CN212553871U

CN212553871U - Rod piece clamp holder

Info

Publication number: CN212553871U
Application number: CN202021973377.2U
Authority: CN
Inventors: 林梓栋; 魏赏彪; 闫靖予; 朱海飞
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2020-09-10
Filing date: 2020-09-10
Publication date: 2021-02-19
Anticipated expiration: 2030-09-10

Abstract

The utility model relates to a terminal centre gripping of robot is fixed in the field, more specifically relates to a member holder, including gripper jaw, the motor that is used for the centre gripping member and promote gripper jaw closure and the open drive assembly of pulling gripper jaw, drive assembly one end is connected with the motor output end, still includes link assembly and shell, gripper jaw one end is connected with link assembly one end, the link assembly other end is articulated with drive assembly, the link assembly middle part is articulated with the shell. The utility model discloses a member holder, motor drive transmission assembly through link assembly increase clamping-force, will move and transmit the gripper jaw, and when the motor stop work, the gripper jaw open and shut the angle locking, guarantee the holder to the reliable grab of member.

Description

Rod piece clamp holder

Technical Field

The utility model relates to a terminal centre gripping of robot is fixed field, more specifically relates to a member holder.

Background

In fields such as building construction, power maintenance, there are a large amount of intensity height, the degree of difficulty is big, the operation that danger coefficient is high, for example cable erects, truss dismouting, circuit maintenance, power maintenance etc. heavy high altitude construction is higher to the manpower requirement, wastes time and energy, and efficiency is lower, and very easy emergence operation accident leads to the fact casualties, and the rod system frame construction in these fields is many simultaneously.

In recent years, in order to improve work efficiency and guarantee personal safety, more high-risk work is gradually introduced into robot operation, if climbing robot replaces manpower climbing. The climbing robot is fixed with the rod piece by the clamp and finishes climbing operation under the control of the control system. However, in the prior art, the grippers on the market are insufficient in design and limited in clamping force, and are easy to slide relative to the rod during actual use, so that the robot slides, and the smooth climbing work is influenced.

Chinese patent CN201610131712.6 discloses a manipulator device for automatic maintenance climbing robot for iron tower, which comprises two pairs of oppositely arranged gripper opening and closing mechanisms with the same structure and two pairs of gripper opening and closing mechanisms holding and clamping tower members with the same structure, wherein the two pairs of gripper opening and closing mechanisms are fixed on nut sliders of the two pairs of gripper holding and clamping mechanisms through connecting plates respectively, and the gripper opening and closing mechanisms and the driving motors of the gripper holding and clamping mechanisms are controlled to rotate in the directions and at the speeds respectively, so that the gripper opening and closing mechanisms hold and clamp tower angle steel. However, the clamping force of the manipulator in the scheme is insufficient, so that the clamp holder and the rod piece are easy to slide.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a member holder, the clamping-force degree of increase holder improves the steadiness between holder and the member.

In order to solve the technical problem, the utility model discloses a technical scheme is:

the utility model provides a member holder, including gripper jaw, the motor that is used for the centre gripping member and promote gripper jaw closure and the open transmission assembly of pulling gripper jaw, transmission assembly one end is connected with the motor output, still includes link assembly and shell, gripper jaw one end is connected with link assembly one end, the link assembly other end is articulated with transmission assembly, link assembly is articulated with the shell.

The utility model discloses a member holder, drive assembly one end is connected with the motor output, utilize motor drive assembly, link assembly one end is articulated with drive assembly, drive assembly will move the transmission and give link assembly, gripper jaw one end is connected with link assembly one end, the link assembly other end is articulated with the shell, make gripper jaw can be at certain position internal rotation, drive gripper jaw opens and shuts promptly, when the motor stop work, gripper jaw open and shut the angle locking, guarantee the holder to the reliable grab of member.

Further, the shell includes shell main part, shell apron and cylindric shell base, the shell main part is connected with the shell apron, and the shell base sets up at the shell main part lower extreme, inside the motor was fixed in the shell base lower extreme, the shell base periphery was equipped with the through-hole of being connected with the robot, and transmission assembly is located the cavity between shell main part and the shell apron.

Further, still include the harmonic reduction gear, the harmonic reduction gear is fixed in between shell main part and the shell base, harmonic reduction gear and motor output shaft connection, harmonic reduction gear and drive assembly pass through the key-type connection.

Further, the connecting rod assembly comprises an output rod, a first connecting rod and a second connecting rod, one end of the output rod is hinged to the shell, one end of the output rod is connected with one end of the clamping claw, one end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the first connecting rod is connected with the output rod, and the other end of the second connecting rod is connected with the transmission assembly.

Furthermore, the connecting rod assembly further comprises a third connecting rod, one end of the first connecting rod is hinged to one end of the third connecting rod, the other end of the third connecting rod is hinged to the shell, and the third connecting rod plays a role in limiting the movement range of the connecting rod assembly.

Further, the transmission assembly comprises a nut, a screw rod and a bearing, the screw rod is connected with the nut in a threaded fit mode, the two ends of the screw rod are fixed with the shell in a fit mode through the bearing, one end of the screw rod is connected with the output end of the motor, the other end of the second connecting rod is hinged to the nut, the bearing is used for supporting the screw rod to rotate, and the friction coefficient between the screw rod and the shell in the rotating process is reduced.

Further, the articulated department of output pole and shell, first connecting rod and the articulated department of second connecting rod, first connecting rod and the articulated department of third connecting rod, first connecting rod and the articulated department of output pole, third connecting rod and the articulated department of shell and second connecting rod and the articulated department of nut all fix through round pin axle and snap ring, it is required to explain that other can reach the utility model discloses the connecting piece of effect and subassembly all are applicable to the utility model discloses the output pole is connected with.

Furthermore, the connecting rod assemblies are provided with a plurality of groups, each clamping jaw is connected with one group of connecting rod assemblies respectively, the clamping jaws are arranged in two rows, each clamping jaw is of a semicircular annular layered structure, the outer ring of each clamping jaw is a rigid support, the inner ring of each clamping jaw is rubber, the supports are fixedly connected with the rubber, the clamping jaws are of semicircular annular structures and can be completely attached to the surface of a rod piece easily, clamping force is transmitted to the rubber through the rigid supports, and friction force between the clamping jaws and the rod piece can be increased.

Furthermore, the connecting rod assemblies are symmetrically distributed in two groups, the two clamping claws are respectively connected with the two groups of connecting rod assemblies, and each group of connecting rod assemblies drives the clamping claws connected with the connecting rod assemblies to open or close.

Further, the support passes through fastener fixed connection with rubber, the fastener is the pin, and what need explain, rivet, bolt and subassembly all are applicable to the utility model discloses.

Compared with the prior art, the utility model, the beneficial effect who produces is:

the motor drives the transmission assembly, the clamping force is increased through the connecting rod assembly, the connecting rod assembly is utilized to drive the clamping claws to open and close, when the motor stops working, the clamping claws are locked, and the reliable clamping of the clamping device on the rod piece is ensured.

Drawings

Fig. 1 is an exploded view of a rod holder according to an embodiment of the present invention;

FIG. 2 is a perspective view of a gripper jaw according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a rod holder according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a rod holder for holding a rod according to an embodiment of the present invention;

in the drawings: 1-a housing; 11-a housing body; 12-housing cover plate; 13-a housing base; 2-a gripper jaw; 21-a scaffold; 22-rubber; 3-a linkage assembly; 31-an output rod; 32-a first link; 33-a second link; 34-a third link; 35-a pin shaft; 36-a snap ring; 4-a transmission assembly; 41-a screw rod; 42-a nut; 43-a bearing; 5-harmonic reducers; 6-motor.

Detailed Description

The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.

The utility model discloses a member holder, including gripper jaw 2, the motor 6 that is used for the centre gripping member and promote gripper jaw 2 closure and the open drive assembly 4 of

pulling gripper jaw

2, 4 one ends of drive assembly are connected with the 6 output ends of motor, still include link assembly 3 and shell 1, gripper jaw 2 one end is connected with link assembly 3 one end, the link assembly 3 other end is articulated with drive assembly 4, the link assembly 3 other end is articulated with the shell.

As shown in fig. 1 and 4, one end of the transmission assembly 4 is connected to an output end of the motor 6, the motor 6 is used for driving the transmission assembly 4, one end of the connecting rod assembly 3 is hinged to the transmission assembly 4, the motion is transmitted to the connecting rod assembly 3, one end of the clamping jaw 2 is connected to one end of the connecting rod assembly 3, and the other end of the connecting rod assembly 3 is hinged to the housing 1, so that the clamping jaw 2 can rotate in a certain direction, i.e., the clamping jaw 2 is driven to open and close, when the motor 6 stops working, the opening and closing angle of the clamping jaw 2 is locked, and the clamping jaw can reliably clamp a rod.

In one embodiment, the housing 1 includes a housing main body 11, a housing cover plate 12 and a cylindrical housing base 13, the housing main body 11 is connected to the housing cover plate 12, the housing base 13 is disposed at the lower end of the housing main body 11, the motor 6 is fixed inside the lower end of the housing base 13, a through hole connected to the robot is formed in the circumferential surface of the housing base 13, and the transmission assembly 4 is located in a cavity between the housing main body 11 and the housing cover plate 12 to prevent the movement of the transmission assembly 4 from being interfered.

In one embodiment, the harmonic reducer 5 is further included, the harmonic reducer 5 is fixed between the shell main body 11 and the shell base 13, the harmonic reducer 5 is connected with an output shaft of the motor 6, the harmonic reducer 5 is connected with the transmission assembly 4 through a key, and in implementation, the motor 6 drives the transmission assembly 4 through the harmonic reducer 5 in a speed reduction mode.

In one embodiment, the connecting rod assembly 3 includes an output rod 31, a first connecting rod 32 and a second connecting rod 33, one end of the output rod 31 is connected to the housing 1, one end of the output rod 31 is further connected to one end of the clamping claw 2, one end of the first connecting rod 32 is hinged to one end of the second connecting rod 33, the other end of the first connecting rod 32 is connected to the output rod 31, and the other end of the second connecting rod 33 is connected to the transmission assembly 4.

In one embodiment, the connecting rod assembly 3 further includes a third connecting rod 34, one end of the first connecting rod 32 is hinged to one end of the third connecting rod 34, the other end of the third connecting rod 34 is hinged to the housing 1, in practice, the second connecting rod 33 moves up and down to push the third connecting rod 34 to rotate around a hinge point of the third connecting rod with the housing 1, so that the first connecting rod 32 pushes the output rod 31 to rotate around the hinge point of the output rod with the housing 1, and the clamping jaws 2 are opened and closed, and the third connecting rod 34 plays a role in limiting the movement range of the connecting rod assembly 3.

In one embodiment, the transmission assembly 4 includes a nut 42, a lead screw 41 and a bearing 43, the lead screw 41 is connected with the nut 42 through a screw fit, the lead screw 41 is disposed in a cavity between the housing body 11 and the housing base 13 to prevent interference on the movement of the lead screw 41, two ends of the lead screw 41 are fixed with the housing 1 through the bearing 43 in a fit manner, one end of the lead screw 41 is connected with an output end of the motor 6, the other end of the second link 33 is hinged with the nut 42, in practice, the motor 6 drives the lead screw 41 to rotate through the harmonic reducer 5, the nut 42 in threaded connection with the lead screw 41 moves up and down, the second link 33 moves up and down along with the nut 42 to push the third link 34 to rotate around a hinge point with the housing 1, so that the first link 32 pushes the output rod 31 to rotate around the hinge point with the housing 1 to open and close the clamping jaw 2, as shown in, the clamping claws 2 are opened, when the nut 42 moves upwards, the clamping claws 2 are closed, and the self-locking characteristic of the screw thread transmission of the screw rod 41 and the nut 42 enables the nut 42 to lock the opening and closing angles of the two clamping claws 2 when the nut 42 stops moving, so that the clamping of the clamping device on a rod piece is ensured to be reliable.

In one of them embodiment, transmission assembly 4 includes crank link mechanism, the rotatory connecting rod up-and-down motion that drives of bent axle, second connecting rod 33 is along with connecting rod up-and-down motion, it is rotatory around its pin joint with shell 1 to promote third connecting rod 34, thereby make first connecting rod 32 promote output rod 31 rotatory around its pin joint with shell 1, and then make gripper jaw 2 open and shut, when motor 6 stop work, gripper jaw 2 keeps opening and shutting the angle, it needs to explain that, other structures that can be turned into link mechanism 3 with the rotary motion of motor 6 output and be linear motion with the articulated one end of transmission mechanism 4 all are applicable to the utility model discloses a motor drive assembly 4 is suitable for.

In one of the embodiments, the hinged position of the output rod 31 and the housing 1, the hinged position of the first connecting rod 32 and the second connecting rod 33, the hinged position of the first connecting rod 32 and the third connecting rod 34, the hinged position of the first connecting rod 32 and the output rod 31, the hinged position of the third connecting rod 34 and the housing 1, and the hinged position of the second connecting rod 33 and the nut 42 are all fixed by the pin shaft 35 and the snap ring 36, it should be noted that other connecting pieces and components capable of achieving the effects of the present invention are all suitable for the present invention.

In one embodiment, the connecting rod assemblies 3 have multiple groups, the clamping claws 2 are provided with multiple groups, each clamping claw 2 is respectively connected with one group of connecting rod assemblies 3, the clamping claws 2 are arranged in two rows, the clamping claws 2 are of semicircular layered structures, the outer rings of the clamping claws 2 are rigid supports 21, the inner rings of the clamping claws 2 are rubber 22, the supports 21 are fixedly connected with the rubber 22, the clamping claws 2 are of semicircular layered structures and are easy to be completely attached to the surface of a rod, clamping force is transmitted to the rubber 22 through the rigid supports 21, and friction force between the clamping claws 2 and the rod can be increased.

In one embodiment, as shown in fig. 1 and 3, there are two groups of connecting rod assemblies 3 symmetrically distributed, there are two clamping jaws 2 symmetrically distributed, and the two clamping jaws 2 are respectively connected to the two groups of connecting rod assemblies 3, and in practice, each group of connecting rod assemblies 3 drives the clamping jaw 2 connected thereto to open or close.

In one embodiment, the bracket 21 is fixedly connected to the rubber 22 by a fastener, the fastener is a pin, and it should be noted that a rivet, a bolt, and a component thereof are all suitable for the present invention.

In one embodiment, the bracket 21 is glued to the rubber 22, so that the process is simple and does not require complex process equipment.

In one embodiment, as shown in fig. 3 and 4, the motor 6 is a disc motor, the disc motor drives the screw rod 41 through the harmonic reducer 5 to decelerate, so that the screw rod 41 rotates, the nut 42 screwed with the screw rod 41 moves upwards, for the left connecting rod assembly 3, the third connecting rod 34 is pushed to rotate anticlockwise around a hinge point of the third connecting rod 34 and the shell 1, so that the first connecting rod 32 pushes the output rod 31 to rotate clockwise around the hinge point of the output rod 31 and the shell 1, for the right connecting rod assembly 3, the third connecting rod 34 is pushed to rotate clockwise around the hinge point of the third connecting rod 34 and the shell 1, so that the first connecting rod 32 pushes the output rod 31 to rotate anticlockwise around the hinge point of the output rod 31 and the shell 1, so that the two clamping claws 2 grasp and close the rod, the rigid supports 21 of the clamping claws 2 generate pressure on the rubber 22, so that the rubber 22 presses the rod, the rod piece is prevented from rotating around the axis of the rod piece after the rod piece is clamped, when the motor 6 stops working, the screw rod 41 stops rotating, and the nut 42 in threaded connection with the screw rod 41 stops moving, the screw rod 41 and the nut 42 are in threaded transmission, so that the clamping claw 2 is kept in a clamping state, and the rod piece is reliably clamped by the clamp holder.

In the detailed description of the embodiments, various technical features may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a member holder, is including gripper jaw (2), motor (6) that are used for the centre gripping member and promote gripper jaw (2) closure and the open transmission assembly (4) of pulling gripper jaw (2), transmission assembly (4) one end is connected with motor (6) output, its characterized in that still includes link assembly (3) and shell (1), gripper jaw (2) one end is connected with link assembly (3) one end, link assembly (3) other end is articulated with transmission assembly (4), link assembly (3) middle part is articulated with shell (1).

2. A rod holder according to claim 1, wherein the housing (1) comprises a housing body (11), a housing cover plate (12) and a cylindrical housing base (13), the housing body (11) being connected to the housing cover plate (12), the housing base (13) being arranged at the lower end of the housing body (11), the motor (6) being fixed inside the lower end of the housing base (13), the housing base (13) being provided with a circumferential surface with through holes for connection to a robot, the transmission assembly (4) being located in a cavity between the housing body (11) and the housing cover plate (12).

3. Rod clamp according to claim 2, characterized in that it further comprises a harmonic reducer (5), said harmonic reducer (5) being fixed between the housing body (11) and the housing base (13), said harmonic reducer (5) being connected to the output shaft of the electric motor (6), the harmonic reducer (5) being keyed to the transmission assembly (4).

4. A rod gripper according to any one of claims 1 to 3, characterized in that the connecting rod assembly (3) comprises an output rod (31), a first connecting rod (32) and a second connecting rod (33), one end of the output rod (31) being hinged to the housing (1), one end of the output rod (31) being further connected to one end of the gripper jaw (2), one end of the first connecting rod (32) being hinged to one end of the second connecting rod (33), the other end of the first connecting rod (32) being connected to the output rod (31), the other end of the second connecting rod (33) being connected to the transmission assembly (4).

5. A rod gripper according to claim 4, characterized in that the connecting-rod assembly (3) further comprises a third connecting rod (34), the first connecting rod (32) being hinged at one end to the third connecting rod (34) and the third connecting rod (34) being hinged at the other end to the housing (1).

6. A rod holder according to claim 5, wherein the transmission assembly (4) comprises a nut (42), a screw rod (41) and a bearing (43), the screw rod (41) and the nut (42) are connected in a screw fit manner, two ends of the screw rod (41) are fixed in a fit manner with the housing (1) through the bearing (43), one end of the screw rod (41) is connected with the output end of the motor (6), and the other end of the second connecting rod (33) is hinged with the nut (42).

7. The rod holder according to claim 6, wherein the hinge of the output rod (31) to the housing (1), the hinge of the first link (32) to the second link (33), the hinge of the first link (32) to the third link (34), the hinge of the first link (32) to the output rod (31), the hinge of the third link (34) to the housing (1), and the hinge of the second link (33) to the nut (42) are fixed to the snap ring (36) by a pin (35).

8. A rod holder according to claim 1, wherein there are a plurality of sets of link assemblies (3), a plurality of holding claws (2) are provided, each holding claw (2) is connected to a respective set of link assemblies (3), and the plurality of holding claws (2) are arranged in two rows, the holding claws (2) are of a semi-circular layered structure, the outer ring of the holding claws (2) is a rigid support (21), the inner ring is rubber (22), and the support (21) is fixedly connected to the rubber (22).

9. A rod holder according to claim 8, characterized in that said connecting-rod assemblies (3) have two symmetrically distributed groups, said clamping jaws (2) have two symmetrically distributed groups, and two clamping jaws (2) are connected to two groups of connecting-rod assemblies (3), respectively.

10. A rod holder according to claim 8, wherein the bracket (21) is fixedly connected to the rubber (22) by means of a fastener, said fastener being a pin.