CN208584560U - Grasping mechanism and moveable platform - Google Patents
Grasping mechanism and moveable platform Download PDFInfo
- Publication number
- CN208584560U CN208584560U CN201820601305.1U CN201820601305U CN208584560U CN 208584560 U CN208584560 U CN 208584560U CN 201820601305 U CN201820601305 U CN 201820601305U CN 208584560 U CN208584560 U CN 208584560U
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- China
- Prior art keywords
- storage tank
- clamping limb
- clamping
- connecting rod
- clamp assemblies
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The utility model provides a kind of grasping mechanism and moveable platform.The grasping mechanism of the utility model, including driving assembly and at least one set of clamp assemblies；The clamp assemblies are for clamping storage tank, the driving component is for driving the clamp assemblies mobile, so that the clamp assemblies drag the storage tank and the storage tank is driven to overturn by fulcrum of fixed obstacle, and pour out the object held in the storage tank.The utility model can fast and easily take storage tank.
Description
Technical field
The utility model relates to moveable platform technology more particularly to a kind of grasping mechanisms and moveable platform.
Background technique
With the continuous development of science and technology, the various robots or other mobile equipments for using remote control or automatic control mode
It is more and more widely used.
Currently, perhaps other moveable platforms can usually execute stacking task or realize other objects for robot
It takes.For example, in some occasions, robot can execute simulated gunnery task, at this point, robot needs have bullet to storage
Caisson take, and by bullet of taking in storage tank；In another example moveable platform can carry out rubbish in some occasions
Rubbish case taking and overturning, so that the rubbish in dustbin be taken out.Specifically, storage tank is generally top surface opening, inside is deposited
The cube structure of storage body, to take storage tank convenient for robot, the usual proper alignment of storage tank is placed, and each storage tank
The fixed frame being square using one is limited, the upper height for being lower than storage tank along height of fixed frame, so as to limit
While position, take on the outside of fixed frame storage tank convenient for robot.Robot is when taking storage tank, it usually needs first will
Mechanical arm extends to above storage tank, then storage tank is taken out fixed frame along the vertical direction, then translates storage tank to taking sticking position to set,
Storage tank is finally overturn, the bullet in storage tank is poured out.
However, robot when taking storage tank, take movement it is slower, will affect the speed of itself whole flow process and
Expend more energy.
Utility model content
The utility model provides a kind of grasping mechanism and moveable platform, and can fast and easily take storage tank.
In a first aspect, the utility model provides a kind of grasping mechanism, including driving assembly and at least one set of clamp assemblies；Folder
Component is held for clamping storage tank, driving assembly is for driving clamp assemblies mobile, so that clamp assemblies dragging storage tank and band
Dynamic storage tank is overturn by fulcrum of fixed obstacle.
Optionally, clamp assemblies are two groups, and two groups of clamp assemblies are arranged side by side.
Optionally, every group of clamp assemblies include two and are arranged in parallel and at interval clamping limb, each clamping limb with it is another
The opposite clamping piece being provided on one side for clamping storage tank of clamping limb, and clamping piece can opposing grasping arm horizontally rotate；
Wherein, the clamping piece of each clamping limb can mobile or each clamping limb can be mobile to another clamping limb to another clamping limb.
Optionally, the first actuator is provided between clamping piece and corresponding clamping limb, the first actuator is for driving
Clamping piece is mobile to another clamping limb.
Optionally, the first actuator is cylinder, and the cylinder body of cylinder is connected with clamping limb, and the piston rod and clamping piece of cylinder connect
It connects, and can be relatively rotated between piston rod and cylinder body.
Optionally, clamp assemblies further include crossbeam, and crossbeam is connected between two clamping limbs, after crossbeam is used for and overturns
Storage tank abuts.
Optionally, it is flexibly connected between crossbeam and clamping limb, and crossbeam has variable height and position relative to clamping limb.
Optionally, clamping limb includes the tilting section for being provided with the horizontal segment of clamping piece and connecting with crossbeam；The bottom of tilting section
End is connected with horizontal segment, and the angle between tilting section and horizontal segment is obtuse angle.
Optionally, camera is additionally provided on crossbeam.
Optionally, driving assembly includes at least one link mechanism, and each link mechanism includes first level arm, second
Horizontal arm and at least two connecting rods；First level arm and the second horizontal arm are respectively positioned in the vertical plane parallel with clamping limb, the
Two horizontal arms are connected with clamp assemblies, and the both ends of connecting rod are hinged with first level arm and the second horizontal arm respectively；Connecting rod
For being rotated relative to first level arm around horizontal axis, so that the second horizontal arm drives clamp assemblies mobile.
Optionally, all connecting rods are mutually parallel and length having the same.
Optionally, at least one link mechanism includes the first connecting rod mechanism and second connecting rod mechanism being parallel to each other, and first
Link mechanism is connected with different clamping limbs respectively with second connecting rod mechanism.
Optionally, first connecting rod mechanism is connected with the first clamping limb, and second connecting rod mechanism is connected with the second clamping limb, and the
Spacing between one link mechanism and second connecting rod mechanism is less than the spacing between the first clamping limb and the second clamping limb.
Optionally, driving assembly further includes the second actuator, and the second actuator is for driving at least one connecting rod opposite
It is rotated in first level arm.
Optionally, driving assembly further includes transmission mechanism, and transmission mechanism includes coaxially connected with the horizontal rotating shaft of connecting rod
Driving wheel, driving wheel be used under the driving of the second actuator drive connecting rod rotate synchronously.
Optionally, fixed obstacle is arranged on grasping mechanism；Alternatively, fixed obstacle is for limiting storage tank position
Fixed frame.
Second aspect, the utility model provide a kind of moveable platform, including fuselage and grasping mechanism as described above.
The utility model grasping mechanism and moveable platform, grasping mechanism specifically include driving assembly and at least one set of clamping
Component；Clamp assemblies are for clamping storage tank, and driving assembly is for driving clamp assemblies mobile, so that clamp assemblies drag storing
Case simultaneously drives storage tank to overturn by fulcrum of fixed obstacle.Grasping mechanism can use the overturning of storage tank itself and incite somebody to action in this way
Object in storage tank takes out, and operating process is simple and fast.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is
Some embodiments of the utility model, for those of ordinary skill in the art, in the premise of not making the creative labor property
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram for the grasping mechanism that the utility model embodiment one provides；
Fig. 2 is the top view for the grasping mechanism that the utility model embodiment one provides；
Fig. 3 is the side view for the grasping mechanism that the utility model embodiment one provides；
Fig. 4 a is that the grasping mechanism that the utility model embodiment one provides starts status diagram when dragging in storage tank；
Fig. 4 b is that the grasping mechanism that the utility model embodiment one provides generates status diagram when overturning in storage tank；
Fig. 4 c is that the grasping mechanism that the utility model embodiment one provides overturns status diagram when completing in storage tank；
Fig. 5 a is position view of the clamp assemblies of the offer of the utility model embodiment one before clamping；
Fig. 5 b is that the clamp assemblies that the utility model embodiment one provides complete position view when clamping.
Description of symbols:
1,1a, 1b-clamp assemblies；2-driving assemblies；11,11a, 11b-clamping limb；12-clamping pieces；13-the first
Actuator；14-crossbeams；20-fixed obstacles；21-link mechanisms；21a-first connecting rod mechanism；21b-second connecting rod machine
Structure；22-the second actuator；23-driving wheels；24-transmission shafts；111-horizontal segments；112-tilting sections；141-cameras；
211-first level arms；212-the second horizontal arm；213-connecting rods.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
Common, moveable platform can carry out stacking task, or realize taking for object under other occasions.At this point,
Object can be contained in the storage tank with irregular figure.Storage tank is generally positioned at designated position, and object is held
In storage tank, and moveable platform needs to take storage tank from designated position, and the object in storage tank is taken out or poured out.
Fig. 1 is the structural schematic diagram for the grasping mechanism that the utility model embodiment one provides.Fig. 2 is that the utility model is implemented
The top view for the grasping mechanism that example one provides.Fig. 3 is the side view for the grasping mechanism that the utility model embodiment one provides.Such as figure
1 to shown in Fig. 3, and for storage tank of taking, grasping mechanism provided in this embodiment specifically includes driving assembly 2 and at least one set
Clamp assemblies 1；Clamp assemblies 1 are for clamping storage tank 10, and driving assembly 2 is for driving clamp assemblies 1 mobile, so that clamping group
Part 1 drags storage tank 10 and drives storage tank 10 with fixed obstacle 20 for fulcrum overturning, and overturning is contained for toppling in storage tank
The object put.
Fig. 4 a is that the grasping mechanism that the utility model embodiment one provides starts status diagram when dragging in storage tank.
Fig. 4 b is that the grasping mechanism that the utility model embodiment one provides generates status diagram when overturning in storage tank.Fig. 4 c is this
The grasping mechanism that utility model embodiment one provides overturns status diagram when completing in storage tank.Wherein, grasping mechanism is set
It sets on the fuselage of moveable platform, and the clamp assemblies 1 in grasping mechanism can move under the driving of driving assembly 2.Folder
Storage tank 10 can be clamped by holding component 1, and be dragged by the movement of itself.Common, clamp assemblies 1 are clamped in storage tank
10 middle and upper part, and the bottom of storage tank 10 nearby can generally be provided with fixed obstacle 20.When clamp assemblies 1 drag storage tank
When 10 movement, the top of storage tank 10 has the trend for following clamp assemblies 1 mobile, and the lower part of storage tank 10 then can be with folder
The fixed obstacle 20 for encountering front in the moving process of component 1 is held, and is stopped under the obstruction of fixed obstacle 20 to Forward
Dynamic trend.At this point, the top of storage tank 10 still can moving and continue to move forward with clamp assemblies 1, such storage tank 10
Top and the bottom have inconsistent movement speed, and storage tank 10 will be in the trend of tip forwards, and in the drive of driving assembly 2
Under, overturning is generated using fixed obstacle 20 as fulcrum, at this point, the objects such as bullet held in storage tank 10 can be by storing up
It is poured out automatically in object case 10, and is supplied to moveable platform.
In this way, carry out taking bullet since grasping mechanism is changed by the posture generated when itself gravity-center-change of storage tank 10, when
The clamp assemblies 1 of grasping mechanism clamp after storage tank 10, it is only necessary to which clamp assemblies 1 itself move facing one direction
Storage tank 10 is driven successively to realize sequence that is mobile, overturning and pour out object.In entirely clamping storage tank 10 and extract
During body, the movement of clamp assemblies 1 and move mode are relatively simple, and take that bounce journey efficient and convenient.
Wherein, fixed obstacle 20 can be relatively fixed with the placed side of storage tank 10, be also possible to be located at gripper
Component on structure.For example, as one of optional embodiment, fixed obstacle 20 be can be set on grasping mechanism.
At this point, the fixed obstacle 20 on grasping mechanism can close on storage tank 10 when moveable platform is moved near storage tank 10
Bottom, in this way when clamp assemblies 1 clamp storage tank 10, and drag storage tank 10 to side, the fixed barrier on grasping mechanism
Hinder object 20 that can stop the movement of 10 bottom of storage tank, and storage tank 10 is made to generate overturning with 20 fulcrum of fixed obstacle, thus
Object in storage tank 10 is poured out.
And as another optional embodiment, fixed obstacle 20 may be for consolidating to 10 limit of storage tank
Determine frame.Fixed frame is usually square box, and the height of fixed frame is lower, usually less than the half of 10 height of storage tank.In this way when
When clamp assemblies 1 clamp storage tank 10 and drag, 10 top of storage tank can move under the drive of clamp assemblies 1, and storage tank
10 lower part can be fixed frame and be hindered, thus storage tank 10 will be using fixed frame as fulcrum is overturn and pours out object.
In order to provide sufficient ammunition to moveable platform, grasping mechanism can disposably clamp one or more storage tanks
10.In order to clamp multiple storage tanks 10 simultaneously, optionally, the clamp assemblies 1 in grasping mechanism can be two groups, and two groups of clampings
Component is arranged side by side.Such two groups of clamp assemblies 1 can clamp two storage tanks 10 placed side by side respectively, and pour out storage tank
Object in 10.For example, as shown in Fig. 2, grasping mechanism may include clamp assemblies 1a and clamp assemblies 1b.
It is understood that grasping mechanism also may include clamp assemblies more than two, and multiple groups clamp assemblies 1 can be with
For clamping more than two storage tanks 10.And clamp assemblies 1 are when being multiple, can be juxtaposed positions between clamp assemblies 1,
It can be other relative positional relationships, it is without restriction herein.
Optionally, in order to clamp storage tank 10, clamp assemblies 1 can have a variety of different structure types.Optionally, often
Group clamp assemblies 1 include two and are arranged in parallel and at interval clamping limb 11, one opposite with another clamping limb of each clamping limb
Face is provided with the clamping piece 12 for clamping storage tank 10, and clamping piece 12 can opposing grasping arm 11 horizontally rotate；Wherein, often
The clamping piece of a clamping limb can mobile or each clamping limb can be mobile to another clamping limb to another clamping limb.
Two such clamping limb 11 is arranged in parallel, thus can be formed between two clamping limbs for accommodating storage tank 10
Space.Clamping piece 12 is provided on each clamping limb, clamping piece 12 is used for and storage tank 10 contacts, and storage tank 10 is clamped
Between two clamping limbs, and two clamping pieces are clamped in the opposite sides of storage tank 10 respectively.In order to allow storage tank 10 can be with
Free overturning is carried out by fixed obstacle 20, free to rotate between clamping piece 12 and clamping limb 11, such clamping limb 11 can
To remain translation or Small-angle Rotation, and clamping piece 12 can carry out wide-angle around horizontal rotating shaft together with storage tank 10
Rotation.
And in order to which storage tank 10 to be firmly clamped between two clamping limbs, the distance between two clamping pieces can increase
It adds deduct few, to complete clamping and release to storage tank 10, or adjusts to the position for clamping different storage tanks 10.
Specifically, clamp assemblies 1 can realize the adjustment of the distance between clamping piece 12 by different modes.Such as in one kind
In optional mode, each clamping limb can be mobile to another clamping limb.Whole spacing between two such clamping limb
It can change, thus the spacing of clamping piece 12 can also change therewith, to complete the clamping and release to different storage tanks 10.Two
A clamping limb can complete the adjustment of the larger spacing between clamping limb 11 by whole movement, to be adapted to different size
Storage tank 10.
And in another optional mode, clamping limb 11 can be kept fixed, and the clamping piece of each clamping limb
Clamping can be realized to the mobile mode of another clamping limb.Specifically, clamping piece 12 can drive by cylinder or motor etc. are different
Flowing mode realizes the movement to another clamping limb, and the whole position remained stationary with another clamping limb of clamping limb at this time.
Since clamping limb 11 is whole motionless, thus the spacing adjustment of two clamping pieces is relatively easy to, and can be conveniently accomplished clamping and pine
It opens.Fig. 5 a is position view of the clamp assemblies of the offer of the utility model embodiment one before clamping.Fig. 5 b is that this is practical new
Position view of the clamp assemblies that type embodiment one provides when completing clamping.As shown in figure 5 a and 5b, clamp assemblies
Clamping piece on two clamping limbs can move towards, to clamp to storage tank 10.
Wherein, since storage tank 10 is usually square or cuboid, thus in order to avoid other on clamping limb 11
Structure hinders the overturning of storage tank 10, and common, the end regions of clamping limb 11 are arranged in clamping piece 12.Storage tank 10 turns in this way
When turning, it is not easily susceptible to the obstruction of the other structures on clamping limb 11.
In order to be securely held on storage tank 10, clamping piece 12 and storage tank 10 contact surface usually has anti-Slipped Clove Hitch
Structure, such as non-slip texture or anti-slip material etc..And in order to avoid damaging the surface of storage tank 10 in clamping, clamping piece 12 is logical
It can be often made of flexible materials such as rubber.
It is common, in order to avoid the variation of the structure in clamping of clamp assemblies 1 is smaller, generally take clamping limb 11 fixed not
It is dynamic, and clamping piece 12 can opposing grasping arm 11 to the mobile mode of another clamping limb realize the clamping to storage tank 10.At this point, being
Driving clamping piece 12 is mobile, optionally, first actuator 13 is provided between clamping piece 12 and corresponding clamping limb, first drives
Moving part 13 is for driving clamping piece 12 mobile to another clamping limb.In this way under the driving of the first actuator 13, clamping piece 12 is
10 two sides of storage tank can be clamped in, or after the first actuator 13 removes chucking power, make storage tank 10 from the folder of clamping piece 12
Hold middle release.
Optionally, in clamp assemblies 1, it can be and be provided with the first actuator 13 on one of clamping limb and drive corresponding
Clamping piece it is mobile, and the clamping piece on another clamping limb is fixed, is also possible to be respectively provided with the first drive on two clamping limbs
Moving part 13, and corresponding clamping piece moves towards.
Optionally, the first actuator 13 can be cylinder, and the cylinder body and clamping limb 11 of cylinder connect, the piston rod of cylinder with
Clamping piece 12 connects, and can relatively rotate between piston rod and cylinder body.Cylinder can be pushed or pull on by gas pressure in this way
Piston rod, and clamping piece 12 is driven to realize the clamping to storage tank 10.Between usually being had between the piston and cylinder body of cylinder centainly
Gap, so that allowing between piston rod and cylinder body can rotate relatively freely, thus the clamping piece 12 connected with piston rod can also phase
Clamping limb 11 is freely rotated, to enable the realization of storage tank 10 freely to turn over when clamping limb 11 drags storage tank 10
Turn.
In addition, the first actuator 13 or other forms, such as commonly used by motor or those skilled in the art
Driving device etc., as long as the movement of clamping piece 12 may be implemented, and keeping can relatively freely between clamping piece 12 and clamping limb 11
Rotation, it is without restriction herein.
And storage tank 10 is under the dragging of clamp assemblies 1 when overturning, in order to avoid storage tank 10 is overturned in moveable platform
Body on, need to control the flip angle of storage tank 10.At this point, optional, clamp assemblies 1 can also include crossbeam 14, horizontal
Beam 14 is connected between two clamping limbs, and the storage tank 10 after crossbeam 14 is used for and overturns abuts.
In general, crossbeam 14 is usually located at one end of the separate clamping piece 12 of clamping limb 11.Crossbeam 14 has certain height
Degree, when storage tank 10 is overturn under the dragging of clamp assemblies 1 and the blocking of fixed obstacle 20, can climb over forward compared with big angle
Degree, until the bottom reversed of storage tank 10 is to higher position.At this point, storage tank 10 can overturn the position abutted as crossbeam 14
It sets.Due to the blocking of crossbeam 14, storage tank 10 can not continue to overturn forward, and can only be maintained at the flip angle, such storing
Object in case 10 more can smoothly be poured out under the flip angle, and be supplied to moveable platform.
Optionally, can be to be flexibly connected between crossbeam 14 and clamping limb 11, and crossbeam 14 has relative to clamping limb 11
Variable height and position.In this way, crossbeam 14 can be mobile relative to clamping limb 11, and adjust to the difference relative to clamping limb 11
Highly.Correspondingly, storage tank 10 will be blocked on different flip angle positions in overturning by crossbeam 14.It in this way can be with
It allows the crossbeam 14 of different height to match the storage tank 10 of different size, or realizes the different tilt states etc. of storage tank 10.
Wherein, crossbeam 14 can be realized by the modes such as sliding rail or spaced multiple fixation holes relative to clamping limb
11 variable height.For example, crossbeam 14 can use the different height position that sliding rail slides into clamping limb 11, or setting exists
The fixation hole of different height position is medium.In addition, crossbeam 14 can also be real using the common mode of other those skilled in the art
Now flexible connection height-adjustable between clamping limb 11, details are not described herein again.
In order to which simultaneously convenient for clamping storage tank 10 and setting crossbeam 14, optionally, clamping limb 11 includes being provided with clamping piece
12 horizontal segment 111 and the tilting section 112 being connect with crossbeam 14；Wherein, the bottom end of tilting section 112 is connected with horizontal segment 111, inclines
Angle between oblique section 112 and horizontal segment 111 is obtuse angle.At this point, clamping piece 12 is located on the horizontal segment 111 of clamping limb 11, and
The horizontal segment of clamping limb 11 extends to the side of storage tank 10, and connect with acclivitous tilting section 112, such clamping limb 11
Horizontal segment 111 can shield and sustain in the two sides of storage tank 10, and the tilting section 112 of clamping limb 11 can provide enough for crossbeam 14
Mounting height and crossbeam 14 and storage tank 10 between suitable spacing, consequently facilitating storage tank 10 realization topple over.
In addition, it is optional, camera 141 is additionally provided on crossbeam 14.The visual angle of camera 141 covers 12 He of clamping piece
Storage tank 10, so as to observe the clamp position of clamp assemblies 1 and the posture of storage tank 10, facilitate to ammunition feed mechanism and
Moveable platform is operated.
And in order to drive clamp assemblies 1 to move integrally, to drag storage tank 10, driving assembly 2 also can have a variety of
Form and structure.In a kind of wherein optional structure, driving assembly 2 includes at least one link mechanism 21, each connecting rod machine
Structure 21 includes first level arm 211, the second horizontal arm 212 and at least two connecting rods 213.
Wherein, first level arm 211 is respectively positioned in the vertical plane parallel with clamping limb 11 with the second horizontal arm 212, and second
Horizontal arm 212 and clamp assemblies 1 connect, the both ends of connecting rod 213 respectively with first level arm 211 and the second horizontal arm 212
Hingedly；Connecting rod 213 is used to rotate relative to first level arm 211 around horizontal axis, so that the second horizontal arm 212 drives clamping
Component 1 is mobile.
At this point, the first level arm 211 in driving assembly 2 can be used as the rack of entire link mechanism 21, and with it is removable
The fuselage of moving platform is fixedly connected.When moveable platform takes storage tank 10, the fuselage of moveable platform and storage tank 10
It is opposing stationary between placed side, thus first level arm 211 can also be remain stationary between the placed side of storage tank 10, and connect
Bar 213 and first level arm 211 then can be mobile relative to first level arm 211.First level arm 211 and the second horizontal arm 212
It is respectively positioned in the vertical plane parallel with clamping limb 11, thus the second horizontal arm 212 can drive clamping limb 11 to move together.
In link mechanism 21, the both ends of each connecting rod 213 are the same as first level arm 211 and the second horizontal arm 212
Hingedly, thus between first level arm 211, the second horizontal arm 212 and connecting rod 213 one has been collectively constituted in quadrangle
Four-bar mechanism.Since the shape of quadrangle is more unstable, so when first level arm 211 is fixed, connecting rod 213 relative to
Itself between first level arm 211 hinge joint rotation when, the second horizontal arm 212 can under the drive of connecting rod 213 together
It is mobile, and drive the clamp assemblies 1 connecting with the second horizontal arm 212 to move together in turn.It is only needed in this way through control connection
The rotation of bar 213 can make the second horizontal arm 212 that entire clamp assemblies 1 be driven to realize movement, to drag storage tank 10.
Further, all connecting rods 213 can keep being parallel to each other, and all connecting rods 213 all have it is identical
Length.At this point, defining the double leval jib of quadrangle jointly between connecting rod 213, first level arm 211 and the second horizontal arm 212
Mechanism.At this point, the opposite side of the quadrangle four-bar mechanism is parallel and equal length, thus first level arm 211 and the second water
Flat arm 212 can keep the state being parallel to each other always.Thus the second horizontal arm 212 can remain translation, correspondingly, clamping group
Part 1 can also keep translating therewith, and when dragging storage tank 10, movement is more regular, functional reliability with higher.
In order to which the connecting rod 213 in drive link mechanism 21 rotates, optionally, driving assembly 2 further includes the second actuator
22, the second actuator 22 is for driving at least one connecting rod 213 to rotate relative to first level arm 211.Connecting rod 213 in this way
When rotation, the second horizontal arm 212 can be driven mobile.Wherein, the second actuator 22 can be this fields such as cylinder or motor
The common drive form of technical staff, it is without restriction herein.
Optionally, connecting rod 213 can be directly connected to the second actuator 22, can also by between transmission mechanism in succession
It connects.As one of optional mode, driving assembly 2 further includes transmission mechanism, and transmission mechanism includes the water with connecting rod 213
The coaxially connected driving wheel 23 of flat turn axis, driving wheel 23 are used to drive connecting rod 213 synchronous under the driving of the second actuator 22
Rotation.
Wherein, the shaft of driving wheel 23 and connecting rod 213 is coaxially disposed, and driving wheel 23 and connecting rod 213 rotate synchronously.
In this way when the second actuator 22 driving driving wheel 23 rotates, connecting rod 213 can also rotate synchronously therewith, and drive remaining mechanism
Realize movement.
Optionally, driving wheel 23 can be gear, and a variety of driving wheel forms such as synchronizing wheel or sprocket wheel are not limited herein
System.
Optionally, due to including that there are two the clamping limbs 11 being parallel to each other, thus at least one connects in each clamp assemblies 1
Linkage 21 may include the first connecting rod mechanism 21a being parallel to each other and second connecting rod mechanism 21b, first connecting rod mechanism 21a and
Second connecting rod mechanism 21b is connected with different clamping limbs respectively.First connecting rod mechanism 21a in this way and second connecting rod mechanism 21b can be with
Drive clamp assemblies 1 mobile simultaneously from two sides simultaneously, 1 stress of one side clamp assemblies is more balanced, on the other hand single connecting rod
The stress of mechanism is smaller, and reliability is higher.
In general, in order to allow first connecting rod mechanism 21a and second connecting rod mechanism 21b to clasp synchronizing moving, it is common, first
Connection usually is realized using transmission shaft 24 between link mechanism 21a and second connecting rod mechanism 21b.First connecting rod mechanism 21a in this way
It can be linkage status between second connecting rod mechanism 21b.
In general, because the clamp assemblies 1 included one or more than one in grasping mechanism, thus first connecting rod machine
Structure 21a and second connecting rod mechanism 21b can both be connected with identical clamp assemblies 1, can also be connected with different clamp assemblies 1
It connects.When grasping mechanism includes a clamp assemblies 1, first connecting rod mechanism 21a and second connecting rod mechanism 21b can be separately connected
On the different clamping limbs of the clamp assemblies 1, two clamping limbs are driven by different link mechanisms at this time, when first connecting rod mechanism
When synchronous with the second connecting rod mechanism 21b driving of 21a, it also will drive two clamping limb synchronizing movings, two of such clamp assemblies 1
Different clamping limbs can be driven, and stress is more balanced.
And when grasping mechanism includes more than one clamp assemblies, when e.g. two clamp assemblies, first connecting rod mechanism 21a
It can be connected on different clamp assemblies with second connecting rod mechanism 21b, clamp assemblies different in this way can obtain connecting rod machine
The driving of structure 21, and accordingly moved, stress is more balanced.In general, first connecting rod mechanism 21a and second connecting rod mechanism
21b can relative to all clamp assemblies orientations be symmetrical arranged, e.g. respectively with all clamp assemblies outermost two
A clamping limb connection.
When grasping mechanism includes more than two clamp assemblies, the clamp assemblies for being not connected with link mechanism 21 can be by company
Fitting is connected with other clamp assemblies, and realizes synchronizing moving in the case where the clamp assemblies being directly connected to link mechanism 21 drive.
Should have as far as possible when the clamping limb 11 of clamp assemblies 1 clasps storage tank 10, between two clamping limbs larger
Span；But transmission shaft 24 or the synchronous shifting of drive rod realization are generallyd use between multiple link mechanisms of the connection of clamping limb 11
Dynamic, transmission shaft 24 should keep shorter length at this time.The structure of clamp assemblies 1 and link mechanism 21 in order to balance, optionally, when
When including first connecting rod mechanism 21a and second connecting rod mechanism 21b in multiple link mechanisms, the folder of first connecting rod mechanism 21a and first
Gripping arm 11a connection, second connecting rod mechanism 21b and the second clamping limb 11b connection, and first connecting rod mechanism 21a and second connecting rod machine
Spacing between structure 21b is less than the spacing between the first clamping limb 11a and the second clamping limb 11b.
Wherein, the first clamping limb 11a and the second clamping limb 11b can be two different clamping limbs of same clamp assemblies,
It is also possible to the clamping limb being located on different clamp assemblies.Can be kept between first clamping limb 11a and the second clamping limb 11b compared with
Big spacing and span, but the spacing between first connecting rod mechanism 21a and second connecting rod mechanism 21b is closer, thus using shorter
Transmission shaft 24 can connect two link mechanisms, such transmission shaft 24 can have more compact dimensioning and it is preferable just
Degree.
In the present embodiment, grasping mechanism specifically includes driving assembly and at least one set of clamp assemblies；Clamp assemblies are for pressing from both sides
Storage tank is held, driving assembly is for driving clamp assemblies mobile, so that clamp assemblies drag storage tank and drive storage tank with solid
Barrier is determined for fulcrum overturning.Grasping mechanism can use the overturning of storage tank itself and take the object in storage tank in this way
Out, operating process is simple and fast.
The utility model embodiment two also provides a kind of moveable platform.Moveable platform in the present embodiment, it is specific to wrap
Include the grasping mechanism in fuselage and previous embodiment one.Wherein, the specific structure of grasping mechanism, function and working principle have existed
It is described in detail in previous embodiment one, details are not described herein again.Wherein, moveable platform can be robot, rubbish returns
It returns the vehicle to the garage and knock off, the moveable object of unmanned plane etc..
Specifically, the grasping mechanism of moveable platform is arranged on fuselage, the clamp assemblies in grasping mechanism can driven
It moves under the driving of dynamic component, to clamp storage tank, and storage tank is dragged to moveable platform, storage tank can be at this time
It is overturn under the blocking of fixed obstacle, and the object in storage tank is directly poured out.In this way, moveable platform can exist to script
Object in storage tank is handled or is utilized.For example, can also be set on the fuselage of moveable platform when object is bullet
It is equipped with feed machanism and gun post etc..After feed machanism collects the bullet in storage tank, that is, it can be supplied to gun post realization
The shooting of bullet.
In the present embodiment, moveable platform specifically includes fuselage and grasping mechanism；Wherein, grasping mechanism specifically includes drive
Dynamic component and at least one set of clamp assemblies；Clamp assemblies are used to drive clamp assemblies mobile for clamping storage tank, driving assembly,
So that clamp assemblies drag storage tank and storage tank are driven to overturn by fulcrum of fixed obstacle.Moveable platform is being taken in this way
When storage tank, storage tank can be directly dragged, and take out using the overturning of storage tank itself and by the object in storage tank, operation
Process is simple and fast.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (17)
1. a kind of grasping mechanism, which is characterized in that including driving assembly and at least one set of clamp assemblies；The clamp assemblies are used for
Storage tank is clamped, the driving component is for driving the clamp assemblies mobile, so that the clamp assemblies drag the storing
Case simultaneously drives the storage tank to overturn by fulcrum of fixed obstacle, and the overturning is for toppling over the object held in the storage tank
Body.
2. grasping mechanism according to claim 1, which is characterized in that the clamp assemblies are two groups, and press from both sides described in two groups
Component is held to be arranged side by side.
3. grasping mechanism according to claim 1, which is characterized in that clamp assemblies described in every group include two it is parallel and
Every the clamping limb of setting, the opposite with another clamping limb of each clamping limb is provided on one side for clamping the storing
The clamping piece of case, and the clamping piece can the relatively described clamping limb horizontally rotate；
Wherein, the clamping piece of each clamping limb can be to another clamping limb movement or each clamping limb
It is mobile to another clamping limb.
4. grasping mechanism according to claim 3, which is characterized in that between the clamping piece and the corresponding clamping limb
It is provided with the first actuator, first actuator is for driving the clamping piece mobile to another clamping limb.
5. grasping mechanism according to claim 4, which is characterized in that first actuator is cylinder, the cylinder
Cylinder body is connected with the clamping limb, and the piston rod of the cylinder is connect with the clamping piece, and the piston rod and the cylinder body
Between can relatively rotate.
6. according to the described in any item grasping mechanisms of claim 3-5, which is characterized in that the clamp assemblies further include crossbeam,
The crossbeam is connected between two clamping limbs, and the storage tank after the crossbeam is used for and overturns abuts.
7. grasping mechanism according to claim 6, which is characterized in that activity connects between the crossbeam and the clamping limb
It connects, and the crossbeam has variable height and position relative to the clamping limb.
8. grasping mechanism according to claim 6, which is characterized in that the clamping limb includes being provided with the clamping piece
Horizontal segment and the tilting section being connect with the crossbeam；The bottom end of the tilting section is connected with the horizontal segment, the tilting section and
Angle between the horizontal segment is obtuse angle.
9. grasping mechanism according to claim 6, which is characterized in that be additionally provided with camera on the crossbeam.
10. according to the described in any item grasping mechanisms of claim 3-5, which is characterized in that the driving component includes at least one
A link mechanism, each link mechanism include first level arm, the second horizontal arm and at least two connecting rods；
The first level arm is respectively positioned in the vertical plane parallel with the clamping limb with second horizontal arm, second water
Flat arm is connected with the clamp assemblies, the both ends of the connecting rod respectively with the first level arm and second horizontal arm
Hingedly；
The connecting rod is used to rotate relative to the first level arm around horizontal axis, so that second horizontal arm drives institute
It is mobile to state clamp assemblies.
11. grasping mechanism according to claim 10, which is characterized in that all connecting rods are mutually parallel and have
Identical length.
12. grasping mechanism according to claim 10, which is characterized in that at least one described link mechanism includes mutually flat
Capable first connecting rod mechanism and second connecting rod mechanism, the first connecting rod mechanism and the second connecting rod mechanism respectively with different folders
Gripping arm connection.
13. grasping mechanism according to claim 12, which is characterized in that the first connecting rod mechanism and the first clamping limb connect
It connects, the second connecting rod mechanism is connected with the second clamping limb, and between the first connecting rod mechanism and the second connecting rod mechanism
Spacing be less than spacing between first clamping limb and second clamping limb.
14. grasping mechanism according to claim 10, which is characterized in that the driving component further includes the second actuator,
Second actuator is for driving at least one described connecting rod to rotate relative to the first level arm.
15. grasping mechanism according to claim 14, which is characterized in that the driving component further includes transmission mechanism, institute
Stating transmission mechanism includes the driving wheel coaxially connected with the horizontal rotating shaft of the connecting rod, and the driving wheel is used for described second
The connecting rod is driven to rotate synchronously under the driving of actuator.
16. grasping mechanism according to claim 1-5, which is characterized in that the fixed obstacle is arranged in institute
It states on grasping mechanism；Alternatively, the fixed obstacle is the fixed frame for limiting the storage tank position.
17. a kind of moveable platform, which is characterized in that including fuselage and the described in any item grasping mechanisms of claim 1-16.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820601305.1U CN208584560U (en) | 2018-04-25 | 2018-04-25 | Grasping mechanism and moveable platform |
| PCT/CN2018/106302 WO2019205465A1 (en) | 2018-04-25 | 2018-09-18 | Grab mechanism and movable platform |
| CN201880016636.1A CN110896614A (en) | 2018-04-25 | 2018-09-18 | Snatch mechanism and movable platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820601305.1U CN208584560U (en) | 2018-04-25 | 2018-04-25 | Grasping mechanism and moveable platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208584560U true CN208584560U (en) | 2019-03-08 |
Family
ID=65533654
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820601305.1U Active CN208584560U (en) | 2018-04-25 | 2018-04-25 | Grasping mechanism and moveable platform |
| CN201880016636.1A Pending CN110896614A (en) | 2018-04-25 | 2018-09-18 | Snatch mechanism and movable platform |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880016636.1A Pending CN110896614A (en) | 2018-04-25 | 2018-09-18 | Snatch mechanism and movable platform |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN208584560U (en) |
| WO (1) | WO2019205465A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110896614A (en) * | 2018-04-25 | 2020-03-20 | 深圳市大疆创新科技有限公司 | Snatch mechanism and movable platform |
| CN110918991A (en) * | 2019-12-12 | 2020-03-27 | 安徽卓锐三维科技有限公司 | 3D prints excessive powder case convenient to retrieve and change |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113600356A (en) * | 2021-09-15 | 2021-11-05 | 广州卓诚智能科技有限公司 | Fixed-point powder electrostatic spraying and curing method and spraying and curing system |
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| US5015142A (en) * | 1989-12-26 | 1991-05-14 | Carson William S | System for mechanized pickup of separated materials |
| US5071303A (en) * | 1989-12-26 | 1991-12-10 | Carson William S | System for mechanized pickup of separated materials |
| US6460703B1 (en) * | 2001-05-21 | 2002-10-08 | S.C. Johnson & Son, Inc. | Display box and method for packaging an article in the box |
| US20090266820A1 (en) * | 2008-04-23 | 2009-10-29 | Osburn H Scott | Leaf handling apparatus and method |
| CN101927901B (en) * | 2009-01-19 | 2017-03-08 | 北京银融科技有限责任公司 | A kind of trading system workstation, method of work and the method put into or take out article |
| CN201801014U (en) * | 2010-09-27 | 2011-04-20 | 德赛诊断系统(上海)有限公司 | Reagent barrel conveying device |
| CN102582992B (en) * | 2012-02-20 | 2013-12-25 | 上海大学 | Garbage transporting device |
| CN203652458U (en) * | 2013-12-19 | 2014-06-18 | 陈思思 | Automatic toppling garbage can |
| CN203727760U (en) * | 2014-03-05 | 2014-07-23 | 威海蓝星玻璃股份有限公司 | Off-line coated glass turning trailer |
| CN104058199A (en) * | 2014-05-23 | 2014-09-24 | 刘景林 | Automatic turnover dustbin and garbage truck |
| CN105438237A (en) * | 2015-12-15 | 2016-03-30 | 襄阳市科盾橡胶制品有限责任公司 | Tiltable material transport cart |
| CN105501765B (en) * | 2015-12-25 | 2018-03-20 | 长沙湖大环保科技有限公司 | Dustbin with scissor Gua Tong mechanisms turns over barrel |
| CN208584560U (en) * | 2018-04-25 | 2019-03-08 | 深圳市大疆创新科技有限公司 | Grasping mechanism and moveable platform |
-
2018
- 2018-04-25 CN CN201820601305.1U patent/CN208584560U/en active Active
- 2018-09-18 WO PCT/CN2018/106302 patent/WO2019205465A1/en active Application Filing
- 2018-09-18 CN CN201880016636.1A patent/CN110896614A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110896614A (en) * | 2018-04-25 | 2020-03-20 | 深圳市大疆创新科技有限公司 | Snatch mechanism and movable platform |
| CN110918991A (en) * | 2019-12-12 | 2020-03-27 | 安徽卓锐三维科技有限公司 | 3D prints excessive powder case convenient to retrieve and change |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019205465A1 (en) | 2019-10-31 |
| CN110896614A (en) | 2020-03-20 |
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