CN107363826B - Mechanical grabbing device - Google Patents

Mechanical grabbing device Download PDF

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Publication number
CN107363826B
CN107363826B CN201710459018.1A CN201710459018A CN107363826B CN 107363826 B CN107363826 B CN 107363826B CN 201710459018 A CN201710459018 A CN 201710459018A CN 107363826 B CN107363826 B CN 107363826B
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CN
China
Prior art keywords
motor
rod
connect
clamping piece
signal
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Active
Application number
CN201710459018.1A
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Chinese (zh)
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CN107363826A (en
Inventor
刘彦春
徐黄
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Huizhou Jiebicheng Precision Hardware Technology Co.,Ltd.
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Individual
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Priority to CN201710459018.1A priority Critical patent/CN107363826B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

The invention discloses a mechanical grabbing device, wherein a support rod (6) is arranged between a control box I (3) and a power box (4), the top end of the supporting rod (6) is provided with a motor I (7), the output shaft of the motor I (7) is connected with a coupling I (8), the outer surface of the coupling I (8) is fixedly connected with an extension rod I (9), the top end of the extension rod I (9) is connected with a motor II (10), an output shaft of the motor II (10) is connected with a coupling II (11), the coupling II (11) is connected with an extension rod II (12), the outer end of the extension rod II (12) is connected with a fixed diamond (13) through a fixed nail, the transverse outer end of the fixed diamond (13) is connected with an electric diamond extension block (14), the transverse outer end of the electric rhombic extension block (14) is connected with a supporting block (15); the invention can increase the clamping force, is electrically controlled and has wide application range.

Description

Mechanical grabbing device
Technical Field
The invention belongs to the field of machine manufacturing, and particularly relates to a mechanical grabbing device.
Background
Present mechanical grabbing device is mostly the function singleness, snatchs clamping-force unadjustable, the narrow product of application scope, but to current article, article are more and more diversified for to mechanical grabbing device's requirement is more and more high, current product can not satisfy the market demand already.
Disclosure of Invention
The invention provides a mechanical grabbing device which can effectively solve the problems, increase clamping force, is electrically controlled and has a wide application range.
In order to achieve the purpose, the invention adopts the following technical means:
a mechanical grasping device, comprising: the device comprises a supporting plate 1 and rollers 2, wherein four rollers 2 are arranged at the bottom end of the supporting plate 1, a control box I3 and a power box 4 are placed on the top surface of the supporting plate 1, a control box II 5 is arranged at the top end of the power box 4, a supporting rod 6 is arranged between the control box I3 and the power box 4, a top end motor I7 of the supporting rod 6, an output shaft coupling I8 of the motor I7 is connected with the output shaft coupling I8, an outer surface of the coupling I8 is fixedly connected with an extension rod I9, the top end of the extension rod I9 is connected with a motor II 10, an output shaft of the motor II 10 is connected with a coupling II 11, the coupling II 11 is connected with an extension rod II 12, the outer end of the extension rod II 12 is connected with a fixed diamond 13 through a fixing nail, the transverse outer end of the fixed diamond 13 is connected with an electric diamond extension block 14, and the transverse connection of the electric diamond extension block, the electric diamond-shaped extension block 14 is respectively connected with an L-shaped folding rod I and an L-shaped folding rod II 33, the L-shaped folding rod I is connected with a camera 34, the L-shaped folding rod II 33 is connected with a distance measuring sensor 35, the upper surface of the supporting block 15 is provided with a linear motor I16, the linear motor I16 is provided with a rotating shaft I17, the rotating shaft I17 is connected with one end of a pull rod I18, the other end of the pull rod I18 is connected with a clamping hand 19 on a manipulator, the center of the clamping hand 19 on the manipulator is provided with a motor III 20, an output shaft of the motor III 20 is fixedly connected with a screw 21 with an external thread, the screw 21 is matched with a threaded sleeve 22 for use, the bottom end of the threaded sleeve 22 is connected with an upper arc-shaped clamping piece 23, the lower surface of the upper arc-shaped clamping piece 23 is provided with a pressure sensor 24, the lower surface of the supporting block, linear motor II 25 on set up pivot II 26, pivot II 26 on connect the one end of pull rod II 27, pull rod II 27 the other end connect tong 28 under the manipulator, the manipulator internal surface of tong 28 set up a set of spring 29 down, the top of spring 29 connect down arc clamping piece 30, lower arc clamping piece 30 cooperate and go up arc clamping piece 23 and use.
Further, control box I3 set up the front end in backup pad 1, power supply box 4 set up the rear end in backup pad 1, branch 6 set up the rear end 1/3 department in backup pad 1.
Furthermore, the manipulator upper clamping hand 19 and the manipulator lower clamping hand 28 are connected with a rotating shaft sleeve 32 through a rotating shaft III 31.
Furthermore, the upper arc-shaped clamping piece 23 and the lower arc-shaped clamping piece 30 are both elastic pieces.
Further, I3 of control box in pack into wireless receiver I, wireless receiver I receive wireless remote controller I's signal, wireless receiver I give PLC with the signal transmission, PLC receive the signal of camera simultaneously, PLC give gyro wheel drive module with the signal transmission, gyro wheel drive module give gyro wheel 2 with the signal transmission.
Further, a singlechip is arranged in the control box II 5, the singlechip receives signals of the pressure sensor 24, the distance measuring sensor 35, the camera 34, the smoke sensor and the wireless receiver II,
the wireless receiver II receives signals of the wireless remote controller II, the wireless remote controller II further controls the electric rhombic extension block 14, the single chip microcomputer transmits the signals to the linear motor I16, the linear motor II 25, the storage, the data interface and the motor starting module, the motor starting module controls the motor I7, the motor II 10 and the motor III 20, the data interface is connected with an upper computer through the RS232, the power box 4 supplies power to the linear motor I16, the linear motor II 25, the motor I7, the motor II 10, the motor III 20 and the single chip microcomputer, and the single chip microcomputer further receives keyboard input signals.
The invention has the following beneficial effects:
1. the pressure sensor can adjust the upper arc-shaped clamping piece according to the size of the azure, so that the clamping force is ensured, and the damage to a manipulator is reduced;
2. the motor I and the motor II are matched for use, so that the height and the length can be adjusted, and the application range is wide;
3. the range finder disclosed by the invention is matched with a camera for use, helps monitoring places where people are inconvenient to arrive, and is wide in application range.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged partial schematic view of FIG. 1;
FIG. 3 is a partial front view of FIG. 1;
FIG. 4 is a signal flow diagram within control box I of the present invention;
FIG. 5 is a signal flow diagram of the present invention in control box II.
The structure of the present invention will be described in further detail with reference to the drawings and the detailed description, and the front, rear, left and right in the present specification are the same as the directions in the drawings.
Detailed Description
As shown in fig. 1, a mechanical grasping apparatus includes: the device comprises a supporting plate 1 and rollers 2, wherein four rollers 2 are arranged at the bottom end of the supporting plate 1, a control box I3 and a power box 4 are placed on the top surface of the supporting plate 1, a control box II 5 is arranged at the top end of the power box 4, a supporting rod 6 is arranged between the control box I3 and the power box 4, a top end motor I7 of the supporting rod 6, an output shaft coupling I8 of the motor I7 is connected with the output shaft coupling I8, an outer surface of the coupling I8 is fixedly connected with an extension rod I9, the top end of the extension rod I9 is connected with a motor II 10, an output shaft of the motor II 10 is connected with a coupling II 11, the coupling II 11 is connected with an extension rod II 12, the outer end of the extension rod II 12 is connected with a fixed diamond 13 through a fixing nail, the transverse outer end of the fixed diamond 13 is connected with an electric diamond extension block 14, and the transverse connection of the electric diamond extension block, the electric diamond-shaped extension block 14 is respectively connected with an L-shaped folding rod I and an L-shaped folding rod II 33, the L-shaped folding rod I is connected with a camera 34, the L-shaped folding rod II 33 is connected with a distance measuring sensor 35, the upper surface of the supporting block 15 is provided with a linear motor I16, the linear motor I16 is provided with a rotating shaft I17, the rotating shaft I17 is connected with one end of a pull rod I18, the other end of the pull rod I18 is connected with a clamping hand 19 on a manipulator, the center of the clamping hand 19 on the manipulator is provided with a motor III 20, an output shaft of the motor III 20 is fixedly connected with a screw 21 with an external thread, the screw 21 is matched with a threaded sleeve 22 for use, the bottom end of the threaded sleeve 22 is connected with an upper arc-shaped clamping piece 23, the lower surface of the upper arc-shaped clamping piece 23 is provided with a pressure sensor 24, the lower surface of the supporting block, linear motor II 25 on set up pivot II 26, pivot II 26 on connect the one end of pull rod II 27, pull rod II 27 the other end connect tong 28 under the manipulator, the manipulator internal surface of tong 28 set up a set of spring 29 down, the top of spring 29 connect down arc clamping piece 30, lower arc clamping piece 30 cooperate and go up arc clamping piece 23 and use.
Further, control box I3 set up the front end in backup pad 1, power supply box 4 set up the rear end in backup pad 1, branch 6 set up the rear end 1/3 department in backup pad 1.
Furthermore, the manipulator upper clamping hand 19 and the manipulator lower clamping hand 28 are connected with a rotating shaft sleeve 32 through a rotating shaft III 31.
Furthermore, the upper arc-shaped clamping piece 23 and the lower arc-shaped clamping piece 30 are both elastic pieces.
Further, I3 of control box in pack into wireless receiver I, wireless receiver I receive wireless remote controller I's signal, wireless receiver I give PLC with the signal transmission, PLC receive the signal of camera simultaneously, PLC give gyro wheel drive module with the signal transmission, gyro wheel drive module give gyro wheel 2 with the signal transmission.
Further, a singlechip is arranged in the control box II 5, the singlechip receives signals of the pressure sensor 24, the distance measuring sensor 35, the camera 34, the smoke sensor and the wireless receiver II,
the wireless receiver II receives signals of the wireless remote controller II, the wireless remote controller II further controls the electric rhombic extension block 14, the single chip microcomputer transmits the signals to the linear motor I16, the linear motor II 25, the storage, the data interface and the motor starting module, the motor starting module controls the motor I7, the motor II 10 and the motor III 20, the data interface is connected with an upper computer through the RS232, the power box 4 supplies power to the linear motor I16, the linear motor II 25, the motor I7, the motor II 10, the motor III 20 and the single chip microcomputer, and the single chip microcomputer further receives keyboard input signals.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims (1)

1. A mechanical grasping device, comprising: backup pad (1), gyro wheel (2), its characterized in that: the bottom of the supporting plate (1) is provided with four rollers (2), the top surface of the supporting plate (1) is provided with a control box I (3) and a power box (4), the top end of the power box (4) is provided with a control box II (5), a support rod (6) is arranged between the control box I (3) and the power box (4), a top end motor I (7) of the support rod (6), an output shaft of the motor I (7) is connected with a coupling I (8), the outer surface of the coupling I (8) is fixedly connected with an extension rod I (9), the top end of the extension rod I (9) is connected with a motor II (10), the output shaft of the motor II (10) is connected with a coupling II (11), the coupling II (11) is connected with an extension rod II (12), the outer end of the extension rod II (12) is connected with a fixed diamond (13) through a fixed nail, the horizontal outer end of fixed rhombus (13) connect electronic rhombus and extend piece (14), the horizontal outer end of electronic rhombus extension piece (14) connect supporting shoe (15), electronic rhombus extension piece (14) on connect L type folding rod I and L type folding rod II (33) respectively, L type folding rod I connect camera (34), L type folding rod II (33) connect range finding sensor (35), the upper surface of supporting shoe (15) set up linear motor I (16), linear motor I (16) on set up pivot I (17), pivot I (17) on connect the one end of pull rod I (18), the other end of pull rod I (18) connect on the manipulator tong (19), the manipulator on the centre of tong (19) set up motor III (20), the output shaft of motor III (20) fix screw rod (21) of connecting band external screw thread, the screw rod (21) is matched with the screw sleeve (22) for use, the bottom end of the screw sleeve (22) is connected with the upper arc-shaped clamping piece (23), the lower surface of the upper arc-shaped clamping piece (23) is provided with the pressure sensor (24), the lower surface of the supporting block (15) is provided with the linear motor II (25), the linear motor II (25) is provided with the rotating shaft II (26), the rotating shaft II (26) is connected with one end of the pull rod II (27), the other end of the pull rod II (27) is connected with the lower manipulator clamping handle (28), the inner surface of the lower manipulator clamping handle (28) is provided with a group of springs (29), the top end of each spring (29) is connected with the lower arc-shaped clamping piece (30), the lower arc-shaped clamping piece (30) is matched with the upper arc-shaped clamping piece (23) for use, the control box I (3) is arranged at the front end of the supporting plate (1), and the power box (4) is arranged at the rear end of, the supporting rod (6) is arranged at the rear end 1/3 of the supporting plate (1), the manipulator is connected with the lower gripper (28) through a rotating shaft III (31) through a rotating shaft sleeve (32), the upper arc-shaped clamping piece (23) and the lower arc-shaped clamping piece (30) are elastic pieces, a wireless receiver I is arranged in the control box I (3), the wireless receiver I receives a signal of the wireless remote controller I, the wireless receiver I transmits the signal to the PLC, the PLC receives a signal of the camera at the same time, the PLC transmits the signal to the roller driving module, the roller driving module transmits the signal to the roller (2), a single chip microcomputer is arranged in the control box II (5), and the single chip microcomputer receives signals of the pressure sensor (24), the ranging sensor (35), the camera (34), the smoke sensor and the wireless receiver II, wireless receiver II receive wireless remote controller II's signal, wireless remote controller II still control electronic rhombus and extend piece (14), the singlechip with signal transmission for linear electric motor I (16), linear electric motor II (25), memory, data interface and motor start module, motor start module control motor I (7), motor II (10) and motor III (20), the data interface pass through RS232 and connect the host computer, power supply box (4) supply power for linear electric motor I (16), linear electric motor II (25), motor I (7), motor II (10), motor III (20) and singlechip, the singlechip still receive keyboard input signal.
CN201710459018.1A 2017-06-16 2017-06-16 Mechanical grabbing device Active CN107363826B (en)

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Application Number Priority Date Filing Date Title
CN201710459018.1A CN107363826B (en) 2017-06-16 2017-06-16 Mechanical grabbing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710459018.1A CN107363826B (en) 2017-06-16 2017-06-16 Mechanical grabbing device

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Publication Number Publication Date
CN107363826A CN107363826A (en) 2017-11-21
CN107363826B true CN107363826B (en) 2020-06-09

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108050219B (en) * 2017-12-07 2021-01-29 哈尔滨工业大学 High-bearing truss type high-flexibility mechanism
GB2606991A (en) * 2021-03-31 2022-11-30 Alumatlq As Electrolytic cell lid handling system and method of use
CN113715008B (en) * 2021-08-31 2023-01-24 杭州电子科技大学 A exhibition arm structure for underwater detection equipment

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Publication number Priority date Publication date Assignee Title
JPH0947992A (en) * 1995-08-02 1997-02-18 Ishikawajima Harima Heavy Ind Co Ltd Clamp device
JP2013039637A (en) * 2011-08-16 2013-02-28 Tokai Kyohan Co Ltd Robot hand, robot hand parts, and robot hand unit
CN102944443B (en) * 2012-11-23 2013-10-16 天津出入境检验检疫局工业产品安全技术中心 Step-control mechanical sampling device
CN205310292U (en) * 2016-01-26 2016-06-15 杨伟峰 Mechanical arm
CN205497519U (en) * 2016-04-18 2016-08-24 魏仕槚 Self -adaption manipulator
CN106425938A (en) * 2016-12-15 2017-02-22 徐州顺予木业有限公司 Overturnable fixing device for plate processing
CN106695670A (en) * 2016-12-27 2017-05-24 天津艳萍科技有限公司 Inner-clamping type three-claw puller
CN106826880B (en) * 2017-02-15 2019-02-12 昆山永邦自动化设备有限公司 A kind of mechanical grip applied to bearing ring

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Effective date of registration: 20200515

Address after: 325000 room 2203, building a, Shunjin commercial building, Wangjiang East Road, Songtai street, Lucheng District, Wenzhou City, Zhejiang Province

Applicant after: Shen Yili

Address before: 241002 Anhui Province, Wuhu city Yijiang District Higher Education Park Wenjin Road No. 16

Applicant before: ANHUI TECHNICAL COLLEGE OF MECHANICAL AND ELECTRICAL ENGINEERING

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Effective date of registration: 20210930

Address after: 223600 Suqian Town, Shuyang County, Jiangsu Province

Patentee after: Shuyang Hongye Machinery Co.,Ltd.

Address before: 325000 room 2203, building a, Shunjin commercial building, Wangjiang East Road, Songtai street, Lucheng District, Wenzhou City, Zhejiang Province

Patentee before: Shen Yili

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Effective date of registration: 20240625

Address after: 516000, Room 01, 6th Floor, Building 33, Zhongnan High tech Huizhou Huicheng High end Electronic Information Innovation Park, No. 27 Licheng Industrial Avenue, Shuikou Street, Huicheng District, Huizhou City, Guangdong Province, China

Patentee after: Huizhou Jiebicheng Precision Hardware Technology Co.,Ltd.

Country or region after: China

Address before: 223600 Suqian Town, Shuyang County, Jiangsu Province

Patentee before: Shuyang Hongye Machinery Co.,Ltd.

Country or region before: China