CN113478524A - Snatch mechanism and manipulator - Google Patents
Snatch mechanism and manipulator Download PDFInfo
- Publication number
- CN113478524A CN113478524A CN202110943999.3A CN202110943999A CN113478524A CN 113478524 A CN113478524 A CN 113478524A CN 202110943999 A CN202110943999 A CN 202110943999A CN 113478524 A CN113478524 A CN 113478524A
- Authority
- CN
- China
- Prior art keywords
- pin
- air defense
- defense door
- civil air
- hole
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 61
- 230000007123 defense Effects 0.000 claims abstract description 50
- 238000003780 insertion Methods 0.000 claims abstract description 10
- 230000037431 insertion Effects 0.000 claims abstract description 10
- 230000000149 penetrating effect Effects 0.000 claims abstract description 6
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a grabbing mechanism and a manipulator, wherein the grabbing mechanism is arranged on a slewing mechanism by a connecting mechanism, the slewing mechanism is arranged on engineering mechanical equipment, and the grabbing mechanism comprises: a pin hole opened in an area near a side edge of the civil air defense door; the two inserting ports are formed on the connecting mechanism, and the directions of the two inserting ports are opposite; the tail parts of the two hanging arms are respectively inserted into the two insertion ports; a through hole is formed in the position, close to the head, of each hanging arm; the through holes on the two hanging arms are used for corresponding to the two pin holes on the civil air defense door; the pin shafts comprise two pin shafts, the two pin shafts respectively correspond to the two pin holes, and each pin shaft is used for sequentially penetrating through the corresponding through hole and the corresponding pin hole; wherein: the pin shaft is provided with a radially through slot, the slot is used for allowing the stop strip to penetrate through the slot, and the stop strip limits the pin shaft to be separated from the pin hole so that the civil air defense door is attached to the hanging arm after the stop strip penetrates through the slot.
Description
Technical Field
The invention relates to the technical field of nonstandard equipment, in particular to a grabbing mechanism and a manipulator.
Background
In the prior art, the civil air defense door with large weight is usually hung on the doorway by using a hanging chain, and the mode for installing the civil air defense door is complex to operate.
In theory, although the installation door can be installed at the doorway by using construction machinery, a manipulator with a reasonable structure, which is installed on the construction machinery for grabbing the civil air defense door and assisting the civil air defense door to be installed at the doorway, does not exist in the prior art.
Disclosure of Invention
In order to solve the technical problems in the prior art, embodiments of the present invention provide a gripping mechanism and a manipulator.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
the utility model provides a snatch mechanism, it is installed on rotation mechanism by coupling mechanism, rotation mechanism installs on engineering machine tool equipment, includes:
a pin hole opened in an area near a side edge of the civil air defense door;
the two inserting ports are formed on the connecting mechanism, and the directions of the two inserting ports are opposite;
the tail parts of the two hanging arms are respectively inserted into the two insertion ports; a through hole is formed in the position, close to the head, of each hanging arm; the through holes in the two hanging arms are used for corresponding to the two pin holes in the civil air defense door;
the pin shafts comprise two pin shafts, the two pin shafts respectively correspond to the two pin holes, and each pin shaft is used for sequentially penetrating through the corresponding through hole and the corresponding pin hole; wherein:
the pin shaft is provided with a radially through slot, the slot is used for allowing the stop strip to penetrate through the slot, and the stop strip limits the pin shaft to be separated from the pin hole so that the civil air defense door is attached to the hanging arm.
Preferably, the stop bar is a wedge-shaped bar for accommodating the civil air defense door with different thicknesses.
Preferably, a handle is arranged at the end part of the tail part of the pin shaft, and after the stop strip is detached, the pin shaft is pulled out of the pin hole by the handle.
Preferably, a base plate is sleeved on the pin shaft and located between the civil air defense door and the stop strip.
Preferably, the interface has the predetermined degree of depth, insert the interface and wear to be equipped with spacing post, spacing post wears to establish the afterbody of hanging the arm.
Preferably, one side of interface is provided with trigger switch, the outside of hanging the arm is fixed with and is used for with trigger switch supports the trigger plate that leans on.
Preferably, the cross section of the hanging arm is rectangular.
The invention also discloses a manipulator which comprises a slewing mechanism, a connecting mechanism arranged on the slewing mechanism and the grabbing mechanism.
Compared with the prior art, the grabbing mechanism and the manipulator disclosed by the invention have the beneficial effects that:
the grabbing mechanism provided by the invention can enable the civil air defense door to be quickly attached to the manipulator, has a simple grabbing process and a simple and reliable design structure, and is convenient to realize detachment with the civil air defense door.
The summary of various implementations or examples of the technology described in this disclosure is not a comprehensive disclosure of the full scope or all features of the disclosed technology.
Drawings
In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having letter suffixes or different letter suffixes may represent different instances of similar components. The drawings illustrate various embodiments, by way of example and not by way of limitation, and together with the description and claims, serve to explain the inventive embodiments. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. Such embodiments are illustrative, and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.
Fig. 1 is a schematic perspective view of a robot provided in an embodiment of the present invention.
Fig. 2 is an enlarged view of a portion a of fig. 1.
Fig. 3 is a perspective view of a manipulator in a grasping state according to an embodiment of the present invention.
Fig. 4 is a perspective view of another perspective view of a manipulator in a grasping state according to an embodiment of the present invention.
Reference numerals:
10-a gripping mechanism; 11-a socket; 12-hanging arm; 13-a pin shaft; 131-a slot; 132-a stopper bar; 133-a backing plate; 134-a handle; 14-a limiting column; 151-trigger switch; 152-a trigger plate; 20-a connection mechanism; 30-a slewing mechanism; 100-civil air defense doors; 101-pin hole.
Detailed Description
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
To maintain the following description of the embodiments of the present invention clear and concise, a detailed description of known functions and known components of the invention have been omitted.
As shown in fig. 1 to 4, the embodiment of the present invention discloses a grabbing mechanism 10 and a manipulator including the grabbing mechanism 10, the manipulator further includes a connecting mechanism 20 and a swing mechanism 30, the grabbing mechanism 10 is mounted on the swing mechanism 30 through the connecting mechanism 20, and the manipulator is connected to a construction machine through the swing mechanism 30.
The grasping mechanism 10 is for attaching the civil air defense door 100 to a robot for transporting the civil air defense door 100 to a doorway by means of construction machinery equipment, the grasping mechanism 10 comprising: pin hole 101, interface 11, hanging arm 12, pin 13 and stop strip 132.
Pin holes 101 are formed in regions near both sides in the width direction of the civil air defense door 100, and the pin holes 101 penetrate through the civil air defense door 100 in the thickness direction.
The connecting mechanism 20 may be formed by a plate frame structure, the opposite two sides of the connecting mechanism 20 are both provided with a socket 11, the socket 11 has a certain depth, and the shape of the socket 11 is matched with the cross-sectional shape of the hanging arm 12.
The hanging arm 12 comprises two hanging arms 12, the root parts of the two hanging arms 12 are respectively inserted into the two insertion ports 11, the two hanging arms 12 are located on the same straight line, a limiting column 14 is arranged at each insertion port 11, the limiting column 14 penetrates through the root part of the hanging arm 12, and the hanging arms 12 are attached to the connecting mechanism 20 and cannot be separated from the insertion ports 11. Preferably, the hanging arm 12 has a rectangular cross section, and the insertion port 11 also has a rectangular shape to be matched with the hanging arm 12.
Each of the hanging arms 12 has a through hole formed in a region thereof near the head thereof, and the two through holes correspond to the two pin holes 101 of the air defense door 100, respectively, that is, the distance between the two through holes is equal to the distance between the two pin holes 101 of the air defense door 100. In the process of grabbing the civil air defense door 100, the construction machine drives the robot to move to the vicinity of the civil air defense door 100, and the swing mechanism 30 adjusts the posture of the grabbing mechanism 10 so that the two through holes of the hanging arm 12 are opposite to the two through holes of the civil air defense door 100.
The pin shafts 13 include two pin shafts 13, and the two pin shafts 13 are respectively used for sequentially penetrating through the through holes of the hanging arms 12 corresponding to each side and the pin holes 101 of the civil air defense door 100. After the rotating mechanism 30 makes the two through holes of the grabbing mechanism 10 correspond to the two pin holes 101, the pin 13 is correspondingly inserted into the through holes and the pin holes 101. A stop table is formed at the tail of the pin 13 to limit the pin 13 from penetrating out of the pin 13.
A slot 131 is formed in a region close to the head of the pin 13, the slot 131 radially penetrates through the pin 13 and extends for a section along the axial direction of the pin 13, and after the pin 13 penetrates through the pin hole 101, the slot 131 is at least exposed for a section; the stopping strip 132 is used for penetrating the slot 131, the stopping strip 132 is used for limiting the pin shaft 13 to be removed towards the perforation direction, so that the civil air defense door 100 is attached to the hanging arm 12 by means of the matching of the pin shaft 13 and the stopping strip 132, when the mechanical arm is driven by the engineering mechanical equipment to move, the civil air defense door 100 moves along with the mechanical arm and can be conveyed to the doorway, and the mechanical arm realizes the grabbing of the civil air defense door 100 by means of the grabbing mechanism 10.
In some preferred schemes, the stop strip 132 is a wedge-shaped strip, and the wedge-shaped strip can be tightly pressed against the civil air defense door 100 with different thickness deviations by adjusting the depth of the wedge-shaped strip, so that the pin shaft 13 can be effectively prevented from moving relative to the civil air defense door 100, and the stability of the civil air defense door 100 attached to the manipulator is improved.
In some preferred aspects, a pad 133 is disposed between the stopper bar 132 and the air defense door 100, and the pad 133 serves to prevent the stopper bar 132 from pressing the air defense door 100, so as to prevent the air defense door 100 from being partially deformed or broken.
In some preferred embodiments, a U-shaped handle 134 for a human or an apparatus to hold is provided at the end surface of the tail portion of the pin 13, and after the civil air defense door 100 is installed at the doorway and the stopper 132 is pulled out of the slot 131 of the pin 13, the pin 13 is pulled out of the pin hole 101 and the through hole by dragging the handle 134, so that the grasping mechanism 10 is separated from the civil air defense door 100.
In some cases, the device needs to know the model of the captured civil air defense door 100, and for different models of civil air defense doors 100, the device automatically adopts different security monitoring strategies, and the size between the two pins 13 of the civil air defense door 100 represents the model of the civil air defense door 100, so that the model of the civil air defense door 100 captured by the hanging arm 12 of the model can be known by detecting the model of the hanging arm 12 installed. Therefore, a trigger plate 152 is fixed on the side wall of the hanging arm 12 corresponding to the required civil air defense door 100, a trigger switch 151 is arranged on one side of the interface 11, after the hanging arm 12 is inserted into the interface 11 and the installation is completed, the trigger plate 152 contacts with a contact rod of the trigger switch 151, and then the trigger switch 151 sends out an electric signal corresponding to the model of the hanging arm 12, and further the equipment can obtain the model of the installed hanging arm 12 and the model of the civil air defense door 100 required to be grabbed.
The gripping mechanism 10 and the manipulator provided by the invention have the advantages that:
the grabbing mechanism 10 provided by the invention can enable the civil air defense door 100 to be quickly attached to a manipulator, has a simple grabbing process and a simple and reliable design structure, and is convenient to detach from the civil air defense door 100.
Moreover, although exemplary embodiments have been described herein, the scope of the present invention includes any and all embodiments based on the present invention with equivalent elements, modifications, omissions, combinations (e.g., of various embodiments across), adaptations or alterations. The elements of the claims are to be interpreted broadly based on the language employed in the claims and not limited to examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive. It is intended, therefore, that the specification and examples be considered as exemplary only, with a true scope and spirit being indicated by the following claims and their full scope of equivalents.
The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more versions thereof) may be used in combination with each other. For example, other embodiments may be used by those of ordinary skill in the art upon reading the above description. In addition, in the above-described embodiments, various features may be grouped together to streamline the disclosure. This should not be interpreted as an intention that a disclosed feature not claimed is essential to any claim. Rather, inventive subject matter may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the detailed description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that these embodiments may be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (8)
1. The utility model provides a snatch mechanism, it is installed on rotation mechanism by coupling mechanism, rotation mechanism installs on engineering machine tool equipment, its characterized in that includes:
a pin hole opened in an area near a side edge of the civil air defense door;
the two inserting ports are formed on the connecting mechanism, and the directions of the two inserting ports are opposite;
the tail parts of the two hanging arms are respectively inserted into the two insertion ports; a through hole is formed in the position, close to the head, of each hanging arm; the through holes in the two hanging arms are used for corresponding to the two pin holes in the civil air defense door;
the pin shafts comprise two pin shafts, the two pin shafts respectively correspond to the two pin holes, and each pin shaft is used for sequentially penetrating through the corresponding through hole and the corresponding pin hole; wherein:
the pin shaft is provided with a radially through slot, the slot is used for allowing the stop strip to penetrate through the slot, and the stop strip limits the pin shaft to be separated from the pin hole so that the civil air defense door is attached to the hanging arm.
2. The catch mechanism of claim 1, wherein the stop bar is a wedge-shaped bar for accommodating the civil air defense door of different thicknesses.
3. The grasping mechanism according to claim 1, wherein a handle is provided at an end of a tail portion of the pin, and the pin is pulled out of the pin hole by the handle after the stopper bar is removed.
4. The grabbing mechanism according to claim 1, wherein a base plate is sleeved on the pin shaft and located between the civil air defense door and the stop strip.
5. The grasping mechanism according to claim 1, wherein the insertion port has a predetermined depth, and a position-limiting post is disposed through the insertion port and disposed through a tail of the hanging arm.
6. The grabbing mechanism according to claim 1, wherein a trigger switch is arranged on one side of the insertion port, and a trigger plate for abutting against the trigger switch is fixed on the outer side of the hanging arm.
7. The grasping mechanism according to claim 1, wherein the cross-section of the hanging arm is rectangular.
8. A manipulator comprising a swing mechanism, a connecting mechanism provided on the swing mechanism, characterized by further comprising a gripping mechanism as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110943999.3A CN113478524A (en) | 2021-08-17 | 2021-08-17 | Snatch mechanism and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110943999.3A CN113478524A (en) | 2021-08-17 | 2021-08-17 | Snatch mechanism and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113478524A true CN113478524A (en) | 2021-10-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110943999.3A Pending CN113478524A (en) | 2021-08-17 | 2021-08-17 | Snatch mechanism and manipulator |
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| CN (1) | CN113478524A (en) |
Citations (15)
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| WO2009007572A1 (en) * | 2007-07-11 | 2009-01-15 | Sabatier | Rotary device for transferring and indexing metal objects comprising contactless drive means. |
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-
2021
- 2021-08-17 CN CN202110943999.3A patent/CN113478524A/en active Pending
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| WO2009007572A1 (en) * | 2007-07-11 | 2009-01-15 | Sabatier | Rotary device for transferring and indexing metal objects comprising contactless drive means. |
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