Intelligent mechanical claw and mounting mechanism mounted on engineering vehicle

Abstract

The invention discloses an intelligent mechanical gripper and a mounting mechanism mounted on an engineering van, and relates to the technical field of mechanical grippers, the intelligent mechanical gripper comprises a base part, connecting parts are movably inserted into the two ends, the front side and the rear side of the bottom of the base part, a driving part is arranged in the base part and connected with the connecting parts, and gripper parts are fixedly mounted at the bottom ends of the connecting parts; a transverse piece is arranged on one side of the claw piece, and a positioning piece is arranged on one side of the transverse piece; by starting a first motor, a plurality of first threaded lead screws can rotate at the same time, a first nut drives a connecting piece and a positioning piece to slide in the arrangement direction of a cross-shaped sliding opening and abut against an object, and then by starting an air extracting pump, air between an adsorption groove and the object can be extracted through an L-shaped pipe and exhausted out of the positioning piece through the air extracting pump; and at the moment, negative pressure can be generated in the adsorption groove to adsorb the articles, friction force generated after the articles are clamped is matched, the article clamping stability can be effectively improved, and intelligence is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical claws, and in particular to an intelligent mechanical claw and a mounting mechanism for mounting the claw on an engineering vehicle. Background Art

[0002] With the gradual development of mechanical automation, the degree of mechanization in production and life is getting higher and higher, and there are more and more fields where machinery can replace manual labor. Nowadays, the use of robotic arms is increasing, and the scope of application of robotic arms is getting wider and wider, which leads to an increasing demand for the functions of robotic arms.

[0003] For example, an existing patent (publication number: CN109202948B) discloses a force-controlled mechanical claw, including a servo, two main boards, a bottom bracket, a crank, a slide rail, two gripping ends, two sliding structures, two connecting rods, and two gripping force control modules. The two gripping ends are respectively fixed to the end brackets by screws; a through hole is opened on the slide seat, which is connected to one end of the connecting rod through a second rotating pair.

[0004] However, the force-controlled mechanical claw designed above still has some disadvantages in actual use: although the force-controlled mechanical claw can control the force of clamping objects, since the surfaces of some objects are relatively smooth, the friction between the claw and the surface of the object alone can easily cause the claw to fall off due to the vibration generated by the operation of the machine, thereby reducing the stability of the clamped object.

[0005] To this end, we designed an intelligent mechanical claw and an installation mechanism installed on an engineering vehicle to solve the above problems. Summary of the invention

[0006] The purpose of the present invention is to provide an intelligent mechanical claw and a mounting mechanism for mounting on an engineering vehicle to solve the problems raised in the above-mentioned background technology.

[0007] In order to solve the above technical problems, the intelligent mechanical claw provided by the present invention includes a base member, and connecting members are movably inserted at both ends of the bottom and the front and rear sides of the base member, and a driving member is arranged inside the base member, and the driving member is connected to the connecting member, and a claw member is fixedly installed on the bottom end of the connecting member, and a cross member is arranged on one side of the claw member, and a positioning member is arranged on one side of the cross member, and an adsorption groove is opened on the side of the positioning member away from the cross member, and an air pump is fixedly installed on the top of the positioning member, and an L-shaped tube is fixedly inserted at the air outlet end of the air pump, and the other end of the L-shaped tube is fixedly inserted on the top of the positioning member and extends to the inside of the adsorption groove.

[0008] Furthermore, a sealing ring is fixedly mounted on one side of the positioning member, the sealing ring is adapted to the size of the adsorption groove, and the sealing ring is made of fluororubber.

[0009] Furthermore, the driving member includes a first threaded screw, the number of which corresponds to that of the connecting member, the first threaded screw is rotatably installed in the base member along a horizontal direction, a first nut is threadedly sleeved on the first threaded screw, the top of the connecting member is fixedly connected to the bottom of the first nut, and the other end of the first threaded screw is suspended and fixedly provided with a first bevel gear. The driving member also includes a rotating shaft, which is rotatably provided in the base member, a second bevel gear is fixedly installed on the bottom end of the rotating shaft, the second bevel gear is meshed with the first bevel gear, and a first motor is fixedly installed on the top of the base member, and the first motor is transmission-connected to one end of the rotating shaft.

[0010] Furthermore, a cross slide and an installation cavity are respectively provided at the bottom and inside of the base member, the cross slide and the installation cavity are communicated, the connecting member is slidably connected in the cross slide, first bearings are fixedly installed at both ends and front and rear sides of the installation cavity, a second bearing is fixedly installed at the center of the top wall of the installation cavity, one end of the first threaded screw away from the first bevel gear is fixedly inserted in the inner ring of the first bearing, and one end of the rotating shaft away from the second bevel gear is fixedly inserted in the inner ring of the second bearing.

[0011] Furthermore, a limiting groove is opened on one side of the claw member, and two third bearings are symmetrically fixedly installed in the limiting groove, the inner ring of the third bearing is fixedly inserted with a second threaded screw, a second nut is threadedly sleeved on the second threaded screw, the second nut is fixedly connected to the cross member, and a second motor is fixedly installed on the bottom of the claw member, and the driving shaft of the second motor is transmission-connected to one end of the second threaded screw.

[0012] Furthermore, the limiting member includes a guide rod, both ends of the guide rod are fixedly installed in the limiting groove, and the second nut is slidably sleeved on the guide rod.

[0013] Furthermore, a slide is slidably arranged inside the cross member, an electric push rod is fixedly installed on the rear side of the cross member, and a driving end of the electric push rod is connected to the slide.

[0014] Furthermore, a fixing groove is provided on one side of the cross piece, the slide piece is slidably connected in the fixing groove, and the driving end of the electric push rod slidably extends into the fixing groove and is fixedly connected to the slide piece.

[0015] The present invention also provides a technical solution: a mounting mechanism for an intelligent mechanical claw, wherein two connecting columns are symmetrically fixedly mounted on the top of the base member, a mounting plate is fixedly mounted on the other end of the connecting column, a positioning plate is fixedly mounted on the side of the mounting plate, and a plurality of positioning bolts are threadedly inserted into the bottom of the positioning plate.

[0016] Furthermore, the number of the positioning pieces is four, and the four positioning pieces are respectively fixedly mounted on four sides of the mounting piece.

[0017] Compared with the prior art, the beneficial effect of the present invention is as follows: by turning on the first motor, multiple first threaded screws can be rotated at the same time, so that the first nut drives the connecting part and the positioning part to slide along the direction of the cross slide and resist against the object, and then by turning on the vacuum pump, the vacuum pump can extract the air between the adsorption groove and the object through the L-shaped tube and discharge it out of the positioning part. At this time, negative pressure can be generated in the adsorption groove to adsorb the object, and combined with the friction force after clamping the object, the stability of clamping the object can be effectively improved, which is more intelligent.

[0018] Compared with the prior art, the beneficial effect of the present invention is that by turning on the second motor, the second threaded screw can be rotated, so that the second nut drives the cross piece and the positioning piece to move vertically up and down along the direction in which the guide rod is set, until the positioning piece finds the area on the smooth surface of the object, which can further improve the effect of the positioning piece in adsorbing the object.

[0019] Compared with the prior art, the beneficial effect of the present invention is that by turning on the electric push rod, the driving end of the electric push rod can be extended and retracted to drive the sliding member and the positioning member to slide in the fixed groove, which can increase the movement area of ​​the positioning member, thereby further improving the effect of finding the smooth surface of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the front exterior of the present invention;

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the inner half-section of the front side of the limiting member of the present invention;

[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of the interior of the limiting groove of the present invention in a half-section view;

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the present invention when looking upwards;

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of the inner half-section of the limiter of the present invention when viewed from above;

[0025] Figure 6 For the present invention Figure 5 Enlarged view of point A in the middle.

[0026] In the figure: 1. base member; 2. connecting member; 3. claw member; 4. cross member; 5. positioning member; 6. adsorption groove; 7. vacuum pump; 8. L-shaped tube; 9. first threaded screw; 10. first nut; 11. first bevel gear; 12. rotating shaft; 13. second bevel gear; 14. first motor; 15. cross slide; 16. mounting cavity; 17. limiting groove; 18. second threaded screw; 19. second nut; 20. second motor; 21. guide rod; 22. fixing groove; 23. slide; 24. electric push rod; 25. connecting column; 26. mounting plate; 27. positioning plate; 28. positioning bolt. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] See also Figure 1-6 The present invention provides a technical solution: an intelligent mechanical claw and an installation mechanism installed on an engineering vehicle, comprising a base member 1, connecting members 2 are movably inserted at both ends and front and rear sides of the bottom of the base member 1, a driving member is arranged inside the base member 1, the driving member is connected to the connecting member 2, a claw member 3 is fixedly installed at the bottom end of the connecting member 2, a cross member 4 is arranged on one side of the claw member 3, a positioning member 5 is arranged on one side of the cross member 4, an adsorption groove 6 is opened on the side of the positioning member 5 away from the cross member 4, an air pump 7 is fixedly installed on the top of the positioning member 5, an L-shaped tube 8 is fixedly inserted at the air outlet end of the air pump 7, and the other end of the L-shaped tube 8 is fixedly inserted at the top of the positioning member 5 and extends to the inside of the adsorption groove 6;

[0031] The driving member includes a first threaded screw 9, the number of which corresponds to the connecting member 2, the first threaded screw 9 is rotatably installed in the base member 1 along the horizontal direction, a first nut 10 is threadedly sleeved on the first threaded screw 9, the top of the connecting member 2 is fixedly connected to the bottom of the first nut 10, the other end of the first threaded screw 9 is suspended and fixedly provided with a first bevel gear 11, the driving member also includes a rotating shaft 12, the rotating shaft 12 is rotatably set in the base member 1, a second bevel gear 13 is fixedly installed on the bottom end of the rotating shaft 12, the second bevel gear 13 is meshed with the first bevel gear 11, a first motor 14 is fixedly installed on the top of the base member 1, and the first motor 14 is transmission connected to one end of the rotating shaft 12.

[0032] In specific implementation, when it is necessary to grab an object, the base member 1 is controlled to be close to the object so that the object is located between the four claw members 3, and then the first motor 14 is turned on, so that the driving shaft of the first motor 14 drives the rotating shaft 12 and the second bevel gear 13 to rotate, so that the second bevel gear 13 drives multiple first bevel gears 11 and the first threaded screw 9 to rotate at the same time, so that the first nut 10 can drive the connecting member 2 and the positioning member 5 to slide along the direction set by the cross slide 15 and press against the object, and then the vacuum pump 7 is turned on, so that the vacuum pump 7 draws the air between the adsorption groove 6 and the object through the L-shaped tube 8 and discharges it outside the positioning member 5. At this time, negative pressure can be generated in the adsorption groove 6 to adsorb the object, and the friction force after the object is clamped can effectively improve the stability of the object clamping.

[0033] See also Figure 1-6 As shown, a cross slide 15 and an installation cavity 16 are respectively provided at the bottom and inside of the base member 1, the cross slide 15 and the installation cavity 16 are connected, the connector 2 is slidably connected in the cross slide 15, the first bearings are fixedly installed at both ends and the front and rear sides of the installation cavity 16, the second bearing is fixedly installed at the center of the top wall of the installation cavity 16, the end of the first threaded screw 9 away from the first bevel gear 11 is fixedly inserted in the inner ring of the first bearing, and the end of the rotating shaft 12 away from the second bevel gear 13 is fixedly inserted in the inner ring of the second bearing. The components in the base member 1 can be reasonably installed to avoid the problem of motion interference and ensure the normal operation of each component.

[0034] See also Figure 1-6 A sealing ring is fixedly installed on one side of the positioning member 5. The sealing ring is adapted to the size of the adsorption groove 6 and is made of fluororubber. The sealing ring made of fluororubber has a certain elasticity, so it can fill the small gap between the adsorption groove 6 and the object, thereby improving the sealing performance. In addition, fluororubber has good heat resistance and can be used normally in high temperature environments.

[0035] See also Figure 1-6A limiting groove 17 is provided on one side of the claw member 3, and two third bearings are symmetrically fixedly installed in the limiting groove 17. A second threaded screw 18 is fixedly inserted into the inner ring of the third bearing, and a second nut 19 is threadedly sleeved on the second threaded screw 18. The second nut 19 is fixedly connected to the cross member 4. A second motor 20 is fixedly installed at the bottom of the claw member 3, and a driving shaft of the second motor 20 is transmission-connected to one end of the second threaded screw 18. It also includes a limiting member, and the limiting member includes a guide rod 21. Both ends of the guide rod 21 are fixedly installed in the limiting groove 17, and the second nut 19 is slidably sleeved on the guide rod 21.

[0036] During specific implementation, based on the above implementation, if the positioning member 5 contacts the concave and convex area of ​​the object, the second motor 20 is turned on to rotate the second threaded screw 18, so that the second nut 19 drives the cross member 4 and the positioning member 5 to move vertically up and down along the direction set by the guide rod 21 until the positioning member 5 finds the area on the smooth surface of the object, which can further improve the effect of the positioning member 5 in adsorbing the object.

[0037] See also Figure 1-6 A slide 23 is slidably arranged in the cross member 4, an electric push rod 24 is fixedly installed on the rear side of the cross member 4, the driving end of the electric push rod 24 is connected to the slide 23, a fixed groove 22 is opened on one side of the cross member 4, the slide 23 is slidably connected in the fixed groove 22, and the driving end of the electric push rod 24 slides and extends into the fixed groove 22 and is fixedly connected to the slide 23.

[0038] In specific implementation, based on the above implementation, the electric push rod 24 is turned on, so that the driving end of the electric push rod 24 is extended and retracted to drive the slide 23 and the positioning member 5 to slide in the fixed groove 22, which can increase the movement area of ​​the positioning member 5, thereby further improving the effect of finding the smooth surface of the object.

[0039] See also Figure 1-6 The present invention also provides a technical solution: the installation mechanism of the intelligent mechanical claw, two connecting columns 25 are symmetrically fixedly installed on the top of the base 1, the other end of the connecting column 25 is fixedly installed with a mounting plate 26, the side of the mounting plate 26 is fixedly installed with a positioning plate 27, and the bottom of the positioning plate 27 is threaded with multiple positioning bolts 28. The mounting plate 26 and the positioning plate 27 are butted against the end of the mechanical arm of the engineering vehicle, and then multiple positioning bolts 28 are screwed into the positioning plate 27 and extended into the mechanical arm, so that the mechanical claw can be stably installed at a suitable position of the engineering vehicle.

[0040] See also Figure 1-6 The number of the positioning pieces 27 is four, and the four positioning pieces 27 are respectively fixedly mounted on the four sides of the mounting piece 26. The arrangement of multiple positioning pieces 27 can ensure the force balance on the four sides of the mounting piece 26, which helps to avoid the problem of deformation of the mounting piece 26 during long-term use.

[0041] Before use, it is necessary to connect all the electrical appliances involved in the mechanical claw to an external power source, or install a battery pack in an area at the bottom of the base 1 that does not interfere with other components, and then connect the battery pack to the electrical appliances through lines to power the electrical appliances, thereby ensuring the normal operation of the electrical appliances. Since connecting an external power source to the electrical appliances or setting up a battery pack to power the appliances belongs to the prior art and is not a problem that needs to be solved in the background technology of this specification, it will not be explained in detail.

[0042] Working principle: When in use, firstly, the mounting plate 26 and the positioning plate 27 are butted against the end of the mechanical arm of the engineering vehicle, and then a plurality of positioning bolts 28 are screwed into the positioning plate 27 and extended into the mechanical arm, so that the mechanical claw can be stably installed in a suitable position of the engineering vehicle. When it is necessary to grab the object, the base member 1 is controlled to be close to the object so that the object is located between the four claw members 3, and then the first motor 14 is turned on, so that the driving shaft of the first motor 14 drives the rotating shaft 12 and the second bevel gear 13 to rotate, so that the second bevel gear 13 drives the plurality of first bevel gears 11 and the first threaded screw 9 to rotate at the same time, so that the first nut 10 can drive the connecting member 2 and the positioning member 5 to slide along the direction set by the cross slide 15 and butt against the object, and then the vacuum pump 7 is turned on, so that the vacuum pump 7 extracts the air between the adsorption groove 6 and the object through the L-shaped tube 8 and discharges it out of the positioning member 5. At this time, negative pressure can be generated in the adsorption groove 6 to adsorb the object, and the friction force after the object is clamped can effectively improve the stability of the object clamping.

[0043] During the above operation, if the positioning member 5 contacts the concave and convex area of ​​the object, the second motor 20 is turned on to rotate the second screw rod 18, so that the second nut 19 drives the cross member 4 and the positioning member 5 to move vertically up and down along the direction set by the guide rod 21 until the positioning member 5 finds the area on the smooth surface of the object, which can further improve the effect of the positioning member 5 on adsorbing the object.

[0044] In addition, during the above operation, the electric push rod 24 is turned on, so that the driving end of the electric push rod 24 is extended and retracted to drive the slide 23 and the positioning member 5 to slide in the fixed groove 22, which can increase the movement area of ​​the positioning member 5, thereby further improving the effect of finding the smooth surface of the object.

[0045] The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this patent can make some changes or modifications to equivalent embodiments of equivalent changes by using the technical content suggested above without departing from the scope of the technical solution of the present invention. The implementation scheme in the above embodiment can also be further combined or replaced. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the solution of the present invention.

Claims

1. An intelligent mechanical claw, comprising a base member (1), wherein connecting members (2) are movably inserted at both ends and front and rear sides of the bottom of the base member (1), a driving member is arranged inside the base member (1), the driving member is connected to the connecting member (2), and a claw member (3) is fixedly installed at the bottom end of the connecting member (2), characterized in that: A cross piece (4) is provided on one side of the claw piece (3), a positioning piece (5) is provided on one side of the cross piece (4), an adsorption groove (6) is provided on the side of the positioning piece (5) away from the cross piece (4), an air pump (7) is fixedly installed on the top of the positioning piece (5), an L-shaped tube (8) is fixedly plugged into the air outlet end of the air pump (7), and the other end of the L-shaped tube (8) is fixedly plugged into the top of the positioning piece (5) and extends into the interior of the adsorption groove (6).

2. The intelligent mechanical claw according to claim 1, characterized in that: A sealing ring is fixedly mounted on one side of the positioning member (5), the sealing ring is adapted to the size of the adsorption groove (6), and the sealing ring is made of fluororubber.

3. The intelligent mechanical claw according to claim 1, characterized in that: The driving member comprises a first threaded screw (9), the number of which corresponds to that of the connecting member (2), the first threaded screw (9) being rotatably mounted in the base member (1) along a horizontal direction, a first nut (10) being threadedly sleeved on the first threaded screw (9), the top end of the connecting member (2) being fixedly connected to the bottom of the first nut (10), the other end of the first threaded screw (9) being suspended and fixedly provided with a first bevel gear (11), the driving member further comprises a rotating shaft (12), the rotating shaft (12) being rotatably mounted in the base member (1), the bottom end of the rotating shaft (12) being fixedly provided with a second bevel gear (13), the second bevel gear (13) being meshingly connected with the first bevel gear (11), the top of the base member (1) being fixedly provided with a first motor (14), the first motor (14) being transmission-connected to one end of the rotating shaft (12).

4. The intelligent mechanical claw as claimed in claim 3, characterized in that: A cross slide (15) and an installation cavity (16) are respectively provided at the bottom and inside of the base member (1), the cross slide (15) and the installation cavity (16) are communicated, the connecting member (2) is slidably connected in the cross slide (15), first bearings are fixedly installed at both ends and front and rear sides of the installation cavity (16), a second bearing is fixedly installed at the center of the top wall of the installation cavity (16), one end of the first threaded screw (9) away from the first bevel gear (11) is fixedly inserted into the inner ring of the first bearing, and one end of the rotating shaft (12) away from the second bevel gear (13) is fixedly inserted into the inner ring of the second bearing.

5. The intelligent mechanical claw as claimed in claim 1, characterized in that: A limiting groove (17) is provided on one side of the claw member (3), and two third bearings are symmetrically fixedly installed in the limiting groove (17); a second threaded screw (18) is fixedly inserted into the inner ring of the third bearing; a second nut (19) is threadedly sleeved on the second threaded screw (18); the second nut (19) is fixedly connected to the cross member (4); a second motor (20) is fixedly installed at the bottom of the claw member (3); and a driving shaft of the second motor (20) is transmission-connected to one end of the second threaded screw (18).

6. The intelligent mechanical claw as claimed in claim 5, characterized in that: It also includes a limiting member, which includes a guide rod (21). Both ends of the guide rod (21) are fixedly mounted in the limiting groove (17), and the second nut (19) is slidably sleeved on the guide rod (21).

7. The intelligent mechanical claw as claimed in claim 1, characterized in that: A slide member (23) is slidably arranged inside the cross member (4), an electric push rod (24) is fixedly installed on the rear side of the cross member (4), and a driving end of the electric push rod (24) is connected to the slide member (23).

8. The intelligent mechanical claw as claimed in claim 7, characterized in that: A fixing groove (22) is provided on one side of the cross member (4), the sliding member (23) is slidably connected in the fixing groove (22), and the driving end of the electric push rod (24) slides and extends into the fixing groove (22) and is fixedly connected to the sliding member (23).

9. The installation mechanism of the intelligent mechanical claw is characterized in that: The intelligent mechanical claw has any one of claims 1 to 8, wherein two connecting columns (25) are symmetrically fixedly mounted on the top of the base member (1), a mounting plate (26) is fixedly mounted on the other end of the connecting column (25), a positioning plate (27) is fixedly mounted on the side of the mounting plate (26), and a plurality of positioning bolts (28) are threadedly inserted into the bottom of the positioning plate (27).

10. The mounting mechanism of the intelligent mechanical claw according to claim 9, characterized in that: The number of the positioning pieces (27) is four, and the four positioning pieces (27) are respectively fixedly mounted on four sides of the mounting piece (26).

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