Connecting mechanism and manipulator

Abstract

The present invention discloses a connecting mechanism and a manipulator, wherein the connecting mechanism is used to connect a rotating mechanism and a grasping mechanism, the connecting mechanism comprising: a first plate frame, which is fixedly connected to the rotating mechanism; a second plate frame, the grasping mechanism is used to be fixedly installed on the second plate frame, and the grasping mechanism is used to grasp the civil defense door; wherein: a hinge mechanism and a limiting mechanism are arranged between the first plate frame and the second plate frame; the limiting mechanism has a limiting state and a releasing state that can be switched to each other; when the limiting mechanism switches to the limiting state, the second plate frame and the first plate frame are fixed to each other, and when the limiting mechanism switches to the releasing state, the second plate frame can swing relative to the first plate frame by means of the hinge mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of non-standard equipment, and in particular to a connecting mechanism and a manipulator. Background Art

[0002] When transporting heavy parts, the manipulator can only transport the heavy parts to the designated position and adjust them to a rough posture. Then, the hydraulic system of the engineering machinery needs to be used to fine-tune the heavy parts so that the heavy parts finally reach a precise posture. For example, the engineering machinery can only transport the heavy civil air defense door to the door position and adjust it to a rough posture through the manipulator. Then, the posture of the manipulator is fine-tuned by controlling the hydraulic system, and finally the civil air defense door reaches a precise installation position and posture, such as aligning the hinge of the civil air defense door with the hinge of the door.

[0003] However, the fine-tuning process is complicated for many reasons. For example, the operator who is fine-tuning the posture of the manipulator on the engineering machinery equipment is not clear about the specific positional relationship between the civil air defense door and the door opening because his vision is blocked. In addition, because the manipulator is highly sensitive in responding to the hydraulic system, fine-tuning of the posture of heavy components usually needs to be repeated many times. Summary of the invention

[0004] In view of the above-mentioned technical problems existing in the prior art, an embodiment of the present invention provides a connecting mechanism and a manipulator.

[0005] In order to solve the above technical problems, the technical solution adopted in the embodiments of the present invention is:

[0006] A connecting mechanism, used to connect a rotating mechanism and a grasping mechanism, comprising:

[0007] A first plate frame, which is fixedly connected to the rotating mechanism;

[0008] The second plate frame, the grabbing mechanism is used to be fixedly mounted on the second plate frame, and the grabbing mechanism is used to grab the civil air defense door; wherein:

[0009] A hinge mechanism and a limit mechanism are provided between the first plate frame and the second plate frame;

[0010] The limiting mechanism has a limiting state and a releasing state that can be switched to each other; when the limiting mechanism is switched to the limiting state, the second plate frame and the first plate frame are fixed to each other, and when the limiting mechanism is switched to the releasing state, the second plate frame can swing relative to the first plate frame by means of the hinge mechanism.

[0011] Preferably, the limiting mechanism comprises:

[0012] a first pin hole formed on the first plate frame;

[0013] A second pin hole is formed on the second plate frame, wherein the second pin hole is coaxial with the first pin hole;

[0014] A pin shaft passes through the first pin hole and extends toward the second pin hole; wherein:

[0015] The second pin hole is a tapered hole. The pin shaft moves forward and contacts the hole wall to switch the limiting mechanism to a limiting state. The pin shaft moves backward and disengages from the hole wall to switch the limiting mechanism to a released limiting state.

[0016] Preferably, the first plate frame is provided with a first ear plate, and the second plate frame is provided with a second ear plate opposite to the first ear plate; the first pin hole is formed on the first ear plate, and the second pin hole is formed on the second ear plate.

[0017] Preferably, the hinge mechanism comprises:

[0018] A base, which is mounted on the second plate frame, and a spherical depression is formed on the base;

[0019] A ball head, which is mounted on the first plate frame, and the ball head extends into the spherical recess;

[0020] A cover plate is fixed on the base to limit the ball head from falling out of the spherical recess.

[0021] Preferably, the limiting mechanism further includes:

[0022] A synchronous plate, on which the tails of the pins on the two limiting mechanisms are mounted;

[0023] An oil cylinder is connected between the first plate frame and the synchronous plate. The oil cylinder is extended and retracted to drive the synchronous plate to move so that the two pin holes move forward or backward synchronously.

[0024] Preferably, a bushing is installed in the first pin hole; the pin shaft passes through the bushing; wherein:

[0025] The pin shaft is provided with an oil supply hole to allow lubricating oil to enter between the bushing and the pin shaft.

[0026] Preferably, the first plate frame and the second plate frame are arranged in parallel, and there is a preset gap between the first plate frame and the second plate frame.

[0027] The present invention also discloses a manipulator, comprising:

[0028] A slewing mechanism, which is used to be installed on engineering machinery and equipment;

[0029] Grabbing mechanism, which is used to grab the civil air defense door

[0030] As the connecting mechanism mentioned above, the connecting mechanism is installed between the grabbing mechanism and the rotating mechanism.

[0031] Compared with the prior art, the connection mechanism and the manipulator disclosed in the present invention have the following beneficial effects:

[0032] 1. The second plate frame and the first plate frame can switch between relative fixation and relative swing through the cooperation of the hinge mechanism and the limit mechanism. When transporting heavy components, the second plate frame is fixed relative to the first plate frame, so that the heavy components can be transported stably. When the heavy components need to be assembled with related equipment, the second plate frame and the first plate frame can swing relative to each other, which is conducive to adjusting the spatial posture of the heavy components relative to the related components, thereby completing the assembly.

[0033] 2. In some preferred solutions, the limiting mechanism realizes the switching between the limiting state and the releasing state by the cooperation between the pin shaft and the tapered hole. The switching between the two states is convenient and the design is ingenious.

[0034] This summary of various implementations or examples of the technology described in this disclosure is not a comprehensive disclosure of the entire scope or all features of the disclosed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In the drawings, which are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with letter suffixes or different letter suffixes may represent different instances of similar parts. The accompanying drawings generally illustrate various embodiments by way of example and not limitation, and together with the specification and claims, are used to illustrate the embodiments of the invention. When appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.

[0036] Figure 1 A schematic diagram of the three-dimensional structure of a manipulator provided by an embodiment of the present invention from one perspective.

[0037] Figure 2 A schematic diagram of the three-dimensional structure of a manipulator from another perspective provided by an embodiment of the present invention.

[0038] Figure 3 A main cross-sectional view of a manipulator provided in an embodiment of the present invention.

[0039] Figure 4 This is a status view of the manipulator provided in an embodiment of the present invention when adjusting the posture of the civil defense door.

[0040] Reference numerals

[0041] 10-first plate frame; 20-second plate frame; 30-hinge mechanism; 31-base; 32-ball head; 33-cover plate; 40-limiting mechanism; 41-first pin hole; 411-first ear plate; 42-second pin hole; 421-second ear plate; 43-pin shaft; 44-synchronizing plate; 45-oil cylinder; 46-bushing; 100-connecting mechanism; 200-grabbing mechanism; 300-rotating mechanism; 400-civil defense door. DETAILED DESCRIPTION

[0042] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0043] In order to keep the following description of the embodiments of the present invention clear and concise, detailed descriptions of well-known functions and well-known components are omitted.

[0044] like Figures 1 to 4 As shown, an embodiment of the present invention discloses a connecting mechanism 100 and a manipulator including the same, the manipulator further comprising a slewing mechanism 300 and a grasping mechanism 200, the grasping mechanism 200 is installed on the slewing mechanism 300 by means of the connecting mechanism 100, the manipulator is installed on the engineering machinery equipment by means of the slewing mechanism 300, wherein the grasping mechanism 200 is used to grasp heavy components, the engineering machinery equipment transports the heavy components to a designated position by means of the manipulator, and in the present invention, the connecting mechanism 100 is used to adjust the spatial posture of the heavy components transported to the designated position so that the heavy components can be assembled with the related components at the designated position. The following may be explained by taking the example of the manipulator grasping the civil air defense door 400 and installing the civil air defense door 400 at the door.

[0045] like Figures 1 to 4 As shown, the connection mechanism 100 includes: a first plate frame 10 , a second plate frame 20 , a hinge mechanism 30 and a limiting mechanism 40 .

[0046] The first plate frame 10 is fixedly mounted on the slewing mechanism 300, and the second plate frame 20 is arranged in parallel with the first plate frame 10, and the second plate frame 20 and the first plate frame 10 have a predetermined gap so that the second plate frame 20 can swing relative to the first plate frame 10. The grabbing mechanism 200 for grabbing the civil defense door 400 is mounted on the second plate frame 20, for example, the grabbing mechanism 200 includes two hanging arms for the civil defense door 400 to be attached, and the two hanging arms are connected to the second plate frame 20.

[0047] The hinge mechanism 30 is arranged between the first plate frame 10 and the second plate frame 20. If the grabbing mechanism 200 includes hanging arms arranged on the left and right sides of the second plate frame 20 (or in the width direction of the civil air defense door 400), the hinge mechanism 30 can be arranged at a front position between the first plate frame 10 and the second plate frame 20. The hinge mechanism 30 allows the second plate frame 20 to be movably connected to the first plate frame 10 and allows the second plate frame 20 to slightly swing relative to the first plate frame 10 in all directions. In some preferred embodiments, the hinge mechanism 30 includes a base 31, a ball head 32 and a cover plate 33. The base 31 is fixedly connected to the second plate frame 20 by fasteners. A spherical recess is provided on the base 31. The ball head 32 is fixed to the first plate frame 10 by fasteners. The ball head 32 is embedded in the spherical recess of the base 31. The cover plate 33 is buckled on the base 31 to limit the ball head 32 from coming out of the spherical recess. In this way, the ball head 32 can swing in various directions relative to the base 31 , thereby enabling the second plate frame 20 to swing in various directions relative to the first plate frame 10 .

[0048] The limiting mechanism 40 is arranged between the first plate frame 10 and the second plate frame 20, and the limiting mechanism 40 has a limiting state and a releasing state that can be switched to each other. When the limiting mechanism 40 is switched to the limiting state, the second plate frame 20 and the first plate frame 10 form another connection area at the limiting mechanism 40 except the hinge mechanism 30, so that the second plate frame 20 cannot swing relative to the first plate frame 10. When the limiting mechanism 40 is switched to the releasing state, the second plate frame 20 and the first plate frame 10 are connected only at the hinge mechanism 30, so that the second plate frame 20 can swing relative to the first plate frame 10.

[0049] The above-mentioned connection mechanism 100 plays the following role in the process of installing the civil air defense door 400 at the door:

[0050] The engineering machinery equipment uses a manipulator to transport the civil defense door 400 attached to the manipulator to the door. During this process, the limiting mechanism 40 is always in a limiting state, which ensures that when the manipulator transports the civil defense door 400 to the door, the civil defense door 400 will not swing relative to the rotating mechanism 300, so that the civil defense door 400 can be stably transported to the door.

[0051] like Figure 4As shown, after the robot transports the civil defense door 400 to the doorway and roughly adjusts the civil defense door 400 to a spatial posture that roughly matches the doorway by means of the rotating mechanism 300, the limiting mechanism 40 is switched to the released limit state. In this way, the spatial posture of the civil defense door 400 can be fine-tuned by manually applying force to the civil defense door 400 and by means of the second plate frame 20 being able to swing relative to the first plate frame 10, thereby achieving precise matching of the posture of the civil defense door 400 with the doorway. After the fine-tuning is completed, the hinges of the civil defense door 400 are completely aligned with the hinges of the doorway, thereby enabling precise assembly.

[0052] A preferred embodiment of the present invention provides a structural type of limiting mechanism 40, such as Figures 1 to 3 As shown, the limiting mechanism 40 includes: a first pin hole 41, a second pin hole 42, a pin shaft 43 and an oil cylinder 45. Specifically, a first ear plate 411 is provided on the first plate frame 10, and two first pin holes 41 are provided on the first ear plate 411, and a bushing 46 is provided in each first pin hole 41; a second ear plate 421 is provided on the second plate frame 20, and the second ear plate 421 is located in front of the first ear plate 411, and two second pin holes 42 are provided on each second ear plate 421, and the two second pin holes 42 are coaxial with the two first pin holes 41 respectively; the coaxial first pin hole 41 and the second pin hole 42 are both penetrated with a pin shaft 43, and the two pin shafts 43 penetrated with the corresponding pin holes are connected to the synchronous plate 44 at the front and rear ends; one end of the oil cylinder 45 is connected to the first plate frame 10, and the other end of the oil cylinder 45 is connected to the synchronous plate 44.

[0053] The second pin hole 42 is configured as a tapered hole, and the large end of the tapered hole faces the first pin hole 41, and the diameter of the large end is larger than the pin shaft 43. The oil cylinder 45 extends to drive the synchronous plate 44 to drive the two pin shafts 43 to move forward synchronously so that the head of the pin shaft 43 abuts against the hole wall of the second pin hole 42 (tapered hole), so that the second plate frame 20 forms a connection area by connecting the pin shaft 43 with the hole wall of the second pin hole 42, so that the limiting mechanism 40 switches to the limiting state, at which time the second plate frame 20 cannot swing relative to the first plate frame 10; the oil cylinder 45 retracts to drive the synchronous plate 44 to drive the two pin shafts 43 to move backward so that the head of the pin shaft 43 is separated from the hole wall of the second pin hole 42, so that the second plate frame 20 is connected to the first plate frame 10 only by the hinge mechanism 30, so that the limiting mechanism 40 switches to the release limit state, at which time the second plate frame 20 can swing relative to the first plate frame 10.

[0054] In some preferred embodiments, an oil supply hole is provided on the pin shaft 43 to allow lubricating oil to enter between the bushing 46 and the pin shaft 43 , thereby reducing the friction between the pin shaft 43 and the bushing 46 during the forward and backward movement.

[0055] The advantages of the connection mechanism 100 and the manipulator provided by the present invention are:

[0056] 1. The second plate frame 20 and the first plate frame 10 can switch between relative fixation and relative swinging by the cooperation of the hinge mechanism 30 and the limit mechanism 40. When transporting heavy components, the second plate frame 20 is fixed relative to the first plate frame 10, so that the heavy components can be transported stably. When the heavy components need to be assembled with related equipment, the second plate frame 20 and the first plate frame 10 can swing relative to each other, which is conducive to adjusting the spatial posture of the heavy components relative to the related components, thereby completing the assembly.

[0057] 2. In some preferred solutions, the limiting mechanism 40 realizes switching between the limiting state and the releasing state by means of the cooperation between the pin shaft 43 and the tapered hole. The switching between the two states is convenient and the design is ingenious.

[0058] In addition, although exemplary embodiments have been described in the present invention, the scope includes any and all embodiments based on the present invention with equivalent elements, modifications, omissions, combinations (e.g., various embodiments intersecting schemes), adaptations or changes. The elements in the claims will be interpreted broadly based on the language adopted in the claims, and are not limited to the examples described in this specification or during the implementation of this application, and their examples will be interpreted as non-exclusive. Therefore, this specification and examples are intended to be considered as examples only, and the true scope and spirit are indicated by the following claims and the full scope of their equivalents.

[0059] The above description is intended to be illustrative rather than restrictive. For example, the above examples (or one or more of them) can be used in combination with each other. For example, a person of ordinary skill in the art can use other embodiments when reading the above description. In addition, in the above-mentioned specific embodiments, various features can be grouped together to simplify the present invention. This should not be interpreted as an intention that a disclosed feature that is not required to be protected is necessary for any claim. On the contrary, the subject matter of the present invention may be less than all the features of a specific disclosed embodiment. Thus, the following claims are incorporated into the specific embodiments as examples or embodiments, wherein each claim is independently used as a separate embodiment, and it is considered that these embodiments can be combined with each other in various combinations or arrangements. The scope of the present invention should be determined with reference to the attached claims and the full scope of equivalent forms granted by these claims.

[0060] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A connecting mechanism, used to connect a rotating mechanism and a grasping mechanism, characterized in that: include: A first plate frame, which is fixedly connected to the rotating mechanism; The second plate frame, the grabbing mechanism is used to be fixedly mounted on the second plate frame, and the grabbing mechanism is used to grab the civil air defense door; wherein: A hinge mechanism and a limit mechanism are provided between the first plate frame and the second plate frame; The limiting mechanism has a limiting state and a releasing limiting state that can be switched to each other; when the limiting mechanism is switched to the limiting state, the second plate frame and the first plate frame are fixed to each other, and when the limiting mechanism is switched to the releasing limiting state, the second plate frame can swing relative to the first plate frame by means of the hinge mechanism; The limiting mechanism comprises: a first pin hole formed on the first plate frame; A second pin hole is formed on the second plate frame, wherein the second pin hole is coaxial with the first pin hole; A pin shaft passes through the first pin hole and extends to the second pin hole; wherein: The second pin hole is a tapered hole, the pin shaft moves forward and contacts the hole wall to switch the limit mechanism to the limit state, and the pin shaft moves backward and separates from the hole wall to switch the limit mechanism to the release limit state; The first plate frame is provided with a first ear plate, and the second plate frame is provided with a second ear plate opposite to the first ear plate; the first pin hole is formed on the first ear plate, and the second pin hole is formed on the second ear plate; The hinge mechanism comprises: A base, which is mounted on the second plate frame, and a spherical depression is formed on the base; A ball head, which is mounted on the first plate frame, and the ball head extends into the spherical recess; a cover plate fixed on the base to limit the ball head from coming out of the spherical recess; The limiting mechanism also includes: A synchronous plate, on which the tails of the pins on the two limiting mechanisms are mounted; An oil cylinder is connected between the first plate frame and the synchronous plate. The oil cylinder is extended and retracted to drive the synchronous plate to move so that the two pin shafts move forward or backward synchronously.

2. The connection mechanism according to claim 1, characterized in that: A bushing is installed in the first pin hole; the pin shaft passes through the bushing; wherein: The pin shaft is provided with an oil supply hole to allow lubricating oil to enter between the bushing and the pin shaft.

3. The connection mechanism according to claim 1, characterized in that: The first plate frame and the second plate frame are arranged in parallel, and there is a preset gap between the first plate frame and the second plate frame.

4. A robot, characterized in that: include: A slewing mechanism, which is used to be installed on engineering machinery and equipment; Grabbing mechanism, which is used to grab the civil air defense door The connecting mechanism according to any one of claims 1 to 3, wherein the connecting mechanism is installed between the grasping mechanism and the rotating mechanism.

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