A circular ring grabbing mechanism

Abstract

The application provides a circular ring grabbing mechanism, which comprises a carrying mechanism, the carrying mechanism comprising a carrying support, a carrying moving module, a carrying lifting module and a clamping device; the clamping device comprising a clamping mounting frame, an angle adjusting module, a tensioning assembly and a pushing assembly, the clamping mounting frame being arranged on the carrying lifting module, the angle adjusting module being arranged on the clamping mounting frame, a clamping support being arranged on the angle adjusting module, the angle adjusting module driving the clamping support to swing up and down, the tensioning assembly being arranged below the clamping support, the pushing assembly being arranged on the clamping support, and the tensioning assembly extending into the center of the circular ring and supporting the circular ring; the above structure can automatically grab the circular ring, and the elastic deformation of the circular ring can be utilized, so that the grabbing of the circular ring is more stable and firm.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a circular gripping mechanism. Background Technology

[0002] Robotics is considered "the highest level of automation in the modern era," and its ever-increasing intelligence is a prominent feature of contemporary robot development. Today, humans are delegating more and more tasks to robots; therefore, in the design process of robots, an increasing number of functions are being required and configured.

[0003] With the continuous advancement of robotics technology, various robots have appeared in the public eye, and robot sports competitions have become an indispensable part of robotics events. The "National College Student Robot Competition (Robocon)" is the domestic qualifier for the "Asia-Pacific College Student Robot Competition," an event initiated by the Asian Broadcasting Union (ABU) in 2002 to showcase college student robot design and construction. The competition releases a new set of rules annually, requiring participants to comprehensively utilize mechanical, electronic, and control technologies to complete the tasks set by the rules. It serves as a high-tech robotics competition platform.

[0004] The theme of the 2023 ABU Robocon competition was a collaboration between a rabbit robot and an elephant robot to scatter flowers over Angkor Wat. The actual competition was a "ring toss game," using rings made of blue and red rubber hoses instead of flowers.

[0005] However, since the rings used in the competition are made of rubber, if you clamp them too tightly, the rings may deform and become unable to be clamped. If you clamp them too tightly, you may not be able to pick up the rings, which can affect the entire ring throwing operation. Summary of the Invention

[0006] This invention provides a ring gripping mechanism that can automatically grip a ring and utilize the elastic deformation of the ring to make the gripping of the ring more stable and secure.

[0007] To achieve the above objectives, the technical solution of the present invention is: a circular gripping mechanism, comprising a conveying mechanism, the conveying mechanism including a conveying bracket, a conveying moving module, a conveying lifting module, and a gripping device; the conveying bracket is disposed on the conveying moving module, the conveying lifting module is disposed on the conveying bracket, and the gripping device is disposed on the conveying lifting module; the conveying moving module drives the conveying lifting module to move laterally, and the conveying lifting module drives the gripping device to move up and down; the gripping device includes a gripping mounting frame, an angle adjustment module, a tensioning component, and a pushing component; the gripping mounting frame is disposed on the conveying lifting module, the angle adjustment module is disposed on the gripping mounting frame, and the gripping bracket is disposed on the angle adjustment module; the angle adjustment module drives the gripping bracket to swing up and down; the tensioning component is disposed below the gripping bracket, and the pushing component is disposed on the gripping bracket; the tensioning component extends into the center of the circular ring and expands the circular ring.

[0008] The aforementioned structure, through the inclusion of a transport mechanism, automatically clamps and transports the rings, thereby reducing the workload of participants. A tensioning component extends into and expands the stacked rings, thus securing them. When it is necessary to lower the rings, a pushing component presses downwards from the top ring, pushing the bottom ring away from the tensioning component. This allows the stacked rings to be separated one by one from the bottom ring, facilitating subsequent transport. The tensioning component expands the rings, causing them to elastically deform, thus gripping the rings more stably and securely.

[0009] Furthermore, the tensioning assembly includes a tensioning base plate, a tensioning claw plate, and a tensioning connecting rod. The tensioning base plate is disposed on the gripping bracket. One end of the tensioning connecting rod is hinged to the tensioning base plate, and the other end of the tensioning connecting rod is hinged to the tensioning claw plate. The tensioning connecting rod is disposed at the top and bottom of the tensioning base plate. The tensioning claw plate and the tensioning base plate are interconnected by the tensioning connecting rod to form a parallelogram linkage structure. A tension limiting plate is provided at the top of the tensioning base plate to restrict the swinging of the tensioning connecting rod located at the top of the tensioning base plate. A buffer pad is provided at the bottom of the tensioning claw plate.

[0010] With this configuration, when it is necessary to fix the rings, the tensioning component is driven by the lifting module to extend into the stacked rings. At the same time, the tensioning component continues to move downward and contact the ground, and continues to move downward. This causes the tensioning claw plate to move upward through the reaction force. Since the tensioning claw plate and the tensioning base plate are connected to each other through the tensioning connecting rod to form a parallelogram linkage structure, the tensioning claw plate expands outward while moving upward. This opens up the rings and squeezes them internally, thereby achieving the gripping of stacked rings. The structure is simple and effective.

[0011] Furthermore, the ring is a rubber ring, and the tensioning component expands the ring to make the ring deform, thereby achieving fixation. By expanding the ring with the tensioning component, the ring undergoes elastic deformation, which allows the ring to be gripped, making the gripping of the ring more stable and secure.

[0012] Furthermore, a buffer pad is provided at the bottom of the tensioning claw plate. The buffer pad acts as a cushion when the tensioning claw plate touches the ground, preventing damage to the structure of the tensioning claw plate.

[0013] Furthermore, the bottom of the tension limiting plate is hinged to the tensioning base plate. A tension limiting groove extends downwards in an arc from the top of the tensioning base plate. A tension limiting rod is located at the top of the tension limiting plate and moves within the tension limiting groove. A pawl is located at the bottom of the tension limiting plate, and a corresponding slot is provided on the side wall of the tensioning connecting rod. A tension limiting spring is located on one side of the bottom of the tension limiting plate, with one end connected to the tension limiting plate and the other end connected to the top of the tensioning base plate. The tension limiting spring pulls the pawl against the wall of the slot.

[0014] With this configuration, as the tensioning claw plate moves upward, the position of the slot on the tensioning connecting rod will rotate along with the tensioning connecting rod. When the slot rotates to the position of the pawl, the pawl engages in the slot, and at the same time, the tensioning limit spring pulls the pawl against the wall of the slot, thus preventing the tensioning connecting rod from swinging, thereby fixing the tensioning claw plate to the ring.

[0015] Furthermore, the pushing assembly includes a pushing motor, a pushing screw, a pushing slider, and a pushing plate. The pushing motor is mounted on the clamping bracket. One end of the pushing screw is connected to the drive shaft of the pushing motor, and the other end of the pushing screw is provided with a pushing bearing. The inner ring of the pushing bearing is connected to the pushing screw, and the outer ring of the pushing bearing is provided with a pushing connecting plate. A guide shaft is located between the clamping bracket and the pushing connecting plate. The pushing slider is mounted on the pushing screw, and a pushing base plate is mounted on the pushing slider. The pushing base plate is also mounted on the guide shaft and slides up and down along the guide shaft. A pushing plate is mounted on the pushing base plate, and the pushing plate presses down on the ring. Therefore, when a ring needs to be placed, the pushing motor drives the pushing screw to rotate, thereby driving the pushing plate to move downwards. This allows the ring at the top of the tensioning assembly to be placed, thus squeezing the bottom ring out of the tensioning assembly. Each time, the pushing motor drives the pushing slider to move downwards by the thickness of one ring, ensuring that one ring is squeezed out each time, thus facilitating the individual transport of the rings.

[0016] Furthermore, a guide surface extending inclined towards the slot is provided at the top of the tensioning connecting rod, and the pawl slides along the guide surface towards the slot. This design facilitates better sliding of the pawl into the slot via the guide surface. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the transport mechanism of the present invention.

[0018] Figure 2 This is a schematic diagram of the clamping device of the present invention.

[0019] Figure 3 This is a schematic diagram of the tensioning component of the present invention in the retracted state.

[0020] Figure 4 This is a schematic diagram of the tensioning component of the present invention in the open state.

[0021] Figure 5 This is a schematic diagram of the push component of the present invention. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0023] like Figures 1 to 5 As shown, a circular gripping mechanism includes a transport mechanism 3. The transport mechanism 3 includes a transport support 31, a transport moving module 32, a transport lifting module 33, and a clamping device 5. The transport support 31 is mounted on the transport moving module 31, and the transport lifting module 33 is mounted on the transport support 31. The clamping device 5 is mounted on the transport lifting module 33. The transport moving module 32 drives the transport lifting module 33 to move laterally, and the transport lifting module 33 drives the clamping device 5 to move vertically. In this embodiment, the transport moving module 32 and the transport lifting module 33 are devices used to drive the equipment to move horizontally and vertically, which is existing technology and will not be described further here.

[0024] like Figure 2As shown, the clamping device 5 includes a clamping mounting frame 51, an angle adjustment module 52, a tensioning component 53, and a pushing component 54. The clamping mounting frame 51 is mounted on the transport lifting module 33, and the angle adjustment module 52 is mounted on the clamping mounting frame 51. A clamping bracket 55 is provided on the angle adjustment module 52, and the angle adjustment module 52 drives the clamping bracket 55 to swing up and down. The tensioning component 53 is located below the clamping bracket 55, and the pushing component 54 is provided on the clamping bracket 55. The tensioning component 53 extends into the center of the ring and expands the ring. The ring is a rubber ring, and the tensioning component expands the ring to make the ring shape change, thereby achieving fixation. In this embodiment, the angle adjustment module is a device that can drive the device to swing up and down, which is existing technology and will not be described in detail here.

[0025] With this configuration, the tensioning component 53 extends into the stacked rings 01 (e.g., Figure 2 The rings are stretched open inside the tensioning assembly (as shown), thereby achieving tension and fixation of the rings. When the rings need to be lowered, the pushing assembly 54 pushes the uppermost ring downwards, thereby pushing the lowermost ring away from the tensioning assembly. This allows the stack of rings to be separated one by one from the lowermost ring, thus facilitating launch.

[0026] like Figures 2-4 As shown, the tensioning assembly 53 includes a tensioning base plate 531, a tensioning claw plate 532, and a tensioning connecting rod 533. The tensioning base plate 531 is mounted on the clamping bracket 55. One end of the tensioning connecting rod 533 is hinged to the tensioning base plate 531, and the other end is hinged to the tensioning claw plate 532. The tensioning connecting rod 533 is located at the top and bottom ends of the tensioning base plate 531. The tensioning claw plate 532 and the tensioning base plate 531 are interconnected by the tensioning connecting rod 533 to form a parallelogram linkage structure (in...). Figure 4 As shown in the figure, a tension limiting plate 534 is provided at the top of the tensioning base plate 531, which restricts the swinging of the tensioning connecting rod 533 located at the top of the tensioning base plate 531; a buffer pad 5321 is provided at the bottom of the tensioning claw plate 532. In this embodiment, three tensioning components are provided and arranged in a ring on the clamping bracket. The three tensioning components make the fixing of the ring more stable.

[0027] Therefore, when it is necessary to fix the rings, the tensioning component 53 is driven by the lifting module 33 to extend into the stacked rings, such as... Figure 3As shown, the tensioning assembly is in the retracted state at this time. Simultaneously, the tensioning assembly 53 continues to move downwards and contacts the ground, continuing to move downwards. This causes the tensioning claw plate 532 to move upwards through a reaction force. Since the tensioning claw plate 532 and the tensioning base plate 531 are connected by a tensioning connecting rod 533 to form a parallelogram-shaped linkage structure, the tensioning claw plate 532 expands outwards while moving upwards. Figure 4 As shown, the tensioning component 53 is in the open state at this time, which allows the rings to be opened and internally compressed, thereby achieving the grasping of a stack of rings (e.g., Figure 2 As shown, the structure is simple and effective.

[0028] like Figure 4 As shown, the bottom of the tension limiting plate 534 is hinged to the tension base plate 431. A tension limiting groove 5311 is provided at the top of the tension base plate 531, extending downwards in an arc shape. A tension limiting rod 5341 is provided at the top of the tension limiting plate 534, located within the tension limiting groove 5311 and movable within it. A tension limiting rod 5341 is provided at the bottom of the tension limiting plate 534. A pawl 5342 is provided, and a corresponding slot 5331 is provided on the side wall of the tensioning connecting rod 533. A tensioning limiting spring (not shown in the figure) is provided on one side of the bottom of the tensioning limiting plate 534. One end of the tensioning limiting spring is connected to the tensioning limiting plate 534, and the other end of the tensioning limiting spring is connected to the top of the tensioning base plate 531. The tensioning limiting spring 531 pulls the pawl 5342 to abut against the wall of the slot 5331.

[0029] As a result of this configuration, as the tensioning claw plate 532 moves upward, the position of the slot 5331 on the tensioning connecting rod 533 will rotate along with the tensioning connecting rod 533. When the slot 5331 rotates to the position of the pawl 5342, the pawl 5342 engages in the slot 5331. At the same time, the tensioning limit spring pulls the pawl 5342 against the wall of the slot 5331, thereby preventing the tensioning connecting rod 533 from swinging and thus fixing the ring with the tensioning claw plate 532.

[0030] like Figure 2 and Figure 5As shown, the pushing assembly 54 includes a pushing motor 541, a pushing screw 542, a pushing slider 543, and a pushing plate 544. The pushing motor 541 is mounted on the clamping bracket 55. One end of the pushing screw 542 is connected to the drive shaft of the pushing motor 541, and the other end of the pushing screw 542 is provided with a pushing bearing 5421. The inner ring of the pushing bearing 5421 is connected to the pushing screw 542, and the outer ring of the pushing bearing 5421 is provided with a pushing connecting plate 545. A guide shaft 546 is located between the clamping bracket 55 and the pushing connecting plate 545. The pushing slider 543 is mounted on the pushing screw 542, and a pushing base plate 547 is mounted on the pushing slider 543. The pushing base plate 547 is also mounted on the guide shaft 546 and slides up and down along the guide shaft 546. The pushing plate 544 is mounted on the pushing base plate 547, and the pushing plate 544 is pressed into a ring. With this configuration, when a ring needs to be placed, the push motor 541 drives the push screw 542 to rotate, which in turn drives the push plate 544 to move downward, thereby squeezing the ring at the top of the tensioning assembly 53 and extruding the ring at the bottom of the tensioning assembly 53. Each time, the push motor 541 drives the push slider 543 to move downward by the thickness of one ring, thus ensuring that one ring is extruded at a time, which facilitates the individual transport of the rings.

[0031] like Figure 3 and Figure 4 As shown, a guide surface 5330 extending obliquely towards the slot is provided at the top of the tensioning connecting rod 533, and the pawl 5342 slides along the guide surface 5330 towards the slot 5331. This arrangement allows the pawl 5342 to slide more easily into the slot 5331 via the guide surface 5330.

[0032] The working principle of this invention is as follows: By setting up a conveying mechanism, the rings are automatically clamped and transported, thereby reducing the workload of the participants. The tensioning component extends into the stacked rings and expands them, thereby achieving tension and fixation of the rings. When it is necessary to put the rings down, the pushing component squeezes downwards from the top ring, thereby pushing the bottom ring away from the tensioning component. This allows the stacked rings to be separated one by one from the bottom ring, facilitating subsequent transportation. By expanding the rings with the tensioning component, the rings undergo elastic deformation, thereby gripping the rings, making the gripping of the rings more stable and secure.

Claims

1. A circular gripping mechanism, comprising a conveying mechanism, characterized in that: The conveying mechanism includes a conveying bracket, a conveying moving module, a conveying lifting module, and a clamping device. The conveying bracket is mounted on the conveying moving module, and the conveying lifting module is mounted on the conveying bracket. The clamping device is mounted on the conveying lifting module. The conveying moving module drives the conveying lifting module to move laterally, and the conveying lifting module drives the clamping device to move vertically. The clamping device includes a clamping mounting frame, an angle adjustment module, a tensioning component, and a pushing component. The clamping mounting frame is mounted on the conveying lifting module, and the angle adjustment module is mounted on the clamping mounting frame. The angle adjustment module drives the clamping bracket to swing vertically. The tensioning component is mounted on the clamping device. Below the support, a pushing component is provided on the clamping support; the tensioning component extends into the center of the ring and expands the ring. The tensioning component includes a tensioning base plate, a tensioning claw plate, and a tensioning connecting rod. The tensioning base plate is provided on the clamping support. One end of the tensioning connecting rod is hinged to the tensioning base plate, and the other end of the tensioning connecting rod is hinged to the tensioning claw plate. The tensioning connecting rod is provided at the top and bottom of the tensioning base plate. The tensioning claw plate and the tensioning base plate are connected to each other through the tensioning connecting rod to form a parallelogram linkage structure. A tension limiting plate is provided at the top of the tensioning base plate. The tension limiting plate restricts the swinging of the tensioning connecting rod located at the top of the tensioning base plate. The side of the tensioning claw plate that contacts the ring has small indentations at intervals. The pushing assembly includes a pushing motor, a pushing lead screw, a pushing slider, and a pushing plate. The pushing motor is mounted on a clamping bracket. One end of the pushing lead screw is connected to the drive shaft of the pushing motor, and the other end of the pushing lead screw is provided with a pushing bearing. The inner ring of the pushing bearing is connected to the pushing lead screw, and the outer ring of the pushing bearing is provided with a pushing connecting plate. A guide shaft is located between the clamping bracket and the pushing connecting plate. The pushing slider is mounted on the pushing lead screw, and a pushing base plate is mounted on the pushing slider. The pushing base plate is also mounted on the guide shaft and slides up and down along the guide shaft. A pushing plate is mounted on the pushing base plate, and the pushing plate is pressed into a circular ring.

2. The ring gripping mechanism according to claim 1, characterized in that: The ring is a rubber ring, and the tensioning component expands the ring to make the ring shape change, thereby achieving fixation.

3. The ring gripping mechanism according to claim 1, characterized in that: A cushioning pad is provided at the bottom of the tensioning claw plate.

4. The ring gripping mechanism according to claim 1, characterized in that: The bottom of the tension limiting plate is hinged to the tensioning base plate. A tension limiting groove extends downwards in an arc from the top of the tensioning base plate. A tension limiting rod is located at the top of the tension limiting plate and moves within the tension limiting groove. A pawl is located at the bottom of the tension limiting plate, and a corresponding slot is located on the side wall of the tensioning connecting rod. A tension limiting spring is located on one side of the bottom of the tension limiting plate, with one end connected to the tension limiting plate and the other end connected to the top of the tensioning base plate. The tension limiting spring pulls the pawl against the wall of the slot.

5. A ring gripping mechanism according to claim 4, characterized in that: The top of the tensioning connecting rod has a guide surface that extends at an inclination towards the slot, and the pawl slides along the guide surface into the slot.

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