CN212513654U - Experimental block for manipulator grabbing experiment - Google Patents
Experimental block for manipulator grabbing experiment Download PDFInfo
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- CN212513654U CN212513654U CN201920146248.7U CN201920146248U CN212513654U CN 212513654 U CN212513654 U CN 212513654U CN 201920146248 U CN201920146248 U CN 201920146248U CN 212513654 U CN212513654 U CN 212513654U
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- block
- supporting
- grabbing
- pressure spring
- manipulator
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Abstract
The utility model discloses an experimental block for manipulator grabbing experiments, which comprises a central mounting block and elastic supporting structures arranged on each side surface of the central mounting block; the elastic supporting structure comprises a mounting column, a plug-in mounting rod, a first supporting pressure spring, a second supporting pressure spring and a grabbing supporting plate. The experiment block can meet the requirement of two-stage buffering force by utilizing the first supporting pressure spring and the second supporting pressure spring, and is convenient for carrying out grabbing experiments with different forces on the manipulator; due to the adoption of the pressure spring structure, the deformation quantity can be larger, and the damage to the manipulator can be effectively avoided during the grabbing experiment; the setting that utilizes first guiding hole and second guiding hole can be spacing to the cartridge rod, prevents to be popped out.
Description
Technical Field
The utility model relates to an experiment piece, especially an experiment piece that is used for manipulator to snatch the experiment.
Background
At present, current manipulator experiment piece all adopts fixed knot to construct, when utilizing the manipulator to snatch the experiment, especially when snatching dynamics control experiment, because the deformation volume of current experiment piece is limited, often can cause the manipulator to damage because the centre gripping dynamics is too big. Therefore, it is necessary to design an experiment block for a manipulator grabbing experiment, which has a large elastic deformation amount, so as to effectively prevent the manipulator from being damaged when the manipulator grabbing experiment is performed.
Disclosure of Invention
Utility model purpose: the utility model provides an experiment piece for manipulator snatchs experiment can have great elastic deformation volume to effectively prevent that the manipulator from damaging when snatching the experiment.
The technical scheme is as follows: the utility model discloses an experiment block for manipulator grabbing experiments, which comprises a central mounting block and elastic supporting structures arranged on each side surface of the central mounting block; the elastic supporting structure comprises a mounting column, an insertion rod, a first supporting pressure spring, a second supporting pressure spring and a grabbing supporting plate; one end of the mounting column is mounted on the side surface of the central mounting block, and the other end of the mounting column is axially provided with an insertion hole; two first guide holes and two second guide holes penetrating through the wall of the insertion hole are formed in the outer wall of the mounting column; one end of the insertion rod is inserted into the insertion hole, and two first guide sliding blocks which are respectively embedded into the two first guide holes in a sliding manner are arranged on the insertion end; the second supporting pressure spring is arranged in the insertion hole, and a circular supporting plate is arranged in the insertion hole; the second supporting pressure spring is elastically supported between the bottom of the insertion hole and the circular supporting plate; two second guide sliding blocks which are respectively embedded into the two second guide holes in a sliding manner are arranged on the side edge of the circular support plate; the grabbing support plates are fixedly arranged on the outer end parts of the plug-in mounting rods; the first supporting pressure spring is sleeved outside the mounting column and the insertion rod, and the first supporting pressure spring is elastically supported between the grabbing supporting plate and the side face of the central mounting block.
Further, a mounting stud is axially arranged at the end part of the mounting column; mounting threaded holes are formed in the centers of the side surfaces of the central mounting block; and each elastic supporting structure is respectively installed in the installation threaded holes on each side surface of the central installation block in a threaded mode through installation studs at the end parts of the installation columns.
Furthermore, a pin sleeve is arranged on the outer wall of the mounting column; a positioning bolt is inserted in the bolt sleeve; a positioning pin hole is arranged on the side surface of the central mounting block; the end part of the positioning bolt is inserted into the positioning pin hole at the corresponding position.
Furthermore, the central mounting block is a regular tetrahedron or a regular hexahedron; the shape of the grabbing support plate is the same as the shape of the side surface of the central mounting block.
Furthermore, anti-slip grooves distributed in a grid mode are formed in the outer side face of the grabbing supporting plate, and anti-slip strips are installed in the anti-slip grooves.
Furthermore, a buffer gap is arranged between the inner end part of the insertion rod and the round supporting plate, and the width of the buffer gap is 1-2 cm.
Compared with the prior art, the utility model, its beneficial effect is: the force requirement of two-stage buffering can be met by utilizing the first supporting pressure spring and the second supporting pressure spring, and the grabbing experiment of different forces on the manipulator is facilitated; due to the adoption of the pressure spring structure, the deformation quantity can be larger, and the damage to the manipulator can be effectively avoided during the grabbing experiment; the setting that utilizes first guiding hole and second guiding hole can be spacing to the cartridge rod, prevents to be popped out.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of the installation structure of the elastic support structure of the present invention.
Detailed Description
The technical solution of the present invention will be described in detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1:
as shown in fig. 1 and 2, the experimental block for manipulator grabbing experiment of the present invention includes: a central mounting block 5 and an elastic support structure mounted on each side of the central mounting block 5; the elastic supporting structure comprises a mounting column 7, an insertion rod 2, a first supporting compression spring 3, a second supporting compression spring 10 and a grabbing supporting plate 1; one end of the mounting column 7 is mounted on the side surface of the central mounting block 5, and the other end of the mounting column 7 is provided with an insertion hole along the axial direction; two first guide holes 8 and two second guide holes 9 which penetrate through the wall of the insertion hole are formed in the outer wall of the mounting column 7; one end of the insertion rod 2 is inserted into the insertion hole, and two first guide sliding blocks 12 which are respectively embedded into the two first guide holes 8 in a sliding manner are arranged on the insertion end; the second supporting pressure spring 10 is arranged in the insertion hole, and a circular supporting plate is arranged in the insertion hole; the second supporting pressure spring 10 is elastically supported between the bottom of the insertion hole and the circular supporting plate; two second guide sliding blocks 11 which are respectively embedded into the two second guide holes 9 in a sliding manner are arranged on the side edge of the circular supporting plate; the grabbing support plates 1 are fixedly arranged on the outer end parts of the plug-in mounting rods 2; the first supporting pressure spring 3 is sleeved outside the mounting column 7 and the insertion rod 2, and is elastically supported between the grabbing supporting plate 1 and the side face of the central mounting block 5. The force requirements of two-stage buffering can be met by utilizing the first supporting pressure spring 3 and the second supporting pressure spring 10, and the grabbing experiments with different forces on the manipulator are facilitated; due to the adoption of the pressure spring structure, the deformation quantity can be larger, and the damage to the manipulator can be effectively avoided during the grabbing experiment; the arrangement of the first guide hole 8 and the second guide hole 9 can limit the insertion rod 2 and prevent the insertion rod from being ejected.
Further, a mounting stud 6 is axially arranged at the end of the mounting column 7; mounting threaded holes are formed in the centers of the side surfaces of the central mounting block 5; each elastic supporting structure is respectively installed in the installation threaded holes on each side surface of the central installation block 5 in a threaded mode through installation studs 6 at the ends of installation columns 7. Utilize the mounting of helicitic texture, the corresponding elastic support structure of quick replacement can be convenient for, make things convenient for the later maintenance.
Further, a pin sleeve 13 is arranged on the outer wall of the mounting column 7; a positioning bolt 14 is inserted in the bolt sleeve 13; a positioning pin hole is arranged on the side surface of the central mounting block 5; the end of the positioning bolt 14 is inserted into the positioning pin hole at the corresponding position. The cooperation of the locating pin 14 and the locating pin hole prevents the resilient support structure from rotating during use.
Further, the central mounting block 5 is a regular tetrahedron or a regular hexahedron; the shape of the grasping support plate 1 is the same as the shape of the side face of the center mounting block 5. The embodiments of fig. 1 and 2 are illustrated by a regular hexahedron. The size of the grabbing support plate 1 is not suitable to be designed to be too large, and is generally about 1.5 times of the size of the side face of the central mounting block 5, so that edge collision is prevented during compression.
Furthermore, anti-slip grooves distributed in a grid mode are formed in the outer side face of the grabbing support plate 1, and anti-slip strips 4 are installed in the anti-slip grooves. The utility model has the advantages of utilize installation antislip strip 4 in the antiskid groove of grid-like distribution, can change surperficial frictional force through the material of adjustment installation antislip strip 4 to the experiment of snatching of different materials is simulated.
Furthermore, a buffer gap is arranged between the inner end part of the insertion rod 2 and the round supporting plate, and the width of the buffer gap is 1-2 cm. Utilize the setting in buffering clearance, can make the one-level buffering have sufficient compression deformation volume, satisfy the experimental needs of snatching of little dynamics.
When the experimental block for the mechanical arm grabbing experiment is used, the regular tetrahedron or the regular hexahedron is adopted for the grabbing experiment according to the requirement of the mechanical arm grabbing experiment; when grabbing at the manipulator, at first carry out the one-level buffering by first support pressure spring 3, grab the snatching of realizing the experiment piece under the frictional force effect with anti-skidding arris 4 at the manipulator, if it is too big to snatch the dynamics, then press down second support pressure spring 10 by the circular backup pad of cartridge pole 2 promotion, support pressure spring 10 by first support pressure spring 3 and second and constitute the second grade buffering jointly, satisfy the deformation requirement of pressing of manipulator, effectively prevent the finger of manipulator and buckle the damage.
As mentioned above, although the present invention has been shown and described with reference to certain preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. The utility model provides an experiment piece for manipulator snatchs experiment which characterized in that: comprises a central mounting block (5) and elastic supporting structures arranged on the side surfaces of the central mounting block (5); the elastic supporting structure comprises a mounting column (7), an insertion rod (2), a first supporting compression spring (3), a second supporting compression spring (10) and a grabbing supporting plate (1); one end of the mounting column (7) is mounted on the side surface of the central mounting block (5), and the other end of the mounting column (7) is provided with an insertion hole along the axial direction; two first guide holes (8) and two second guide holes (9) which penetrate through the wall of the insertion hole are formed in the outer wall of the mounting column (7); one end of the insertion rod (2) is inserted into the insertion hole, and two first guide sliding blocks (12) which are respectively embedded into the two first guide holes (8) in a sliding manner are arranged on the insertion end; the second supporting pressure spring (10) is arranged in the insertion hole, and a circular supporting plate is arranged in the insertion hole; the second supporting pressure spring (10) is elastically supported between the bottom of the insertion hole and the circular supporting plate; two second guide sliding blocks (11) which are respectively embedded into the two second guide holes (9) in a sliding manner are arranged on the side edge of the circular support plate; the grabbing support plates (1) are fixedly arranged on the outer end parts of the plug-in mounting rods (2); the first supporting pressure spring (3) is sleeved outside the mounting column (7) and the insertion rod (2) and is elastically supported between the grabbing supporting plate (1) and the side surface of the central mounting block (5);
a mounting stud (6) is arranged at the end part of the mounting column (7) along the axial direction; mounting threaded holes are formed in the centers of all the side surfaces of the central mounting block (5); and each elastic supporting structure is respectively installed in the installation threaded holes on each side surface of the central installation block (5) in a threaded mode through installation studs (6) at the end parts of the installation columns (7).
2. The experimental block for manipulator grasping experiment according to claim 1, characterized in that: a pin sleeve (13) is arranged on the outer wall of the mounting column (7); a positioning bolt (14) is inserted in the bolt sleeve (13); a positioning pin hole is arranged on the side surface of the central mounting block (5); the end part of the positioning bolt (14) is inserted into the positioning pin hole at the corresponding position.
3. The experimental block for manipulator grasping experiment according to claim 1, characterized in that: the central mounting block (5) is a regular tetrahedron or a regular hexahedron; the shape of the grabbing support plate (1) is the same as the shape of the side surface of the central mounting block (5).
4. The experimental block for manipulator grasping experiment according to claim 1, characterized in that: anti-slip grooves distributed in a grid mode are formed in the outer side face of the grabbing support plate (1), and anti-slip strips (4) are installed in the anti-slip grooves.
5. The experimental block for manipulator grasping experiment according to claim 1, characterized in that: a buffer gap is arranged between the inner end part of the plug-in rod (2) and the round supporting plate, and the width of the buffer gap is 1-2 cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920146248.7U CN212513654U (en) | 2019-01-28 | 2019-01-28 | Experimental block for manipulator grabbing experiment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920146248.7U CN212513654U (en) | 2019-01-28 | 2019-01-28 | Experimental block for manipulator grabbing experiment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212513654U true CN212513654U (en) | 2021-02-09 |
Family
ID=74385591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920146248.7U Expired - Fee Related CN212513654U (en) | 2019-01-28 | 2019-01-28 | Experimental block for manipulator grabbing experiment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212513654U (en) |
-
2019
- 2019-01-28 CN CN201920146248.7U patent/CN212513654U/en not_active Expired - Fee Related
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210209 Termination date: 20220128 |