CN219489262U

CN219489262U - Restraint underactuated assembly

Info

Publication number: CN219489262U
Application number: CN202320384346.0U
Authority: CN
Inventors: 陈宏庆; 周志宏; 周祺畅; 吴娜娜
Original assignee: Hunan Sany Vocational and Technical College of Industry
Current assignee: Hunan Sany Vocational and Technical College of Industry
Priority date: 2023-03-04
Filing date: 2023-03-04
Publication date: 2023-08-08
Anticipated expiration: 2033-03-04

Abstract

The utility model relates to the technical field of underactuated components, in particular to a constraint underactuated component. The technical proposal comprises: the device comprises a box body, supporting rods and a power mechanism, wherein three groups of supporting rods are fixedly arranged at the top of the box body, a connecting shaft piece is fixedly arranged at the top of the supporting rods, an underactuated clamping rod is arranged on the connecting shaft piece through a shaft bolt, a pressure sensor is fixedly arranged at one side of the top end of the underactuated clamping rod, and a clamping plate is fixedly arranged at one side of the pressure sensor. According to the utility model, the servo motor is electrified to operate to drive the wire releasing roller to rotate, the rotating wire releasing roller can drive the under-actuated clamping rod to move in an arc shape by taking the connecting shaft as the axis, the clamping plate can be driven by the pressure sensor to clamp articles through the under-actuated clamping rod which moves in the arc shape, and then the pressure sensor is matched with the controller to be used, so that the problem that the pressure of the articles clamped by the device is inconvenient to adjust is solved, the articles are prevented from being damaged easily due to excessive clamping force, and the articles are easy to fall off due to the too-small clamping force.

Description

Restraint underactuated assembly

Technical Field

The utility model relates to the technical field of underactuated components, in particular to a constraint underactuated component.

Background

The underactuated assembly is also called an intelligent driving assembly, a to-be-driven assembly and the like, has various classification and application, has wide application range, is widely applied to various fields of industry, manipulators and the like, can grasp articles for a long time through the characteristic of higher service life of the underactuated assembly, and needs a constraint underactuated assembly to take the articles with movement in daily use so as to be convenient for conveying the articles.

Most of the existing underactuated components adopt personnel to manually overhaul and maintain the pressure-resistant cables of the devices, because the underactuated components have the characteristics of various electrical equipment, the underactuated components are inconvenient to disassemble and overhaul the devices, the problem of breakage of the pressure-resistant cables is easy to occur, the safety effect of the devices is reduced, the existing solution is to adopt a tension monitor to measure the pressure of the cables and to be provided with an access door to overhaul the inside of the devices, but the problem that the pressure of clamping the devices to the articles is inconvenient to adjust when the devices are used is solved, the resulting excessive clamping force is easy to cause the damage of the articles, the falling of the articles is easy to be caused by the excessively small clamping force, the type of the articles taken by the devices is limited, meanwhile, the problem that the articles after the taking are inconvenient to be quickly placed is also existed, the electric expenditure of placing the articles is increased, and meanwhile, the efficiency of taking the articles is also reduced, so the underactuated components are required to be designed.

Disclosure of Invention

The present utility model is directed to a constrained under-actuated assembly that solves the above-mentioned problems with the prior art.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a constraint underactuated assembly, includes box, branch and power unit, box top fixed mounting has three branch of group, branch top fixed mounting has the connecting axle spare, the underactuated clamp lever is installed through the axle bolt to the connecting axle spare, underactuated clamp lever top one side fixed mounting has pressure sensor, pressure sensor one side fixed mounting has splint, underactuated clamp lever outside movable mounting has the sliding sleeve seat, sliding sleeve seat one side fixed mounting has the constraint spring, constraint spring bottom fixed mounting has the connecting piece, and connecting piece fixed mounting is in connecting axle spare one side, box inside fixed mounting has power unit, power unit includes the mounting bracket, the wire paying off roll is installed in the inboard rotation of mounting bracket, the wire paying off roll outside coils installs the cable.

The servo motor is electrified to operate to drive the pay-off roller to rotate, the rotating pay-off roller drives the cable to roll, the reeled cable can drive three groups of under-actuated clamping rods to move in an arc mode by taking the connecting shaft as the axis, the under-actuated clamping rods which move in an arc mode can drive the clamping plates to clamp the article through the pressure sensor, the pressure applied to the article through the clamping plates can be monitored in real time, and the monitoring electromagnetic signals are transmitted to the controller through the lead wires to be calculated.

Preferably, a wireless module is fixedly arranged at the bottom inside the box body, and the wireless module is electrically connected with the controller through a wire. The signal transmitted by the signal transmitting end can be received through the wireless module electrifying operation, and the received electromagnetic signal is transmitted to the controller through the lead, so that the subsequent controller can conveniently electrify and operate the internal electrical equipment of the device through the lead, and the function of operating the remote control device is achieved.

Preferably, a tension sensor is fixedly arranged on the other side of the sliding sleeve seat, and the bottom of the tension sensor is fixedly connected with one end of the cable. The tension sensor is electrified to run, so that the tension on the cable can be monitored in real time, and the monitoring electromagnetic signals are conveyed to the controller for storage through the lead wires, so that subsequent maintenance personnel can know that the cable is durable in use.

Preferably, a servo motor is fixedly arranged on one side of the mounting frame, and the output end of the servo motor is fixedly connected with one side of the paying-off roller. The three groups of servo motors are electrified to run so as to drive the wire unwinding roller to rotate, the rotating wire unwinding roller can provide a basic power source for winding a follow-up cable, and convenience is provided for arc-shaped movement of the follow-up driving three groups of underactuated clamping rods by taking the connecting shaft as the axis.

Preferably, the top of the box body is fixedly provided with a wire guide disc, and three groups of wire guide slots are formed in the wire guide disc at equal intervals. The cable moving position can be limited through the wire guide disc and the wire outlet slot hole, so that the moving cable is prevented from being subjected to position deviation, the cable winding work is guaranteed, and a moving space can be provided for the cable through the wire outlet slot hole.

Preferably, the front surface of the box body is fixedly provided with a controller, and the front surface of the box body is provided with a butt joint groove. The controller is electrically connected with the wireless module, the servo motor, the pressure sensor and the tension sensor through wires, so that the follow-up operator can conveniently control the electric equipment in the intelligent control device to be electrified and run, and the follow-up operator can conveniently dock the external diagnostic equipment with the wireless module through the docking slot and overhaul the wireless module.

Compared with the prior art, the utility model has the beneficial effects that:

1. the servo motor is electrified to operate to drive the pay-off roller to rotate, the rotating pay-off roller drives the cable to roll, the rolled cable can drive three groups of under-actuated clamping rods to move in an arc mode by taking the connecting shaft as the axis, the clamping plates can be driven by the three groups of under-actuated clamping rods to clamp articles through the pressure sensors, the pressure applied to the articles by the clamping plates can be monitored in real time through the pressure sensors, monitoring electromagnetic signals are transmitted to the controller through the wires to be calculated, when the controller calculates that the monitoring electromagnetic signals are larger than a preset value, the three groups of servo motors are controlled to stop operating through the wires, the problem that the pressure of the articles clamped by the device is inconvenient to adjust is solved, the articles are prevented from being damaged easily due to overlarge clamping force, the articles are easy to fall off due to overlarge clamping force, and the compatibility of the types of the articles taken by the device is enlarged.

2. The under-actuated clamping rods can be driven to reversely move in an arc mode by taking the connecting shaft as the axis through the high elastic force of the three groups of constraint springs, and can drive the three groups of clamping plates to be far away from the surface of the article to be taken through the pressure sensor, so that the effect of knowing the locking position of the clamping plates is achieved, the problem that the article to be taken is inconvenient to place rapidly is solved, the article to be taken does not need to be loosened by means of electrical equipment, the electric expenditure of placing the article is reduced, and meanwhile the article taking efficiency is improved.

Drawings

FIG. 1 is a schematic view of a front cross-sectional perspective structure of the present utility model;

FIG. 2 is a schematic view of a front perspective structure of the present utility model;

FIG. 3 is a schematic view of a partial perspective view of an under-actuated clamping bar of the present utility model;

fig. 4 is a schematic view of a partial perspective structure of a power mechanism according to the present utility model.

In the figure: 1. a case; 101. a wireless module; 2. a support rod; 201. a connecting shaft member; 202. under-actuated clamping bars; 203. a pressure sensor; 204. a clamping plate; 3. a sliding sleeve seat; 301. a restraining spring; 302. a connecting piece; 303. a tension sensor; 4. a power mechanism; 401. a mounting frame; 402. a wire releasing roller; 403. a cable; 404. a servo motor; 5. a wire disc; 6. and a controller.

Detailed Description

The technical scheme of the utility model is further described below with reference to the attached drawings and specific embodiments.

Example 1

As shown in fig. 1, 2, 3 and 4, the restraint underactuated assembly provided by the utility model comprises a box body 1, support rods 2 and a power mechanism 4, wherein three groups of support rods 2 are fixedly arranged at the top of the box body 1, a connecting shaft piece 201 is fixedly arranged at the top of the support rods 2, an underactuated clamping rod 202 is arranged on the connecting shaft piece 201 through a shaft bolt, and a pressure sensor 203 is fixedly arranged at one side of the top end of the underactuated clamping rod 202;

the clamping plate 204 is fixedly arranged on one side of the pressure sensor 203, the sliding sleeve seat 3 is movably arranged on the outer side of the under-actuated clamping rod 202, the constraint spring 301 is fixedly arranged on one side of the sliding sleeve seat 3, the connecting piece 302 is fixedly arranged at the bottom of the constraint spring 301, and the connecting piece 302 is fixedly arranged on one side of the connecting shaft piece 201;

the inside fixed mounting of box 1 has power unit 4, and power unit 4 includes mounting bracket 401, and the inboard rotation of mounting bracket 401 is installed and is put line roller 402, and the pay line roller 402 outside coils installs cable 403, and sliding sleeve seat 3 opposite side fixed mounting has tension sensor 303, and tension sensor 303 bottom and cable 403 one end fixed connection, and mounting bracket 401 one side fixed mounting has servo motor 404, and servo motor 404 output and pay line roller 402 one side fixed connection, and box 1 openly fixed mounting has controller 6.

The constraint underactuated assembly based on the first embodiment works as follows: after the device is installed at a designated installation position, the controller 6 controls the three groups of servo motors 404 to be electrified to operate so as to drive the paying-off roller 402 to rotate, the rotating paying-off roller 402 can reel the cable 403, and the reeled cable 403 can drive the three groups of underactuated clamping rods 202 to move in an arc shape by taking the connecting shaft piece 201 as the axis through the tension sensor 303;

the under-actuated clamping rods 202 which move in an arc manner can drive the clamping plates 204 to clamp articles through the pressure sensors 203, so that the function of clamping the articles is realized, the pressure applied to the articles by the clamping plates 204 can be monitored in real time through the pressure sensors 203, and the monitored electromagnetic signals are transmitted to the controller 6 through wires for calculation;

when the controller 6 calculates that the monitoring electromagnetic signal is larger than the preset value, the three groups of servo motors 404 are controlled by the lead to stop running, so that the problem that the pressure of the device for clamping the article is inconvenient to adjust is solved, the problem that the article is easy to damage due to excessive clamping force is avoided, and the article is easy to drop due to the too-small clamping force;

the tension on the cable 403 can be monitored in real time through the energizing operation of the tension sensor 303, and the monitoring electromagnetic signals are transmitted to the controller 6 for storage through the lead, so that subsequent maintenance personnel can know the use data of the cable 403, and the cable 403 can be replaced according to the storage data of the controller 6;

when the article to be taken is required to be placed quickly, the high elastic force of the three groups of constraint springs 301 can drive the three groups of under-actuated clamping rods 202 to move in a reverse arc mode by taking the connecting shaft piece 201 as the axis, the under-actuated clamping rods 202 moving in the reverse arc mode can drive the three groups of clamping plates 204 to be far away from the surface of the article to be taken through the pressure sensor 203, the effect of unlocking the locking position of the clamping plates 204 is achieved, the problem that the article to be taken is inconvenient to place quickly is solved, the problem that the electrical equipment is not required to be used for loosening the article to be taken is solved, meanwhile, the high elastic force of the constraint springs 301 can be used for limiting the stroke of the under-actuated clamping rods 202, and the phenomenon that the under-actuated clamping rods 202 move in position automatically is avoided.

Example two

As shown in fig. 1 and 2, the present utility model provides a constraint underactuated component, which further includes, compared to the first embodiment: the wireless module 101 is fixedly installed at the bottom of the inside of the box body 1, the wireless module 101 is electrically connected with the controller 6 through a wire, the wire disc 5 is fixedly installed at the top of the box body 1, three groups of wire outlet slots are formed in the wire disc 5 at equal intervals, and the butt joint groove is formed in the front face of the box body 1.

In this embodiment, as shown in fig. 1, the wireless module 101 is powered on to operate to receive a signal sent by the signal transmitting end, and the received electromagnetic signal is transmitted to the controller 6 through a wire, so that the subsequent controller 6 can conveniently power on and operate the electrical equipment in the device through the wire, thereby playing a role in operating the remote control device;

as shown in fig. 1 and 2, the moving position of the cable 403 can be limited through the wire guide disc 5 and the wire outlet slot, so that the moving cable 403 is prevented from being shifted, the winding work of the cable 403 is ensured, and a moving space can be provided for the cable 403 through the wire outlet slot;

as shown in fig. 2, the docking slot is convenient for a subsequent maintainer to dock the external diagnostic device with the wireless module 101 and perform maintenance operation on the wireless module 101.

The above-described embodiments are merely a few preferred embodiments of the present utility model, and many alternative modifications and combinations of the above-described embodiments will be apparent to those skilled in the art based on the technical solutions of the present utility model and the related teachings of the above-described embodiments.

Claims

1. The utility model provides a restraint underactuated subassembly, includes box (1), branch (2) and power unit (4), its characterized in that: the novel wire unwinding device is characterized in that three groups of struts (2) are fixedly arranged at the top of the box body (1), a connecting shaft piece (201) is fixedly arranged at the top of the struts (2), an underactuated clamping rod (202) is arranged on the connecting shaft piece (201) through a shaft bolt, a pressure sensor (203) is fixedly arranged on one side of the top end of the underactuated clamping rod (202), a clamping plate (204) is fixedly arranged on one side of the pressure sensor (203), a sliding sleeve seat (3) is movably arranged on the outer side of the underactuated clamping rod (202), a constraint spring (301) is fixedly arranged on one side of the sliding sleeve seat (3), a connecting piece (302) is fixedly arranged at the bottom of the constraint spring (301), a power mechanism (4) is fixedly arranged on one side of the connecting shaft piece (201), the power mechanism (4) comprises a mounting frame (401), a wire unwinding roller (402) is rotatably arranged on the inner side of the mounting frame (401), and a wire winding cable (403) is arranged on the outer side of the unwinding roller (402).

2. A constrained underactuated assembly as claimed in claim 1, wherein: the wireless module (101) is fixedly arranged at the bottom inside the box body (1), and the wireless module (101) is electrically connected with the controller (6) through a wire.

3. A constrained underactuated assembly as claimed in claim 1, wherein: the other side of the sliding sleeve seat (3) is fixedly provided with a tension sensor (303), and the bottom of the tension sensor (303) is fixedly connected with one end of a cable (403).

4. A constrained underactuated assembly as claimed in claim 1, wherein: a servo motor (404) is fixedly arranged on one side of the mounting frame (401), and the output end of the servo motor (404) is fixedly connected with one side of the paying-off roller (402).

5. A constrained underactuated assembly as claimed in claim 1, wherein: the top of the box body (1) is fixedly provided with a wire guide disc (5), and three groups of wire guide slots are formed in the wire guide disc (5) at equal intervals.

6. A constrained underactuated assembly as claimed in claim 1, wherein: the front of the box body (1) is fixedly provided with a controller (6), and the front of the box body (1) is provided with a butt joint groove.