CN216180581U

CN216180581U - Tongs of crank slider mechanism

Info

Publication number: CN216180581U
Application number: CN202122238716.3U
Authority: CN
Inventors: 李瑞麟; 王柳斌; 孙俊; 黎晓璐; 梁晓盈; 霍建文
Original assignee: Southwest University of Science and Technology
Current assignee: Southwest University of Science and Technology
Priority date: 2021-09-15
Filing date: 2021-09-15
Publication date: 2022-04-05
Anticipated expiration: 2031-09-15

Abstract

The utility model provides a gripper of a crank sliding block mechanism, which comprises an engine room; a crank-slider mechanism and a transmission mechanism for driving the crank-slider mechanism are arranged in the engine room, and an executing mechanism driven by the crank-slider mechanism to clamp the goods is arranged on the engine room; the transmission mechanism comprises a steering engine, the steering engine is arranged in the engine room, a first gear is arranged at the shaft end of the steering engine, the first gear is meshed with a second gear, and the second gear is fixed on the rotating shaft; the crank sliding block mechanism comprises a first connecting rod and a second connecting rod, and two ends of the first connecting rod are respectively arranged on the rotating shaft and the steering engine shaft through bearings; one end of the second connecting rod is rotatably connected to the rotating shaft, the other end of the second connecting rod is rotatably connected to the first fixed block, the first fixed block is fixedly mounted on the sliding block, the sliding block is arranged in the sliding rail in a sliding mode, the sliding rail is vertically fixed in the engine room, the first fixed block is connected with one end of the fixed rod, and the fixed rod is connected with the executing mechanism.

Description

Tongs of crank slider mechanism

Technical Field

The utility model relates to the technical field of robots, in particular to a gripper of a crank sliding block mechanism.

Background

The mechanical claw is mainly divided into four types, namely pneumatic, hydraulic, electric and mechanical, and is used for automatic production equipment; the existing mechanical claw has a complex structure, so that the manufacturing cost is high.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model provides a gripper of a crank sliding block mechanism, and aims to solve the problem that the existing mechanical gripper is complex in structure and high in manufacturing cost.

In order to achieve the purpose, the utility model adopts the following technical scheme:

providing a gripper of a crank-slider mechanism, which comprises a cabin;

a crank-slider mechanism and a transmission mechanism for driving the crank-slider mechanism are arranged in the engine room, and an execution mechanism driven by the crank-slider mechanism to clamp the goods is arranged on the engine room;

the slider-crank mechanism includes the head rod of being connected with drive mechanism, and the head rod rotates through the pivot with the second connecting rod to be connected, and the second connecting rod rotates to be connected on first fixed block, and first fixed block fixed mounting is on the slider, and the slider slides and sets up in the slide rail, and the slide rail is vertical to be fixed in the cabin, and first fixed block is connected with the one end of dead lever, and the dead lever is connected with actuating mechanism.

The utility model has the beneficial effects that: in this scheme, the slider-crank mechanism that sets up drives slider-crank mechanism through drive mechanism, and slider-crank mechanism drives actuating mechanism and snatchs the goods, has simple structure, low in manufacturing cost, and operational reliability is high.

Further, the first connecting rod and the second connecting rod are equal in length. The first connecting rod and the second connecting rod are arranged in equal length, and the characteristic that a crank sliding block mechanism has dead points is utilized, so that the gripper cannot automatically open due to external force to cause the mechanical gripper structure to fall off.

Further, the first connecting rod sets up in the one side of keeping away from the steering wheel.

Further, the cabin includes the bottom plate, all is provided with the fixed plate on two opposite side of bottom plate, fixedly on the top surface of fixed plate being provided with the cabin cover, and the cabin cover is provided with the mount pad that is used for installing the aircraft.

Furthermore, the other two opposite side surfaces of the bottom plate are provided with brackets.

Furthermore, the actuating mechanism comprises two first horizontal rods which are arranged between the two fixing plates in parallel, and each first horizontal rod is rotatably provided with two outer arm rods; the other end of the fixed rod is connected with the second fixed block, a first fixed frame is arranged on the second fixed block, a connecting piece is arranged on the fixed frame, two ends of the connecting piece are respectively connected with one ends of two third connecting rods, the other ends of the third connecting rods are rotatably arranged on a second horizontal rod, and the second horizontal rod is fixedly arranged on two outer arm rods at the same side.

Furthermore, an additional arm rod is arranged on the second horizontal rod.

In addition to the technical problems addressed by the present invention, the technical features constituting the technical solutions, and the advantageous effects brought by the technical features of the technical solutions described above, other technical problems that the present invention can solve, other technical features included in the technical solutions, and advantageous effects brought by the technical features will be described in further detail in the detailed description.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model. In the drawings:

fig. 1 is a schematic structural view of a hand grip of a crank block mechanism according to the present invention.

FIG. 2 is a front view of a hand grip of a crank block mechanism of the present invention.

Fig. 3 is a schematic structural diagram of a crank-slider mechanism and an actuator.

Fig. 4 is a schematic structural diagram of the transmission mechanism and the crank-slider mechanism.

Wherein: 1. an additional arm lever; 2. a second horizontal bar; 3. an outer arm lever; 4. a third connecting rod; 5. a gasket; 6. a first fixing frame; 7. a base plate; 8. a steering engine; 9. a first gear; 10. a front fixing plate; 11. a second gear; 12. a first connecting rod; 13. a rotating shaft; 14. a second connecting rod; 15. a hatch cover; 16. a first fixed block; 17. a slider; 18. a slide rail; 19. a rear fixing plate; 20. fixing the rod; 21. a first horizontal bar; 22. a second fixed block; 23. a support; 27. a second fixing frame; 28. a connecting member.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely a few embodiments of the utility model, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a gripper for a crank block mechanism, which includes a nacelle; the inside of the engine room is provided with a crank block mechanism and a transmission mechanism for driving the crank block mechanism, and the engine room is provided with an actuating mechanism driven by the crank block mechanism to clamp goods.

The cabin comprises a bottom plate 7, two opposite side surfaces of the bottom plate 7 are all connected with fixing plates through bolts, the top surfaces of the two fixing plates are connected with cabin covers 15 through bolts, and the cabin covers 15 are provided with installation seats used for installing aircrafts. The other two opposite sides of the bottom plate 7 are bolted with brackets 23.

Specifically, mount pad and aircraft bolted connection, the aircraft can be unmanned aerial vehicle.

The transmission mechanism comprises a steering engine 8, the steering engine 8 is connected onto a steering engine base through a bolt, the steering engine base is connected onto the top surface of the bottom plate 7 through a bolt, a first gear 9 is arranged at the shaft end of the steering engine 8, the first gear 9 is meshed with a second gear 11, and the second gear 11 is fixedly connected onto a rotating shaft 11.

The slider-crank mechanism comprises a first connecting rod 12 and a second connecting rod 14, bearings are respectively arranged in holes at two ends of the first connecting rod 12, a rotating shaft 13 and a shaft of the steering engine 8 are respectively arranged in inner rings of the two bearings, the rotating shaft 13 is sleeved in a hole at one end of the second connecting rod 14 in a clearance mode so as to realize the rotation of the second connecting rod 14 around the rotating shaft 13, and similarly, a fixed pin shaft of a first fixed block 16 is sleeved in a hole at the other end of the second connecting rod 14 in a clearance mode; the first fixed block 16 is mounted on the sliding block 17 through a bolt, the sliding block 17 is slidably arranged in the sliding rail 18, the sliding rail 18 is vertically fixed on one of the fixed plates, and the bottom of the first fixed block 16 is in threaded connection with one end of the fixed rod 20. The first connecting rod 12 is arranged far away from one side of the steering engine 8. The first connecting rod 12 and the second connecting rod 14 are equal in length.

In the scheme, the arranged first gear 9 and the second gear 11 are used for transmitting power, so that the crank block mechanism drives the actuating mechanism to clamp or loosen goods, and the arranged first connecting rod 12 ensures that the relative distance between the first gear 9 and the second gear 11 is not changed. Compare and make slider-crank mechanism lug connection on steering wheel 8, the ingenious design connected mode of this scheme adoption first gear 9 and second gear 11 and head rod 12, pivot 13 makes this scheme can transmit power, can also avoid the big problem of steering wheel operating load.

The actuating mechanism comprises two parallel first horizontal rods 21, a second fixing frame 27 is connected to the rear fixing plate 19 through bolts, one ends of the two first horizontal rods 21 are fixedly connected to the second fixing frame 27, and the other ends of the two first horizontal rods 21 are fixed to the front fixing plate 10; two outer arm rods 3 are respectively and rotatably arranged on each first horizontal rod 21; the other end of the fixed rod 20 is in threaded connection with a second fixed block 22, the second fixed block 22 is in bolted connection with a fixed frame, the fixed frame is in bolted connection with a connecting piece 28, two ends of the connecting piece 28 are respectively connected with one ends of two third connecting rods 4, the other ends of the third connecting rods 4 are rotatably installed on a second horizontal rod 2, and the second horizontal rod is fixedly installed on two outer arm rods 3 on the same side.

Specifically, an additional arm lever 1 is fixedly arranged on the second horizontal lever; the additional arm 1 and the outer arm 3 may be provided with a plurality of second horizontal bars. The gaskets 5 are sleeved on the first horizontal rods 21 between the two outer arm rods 3 and between the outer arm rods 3 and the front fixing plate 10 and the second fixing frame 27.

The control device comprises a single chip microcomputer, and the single chip microcomputer is connected with a control module and an optical sensor of the steering engine 8.

The aircraft drives the gripper to move, the optical sensor collects images in real time and transmits the collected information to the single chip microcomputer, the single chip microcomputer sends a signal to the steering engine 8 to enable the shaft of the steering engine 8 to rotate forwards, the steering engine 8 drives the first gear 9 to rotate, the first gear 9 drives the second gear 11 to rotate, the second gear 11 and the rotating shaft 13 which are fixedly connected are enabled to do circular motion around the center of the first gear 9, the rotating shaft 13 drives the second connecting rod 14 to rotate, and do curvilinear motion, make second connecting rod 14 drive first fixed block 16 and slider 17 upwards to slide in slide rail 18, first fixed block 16 drives dead lever 20 upwards to slide, dead lever 20 drives second fixed block 22 upwards to slide, first mount 6 and connecting piece 28 on second fixed block 22 drive third connecting rod 4 upwards to move, third connecting rod 4 drives two relative outer arm poles 3 inwards to centre gripping goods. When the cargo is loosened, the shaft of the steering gear 8 is reversed.

In this scheme, the slider-crank mechanism that sets up drives slider-crank mechanism through drive mechanism, and slider-crank mechanism drives actuating mechanism and snatchs the goods, has simple structure, low in manufacturing cost, and operational reliability is high. The first connecting rod and the second connecting rod are arranged in equal length, and the characteristic that dead points do not exist in the crank sliding block mechanism is utilized, so that the gripper cannot automatically open due to external force to cause the object to fall off. The engine room and the crank sliding block mechanism are made of acrylic materials, so that the weight is light, and the requirement of specific grabbing is met. The gripper can be carried on various flight devices, so that the gripper can be widely applied to various occasions such as monitoring, emergency rescue, fire fighting, disaster relief, geological exploration, military detection and the like.

It should be noted that the steering engine, the single chip microcomputer and the optical sensor are all in the prior art, and are not limited in the scheme. The rotary connection or the rotary arrangement in the scheme can be a hinge connection, and can also be other realization modes as long as the rotary connection or the rotary arrangement between the hinge connection and the other realization modes can be ensured; the fixed arrangement or the fixed connection can be welding or bolt connection, and can also be other realization modes as long as the fixation between the two can be ensured; the present solution is not limited.

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

1. The gripper of the crank sliding block mechanism is characterized by comprising an engine room;

a crank-slider mechanism and a transmission mechanism for driving the crank-slider mechanism are arranged in the engine room, and an execution mechanism for clamping goods is arranged on the engine room and driven by the crank-slider mechanism;

the transmission mechanism comprises a steering engine (8) arranged in a cabin, a first gear (9) is arranged at the shaft end of the steering engine (8), the first gear (9) is meshed with a second gear (11), and the second gear (11) is fixed on a rotating shaft (13);

the crank sliding block mechanism comprises a first connecting rod (12) and a second connecting rod (14), and two ends of the first connecting rod (12) are respectively installed on the rotating shaft (13) and a shaft of the steering engine (8) through bearings; the one end of second connecting rod (14) is rotated and is connected in pivot (13), and the other end rotates to be connected on first fixed block (16), first fixed block (16) fixed mounting is on slider (17), slider (17) slide to set up in slide rail (18), slide rail (18) are vertical to be fixed in the cabin, first fixed block (16) are connected with the one end of dead lever (20), dead lever (20) with actuating mechanism connects.

2. Hand grip of a crank-slider mechanism according to claim 1, characterized in that the first connecting rod (12) and the second connecting rod (14) are equally long.

3. Hand grip of a crank-slider mechanism according to claim 1 or 2, characterized in that the first connecting rod (12) is arranged on the side remote from the steering engine (8).

4. Gripper according to claim 3, characterized in that the nacelle comprises a base plate (7), that on both opposite sides of the base plate (7) a fixed plate is arranged, that on the top surface of the fixed plate a hatch (15) is fixedly arranged, and that the hatch (15) is provided with a mounting seat for mounting an aircraft.

5. Gripper according to a crank-slider mechanism as claimed in claim 4, characterized in that brackets (23) are provided on both of the other two opposite sides of the bottom plate (7).

6. The hand grab of a crank-slider mechanism according to claim 4, wherein the actuating mechanism comprises two first horizontal rods (21), the two first horizontal rods (21) are installed between the two fixing plates in parallel, and each first horizontal rod (21) is rotatably provided with two outer arm rods (3); the other end and the second fixed block (22) of dead lever (20) are connected, be provided with first mount (6) on second fixed block (22), be provided with connecting piece (28) on the mount, the both ends of connecting piece (28) are connected with the one end of two third connecting rods (4) respectively, the other end of third connecting rod (4) is rotated and is installed on second horizon bar (2), second horizon bar (2) fixed mounting is two of homonymy on outer armed lever (3).

7. Hand grip of a crank-slider mechanism according to claim 6, characterized in that an additional arm lever (1) is arranged on the second horizontal bar (2).

8. The hand grab of the crank-slider mechanism as claimed in claim 7, further comprising a control device, wherein the control device comprises a single chip microcomputer, and the single chip microcomputer is connected with a control module and an optical sensor of the steering engine (8).