CN215701681U - Be applied to articulated fixture of robot - Google Patents
Be applied to articulated fixture of robot Download PDFInfo
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- CN215701681U CN215701681U CN202122069781.8U CN202122069781U CN215701681U CN 215701681 U CN215701681 U CN 215701681U CN 202122069781 U CN202122069781 U CN 202122069781U CN 215701681 U CN215701681 U CN 215701681U
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Abstract
The utility model discloses a multi-joint clamping mechanism applied to a robot, which comprises a connecting seat and two arc-shaped arms symmetrically arranged on two sides of the connecting seat, wherein each arc-shaped arm comprises a driving steering engine, a joint steering engine and a plurality of arc-shaped joints. The advantages are that: the radian of the whole arc-shaped arm can be adjusted through each joint steering engine, the matching degree of the clamping mechanism and towers or pipelines with different diameters can be improved, the clamping is firmer, and the application range is wide. And, drive the cylinder through rotary drive and rotate, can make fixture wholly rotate around shaft tower or pipeline to adjust the relative position between the two, be applicable to different operating modes.
Description
The technical field is as follows:
the utility model relates to the technical field of robots, in particular to a multi-joint clamping mechanism applied to a robot.
Background art:
when pipelines or rod pieces such as electric wire towers and chemical pipelines are overhauled, the pole-climbing robot is needed to be used, and corresponding detection equipment is carried by the pole-climbing robot to carry out relevant detection. The clamping mechanism is a key device of the pole-climbing robot and is used for clamping a pole tower or a pipeline, and the pole-climbing process is realized through the matching of the clamping mechanism and a robot arm. However, the clamping mechanism of the existing pole-climbing robot generally includes a clamping arm hinged to a mechanical arm, and the opening and closing of the clamping arm is controlled by a telescopic rod. However, due to the fact that the clamping arms are fixed in structure, when the clamping arms climb towers or pipelines with different diameters, matching degree is poor, clamping is insecure, the risk of accidental falling is large, and the application range of the robot is limited.
The utility model has the following contents:
the utility model aims to provide a multi-joint clamping mechanism applied to a robot, and solves the problem of limited application range.
The utility model is implemented by the following technical scheme: a multi-joint clamping mechanism applied to a robot comprises a connecting seat and two arc-shaped arms symmetrically arranged on two sides of the connecting seat, wherein each arc-shaped arm comprises a driving steering engine, a joint steering engine and a plurality of arc-shaped joints; the arc-shaped joints are arranged between the driving steering engine and the adjacent joint steering engines, between the adjacent joint steering engines and at the front end of the joint steering engine at the foremost end; the shell of the driving steering engine is fixedly connected with the connecting seat, and the output shaft of the driving steering engine is fixed with the adjacent arc-shaped joint; the shell of each joint steering engine is fixed with the arc joint adjacent to the rear end of the shell, and the output shaft of each joint steering engine is fixed with the arc joint adjacent to the front end of the shell.
Furthermore, the driving steering engine and the joint steering engine respectively comprise two output shafts which are vertically arranged, the arc-shaped joints respectively comprise an upper connecting plate and a lower connecting plate, and the rear ends of the upper connecting plate and the lower connecting plate are respectively arranged corresponding to the two output shafts of the driving steering engine or the two output shafts of the joint steering engine; and a connecting piece is fixed between the upper connecting plate and the lower connecting plate of the arc joint at the front end of the arc arm.
Further, a roller arranged along the axial direction of the arc-shaped arm is rotatably arranged between the middle parts of the corresponding upper connecting plate and the corresponding lower connecting plate, and the diameter of the roller is larger than the width of the upper connecting plate and the width of the lower connecting plate; and a rotary drive for driving the roller to rotate is fixed at the top end of the upper connecting plate or the bottom end of the lower connecting plate.
Further, the rotary drive is a motor.
The utility model has the advantages that: the radian of the whole arc-shaped arm can be adjusted through each joint steering engine, the matching degree of the clamping mechanism and towers or pipelines with different diameters can be improved, the clamping is firmer, and the application range is wide. And, drive the cylinder through rotary drive and rotate, can make fixture wholly rotate around shaft tower or pipeline to adjust the relative position between the two, be applicable to different operating modes.
Description of the drawings:
fig. 1 is a schematic view of the entire structure of embodiment 1.
Fig. 2 is a schematic view of the entire structure of embodiment 2.
The device comprises a connecting seat 1, an arc-shaped arm 2, a driving steering engine 21, a joint steering engine 22, an arc-shaped joint 23, an upper connecting plate 231, a lower connecting plate 232, a connecting piece 233, a roller 24 and a rotary drive 25.
The specific implementation mode is as follows:
in the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, their indicated orientations or positional relationships are based on those shown in the drawings only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Example 1: as shown in fig. 1, a multi-joint clamping mechanism applied to a robot comprises a connecting seat 1 and two arc-shaped arms 2 symmetrically arranged at two sides of the connecting seat 1, wherein the connecting seat 1 is used for being connected with a mechanical arm or a robot body of the robot; each arc-shaped arm 2 comprises a driving steering engine 21, a joint steering engine 22 and a plurality of arc-shaped joints 23, the driving steering engine 21 is arranged at the rear end of each arc-shaped arm 2, and the joint steering engines 22 are arranged between the driving steering engine 21 and the front end of each arc-shaped arm 2; arc-shaped joints 23 are arranged between the driving steering engine 21 and the adjacent joint steering engines 22, between the adjacent joint steering engines 22 and at the front ends of the joint steering engines 22 at the forefront end; the shell of the driving steering engine 21 is fixedly connected with the connecting seat 1, and the driving steering engine 21 of the two arc-shaped arms 2 can drive the arc-shaped arms 2 on the two sides to open or clamp tightly, so that the opening and closing of the clamping mechanism are controlled. An output shaft of the driving steering engine 21 is fixed with the adjacent arc-shaped joint 23; the shell of each joint steering engine 22 is fixed with the arc joint 23 adjacent to the rear end of the shell, and the output shaft of each joint steering engine 22 is fixed with the arc joint 23 adjacent to the front end of the shell; can control the arc joint 23 rather than being connected through each joint steering wheel 22 and rotate round its output shaft, and then make the holistic radian of arc arm 2 can with the shaft tower or the pipeline phase-match of different diameters for fixture's centre gripping is more stable, and then can increase its application scope.
Preferably, the driving steering engine 21 and the joint steering engine 22 both comprise an upper output shaft and a lower output shaft which are vertically arranged, the arc-shaped joints 23 both comprise an upper connecting plate 231 and a lower connecting plate 232, and the rear ends of the upper connecting plate 231 and the lower connecting plate 232 are both arranged corresponding to the two output shafts of the driving steering engine 21 or the two output shafts of the joint steering engine 22; a connecting piece 233 is fixed between the upper connecting plate 231 and the lower connecting plate 232 of the arc joint 23 at the front end of the arc arm 2. The driving steering engine 21 and the adjacent joint steering engines 22 are connected through the upper connecting plate and the lower connecting plate, so that the connection is more stable.
Example 2: the overall structure is the same as that of embodiment 1, except that, as shown in fig. 2, a roller 24 is rotatably disposed between the middle portions of the corresponding upper connecting plate 231 and lower connecting plate 232 along the axial direction of the arc-shaped arm 2, and the diameter of the roller 24 is greater than the widths of the upper connecting plate 231 and lower connecting plate 232; a rotary drive 25 for driving the drum 24 to rotate is fixed to the top end of the upper connecting plate 231 or the bottom end of the lower connecting plate 232, and the rotary drive 25 is a motor. The rotary drive 25 can drive the roller 24 to rotate, so as to drive the clamping mechanism to rotate around a tower or a pipeline, so that the aim of adjusting the posture of the robot according to different working spaces is fulfilled, the robot can move more flexibly, and the application range of the robot is further improved; concretely, to chemical plant as an example, can connect various pipelines between different reactors, the jar body, these pipelines staggered arrangement, can have pipeline one side space little, the unable condition that passes through of robot, at this moment, only need start rotary drive 25 and make driving drum 24 rotate, can make fixture whole can rotate round shaft tower or pipeline when the centre gripping, make the front end of two arc arms 2 be located the narrow and small department in space can.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. The multi-joint clamping mechanism applied to the robot is characterized by comprising a connecting seat and two arc-shaped arms symmetrically arranged on two sides of the connecting seat, wherein each arc-shaped arm comprises a driving steering engine, a joint steering engine and a plurality of arc-shaped joints; the arc-shaped joints are arranged between the driving steering engine and the adjacent joint steering engines, between the adjacent joint steering engines and at the front end of the joint steering engine at the foremost end; the shell of the driving steering engine is fixedly connected with the connecting seat, and the output shaft of the driving steering engine is fixed with the adjacent arc-shaped joint; the shell of each joint steering engine is fixed with the arc joint adjacent to the rear end of the shell, and the output shaft of each joint steering engine is fixed with the arc joint adjacent to the front end of the shell.
2. The multi-joint clamping mechanism applied to the robot is characterized in that the driving steering engine and the joint steering engine respectively comprise two output shafts which are vertically arranged, the arc-shaped joints respectively comprise an upper connecting plate and a lower connecting plate, and the rear ends of the upper connecting plate and the lower connecting plate are respectively arranged corresponding to the two output shafts of the driving steering engine or the two output shafts of the joint steering engine; and a connecting piece is fixed between the upper connecting plate and the lower connecting plate of the arc joint at the front end of the arc arm.
3. The multi-joint clamping mechanism applied to the robot is characterized in that a roller arranged along the axial direction of the arc-shaped arm is rotatably arranged between the middle parts of the corresponding upper connecting plate and the corresponding lower connecting plate, and the diameter of the roller is larger than the width of the upper connecting plate and the width of the lower connecting plate; and a rotary drive for driving the roller to rotate is fixed at the top end of the upper connecting plate or the bottom end of the lower connecting plate.
4. The multi-joint gripping mechanism applied to a robot of claim 3, wherein the rotary drive is a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122069781.8U CN215701681U (en) | 2021-08-30 | 2021-08-30 | Be applied to articulated fixture of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122069781.8U CN215701681U (en) | 2021-08-30 | 2021-08-30 | Be applied to articulated fixture of robot |
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| Publication Number | Publication Date |
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| CN215701681U true CN215701681U (en) | 2022-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122069781.8U Active CN215701681U (en) | 2021-08-30 | 2021-08-30 | Be applied to articulated fixture of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115180041A (en) * | 2022-08-19 | 2022-10-14 | 沈阳航空航天大学 | Pipe column climbing inspection robot |
-
2021
- 2021-08-30 CN CN202122069781.8U patent/CN215701681U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115180041A (en) * | 2022-08-19 | 2022-10-14 | 沈阳航空航天大学 | Pipe column climbing inspection robot |
| CN115180041B (en) * | 2022-08-19 | 2023-11-07 | 沈阳航空航天大学 | Tubular column climbing inspection robot |
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