the same circular arc and is fixedly connected respectively with other two motor set 9.
Crawl female tab 13 is made of rubber, and towards the end face of matrix circle center be in concave shape, convenient for crawl spherical surface or
Vertical cylindrical structure body.
The central rear end of curved base arm 6 is fixedly installed connection socket 3, and connection socket 3 is in two vertical courts of openings
On stud structure, connect socket 3 two openings respectively from bottom to top run through is inserted with set plate 4, set plate 4 it is L-shape
And extend back in the lower end level of horizontal straight panel shape and be fixedly installed the outer connecting seat 1 in H shapes, from after outer connecting seat 1
End sequentially passes through forward outer connecting seat 1, the rear wall for connecting socket 3 and set plate 4 and is provided with connection bolt 5.
There are four the external holes 2 of rectangular distribution for the front and back perforation setting in the upper end of outer connecting seat 1, convenient for passing through bolted joints
Onto control matrix.
Three servo motors 8 are connected using the parallel connection structure of power supply synchronization, can be synchronized convenient for three telescopic rods 14
It is flexible, ensure the stationarity of crawl.
By using above-mentioned technical proposal, a matrix circle being made of curved base arm 6 and arcing engagement arm 12 is set,
Matrix circle can be nested in basketball periphery from top to bottom, using three along the uniformly distributed crawl female tab 13 of certain circular arc to matrix circle
Interior basketball carries out while squeezing folder, using 1 engagement mechanical arm of outer connecting seat, lifts the basketball of crawl when mechanical arm lifts, complete
Moving for pairs of basketball, can avoid the problem that basketball under-inflation and capture unsuccessfully；Wherein servo motor 8 drives driving silk
Thick stick, driving leading screw are connected through a screw thread the stretching motion for converting own rotation to telescopic rod 14, and telescopic rod 14 drives crawl recessed
Piece 13 moves, and completes crawl close and separate movement of the female tab 13 to matrix circle center.
In the description of the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " company
Connect ", " fixation " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be
Mechanical connection can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary two
The interaction relationship of connection or two elements inside element.And the material side used by each parts of the utility model
Face, if the parts with the description of " elasticity " term, what be may be used is spring steel material, can also be using rubber material
Matter；If the parts with the description of " rigidity " term, what be may be used is steel material, can also be using hard engineering plastic
Expect material.For the ordinary skill in the art, above-mentioned term can be understood in the utility model according to concrete condition
In concrete meaning.
One embodiment of the utility model is described in detail above, but the content is only the utility model
Preferred embodiment should not be considered as limiting the scope of the present invention.It is all to be made according to application scope of the utility model
All the changes and improvements etc., should all still belong within the patent covering scope of the utility model.
Claims (5)
1. a kind of mechanical automation grabbing device, it is characterised in that：Including connection socket, connection bolt, curved base arm, set
Cylinder, servo motor, motor set, curved rod, pendulum connecting bolt, arcing engagement arm, crawl female tab, telescopic rod and driving lead screw, institute
State that curved base arm is horizontal positioned and left and right ends are bent facing forward, the left end of the curved base arm respectively along the same circular arc
It is hinged with the arcing engagement arm, the right end of the curved base arm is hinged with the pendulum connecting bolt, the curved base arm
Together with right end is connected with the right end of the arcing engagement arm, the pendulum connecting bolt right-to-left is embedded in the arcing engagement arm,
So that the arcing engagement arm and the curved base arm tighten together, the arcing engagement arm and the curved base arm structure
At a matrix circle in a ring, three sets towards described matrix circle center are uniformly fixed on described matrix circle
Tin, a center for being fixed at the arcing engagement arm is fixed at the arc base with two in three sleeves
On body, one end of the sleeve towards described matrix circle center is embedded with the telescopic rod, and the telescopic rod is towards described matrix
One end of circle center is hinged with the crawl female tab, and the telescopic rod is in being partially submerged into and being threaded in the sleeve
The driving lead screw, the driving lead screw is along the straight line Jing Guo described matrix circle center to the side far from described matrix circle center
To extending and stretching out the sleeve, it is connected with the servo motor on the part for driving lead screw to stretch out the sleeve, it is described
Servo motor is in horizontal positioned and is nested with the motor set, the outside wall surface of the internal face of the motor set and the servo motor
Close fit is fixedly installed the curved rod, described in two respectively towards the left and right sides of the motor set in front
Curved rod extends back respectively along the bending of the same circular arc and is fixedly connected respectively with motor set described in other two.
2. a kind of mechanical automation grabbing device according to claim 1, it is characterised in that：The crawl female tab uses rubber
Glue is made, and towards the end face of described matrix circle center in concave shape.
3. a kind of mechanical automation grabbing device according to claim 1, it is characterised in that：In the curved base arm
Centre rear end is fixedly installed connection socket, and the connection socket is in the stud structure of two openings vertically upward, the company
Two openings of combination hub run through from bottom to top respectively is inserted with set plate, and the set plate is L-shape and in horizontal straight panel shape
Lower end level extends back and is fixedly installed the outer connecting seat in H shapes, is sequentially passed through forward from the rear end of the outer connecting seat
The outer connecting seat, the rear wall for connecting socket and set plate are provided with connection bolt.
4. a kind of mechanical automation grabbing device according to claim 3, it is characterised in that：The upper end of the outer connecting seat
There are four the external holes of rectangular distribution for front and back perforation setting.
5. a kind of mechanical automation grabbing device according to any one of claim 1-4, it is characterised in that：Described in three
Servo motor is connected using the parallel connection structure of power supply synchronization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820027554.4U CN207858878U (en) | 2018-01-08 | 2018-01-08 | A kind of mechanical automation grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820027554.4U CN207858878U (en) | 2018-01-08 | 2018-01-08 | A kind of mechanical automation grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207858878U true CN207858878U (en) | 2018-09-14 |
Family
ID=63465014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820027554.4U Expired - Fee Related CN207858878U (en) | 2018-01-08 | 2018-01-08 | A kind of mechanical automation grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207858878U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216703A (en) * | 2019-06-03 | 2019-09-10 | 北京交通大学 | A kind of multi-mode robot delicate in parallel |
| CN114618140A (en) * | 2022-04-18 | 2022-06-14 | 西安医学院 | Basketball automatic pickup equipment that basketball training field was used |
-
2018
- 2018-01-08 CN CN201820027554.4U patent/CN207858878U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216703A (en) * | 2019-06-03 | 2019-09-10 | 北京交通大学 | A kind of multi-mode robot delicate in parallel |
| CN110216703B (en) * | 2019-06-03 | 2020-11-24 | 北京交通大学 | Parallel multi-mode robot dexterous hand |
| CN114618140A (en) * | 2022-04-18 | 2022-06-14 | 西安医学院 | Basketball automatic pickup equipment that basketball training field was used |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180914 Termination date: 20210108 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |