阅读说明：本技术 连接机构及机械手 (Coupling mechanism and manipulator ) 是由 罗文龙 徐建 姚金柯 陈晓峰 余有存 崔向华 史宏旻 王鹏 于 2021-08-16 设计创作，主要内容包括：本发明公开了一种连接机构及机械手,该连接机构用于连接回转机构与抓取机构,该连接机构包括：第一板架,其固定连接于所述回转机构上；第二板架,所述抓取机构用于固定安装于所述第二板架上,所述抓取机构用于抓取人防门；其中：所述第一板架与第二板架之间设置有铰接机构和限位机构；所述限位机构具有能够进行相互切换的限位状态和解除限位状态；当所述限位机构切换至限位状态时,所述第二板架与所述第一板架彼此固定,当所述限位机构切换至解除限位状态时,所述第二板架借由所述铰接机构能够相对于所述第一板架摆动。(The invention discloses a connecting mechanism and a manipulator, wherein the connecting mechanism is used for connecting a swing mechanism and a grabbing mechanism, and comprises: the first plate frame is fixedly connected to the rotary mechanism; the grabbing mechanism is fixedly arranged on the second plate frame and used for grabbing the civil air 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 is provided with a limiting state and a limiting releasing state which can be mutually switched; when stop gear switches to limit state, the second grillage with first grillage is fixed each other, works as when stop gear switches to and removes limit state, the second grillage borrows by hinge mechanisms can for first grillage swing.)

1. A connecting mechanism for connecting a slewing mechanism and a grabbing mechanism is characterized by comprising:

the first plate frame is fixedly connected to the rotary mechanism;

the grabbing mechanism is fixedly arranged on the second plate frame and used for grabbing the civil air 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 is provided with a limiting state and a limiting releasing state which can be mutually switched; when stop gear switches to limit state, the second grillage with first grillage is fixed each other, works as when stop gear switches to and removes limit state, the second grillage borrows by hinge mechanisms can for first grillage swing.

2. The coupling mechanism of claim 1, wherein the limiting mechanism comprises:

a first pin hole formed on the first plate frame;

a second pin hole formed in the second plate frame, the second pin hole being coaxial with the first pin hole;

the pin shaft penetrates through the first pin hole and extends to the second pin hole; wherein:

the second pin hole is a taper hole, the pin shaft moves towards the front and contacts with the hole wall to enable the limiting mechanism to be switched to a limiting state, and the pin shaft moves towards the rear and is separated from the hole wall to enable the limiting mechanism to be switched to a limit releasing state.

3. The connection mechanism as claimed in claim 2, wherein the first plate bracket is provided with a first ear plate, and the second plate bracket is provided with a second ear plate opposite to the first ear plate; the first pin hole is formed in the first lug plate, and the second pin hole is formed in the second lug plate.

4. The coupling mechanism of claim 1, wherein the articulating mechanism comprises:

a base mounted on the second ledge, the base having a spherical depression formed thereon;

a ball head mounted on the first plate frame, the ball head extending into the spherical depression;

the cover plate is fixed on the base and used for limiting the ball head to be separated from the spherical recess.

5. The coupling mechanism of claim 3, wherein the spacing mechanism further comprises:

the tail parts of the pin shafts on the two limiting mechanisms are both arranged on the synchronous plate;

the oil cylinder is connected between the first plate frame and the synchronous plate and stretches out and draws back to drive the synchronous plate to move so that the two pin holes move forwards or backwards synchronously.

6. The coupling mechanism of claim 3, wherein a bushing is received in the first pin bore; the pin shaft penetrates through the bushing; wherein:

and the pin shaft is provided with an oil supply hole so that lubricating oil enters between the bush and the pin shaft.

7. The connecting mechanism as claimed in claim 1, wherein the first plate frame and the second plate frame are arranged in parallel, and a predetermined gap is provided between the first plate frame and the second plate frame.

8. A manipulator, characterized by comprising:

the slewing mechanism is used for being installed on engineering mechanical equipment;

grabbing mechanism for grabbing civil air defense door

The connecting mechanism according to any one of claims 1 to 7, which is installed between the gripping mechanism and the swing mechanism.

Technical Field

The invention relates to the technical field of nonstandard equipment, in particular to a connecting mechanism and a manipulator.

Background

When transporting a heavy part, the manipulator can only transport the heavy part to a designated position and adjust to a rough posture, and then, it is necessary to finely adjust the heavy part again using a hydraulic system of the construction machine so that the heavy part finally reaches a precise posture. For example, a civil air defense door with a large weight can only be transported to a doorway position and adjusted to a rough posture by a robot using a construction machine, and then the posture of the robot is finely adjusted by a control hydraulic system, so that the civil air defense door finally reaches a precise installation position and posture, for example, a hinge of the civil air defense door is finally aligned with a hinge of the doorway.

However, the fine adjustment process is complicated for many reasons, for example, an operator who performs fine adjustment of the attitude of the robot on the construction machine equipment may not know the specific positional relationship between the air defense door and the doorway because the line of sight is blocked, and in addition, fine adjustment of the attitude of the heavy component may often need to be repeated many times because the sensitivity of the robot in response to the hydraulic system is high.

Disclosure of Invention

In order to solve the technical problems in the prior art, embodiments of the present invention provide a connecting mechanism and a manipulator.

In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:

a coupling mechanism for coupling a swing mechanism with a grasping mechanism, comprising:

the first plate frame is fixedly connected to the rotary mechanism;

the grabbing mechanism is fixedly arranged on the second plate frame and used for grabbing the civil air 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 is provided with a limiting state and a limiting releasing state which can be mutually switched; when stop gear switches to limit state, the second grillage with first grillage is fixed each other, works as when stop gear switches to and removes limit state, the second grillage borrows by hinge mechanisms can for first grillage swing.

Preferably, the limiting mechanism comprises:

a first pin hole formed on the first plate frame;

a second pin hole formed in the second plate frame, the second pin hole being coaxial with the first pin hole;

the pin shaft penetrates through the first pin hole and extends to the second pin hole; wherein:

the second pin hole is a taper hole, the pin shaft moves towards the front and contacts with the hole wall to enable the limiting mechanism to be switched to a limiting state, and the pin shaft moves towards the rear and is separated from the hole wall to enable the limiting mechanism to be switched to a limit releasing state.

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 in the first lug plate, and the second pin hole is formed in the second lug plate.

Preferably, the hinge mechanism includes:

a base mounted on the second ledge, the base having a spherical depression formed thereon;

a ball head mounted on the first plate frame, the ball head extending into the spherical depression;

the cover plate is fixed on the base and used for limiting the ball head to be separated from the spherical recess.

Preferably, the limiting mechanism further comprises:

the tail parts of the pin shafts on the two limiting mechanisms are both arranged on the synchronous plate;

the oil cylinder is connected between the first plate frame and the synchronous plate and stretches out and draws back to drive the synchronous plate to move so that the two pin holes move forwards or backwards synchronously.

Preferably, a bushing is arranged in the first pin hole; the pin shaft penetrates through the bushing; wherein:

and the pin shaft is provided with an oil supply hole so that lubricating oil enters between the bush and the pin shaft.

Preferably, the first plate frame and the second plate frame are arranged in parallel, and a preset gap is formed between the first plate frame and the second plate frame.

The invention also discloses a manipulator, comprising:

the slewing mechanism is used for being installed on engineering mechanical equipment;

grabbing mechanism for grabbing civil air defense door

The connecting mechanism is arranged between the grabbing mechanism and the rotating mechanism.

Compared with the prior art, the connecting mechanism and the manipulator disclosed by the invention have the beneficial effects that:

1. borrow by hinge mechanisms and stop gear's cooperation and make second grillage and first grillage switch between relatively fixed and relative swing, when transporting heavy part, make the relative first grillage of second grillage fixed, and then make heavy part can realize stable the transporting, and when heavy part needs and relevant equipment assembly, make second grillage and first grillage can the relative swing, and then be favorable to adjusting the space gesture of heavy part for relevant part, and then accomplish the assembly.

2. In some preferred schemes, the limiting mechanism realizes the switching between the limiting state and the releasing limiting state by means of the matching of the pin shaft and the taper hole, the switching between the two states is convenient, and the design is ingenious.

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 perspective view of a manipulator according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of another perspective view of a robot provided in an embodiment of the present invention.

Fig. 3 is a front sectional view of a robot provided in an embodiment of the present invention.

Fig. 4 is a state view of a robot for adjusting the posture of a civil air defense door according to an embodiment of the invention.

Reference numerals

10-a first plate rack; 20-a second plate rack; 30-a hinge mechanism; 31-a base; 32-ball head; 33-cover plate; 40-a limiting mechanism; 41-a first pin hole; 411-a first ear plate; 42-a second pin hole; 421-a second ear plate; 43-pin shaft; 44-a synchronization board; 45-oil cylinder; 46-a bushing; 100-a connection mechanism; 200-a gripping mechanism; 300-a slewing mechanism; 400-civil air defense door.

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, an embodiment of the present invention discloses a connecting mechanism 100 and a robot including the same, the robot further including a swing mechanism 300 and a grabbing mechanism 200, the grabbing mechanism 200 being mounted on the swing mechanism 300 by means of the connecting mechanism 100, the robot being mounted on a construction machine by means of the swing mechanism 300, wherein the grabbing mechanism 200 is used for grabbing a heavy component, and the construction machine transports the heavy component to a designated location by means of the robot, and in the present invention, the connecting mechanism 100 is used for adjusting a spatial posture of the heavy component transported to the designated location so that the heavy component is assembled with a relevant component at the designated location. The following description will not be made taking as an example the case where the robot grips the air defense door 400 and the air defense door 400 is mounted on the doorway.

As shown in fig. 1 to 4, the connection mechanism 100 includes: the first plate frame 10, the second plate frame 20, the hinge mechanism 30 and the limiting mechanism 40.

The first plate frame 10 is fixedly installed on the rotating mechanism 300, the second plate frame 20 is arranged parallel to 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 grasping mechanism 200 for grasping the civil air defense door 400 is installed on the second panel frame 20, and for example, the grasping mechanism 200 includes two hanging arms to which the civil air defense door 400 is attached, which are connected to the second panel frame 20.

The hinge mechanism 30 is provided between the first and second plate frames 10 and 20, and if the grasping mechanism 200 includes the hanging arms provided on the left and right sides of the second plate frame 20 (or in the width direction of the air defense door 400), the hinge mechanism 30 may be provided at a position closer to the front between the first and second plate frames 10 and 20. The hinge mechanism 30 allows the second panel support 20 to be movably attached to the first panel support 10 and allows the second panel support 20 to be swung slightly in all directions relative to the first panel support 10. 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 a fastener, the base 31 is formed with a spherical recess, the ball head 32 is fixed to the first plate frame 10 by a fastener, the ball head 32 is embedded in the spherical recess of the base 31, and the cover plate 33 is fastened to the base 31 to limit the ball head 32 from being removed from the spherical recess. In this manner, the ball head 32 can swing in various directions with respect to the base 31, thereby enabling the second plate frame 20 to swing in various directions with respect to the first plate frame 10.

The stopper mechanism 40 is provided between the first plate frame 10 and the second plate frame 20, and the stopper mechanism 40 has a stopper state and a stopper release state that are switchable with each other. When the limit mechanism 40 is switched to the limit state, the second plate frame 20 and the first plate frame 10 form another connection region at the limit mechanism 40 in addition to the hinge mechanism 30, which prevents the second plate frame 20 from swinging with respect to the first plate frame 10, and when the limit mechanism 40 is switched to the limit release state, the second plate frame 20 and the first plate frame 10 are connected only at the hinge mechanism 30, which allows the second plate frame 20 to swing with respect to the first plate frame 10.

The above-mentioned connecting mechanism 100 plays a role in installing the civil air defense door 400 in the doorway:

the construction machinery apparatus transports the civil air defense door 400 attached to the robot to the doorway by means of the robot, and in the process, the position limiting mechanism 40 is always in the position limiting state, so that the civil air defense door 400 does not swing relative to the swing mechanism 300 in the process that the robot transports the civil air defense door 400 to the doorway, and thus the civil air defense door 400 can be stably transported to the doorway.

As shown in fig. 4, after the manipulator transports the civil air defense door 400 to the doorway and roughly adjusts the civil air defense door 400 to the space posture approximately matched with the doorway by means of the swing mechanism 300, the limiting mechanism 40 is switched to the state of releasing the limiting state, so that the spatial posture of the civil air defense door 400 can be finely adjusted by manually applying force to the civil air defense door 400 and swinging the second plate frame 20 relative to the first plate frame 10, thereby accurately matching the posture of the civil air defense door 400 with the doorway, and after the fine adjustment is completed, the hinge of the civil air defense door 400 is completely aligned with the hinge of the doorway, thereby being capable of completing the precise assembly.

A preferred embodiment of the present invention provides a spacing mechanism 40 of the type of construction, as shown in fig. 1-3, the spacing mechanism 40 comprising: a first pin hole 41, a second pin hole 42, a pin 43, and a cylinder 45. Specifically, a first lug plate 411 is arranged on the first plate frame 10, two first pin holes 41 are respectively formed in the first lug plate 411, and a bushing 46 is arranged in each first pin hole 41; a second lug plate 421 is arranged on the second plate frame 20, the second lug plate 421 is positioned in front of the first lug plate 411, each second lug plate 421 is provided with two second pin holes 42, and the two second pin holes 42 are respectively coaxial with the two first pin holes 41; the first pin hole 41 and the second pin hole 42 which are coaxial are both provided with pin shafts 43 in a penetrating way, and the front and the tail parts of the two pin shafts 43 respectively provided with corresponding pin holes are both connected to a synchronous plate 44; 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 synchronizing plate 44.

The second pin hole 42 is provided as a tapered hole with a large mouth end facing the first pin hole 41 and a larger diameter than the pin shaft 43. The oil cylinder 45 drives the synchronizing plate 44 by extending out to drive the two pin shafts 43 to synchronously move forwards so that the heads of the pin shafts 43 abut against the hole walls of the second pin holes 42 (taper holes), so that the second plate frame 20 forms a connecting area by connecting the pin shafts 43 with the hole walls of the second pin holes 42, and thus, the limiting mechanism 40 is switched to a limiting state, and at the moment, the second plate frame 20 cannot swing relative to the first plate frame 10; the oil cylinder 45 drives the synchronizing plate 44 by retracting to drive the two pin shafts 43 to move backwards so that the head portions of the pin shafts 43 are separated from the hole walls of the second pin holes 42, so that the second plate frame 20 is connected with the first plate frame 10 only by the hinge mechanism 30, and thus the limiting mechanism 40 is switched to a limiting releasing state, and at this time, the second plate frame 20 can swing relative to the first plate frame 10.

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

The connecting mechanism 100 and the manipulator provided by the invention have the advantages that:

1. borrow by the cooperation of hinge mechanisms 30 and stop gear 40 and make second grillage 20 and first grillage 10 switch between relatively fixed and relative swing, when transporting heavy part, make second grillage 20 fixed relatively first grillage 10, and then make heavy part can realize stable the transporting, and when heavy part needs and relevant equipment assembly, make second grillage 20 and first grillage 10 can the relative swing, and then be favorable to adjusting the space gesture of heavy part for relevant part, and then accomplish the assembly.

2. In some preferred schemes, the limiting mechanism 40 realizes the switching between the limiting state and the limit releasing state by means of the matching of the pin shaft 43 and the taper hole, and the switching between the two states is convenient and has ingenious design.

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.