WO2021114336A1 - 一种助力机械手用夹具 - Google Patents

一种助力机械手用夹具 Download PDF

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Publication number
WO2021114336A1
WO2021114336A1 PCT/CN2019/126339 CN2019126339W WO2021114336A1 WO 2021114336 A1 WO2021114336 A1 WO 2021114336A1 CN 2019126339 W CN2019126339 W CN 2019126339W WO 2021114336 A1 WO2021114336 A1 WO 2021114336A1
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WO
WIPO (PCT)
Prior art keywords
claw
transmission
field effect
rotating
box body
Prior art date
Application number
PCT/CN2019/126339
Other languages
English (en)
French (fr)
Inventor
王三祥
朱志国
夏中来
王欣
Original Assignee
江苏昱博自动化设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏昱博自动化设备有限公司 filed Critical 江苏昱博自动化设备有限公司
Publication of WO2021114336A1 publication Critical patent/WO2021114336A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors

Definitions

  • the invention relates to the technical field of power-assisted manipulators, in particular to a clamp for power-assisted manipulators.
  • the present invention discloses a clamp for a power-assisted manipulator, which is used to replace the strap to complete the fixing of the article and reduce the hidden safety hazard, which includes:
  • a clamp table the clamp table is set in an arcuate structure, the clamp table includes a first clamp arm that is not arranged adjacently, and two ends of the connecting arm are respectively connected to one end of the first clamp arm;
  • first claw mechanisms There are two first claw mechanisms, the two first claw mechanisms are connected to the first clamping arm in a one-to-one correspondence, and the two first claw mechanisms are Opposite setting;
  • a second claw mechanism, the second claw mechanism is connected to the connecting arm
  • a connecting seat which is connected to the connecting arm and is used for connecting with a power-assisted manipulator.
  • the second claw mechanism includes:
  • Cross bar, the cross bar and the connecting arm are arranged horizontally and connected to the middle position of the connecting arm;
  • a second claw body the second claw body includes a long claw and a short claw, the short claws are provided with three, one end of the two short claws is vertically connected to the cross bar, the Two long jaws are provided, one end of the two long jaws is vertically connected to the crossbar, and the three short jaws are sandwiched between the two long jaws.
  • the first clamping mechanism is connected to the end of the first clamping arm away from the connecting arm, and the first clamping mechanism includes:
  • a first claw body, the first claw body is connected to one end of the fixing seat;
  • a telescopic cylinder the telescopic cylinder is connected to the first clamping arm through a frame, and the output end of the telescopic cylinder is connected to the fixing seat away from the first jaw body end;
  • the two guide bodies are arranged in parallel along the movement direction of the telescopic cylinder, and the guide bodies include:
  • a guide seat, the lower end of the guide seat is connected to the fixed seat;
  • the T-shaped groove is opened at the upper end of the guide seat
  • the T-shaped rail is connected to the first clamp arm, and the T-shaped rail is slidably connected in the T-shaped groove.
  • the first pawl body includes:
  • a box the box is connected to the fixed seat away from the end of the telescopic cylinder;
  • the main claws are provided with three main claws, and the main claws are arranged in the box body;
  • a first connecting piece, the first connecting piece is vertically arranged in the box body, and the main claws are horizontally connected to one end of the first connecting piece at equal intervals;
  • a second connecting piece, the second connecting piece is horizontally arranged in the box body, and the second connecting piece is connected to the end of the first connecting piece away from the main claw;
  • a main claw channel, the main claw channel is arranged at the end of the box body away from the fixing seat, and the main claw is slidably connected to the main claw channel at the end away from the first connecting member;
  • a first chute, the first chute is transversely opened on the second connecting member
  • a first fixing column the first fixing column is arranged in the box body, and the first chute is slidably connected to the first fixing column in a position-limiting manner;
  • a mounting post, the mounting post is arranged in the box body;
  • a rotating ring the rotating ring is sleeved on the mounting post
  • a first transmission part, the first transmission part is connected to the outer end of the rotating ring and protruded at a preset angle;
  • a first card slot is adapted to the first transmission part to be arranged away from the end of the rotating ring, and the first card slot is opened on the second connecting member;
  • a first transmission tooth, the first transmission tooth is connected to a position away from the first transmission part at the outer end of the rotating ring;
  • a first bevel gear, the first bevel gear is fixedly connected to the box body through a rotating shaft;
  • a second transmission tooth which is connected to the outer end of the first bevel gear and meshes with the first transmission tooth
  • a first servo motor the first servo motor is arranged in the box;
  • a second bevel gear is connected to the output end of the first servo motor, and the second bevel gear meshes with the first bevel gear.
  • it also includes:
  • a secondary claw, the secondary claw is arranged in the box body
  • a fixed plate, the fixed plate is arranged in the box body;
  • a transmission rod the transmission rod is arranged transversely through the fixing plate, and one end of the transmission rod is connected with the auxiliary pawl;
  • a secondary claw channel, the secondary claw channel is arranged at the end of the box body away from the fixed seat, and the secondary claw is slidably connected to the secondary claw channel away from the end of the transmission rod;
  • a transmission block which is connected to the end of the transmission rod away from the auxiliary claw;
  • a limit seat, the cross section of the limit seat is set to a U-shaped structure, and the transmission rod is slidably connected in the limit seat near the end of the transmission block;
  • a rack one end of the rack is connected with the limit seat, and the rack is arranged in parallel along the moving direction of the transmission rod;
  • a second servo motor, the second servo motor is arranged in the box;
  • the rotating gear is connected to the output end of the second servo motor and meshes with the rack.
  • a first spring is sleeved on the end of the transmission rod close to the auxiliary pawl, one end of the first spring is connected to the fixing plate, and the other end of the first spring is set against the auxiliary pawl.
  • it also includes:
  • a first rotating body configured as a cover structure and is sleeved on the mounting column downwards, and the upper end of the first rotating body is disposed through the upper end of the box body;
  • a second transmission part, the second transmission part is provided at the outer end of the first rotating body
  • a dial block the dial block is adapted to the second transmission part, and is connected to the rotating ring;
  • a third transmission part, the third transmission part is connected to a position away from the second transmission part at the outer end of the first rotating body and protrudes at a preset angle;
  • a special-shaped rotating groove, the special-shaped rotating groove is provided at the upper end of the first rotating body
  • the transmission bar is vertically arranged in the box body and is arranged close to the fixing seat;
  • the second sliding groove, the second sliding groove is provided with two, and is vertically opened on the transmission bar;
  • a second fixing column, the second fixing column is arranged in the box body, and the second chute is slidably connected to the second fixing column in a limiting position;
  • a second card slot, the second card slot is opened at the end of the drive bar away from the fixing base and is located near the lower end of the drive bar, and the second card slot is set to fit the third drive part;
  • a third card slot, the third card slot is opened at the end of the transmission bar away from the fixing base and is provided near the upper end of the transmission bar;
  • a rotating paddle, the rotating paddle includes:
  • a rotating part, the rotating part is configured as a ring structure
  • a second fixing column, the second fixing column is arranged in the box body, and the rotating part is sleeved on the second fixing column;
  • a first paddle, the first paddle is connected to the outer end of the rotating part and is set to fit the transmission block;
  • a second paddle is connected to the outer end of the rotating part, and is configured to fit the third card slot, and the second paddle and the first paddle are vertically arranged.
  • the two second chutes are arranged collinearly.
  • control unit further includes:
  • a pressure sensor the pressure sensor is arranged on the auxiliary claw;
  • a filter circuit the filter circuit is connected to the pressure sensor, and is used to stabilize the voltage output by the pressure sensor;
  • a processor the processor is connected to the filter circuit
  • a controller the controller is connected to a processor, and is configured to receive a signal from the processor to control the action of the second servo motor;
  • the filter circuit includes:
  • Transistor Q1 the emitter of which is used as the input terminal of the filter circuit, and the collector of which is used as the output terminal of the filter circuit;
  • the emitter of the transistor Q2 is connected to the emitter of the transistor Q1, the collector of the transistor Q2, the base of the transistor Q2 and the base of the transistor Q1 are connected to the ground through a resistor R1;
  • the collector of the transistor Q3 is connected to the emitter of the transistor Q1, and its base is connected to its emitter through a resistor R2 and then grounded through a diode D1;
  • the FET MN1 has its gate connected to its drain and then connected to the emitter of the transistor Q3, and its source is grounded;
  • a field effect transistor MN2 the gate of which is connected to the gate of the field effect transistor MN1;
  • the field effect transistor MN3 the drain of which is connected to the source of the field effect transistor MN2, and the source of which is grounded;
  • the field effect transistor MN4 the gate of which is connected to the gate of the field effect transistor MN3, and the source of which is grounded;
  • the gate of the field effect transistor MN5 is connected to the drain of the field effect transistor MN2, and its source is grounded;
  • the source of the field effect transistor MP1 is connected to the power source, and the drain is connected to the drain of the field effect transistor MN4;
  • the source of the field effect transistor MP2 is connected to the power supply, and its gate is respectively connected to the gate of the field effect transistor MP1 and the drain of the field effect transistor MP1, and its drain is connected to the drain of the field effect transistor MN5.
  • the source of the field effect transistor MP3 is connected to the emitter of the transistor Q3 and the drain of the field effect transistor MP2, the gate is connected to the collector of the transistor Q1, and the drain is connected to the field effect transistor Q1.
  • the drain of the tube MN2 is connected;
  • the collector of the triode Q4 is connected to the collector of the triode Q1 through a resistor R3 in turn, and the collector is also grounded through a resistor R4 and a capacitor C1 in turn; the capacitor C1 is also connected in parallel with a resistor R5, and its emitter is grounded;
  • the base of the triode Q5 is connected to the collector of the triode Q1 through a resistor R6, and the collector is connected to the base of the triode Q4 and then connected to a power source through a resistor R7, and its emitter is grounded.
  • Figure 1 is a schematic diagram of the first structure of the present invention
  • Figure 2 is a top view of the present invention
  • Figure 3 is a schematic diagram of the second structure of the present invention.
  • Fig. 4 is a first schematic diagram of the structure of the first jaw body of the present invention.
  • Figure 5 is a second schematic diagram of the structure of the first jaw body of the present invention.
  • Figure 6 is the third schematic diagram of the structure of the first jaw body of the present invention.
  • FIG. 7 is a diagram of the control principle of the present invention.
  • Figure 8 is a circuit diagram of the present invention.
  • a clamp for a power-assisted manipulator includes:
  • the clamp table 1 is set in an arcuate structure, the clamp table 1 includes a first clamping arm 1-1 that is not arranged adjacently, and both ends of the connecting arm 1-2 are connected to the first clamping arm 1- 1 One end connection;
  • the first claw mechanism 2 is provided with two first claw mechanisms 2, and the two first claw mechanisms 2 are connected to the first clamping arm 1-1 in a one-to-one correspondence.
  • the first claw mechanism 2 is arranged oppositely;
  • a second pawl mechanism 3, the second pawl mechanism 3 is connected to the connecting arm 1-2;
  • the connecting seat 4 is connected to the connecting arm 1-2, and is used for connecting with a power-assisted manipulator.
  • the clamp is moved to the object that needs to be moved by the assisted manipulator, the clamp table 1 is moved to the outer end of the object, the second claw structure 3 resists the outer end of the object, and the two second claw mechanisms 2 arranged oppositely work to clamp Compared with the traditional straps to bind the objects, the movement of the objects is completed by the clamp, and there is no shaking during the movement, which increases the safety of the movement of the objects.
  • the second claw mechanism 3 includes:
  • Cross bar 3-1, said cross bar 3-1 and said connecting arm 1-2 are arranged horizontally and connected to the middle position of said connecting arm 1-2;
  • the second claw body 3-2, the second claw body 3-2 includes a long claw 3-21 and a short claw 3-22, the short claw 3-22 is provided with three, two One end of the short claw 3-22 is vertically connected to the cross bar 3-1, the two long claws 3-21 are provided with two, and one end of the two long claws 3-21 is vertically connected to the cross bar On 3-1, the three short jaws 3-22 are sandwiched between the two long jaws 3-21.
  • the three short claws 3-22 and two long claws 3-21 are arranged so that the second claw body 3-2 is away from the end of the cross bar 3-1 to form an arc, so as to better fit the outer end of the article to better Clamp the outer end of the article.
  • the first clamping mechanism 2 is connected to the end of the first clamping arm 1-1 away from the connecting arm 1-2, and the first clamping mechanism 2 includes:
  • the first claw body 2-2, the first claw body 2-2 is connected to one end of the fixing base 2-1;
  • Telescopic cylinder 2-3 the telescopic cylinder 2-3 is connected to the first clamping arm 1-1 through the frame, and the output end of the telescopic cylinder 2-3 is connected to the fixed seat 2-1 away from the first clamp arm 1-1.
  • the two guide bodies 2-4 are arranged in parallel along the movement direction of the telescopic cylinder 2-3.
  • the guide bodies 2-4 include:
  • a guide seat 2-41, the lower end of the guide seat 2-41 is connected to the fixed seat 2-1;
  • the T-shaped groove 2-42 is opened at the upper end of the guide seat 2-41;
  • the T-shaped rail 2-43 is connected to the first clamping arm 1-1, and the T-shaped rail 2-43 is slidably connected in the T-shaped groove 2-42.
  • the telescopic cylinder 2-3 works, and the fixed seat 2-1 connected with the output end of the telescopic cylinder 2-3 drives the first jaw body 2-2 along the direction of the guide body 2-4. Movement, and then against the outer end of the article, thereby completing the clamping of the article. After the clamping is completed, the telescopic cylinder 2-3 contracts, and the article is released from the clamping of the first claw body 2-2.
  • the first claw body 2-2 includes:
  • a box body 2-21 which is connected to the end of the fixing seat 2-1 away from the telescopic cylinder 2-3;
  • the main claws 2-22, the main claws 2-22 are provided with three, and the main claws 2-22 are provided in the box body 2-21;
  • the first connecting member 2-23, the first connecting member 2-23 is vertically arranged in the box body 2-21, and the main claws 2-22 are horizontally connected to the first connecting member 2 at equal intervals -23 end;
  • the second connecting piece 2-24, the second connecting piece 2-24 is horizontally arranged in the box body 2-21, and the second connecting piece 2-24 is connected to the first connecting piece 2-23 away from Main jaw 2-22 end;
  • the main claw channel 2-25, the main claw channel 2-25 is arranged at the end of the box body 2-21 away from the fixing seat 2-1, and the main claw 2-22 is away from the first connecting member 2-23
  • the end is slidably connected in the main jaw channel 2-25;
  • the first sliding groove 2-26, the first sliding groove 2-26 is transversely opened on the second connecting member 2-24;
  • the first fixed post 2-27, the first fixed post 2-27 is arranged in the box body 2-21, and the first sliding groove 2-26 is connected to the first fixed post 2- in a limiting sliding manner. 27 on;
  • Mounting post 2-28, the mounting post 2-28 is arranged in the box 2-21;
  • Rotating ring 2-29 said rotating ring 2-29 is sleeved on said mounting post 2-28;
  • the first transmission part 2-51, the first transmission part 2-51 is connected to the outer end of the rotating ring 2-29 and protrudes at a predetermined angle;
  • the first card slot 2-52, the first card slot 2-52 is adapted to the first transmission part 2-51 to be arranged away from the end of the rotating ring 2-29, and the first card slot 2-52 is opened in the On the second connecting piece 2-24;
  • the first transmission tooth 2-53, the first transmission tooth 2-53 is connected to a position away from the first transmission portion 2-51 at the outer end of the rotating ring 2-29;
  • a first bevel gear 2-54, the first bevel gear 2-54 is fixedly connected to the box body 2-21 through a rotating shaft;
  • Second transmission teeth 2-55, the second transmission teeth 2-55 are connected to the outer end of the first bevel gear 2-54 and mesh with the first transmission teeth 2-53;
  • the first servo motor 2-56, the first servo motor 2-56 is arranged in the box 2-21;
  • the second bevel gear 2-57, the second bevel gear 2-57 is connected to the output end of the first servo motor 2-56, and the second bevel gear 2-57 meshes with the first bevel gear 2-54 .
  • the telescopic cylinder 2-3 works, the first jaw body 2-2 is driven to clamp the outer end of the article, and the robot is assisted to move the animal to the preset position. At this time, the telescopic cylinder 2-3 does not need to retract, and the first servo
  • the motor 2-56 works, and sequentially drives the second bevel gear 2-57, the first bevel gear 2-54, the second transmission tooth 2-55, and the first transmission tooth 2-53 to move, and rotate the ring 2-29 to install the column 2-28 rotates counterclockwise with the center, the first transmission part 2-51 moves in the first slot 2-52 to approach the fixed seat 2-1, and then drives the main jaw 2-22 to retract to the main jaw channel 2.
  • the main claw 2-22 and the outer end of the article are separated, and the article falls off from the fixture.
  • the assist manipulator drives the fixture to move to the outer end of another article.
  • the rotating ring 2-29 rotates clockwise with the mounting post 2-28 as the center, the first transmission part 2-51 moves away from the fixed seat 2-1 in the first slot 2-52, and then drives the main pawl 2- 22 is arranged to extend out of the main jaw channel 2-25, and then resist the outer end of the article to complete the clamping of the article, so that there is no need to repeatedly use the telescopic cylinder 2-3 to complete the clamping and loosening of the article.
  • the main jaw 2 -22 It only needs to move a small distance to complete the clamping of objects, which improves work efficiency.
  • it further includes:
  • a secondary claw 2-61, the secondary claw 2-61 is arranged in the box body 2-21;
  • the fixing plate 2-62, the fixing plate 2-62 is arranged in the box body 2-21;
  • the transmission rod 2-63, the transmission rod 2-63 is arranged transversely through the fixing plate 2-62, and one end of the transmission rod 2-63 is connected with the auxiliary pawl 2-61;
  • the auxiliary claw channel 2-64, the auxiliary claw channel 2-64 is provided at the end of the box body 2-21 away from the fixing seat 2-1, and the auxiliary claw 2-61 slides away from the end of the transmission rod 2-63 Connected to the auxiliary jaw channel 2-64;
  • a transmission block 2-65 which is connected to the end of the transmission rod 2-63 away from the auxiliary claw 2-61;
  • the limit seat 2-66, the cross section of the limit seat 2-66 is set to a U-shaped structure, and the end of the transmission rod 2-63 close to the transmission block 2-65 is slidably connected in the limit seat 2-66;
  • a rack 2-67 one end of the rack 2-67 is connected with the limit seat 2-66, and the rack 2-67 is arranged in parallel along the movement direction of the transmission rod 2-63;
  • the second servo motor 2-68, the second servo motor 2-68 is arranged in the box 2-21;
  • the rotating gear 2-69 is connected to the output end of the second servo motor 2-68 and meshes with the rack 2-67.
  • the second servo motor 2-68 works synchronously, thereby driving the rack 2-67, the limit seat 2-66, the transmission rod 2-63, and the auxiliary jaw 2-61 to move, respectively.
  • the sub-claw 2-61 retracts into the sub-claw channel 2-64, and the sub-claw 2-61 creates a distance from the outer end of the article, thereby loosening the clamping of the article.
  • the second servo motor 2-68 works in the reverse direction, and the auxiliary claws 2-61 extend out of the auxiliary claw channel 2-64 to be set to complete the clamping of the outer end of the article.
  • the main claws 2-22, the auxiliary claws 2-22 and the auxiliary claws The claws 2-61 work synchronously, and the setting of the auxiliary claws 2-61 improves the clamping stability of the clamp.
  • a first spring 2-60 is sleeved on the end of the transmission rod 2-63 close to the auxiliary pawl 2-61, and one end of the first spring 2-60 is connected to the fixed plate 2-62, The other end of the first spring 2-60 is set against the auxiliary pawl 2-61.
  • it further includes:
  • the first rotating body 2-71, the first rotating body 2-71 is set as a cover structure, and is sleeved downward on the mounting post 2-28, and the upper end of the first rotating body 2-71 penetrates The upper end of the box body 2-21 is set;
  • the second transmission portion 2-72, the second transmission portion 2-72 is provided at the outer end of the first rotating body 2-71;
  • a shifting block 2-73, the shifting block 2-73 is adapted to the second transmission part 2-72, and is connected to the rotating ring 2-29;
  • the third transmission portion 2-74 which is connected to a position away from the second transmission portion 2-72 at the outer end of the first rotating body 2-71, and protrudes at a preset angle;
  • Transmission bar 2-76 the transmission bar 2-76 is vertically arranged in the box body 2-21, and is arranged close to the fixing seat 2-1;
  • the second fixing column 2-78, the second fixing column 2-78 is provided in the box body 2-21, and the second sliding groove 2-77 is slidably connected to the second fixing column 2- 78 up;
  • the second card slot 2-79, the second card slot 2-79 is opened at the end of the transmission bar 2-76 away from the fixing base 2-1 and is located near the lower end of the transmission bar 2-76, the second The card slot 2-79 is adapted to the setting of the third transmission part 2-74;
  • the third card slot 2-70, the third card slot 2-70 is opened at the end of the transmission bar 2-76 away from the fixing base 2-1, and is arranged close to the upper end of the transmission bar 2-76;
  • the rotating paddle 2-81, the rotating paddle 2-81 includes:
  • the rotating part 2-811, the rotating part 2-811 is configured as a ring structure
  • the second fixed post 2-812, the second fixed post 2-812 is arranged in the box body 2-21, and the rotating part 2-811 is sleeved on the second fixed post 2-812;
  • a first paddle 2-813, the first paddle 2-813 is connected to the outer end of the rotating part 2-811, and is configured to fit the transmission block 2-65;
  • the second paddle 2-814, the second paddle 2-814 is connected to the outer end of the rotating portion 2-811, and is set to fit the third card slot 2-70, the second paddle 2 -814 and the first pick 2-813 are arranged vertically.
  • the second transmission part 2-72 rotates counterclockwise, and dials the dial block 2-73, and then drives the rotating ring 2-29 to rotate counterclockwise with the mounting post 2-28 as the center.
  • a transmission part 2-51 moves in the first slot 2-52 to approach the fixing seat 2-1, and then drives the main pawl 2-22 to slide along the slotting direction of the first slide slot 2-26.
  • the main pawl 2-22 retracts into 2-25, and at the same time, the third transmission part 2-74 connected with the first rotating body 2-71 moves downward in the third slot 2-79, thereby synchronously driving the transmission strip 2-76 along The second sliding groove 2-77 moves downward in the slotting direction, the third card groove 2-70 synchronously drives the second paddle 2-814 to move downward, and the rotating part 2-811 is centered on the second fixed column 2-812.
  • the first paddle 2-813 drives the transmission block 2-65 to move closer to the fixed seat 2-1, and the auxiliary claw 2-61 retracts into the auxiliary claw channel 2-64, thus completing the clamping
  • the emergency opening of the first servo motor 2-56 and the second servo motor 2-68 will stop working when the first servo motor 2-56 and the second servo motor 2-68 stop working, and the article cannot be taken out of the fixture.
  • the two second chutes 2-77 are arranged collinearly.
  • a control unit is further included, and the control unit further includes:
  • the pressure sensor 2-8, the pressure sensor 2-8 is arranged on the auxiliary jaw 2-61;
  • a filter circuit which is connected to the pressure sensor 2-8, and is used to stabilize the voltage output by the pressure sensor 2-8;
  • a processor 2-9, the processor 2-9 is connected to the filter circuit
  • the controller 2-0 is connected to the processor 2-0, and is configured to receive the processor signal to control the action of the second servo motor 2-68;
  • the filter circuit includes:
  • Transistor Q1 the emitter of which is used as the input terminal of the filter circuit, and the collector of which is used as the output terminal of the filter circuit;
  • the emitter of the transistor Q2 is connected to the emitter of the transistor Q1, the collector of the transistor Q2, the base of the transistor Q2 and the base of the transistor Q1 are connected to the ground through a resistor R1;
  • the collector of the transistor Q3 is connected to the emitter of the transistor Q1, and its base is connected to its emitter through a resistor R2 and then grounded through a diode D1;
  • the FET MN1 has its gate connected to its drain and then connected to the emitter of the transistor Q3, and its source is grounded;
  • a field effect transistor MN2 the gate of which is connected to the gate of the field effect transistor MN1;
  • the field effect transistor MN3 the drain of which is connected to the source of the field effect transistor MN2, and the source of which is grounded;
  • the field effect transistor MN4 the gate of which is connected to the gate of the field effect transistor MN3, and the source of which is grounded;
  • the gate of the field effect transistor MN5 is connected to the drain of the field effect transistor MN2, and its source is grounded;
  • the source of the field effect transistor MP1 is connected to the power source, and the drain is connected to the drain of the field effect transistor MN4;
  • the source of the field effect transistor MP2 is connected to the power supply, and its gate is respectively connected to the gate of the field effect transistor MP1 and the drain of the field effect transistor MP1, and its drain is connected to the drain of the field effect transistor MN5.
  • the source of the field effect transistor MP3 is connected to the emitter of the transistor Q3 and the drain of the field effect transistor MP2, the gate is connected to the collector of the transistor Q1, and the drain is connected to the field effect transistor Q1.
  • the drain of the tube MN2 is connected;
  • the collector of the triode Q4 is connected to the collector of the triode Q1 through a resistor R3 in turn, and the collector is also grounded through a resistor R4 and a capacitor C1 in turn; the capacitor C1 is also connected in parallel with a resistor R5, and its emitter is grounded;
  • the base of the triode Q5 is connected to the collector of the triode Q1 through a resistor R6, and the collector is connected to the base of the triode Q4 and then connected to a power source through a resistor R7, and its emitter is grounded.
  • the pressure sensor 2-8 detects the pressure signal and transmits it to the processor 2-9 through the filter circuit, and the processor 2-9 sends the signal to the second through the controller 2-0.
  • the servo motor 2-68 sends out a stop signal, and the second servo motor 2-68 stops working to prevent damage to the outer side of the article.
  • the filter circuit is set to make the pressure sensor 2-8 output a stable voltage.
  • the constant pressure signal is used to indicate Pressure, the processor 2-9 can accurately grasp the pressure information.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种助力机械手用夹具，其包括：夹具台（1），夹具台（1）设为弓形结构，夹具台（1）包括不相邻设置的第一夹臂（1-1），连接臂（1-2）两端分别与第一夹臂（1-1）一端连接；第一卡爪机构（2），第一卡爪机构（2）设有两个，两个第一卡爪机构（2）一一对应连接于第一夹臂（1-1）上，且两个第一卡爪机构（2）对向设置；第二卡爪机构（3），第二卡爪机构（3）连接于连接臂（1-2）上；连接座（4），连接座（4）连接于连接臂（1-2）上，用于与助力机械手连接。该助力机械手用夹具用于取代束带完成对物品的固定，减少了安全隐患。

Description

一种助力机械手用夹具 技术领域
本发明涉及助力机械手技术领域，具体地说，涉及一种助力机械手用夹具。
背景技术
当需要助力机械手位移物品时，需要人工使用束带对物品进行绑缚，助力机械手通过束带完成物品的位移，由于束带的柔性，造成物品位移时容易发生晃动，增加了安全隐患。
发明内容
为达到上述目的，本发明公开了一种助力机械手用夹具，用于取代束带完成对物品的固定，减少了安全隐患，其包括：
夹具台，所述夹具台设为弓形结构，所述夹具台包括不相邻设置的第一夹臂，连接臂两端分别与所述第一夹臂一端连接；
第一卡爪机构，所述第一卡爪机构设有两个，两个所述第一卡爪机构一一对应连接于所述第一夹臂上，且两个所述第一卡爪机构对向设置；
第二卡爪机构，所述第二卡爪机构连接于所述连接臂上；
连接座，所述连接座连接于所述连接臂上，用于与助力机械手连接。
优选的，所述第二卡爪机构包括：
横杆，所述横杆和所述连接臂水平设置，并连接于所述连接臂中间位置；
第二卡爪体，所述第二卡爪体包括长卡爪和短卡爪，所述短卡爪设有三个，两个所述短卡爪一端垂直连接于所述横杆上，所述长卡爪设有两个，两个所述长卡爪一端垂直连接于所述横杆上，三个所述短卡爪夹设于两个所述长卡爪中 间。
优选的，所述第一卡住机构连接于所述第一夹臂远离连接臂端，所述第一卡爪机构包括：
固定座；
第一卡爪体，所述第一卡爪体连接于所述固定座一端；
伸缩气缸，所述伸缩气缸通过机架连接于所述第一夹臂上，且所述伸缩气缸输出端连接于所述固定座远离第一卡爪体端；
导向体，所述导向体设有两个，两个所述导向体沿所述伸缩气缸运动方向平行设置，所述导向体包括：
导向座，所述导向座下端于所述固定座连接；
T型槽，所述T型槽开设于所述导向座上端；
T型轨道，所述T型轨道连接于所述第一夹臂上，且所述T型轨道滑动连接于所述T型槽内。
优选的，所述第一卡爪体包括：
盒体，所述盒体连接于所述固定座远离伸缩气缸端；
主卡爪，所述主卡爪设有三个，所述主卡爪设于盒体内；
第一连接件，所述第一连接件竖直设于所述盒体内，所述主卡爪等间距横向连接于所述第一连接件一端；
第二连接件，所述第二连接件水平设于所述盒体内，所述第二连接件连接于所述第一连接件远离主卡爪端；
主卡爪通道，所述主卡爪通道设于所述盒体远离固定座端，所述主卡爪远离第一连接件端滑动连接于所述主卡爪通道内；
第一滑槽，所述第一滑槽横向开设于所述第二连接件上；
第一固定柱，所述第一固定柱设于所述盒体内，所述第一滑槽限位滑动连接于所述第一固定柱上；
安装柱，所述安装柱设于所述盒体内；
转动环，所述转动环套设于所述安装柱上；
第一传动部，所述第一传动部连接于所述转动环外侧端，并呈预设角度凸伸设置；
第一卡槽，所述第一卡槽适配所述第一传动部远离转动环端设置，所述第一卡槽开设于所述第二连接件上；
第一传动齿，所述第一传动齿连接于所述转动环外侧端远离第一传动部位置；
第一锥齿轮，所述第一锥齿轮通过转动轴固定连接于所述盒体内；
第二传动齿，所述第二传动齿连接于所述第一锥齿轮外侧端，并与所述第一传动齿啮合；
第一伺服电机，所述第一伺服电机设于所述盒体内；
第二锥齿轮，所述第二锥齿轮连接于所述第一伺服电机输出端，且所述第二锥齿轮与第一锥齿轮啮合。
优选的，还包括：
副卡爪，所述副卡爪设于所述盒体内；
固定板，所述固定板设于所述盒体内；
传动杆，所述传动杆横向穿设于所述固定板设置，且所述传动杆一端与所述副卡爪连接；
副卡爪通道，所述副卡爪通道设于所述盒体远离固定座端，所述副卡爪远离传动杆端滑动连接于所述副卡爪通道内；
传动块，所述传动块连接于所述传动杆远离副卡爪端；
限位座，所述限位座截面设为U型结构，所述传动杆靠近传动块端滑动连接于所述限位座内；
齿条，所述齿条一端与所述限位座连接，且所述齿条沿所述传动杆运动方向平行设置；
第二伺服电机，所述第二伺服电机设于盒体内；
转动齿轮，所述转动齿轮连接于所述第二伺服电机输出端，并与所述齿条啮合。
优选的，所述传动杆靠近副卡爪端套设有第一弹簧，所述第一弹簧一端与固定板连接，所述第一弹簧另一端抵住所述副卡爪设置。
优选的，还包括：
第一转体，所述第一转体设为盖体结构，并朝下套设于所述安装柱上，所述第一转体上端贯穿所述盒体上端设置；
第二传动部，所述第二传动部设于所述第一转体外侧端；
拨块，所述拨块适配所述第二传动部设置，并连接于所述转动环上；
第三传动部，所述第三传动部连接于所述第一转体外侧端远离第二传动部位置，并呈预设角度凸伸设置；
异形转动槽，所述异形转动槽设于所述第一转体上端；
传动条，所述传动条竖直设于所述盒体内，并靠近所述固定座设置；
第二滑槽，所述第二滑槽设有两个，并竖直开设于所述传动条上；
第二固定柱，所述第二固定柱设于所述盒体内，所述第二滑槽限位滑动连接于所述第二固定柱上；
第二卡槽，所述第二卡槽开设于所述传动条远离固定座端，并靠近所述传动条下端设置，所述第二卡槽适配所述第三传动部设置；
第三卡槽，所述第三卡槽开设于所述传动条远离固定座端，并靠近所述传动条上端设置；
转动拨片，所述转动拨片包括：
转动部，所述转动部设为环体结构；
第二固定柱，所述第二固定柱设于盒体内，所述转动部套设于所述第二固定柱上；
第一拨片，所述第一拨片连接于所述转动部外侧端，并适配所述传动块设置；
第二拨片，所述第二拨片连接于所述转动部外侧端，并适配所述第三卡槽设置，所述第二拨片和第一拨片呈垂直设置。
优选的，两个所述第二滑槽共线设置。
优选的，还包括控制单元，所述控制单元还包括：
压力传感器，所述压力传感器设于所述副卡爪上；
滤波电路，所述滤波电路与所述压力传感器连接，用于对压力传感器输出的电压进行稳压；
处理器，所述处理器与所述滤波电路连接；
控制器，所述控制器与处理器连接，用于接收所述处理器信号控制所述第二伺服电机动作；
所述滤波电路包括：
三极管Q1，其发射极作为所述滤波电路的输入端，其集电极作为所述滤波电路的输出端；
三极管Q2，其发射极与所述三极管Q1的发射极相连，所述三极管Q2的集电极、所述三极管Q2的基极和所述三极管Q1的基极三者相连后通过电阻R1接地；
三极管Q3，其集电极与所述三极管Q1的发射极相连，其基极通过电阻R2与其发射极相连后通过二极管D1接地；
场效应管MN1，其栅极与其漏极相连后与三极管Q3的发射极相连，其源极接地；
场效应管MN2，其栅极与所述场效应管MN1的栅极相连；
场效应管MN3，其漏极与所述场效应管MN2的源极相连，其源极接地；
场效应管MN4，其栅极与所述场效应管MN3的栅极相连，其源极接地；
场效应管MN5，其栅极与诉述场效应管MN2的漏极相连，其源极接地；
场效应管MP1，其源极接电源，其漏极与所述场效应管MN4的漏极相连；
场效应管MP2，其源极接电源，其栅极分别与所述场效应管MP1的栅极和所述场效应管MP1的漏极相连，其漏极与所述场效应管MN5的漏极相连；
场效应管MP3，其源极分别与所述三极管Q3的发射极和所述场效应管MP2的漏极相连，其栅极与所述三极管Q1的集电极相连，其漏极与所述场效应管MN2的漏极相连；
三级管Q4，其集电极依次通过电阻R3与所述三极管Q1的集电极连接，其集电极还依次通过电阻R4和电容C1接地；所述电容C1还并联电阻R5，其发射 极接地；
三极管Q5，其基极通过电阻R6与所述三极管Q1的集电极连接，其集电极与所述三极管Q4的基极连接后通过电阻R7连接电源，其发射极接地。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明结构示意图一；
图2为本发明俯视图；
图3为本发明结构示意图二；
图4为本发明第一卡爪体结构示意图一；
图5为本发明第一卡爪体结构示意图二；
图6为本发明第一卡爪体结构示意图三；
图7为本发明控制原理图；
图8为本发明电路图。
图中：1.夹具台；2.第一卡爪机构；3.第二卡爪机构；4.连接座；1-1.第一夹臂；1-2.连接臂；2-0.控制器；2-1.固定座；2-2.第一卡爪体；2-3.伸缩气缸；2-4.导向体；2-8.压力传感器；2-9.处理器；3-1.横杆；3-2.第二卡爪体；2-41.导向座；2-42.T型槽；2-43.T型轨道；2-21.盒体；2-22.主卡爪；2-23.第一连接件；2-24.第二连接件；2-25.主卡爪通道；2-26.第一滑槽；2-27.第一固定柱；2-28.安装柱；2-29.转动环；2-51.第一传动部；2-52.第一卡槽；2-53.第一传动齿；2-54.第一锥 齿轮；2-55.第二传动齿；2-56.第一伺服电机；2-57.第二锥齿轮；2-61.副卡爪；2-62.固定板；2-63.传动杆；2-64.副卡爪通道；2-65.传动块；2-66.限位座；2-67.齿条；2-68.第二伺服电机；2-69.转动齿轮；2-60.第一弹簧；2-71.第一转体；2-72.第二传动部；2-73.拨块；2-74.第三传动部；2-75.异形转动槽；2-76.传动条；2-77.第二滑槽；2-78.第二固定柱；2-79.第二卡槽；2-70.第三卡槽；2-81.转动拨片；3-21.长卡爪；3-22.短卡爪；2-811.转动部；2-812.第二固定柱；2-813.第一拨片；2-814.第二拨片。
具体实施方式
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例
下面将结合附图对本发明做进一步描述。
如图1所示，本实施例提供的一种助力机械手用夹具，包括：
夹具台1，所述夹具台1设为弓形结构，所述夹具台1包括不相邻设置的第一夹臂1-1，连接臂1-2两端分别与所述第一夹臂1-1一端连接；
第一卡爪机构2，所述第一卡爪机构2设有两个，两个所述第一卡爪机构2一一对应连接于所述第一夹臂1-1上，且两个所述第一卡爪机构2对向设置；
第二卡爪机构3，所述第二卡爪机构3连接于所述连接臂1-2上；
连接座4，所述连接座4连接于所述连接臂1-2上，用于与助力机械手连接。
上述技术方案的工作原理和有益效果为：
通过助力机械手将夹具移动到需要移动的物品上，夹具台1移动到物品外侧端，第二卡爪结构3抵住物品外侧端，对向设置的两个第二卡爪机构2工作，夹持住物品，从而带动物品移动，相较于传统的束带绑缚物品，通过该夹具完成物品的移动，移动过程中不会产生晃动，增加了物品移动的安全性。
如图2所示，在一个实施例中，所述第二卡爪机构3包括：
横杆3-1，所述横杆3-1和所述连接臂1-2水平设置，并连接于所述连接臂1-2中间位置；
第二卡爪体3-2，所述第二卡爪体3-2包括长卡爪3-21和短卡爪3-22，所述短卡爪3-22设有三个，两个所述短卡爪3-22一端垂直连接于所述横杆3-1上，所述长卡爪3-21设有两个，两个所述长卡爪3-21一端垂直连接于所述横杆3-1上，三个所述短卡爪3-22夹设于两个所述长卡爪3-21中间。
上述技术方案的有益效果为：
三短卡爪3-22两长卡爪3-21的设置，使第二卡爪体3-2远离横杆3-1端形成弧度，进而更能贴合住物品外侧端，以更好的对物品外侧端进行夹持。
如图3所示，在一个实施例中，所述第一卡住机构2连接于所述第一夹臂1-1远离连接臂1-2端，所述第一卡爪机构2包括：
固定座2-1；
第一卡爪体2-2，所述第一卡爪体2-2连接于所述固定座2-1一端；
伸缩气缸2-3，所述伸缩气缸2-3通过机架连接于所述第一夹臂1-1上，且所述伸缩气缸2-3输出端连接于所述固定座2-1远离第一卡爪体2-2端；
导向体2-4，所述导向体2-4设有两个，两个所述导向体2-4沿所述伸缩气 缸2-3运动方向平行设置，所述导向体2-4包括：
导向座2-41，所述导向座2-41下端于所述固定座2-1连接；
T型槽2-42，所述T型槽2-42开设于所述导向座2-41上端；
T型轨道2-43，所述T型轨道2-43连接于所述第一夹臂1-1上，且所述T型轨道2-43滑动连接于所述T型槽2-42内。
上述技术方案的工作原理和有益效果为：
夹具台1移动到物品外侧端时，伸缩气缸2-3工作，与伸缩气缸2-3输出端连接的固定座2-1带动第一卡爪体2-2沿着导向体2-4运动方向运动，进而抵住物品外侧端，从而完成对物品的夹持，夹持结束后，伸缩气缸2-3收缩，物品脱开所述第一卡爪体2-2的夹持。
如图4所示，在一个实施例中，所述第一卡爪体2-2包括：
盒体2-21，所述盒体2-21连接于所述固定座2-1远离伸缩气缸2-3端；
主卡爪2-22，所述主卡爪2-22设有三个，所述主卡爪2-22设于盒体2-21内；
第一连接件2-23，所述第一连接件2-23竖直设于所述盒体2-21内，所述主卡爪2-22等间距横向连接于所述第一连接件2-23一端；
第二连接件2-24，所述第二连接件2-24水平设于所述盒体2-21内，所述第二连接件2-24连接于所述第一连接件2-23远离主卡爪2-22端；
主卡爪通道2-25，所述主卡爪通道2-25设于所述盒体2-21远离固定座2-1端，所述主卡爪2-22远离第一连接件2-23端滑动连接于所述主卡爪通道2-25内；
第一滑槽2-26，所述第一滑槽2-26横向开设于所述第二连接件2-24上；
第一固定柱2-27，所述第一固定柱2-27设于所述盒体2-21内，所述第一滑槽2-26限位滑动连接于所述第一固定柱2-27上；
安装柱2-28，所述安装柱2-28设于所述盒体2-21内；
转动环2-29，所述转动环2-29套设于所述安装柱2-28上；
第一传动部2-51，所述第一传动部2-51连接于所述转动环2-29外侧端，并呈预设角度凸伸设置；
第一卡槽2-52，所述第一卡槽2-52适配所述第一传动部2-51远离转动环2-29端设置，所述第一卡槽2-52开设于所述第二连接件2-24上；
第一传动齿2-53，所述第一传动齿2-53连接于所述转动环2-29外侧端远离第一传动部2-51位置；
第一锥齿轮2-54，所述第一锥齿轮2-54通过转动轴固定连接于所述盒体2-21内；
第二传动齿2-55，所述第二传动齿2-55连接于所述第一锥齿轮2-54外侧端，并与所述第一传动齿2-53啮合；
第一伺服电机2-56，所述第一伺服电机2-56设于所述盒体2-21内；
第二锥齿轮2-57，所述第二锥齿轮2-57连接于所述第一伺服电机2-56输出端，且所述第二锥齿轮2-57与第一锥齿轮2-54啮合。
上述技术方案的工作原理和有益效果为：
当伸缩气缸2-3工作，带动第一卡爪体2-2夹持住物品外侧端，助力机械手带动物品位移到预设位置时，这时，伸缩气缸2-3无需回缩，第一伺服电机2-56工作，并依次带动第二锥齿轮2-57、第一锥齿轮2-54、第二传动齿2-55、第一传动齿2-53运动，转动环2-29以安装柱2-28为中心逆时针转动，第一传 动部2-51在第一卡槽2-52内向靠近固定座2-1方向运动，进而带动主卡爪2-22回缩至主卡爪通道2-25内，主卡爪2-22与物品外侧端产生距离，物品自夹具内脱落，此时助力机械手带动夹具位移到另一物品外侧端，此时，在第一伺服电机2-56作用下，转动环2-29以安装柱2-28为中心顺时针转动，第一传动部2-51在第一卡槽2-52内向远离固定座2-1方向运动，进而带动主卡爪2-22伸出所述主卡爪通道2-25设置，进而抵住物品外侧端，完成对物品的夹持，从而无需反复利用伸缩气缸2-3完成物品的夹持和松开，主卡爪2-22仅需位移小段距离就可完成物品的夹持，提高了工作效率。
如图5所示，在一个实施例中，还包括：
副卡爪2-61，所述副卡爪2-61设于所述盒体2-21内；
固定板2-62，所述固定板2-62设于所述盒体2-21内；
传动杆2-63，所述传动杆2-63横向穿设于所述固定板2-62设置，且所述传动杆2-63一端与所述副卡爪2-61连接；
副卡爪通道2-64，所述副卡爪通道2-64设于所述盒体2-21远离固定座2-1端，所述副卡爪2-61远离传动杆2-63端滑动连接于所述副卡爪通道2-64内；
传动块2-65，所述传动块2-65连接于所述传动杆2-63远离副卡爪2-61端；
限位座2-66，所述限位座2-66截面设为U型结构，所述传动杆2-63靠近传动块2-65端滑动连接于所述限位座2-66内；
齿条2-67，所述齿条2-67一端与所述限位座2-66连接，且所述齿条2-67沿所述传动杆2-63运动方向平行设置；
第二伺服电机2-68，所述第二伺服电机2-68设于盒体2-21内；
转动齿轮2-69，所述转动齿轮2-69连接于所述第二伺服电机2-68输出端， 并与所述齿条2-67啮合。
上述技术方案的工作原理和有益效果为：
第一伺服电机2-56工作时，第二伺服电机2-68同步工作，从而分别带动齿条2-67、限位座2-66、传动杆2-63、副卡爪2-61运动，副卡爪2-61回缩至副卡爪通道2-64内，副卡爪2-61与物品外侧端产生距离，从而松开对物品的夹持，同样，当需要完成对物品夹持时，第二伺服电机2-68反向工作，副卡爪2-61伸出所述副卡爪通道2-64设置，进而完成对物品外侧端的夹持，所述主卡爪2-22、副卡爪2-61同步工作，副卡爪2-61的设置，提高了夹具的夹持稳定性。
在一个实施例中，所述传动杆2-63靠近副卡爪2-61端套设有第一弹簧2-60，所述第一弹簧2-60一端与固定板2-62连接，所述第一弹簧2-60另一端抵住所述副卡爪2-61设置。
上述技术方案的有益效果为：
在第一弹簧2-60作用下，便于副卡爪2-61回缩至副卡爪通道2-64内。
如图6所示，在一个实施例中，还包括：
第一转体2-71，所述第一转体2-71设为盖体结构，并朝下套设于所述安装柱2-28上，所述第一转体2-71上端贯穿所述盒体2-21上端设置；
第二传动部2-72，所述第二传动部2-72设于所述第一转体2-71外侧端；
拨块2-73，所述拨块2-73适配所述第二传动部2-72设置，并连接于所述转动环2-29上；
第三传动部2-74，所述第三传动部2-74连接于所述第一转体2-71外侧端远离第二传动部2-72位置，并呈预设角度凸伸设置；
异形转动槽2-75，所述异形转动槽2-75设于所述第一转体2-71上端；
传动条2-76，所述传动条2-76竖直设于所述盒体2-21内，并靠近所述固定座2-1设置；
第二滑槽2-77，所述第二滑槽2-77设有两个，并竖直开设于所述传动条2-76上；
第二固定柱2-78，所述第二固定柱2-78设于所述盒体2-21内，所述第二滑槽2-77限位滑动连接于所述第二固定柱2-78上；
第二卡槽2-79，所述第二卡槽2-79开设于所述传动条2-76远离固定座2-1端，并靠近所述传动条2-76下端设置，所述第二卡槽2-79适配所述第三传动部2-74设置；
第三卡槽2-70，所述第三卡槽2-70开设于所述传动条2-76远离固定座2-1端，并靠近所述传动条2-76上端设置；
转动拨片2-81，所述转动拨片2-81包括：
转动部2-811，所述转动部2-811设为环体结构；
第二固定柱2-812，所述第二固定柱2-812设于盒体2-21内，所述转动部2-811套设于所述第二固定柱2-812上；
第一拨片2-813，所述第一拨片2-813连接于所述转动部2-811外侧端，并适配所述传动块2-65设置；
第二拨片2-814，所述第二拨片2-814连接于所述转动部2-811外侧端，并适配所述第三卡槽2-70设置，所述第二拨片2-814和第一拨片2-813呈垂直设置。
上述技术方案的工作原理和有益效果为：
将与异形转动槽2-75适配的物件插入异形转动槽2-75内，逆时针转动第一转体2-71，所述第一转体2-71与转动环2-29同轴设置于安装柱2-28上，第二传动部2-72逆时针转动，并拨动拨块2-73，进而带动转动环2-29以所述安装柱2-28为中心逆时针转动，第一传动部2-51在第一卡槽2-52内向靠近固定座2-1方向运动，进而带动主卡爪2-22沿第一滑槽2-26开槽方向滑动，所述主卡爪2-22回缩至2-25内，同时与第一转体2-71连接的第三传动部2-74在第三卡槽2-79内向下运动，进而同步带动传动条2-76沿第二滑槽2-77开槽方向向下运动，第三卡槽2-70同步带动第二拨片2-814向下运动，转动部2-811以第二固定柱2-812为中心逆时针转动，第一拨片2-813带动传动块2-65向靠近固定座2-1方向运动，副卡爪2-61回缩至副卡爪通道2-64内，这样就完成了对夹具的应急开启，以应对第一伺服电机2-56、第二伺服电机2-68出现突发情况停止工作时，物品无法从夹具中取出的情况发生。
在一个实施例中，两个所述第二滑槽2-77共线设置。
如图7、图8所示，在一个实施例中，还包括控制单元，所述控制单元还包括：
压力传感器2-8，所述压力传感器2-8设于所述副卡爪2-61上；
滤波电路，所述滤波电路与所述压力传感器2-8连接，用于对压力传感器2-8输出的电压进行稳压；
处理器2-9，所述处理器2-9与所述滤波电路连接；
控制器2-0，所述控制器2-0与处理器2-0连接，用于接收所述处理器信号控制所述第二伺服电机2-68动作；
所述滤波电路包括：
三极管Q1，其发射极作为所述滤波电路的输入端，其集电极作为所述滤波电路的输出端；
三极管Q2，其发射极与所述三极管Q1的发射极相连，所述三极管Q2的集电极、所述三极管Q2的基极和所述三极管Q1的基极三者相连后通过电阻R1接地；
三极管Q3，其集电极与所述三极管Q1的发射极相连，其基极通过电阻R2与其发射极相连后通过二极管D1接地；
场效应管MN1，其栅极与其漏极相连后与三极管Q3的发射极相连，其源极接地；
场效应管MN2，其栅极与所述场效应管MN1的栅极相连；
场效应管MN3，其漏极与所述场效应管MN2的源极相连，其源极接地；
场效应管MN4，其栅极与所述场效应管MN3的栅极相连，其源极接地；
场效应管MN5，其栅极与诉述场效应管MN2的漏极相连，其源极接地；
场效应管MP1，其源极接电源，其漏极与所述场效应管MN4的漏极相连；
场效应管MP2，其源极接电源，其栅极分别与所述场效应管MP1的栅极和所述场效应管MP1的漏极相连，其漏极与所述场效应管MN5的漏极相连；
场效应管MP3，其源极分别与所述三极管Q3的发射极和所述场效应管MP2的漏极相连，其栅极与所述三极管Q1的集电极相连，其漏极与所述场效应管MN2的漏极相连；
三级管Q4，其集电极依次通过电阻R3与所述三极管Q1的集电极连接，其集电极还依次通过电阻R4和电容C1接地；所述电容C1还并联电阻R5，其发射极接地；
三极管Q5，其基极通过电阻R6与所述三极管Q1的集电极连接，其集电极与所述三极管Q4的基极连接后通过电阻R7连接电源，其发射极接地。
上述技术方案的工作原理和有益效果为：
副卡爪2-61工作并抵住物品外侧端时，压力传感器2-8检测到压力信号，通过滤波电路传输给处理器2-9，处理器2-9通过控制器2-0向第二伺服电机2-68发出停止工作信号，第二伺服电机2-68停止工作，进而防止对物品外侧端造成损伤，滤波电路的设置使压力传感器2-8输出稳定电压，该定压信号用于表示压力，处理器2-9能准确掌握压力信息。
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明创造的保护范围之中。

Claims (9)

  1. 一种助力机械手用夹具，其特征在于，包括：
    夹具台(1)，所述夹具台(1)设为弓形结构，所述夹具台(1)包括不相邻设置的第一夹臂(1-1)，连接臂(1-2)两端分别与所述第一夹臂(1-1)一端连接；
    第一卡爪机构(2)，所述第一卡爪机构(2)设有两个，两个所述第一卡爪机构(2)一一对应连接于所述第一夹臂(1-1)上，且两个所述第一卡爪机构(2)对向设置；
    第二卡爪机构(3)，所述第二卡爪机构(3)连接于所述连接臂(1-2)上；
    连接座(4)，所述连接座(4)连接于所述连接臂(1-2)上，用于与助力机械手连接。
  2. 根据权利要求1所述的一种助力机械手用夹具，其特征在于，所述第二卡爪机构(3)包括：
    横杆(3-1)，所述横杆(3-1)和所述连接臂(1-2)水平设置，并连接于所述连接臂(1-2)中间位置；
    第二卡爪体(3-2)，所述第二卡爪体(3-2)包括长卡爪(3-21)和短卡爪(3-22)，所述短卡爪(3-22)设有三个，两个所述短卡爪(3-22)一端垂直连接于所述横杆(3-1)上，所述长卡爪(3-21)设有两个，两个所述长卡爪(3-21)一端垂直连接于所述横杆(3-1)上，三个所述短卡爪(3-22)夹设于两个所述长卡爪(3-21)中间。
  3. 根据权利要求1所述的一种助力机械手用夹具，其特征在于，所述第一卡住机构(2)连接于所述第一夹臂(1-1)远离连接臂(1-2)端，所述第一卡爪机构(2)包括：
    固定座(2-1)；
    第一卡爪体(2-2)，所述第一卡爪体(2-2)连接于所述固定座(2-1)一端；
    伸缩气缸(2-3)，所述伸缩气缸(2-3)通过机架连接于所述第一夹臂(1-1)上，且所述伸缩气缸(2-3)输出端连接于所述固定座(2-1)远离第一卡爪体(2-2)端；
    导向体(2-4)，所述导向体(2-4)设有两个，两个所述导向体(2-4)沿所述伸缩气缸(2-3)运动方向平行设置，所述导向体(2-4)包括：
    导向座(2-41)，所述导向座(2-41)下端于所述固定座(2-1)连接；
    T型槽(2-42)，所述T型槽(2-42)开设于所述导向座(2-41)上端；
    T型轨道(2-43)，所述T型轨道(2-43)连接于所述第一夹臂(1-1)上，且所述T型轨道(2-43)滑动连接于所述T型槽(2-42)内。
  4. 根据权利要求3所述的一种助力机械手用夹具，其特征在于，所述第一卡爪体(2-2)包括：
    盒体(2-21)，所述盒体(2-21)连接于所述固定座(2-1)远离伸缩气缸(2-3)端；
    主卡爪(2-22)，所述主卡爪(2-22)设有三个，所述主卡爪(2-22)设于盒体(2-21)内；
    第一连接件(2-23)，所述第一连接件(2-23)竖直设于所述盒体(2-21)内，所述主卡爪(2-22)等间距横向连接于所述第一连接件(2-23)一端；
    第二连接件(2-24)，所述第二连接件(2-24)水平设于所述盒体(2-21)内，所述第二连接件(2-24)连接于所述第一连接件(2-23)远离主卡爪(2-22) 端；
    主卡爪通道(2-25)，所述主卡爪通道(2-25)设于所述盒体(2-21)远离固定座(2-1)端，所述主卡爪(2-22)远离第一连接件(2-23)端滑动连接于所述主卡爪通道(2-25)内；
    第一滑槽(2-26)，所述第一滑槽(2-26)横向开设于所述第二连接件(2-24)上；
    第一固定柱(2-27)，所述第一固定柱(2-27)设于所述盒体(2-21)内，所述第一滑槽(2-26)限位滑动连接于所述第一固定柱(2-27)上；
    安装柱(2-28)，所述安装柱(2-28)设于所述盒体(2-21)内；
    转动环(2-29)，所述转动环(2-29)套设于所述安装柱(2-28)上；
    第一传动部(2-51)，所述第一传动部(2-51)连接于所述转动环(2-29)外侧端，并呈预设角度凸伸设置；
    第一卡槽(2-52)，所述第一卡槽(2-52)适配所述第一传动部(2-51)远离转动环(2-29)端设置，所述第一卡槽(2-52)开设于所述第二连接件(2-24)上；
    第一传动齿(2-53)，所述第一传动齿(2-53)连接于所述转动环(2-29)外侧端远离第一传动部(2-51)位置；
    第一锥齿轮(2-54)，所述第一锥齿轮(2-54)通过转动轴固定连接于所述盒体(2-21)内；
    第二传动齿(2-55)，所述第二传动齿(2-55)连接于所述第一锥齿轮(2-54)外侧端，并与所述第一传动齿(2-53)啮合；
    第一伺服电机(2-56)，所述第一伺服电机(2-56)设于所述盒体(2-21) 内；
    第二锥齿轮(2-57)，所述第二锥齿轮(2-57)连接于所述第一伺服电机(2-56)输出端，且所述第二锥齿轮(2-57)与第一锥齿轮(2-54)啮合。
  5. 根据权利要求4所述的一种助力机械手用夹具，其特征在于，还包括：
    副卡爪(2-61)，所述副卡爪(2-61)设于所述盒体(2-21)内；
    固定板(2-62)，所述固定板(2-62)设于所述盒体(2-21)内；
    传动杆(2-63)，所述传动杆(2-63)横向穿设于所述固定板(2-62)设置，且所述传动杆(2-63)一端与所述副卡爪(2-61)连接；
    副卡爪通道(2-64)，所述副卡爪通道(2-64)设于所述盒体(2-21)远离固定座(2-1)端，所述副卡爪(2-61)远离传动杆(2-63)端滑动连接于所述副卡爪通道(2-64)内；
    传动块(2-65)，所述传动块(2-65)连接于所述传动杆(2-63)远离副卡爪(2-61)端；
    限位座(2-66)，所述限位座(2-66)截面设为U型结构，所述传动杆(2-63)靠近传动块(2-65)端滑动连接于所述限位座(2-66)内；
    齿条(2-67)，所述齿条(2-67)一端与所述限位座(2-66)连接，且所述齿条(2-67)沿所述传动杆(2-63)运动方向平行设置；
    第二伺服电机(2-68)，所述第二伺服电机(2-68)设于盒体(2-21)内；
    转动齿轮(2-69)，所述转动齿轮(2-69)连接于所述第二伺服电机(2-68)输出端，并与所述齿条(2-67)啮合。
  6. 根据权利要求5所述的一种助力机械手用夹具，其特征在于，所述传动杆(2-63)靠近副卡爪(2-61)端套设有第一弹簧(2-60)，所述第一弹簧(2-60) 一端与固定板(2-62)连接，所述第一弹簧(2-60)另一端抵住所述副卡爪(2-61)设置。
  7. 根据权利要求6所述的一种助力机械手用夹具，其特征在于，还包括：
    第一转体(2-71)，所述第一转体(2-71)设为盖体结构，并朝下套设于所述安装柱(2-28)上，所述第一转体(2-71)上端贯穿所述盒体(2-21)上端设置；
    第二传动部(2-72)，所述第二传动部(2-72)设于所述第一转体(2-71)外侧端；
    拨块(2-73)，所述拨块(2-73)适配所述第二传动部(2-72)设置，并连接于所述转动环(2-29)上；
    第三传动部(2-74)，所述第三传动部(2-74)连接于所述第一转体(2-71)外侧端远离第二传动部(2-72)位置，并呈预设角度凸伸设置；
    异形转动槽(2-75)，所述异形转动槽(2-75)设于所述第一转体(2-71)上端；
    传动条(2-76)，所述传动条(2-76)竖直设于所述盒体(2-21)内，并靠近所述固定座(2-1)设置；
    第二滑槽(2-77)，所述第二滑槽(2-77)设有两个，并竖直开设于所述传动条(2-76)上；
    第二固定柱(2-78)，所述第二固定柱(2-78)设于所述盒体(2-21)内，所述第二滑槽(2-77)限位滑动连接于所述第二固定柱(2-78)上；
    第二卡槽(2-79)，所述第二卡槽(2-79)开设于所述传动条(2-76)远离固定座(2-1)端，并靠近所述传动条(2-76)下端设置，所述第二卡槽(2-79) 适配所述第三传动部(2-74)设置；
    第三卡槽(2-70)，所述第三卡槽(2-70)开设于所述传动条(2-76)远离固定座(2-1)端，并靠近所述传动条(2-76)上端设置；
    转动拨片(2-81)，所述转动拨片(2-81)包括：
    转动部(2-811)，所述转动部(2-811)设为环体结构；
    第二固定柱(2-812)，所述第二固定柱(2-812)设于盒体(2-21)内，所述转动部(2-811)套设于所述第二固定柱(2-812)上；
    第一拨片(2-813)，所述第一拨片(2-813)连接于所述转动部(2-811)外侧端，并适配所述传动块(2-65)设置；
    第二拨片(2-814)，所述第二拨片(2-814)连接于所述转动部(2-811)外侧端，并适配所述第三卡槽(2-70)设置，所述第二拨片(2-814)和第一拨片(2-813)呈垂直设置。
  8. 根据权利要求7所述的一种助力机械手用夹具，其特征在于，两个所述第二滑槽(2-77)共线设置。
  9. 根据权利要求5所述的一种助力机械手用夹具，其特征在于，还包括控制单元，所述控制单元还包括：
    压力传感器(2-8)，所述压力传感器(2-8)设于所述副卡爪(2-61)上；
    滤波电路，所述滤波电路与所述压力传感器(2-8)连接，用于对压力传感器(2-8)输出的电压进行稳压；
    处理器(2-9)，所述处理器(2-9)与所述滤波电路连接；
    控制器(2-0)，所述控制器(2-0)与处理器(2-0)连接，用于接收所述处理器(2-9)信号控制所述第二伺服电机(2-68)动作；
    所述滤波电路包括：
    三极管Q1，其发射极作为所述滤波电路的输入端，其集电极作为所述滤波电路的输出端；
    三极管Q2，其发射极与所述三极管Q1的发射极相连，所述三极管Q2的集电极、所述三极管Q2的基极和所述三极管Q1的基极三者相连后通过电阻R1接地；
    三极管Q3，其集电极与所述三极管Q1的发射极相连，其基极通过电阻R2与其发射极相连后通过二极管D1接地；
    场效应管MN1，其栅极与其漏极相连后与三极管Q3的发射极相连，其源极接地；
    场效应管MN2，其栅极与所述场效应管MN1的栅极相连；
    场效应管MN3，其漏极与所述场效应管MN2的源极相连，其源极接地；
    场效应管MN4，其栅极与所述场效应管MN3的栅极相连，其源极接地；
    场效应管MN5，其栅极与诉述场效应管MN2的漏极相连，其源极接地；
    场效应管MP1，其源极接电源，其漏极与所述场效应管MN4的漏极相连；
    场效应管MP2，其源极接电源，其栅极分别与所述场效应管MP1的栅极和所述场效应管MP1的漏极相连，其漏极与所述场效应管MN5的漏极相连；
    场效应管MP3，其源极分别与所述三极管Q3的发射极和所述场效应管MP2的漏极相连，其栅极与所述三极管Q1的集电极相连，其漏极与所述场效应管MN2的漏极相连；
    三级管Q4，其集电极依次通过电阻R3与所述三极管Q1的集电极连接，其集电极还依次通过电阻R4和电容C1接地；所述电容C1还并联电阻R5，其发射 极接地；
    三极管Q5，其基极通过电阻R6与所述三极管Q1的集电极连接，其集电极与所述三极管Q4的基极连接后通过电阻R7连接电源，其发射极接地。
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