CN107378911B - Novel manipulator - Google Patents
Novel manipulator Download PDFInfo
- Publication number
- CN107378911B CN107378911B CN201710653375.1A CN201710653375A CN107378911B CN 107378911 B CN107378911 B CN 107378911B CN 201710653375 A CN201710653375 A CN 201710653375A CN 107378911 B CN107378911 B CN 107378911B
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- CN
- China
- Prior art keywords
- arc
- motor
- clamping piece
- pivot
- slide
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
Abstract
The invention discloses a novel manipulator, wherein a sliding chute (9) is formed in the inner side of a support pillar I (12), the bottom end of the support pillar I (12) is connected with a rotating shaft sleeve II (13), the rotating shaft sleeve II (13) is sleeved on a rotating shaft II (14), the top end of the support pillar I (12) is connected with a rotating shaft sleeve III (15), the rotating shaft sleeve III (15) is connected with a rotating shaft sleeve IV through a rotating shaft III (17), the rotating shaft sleeve IV is connected with one end of a support pillar II (18), the other end of the support pillar II (18) is connected with a rotating shaft sleeve V, and the rotating shaft sleeve V is connected with a rotating shaft sleeve VI (19) through a rotating shaft IV (16); the invention can adjust the clamping height and the clamping angle of the whole manipulator and is convenient to use.
Description
Technical Field
The invention belongs to the field of machine manufacturing, and particularly relates to a novel manipulator.
Background
The temperature control device has the advantages that workers are easily scalded when the workpieces with high temperature are taken, absolute safety cannot be guaranteed even if thick gloves are worn, the workers are also painful when the workers work for a long time in the environment with high temperature, and the workers are easily injured due to the fact that the workpieces are heavy when the workpieces with high positions are taken.
Disclosure of Invention
The invention provides a novel manipulator, which can effectively solve the problem of sealing, can independently control each motor, thereby adjusting the clamping height and the clamping angle of the whole manipulator and being convenient to use.
In order to achieve the purpose, the invention adopts the following technical means:
a novel manipulator, its constitution includes: the vehicle comprises a vehicle plate 1 and a linear motor, wherein wheels 3 are arranged at the bottom end of the vehicle plate 1, a track 2 of the linear motor is arranged at the front end of the top surface of the vehicle plate 1, a machine body 4 of the linear motor slides on the track 2 of the linear motor,
the machine body 4 of the linear motor is provided with a supporting limiting piece 5, the right side of the supporting limiting piece 5 is provided with a rotating shaft I6, the rotating shaft I6 is provided with a rotating shaft sleeve I7, the rotating shaft sleeve I7 is connected with a supporting rod 8, a cylindrical sliding block 11 at the top end of the supporting rod 8 slides in a sliding groove 9, the bottom end of the sliding groove 9 is provided with an arc-shaped positioning groove 10, and the arc-shaped positioning groove 10 is matched with the cylindrical sliding block 11 for use,
the utility model discloses a car turning device, including support column I12, spout 9 open the inboard at support column I12, the bottom of support column I12 connect pivot cover II 13, pivot cover II 13 cover on pivot II 14, pivot II 14 set up the rear end at sweep 1, the top of support column I12 connect pivot cover III 15, pivot cover III 15 and pivot cover IV link through pivot III 17, pivot cover IV on connect the one end of support column II 18, the other end of support column II 18 connect pivot cover V, pivot cover V and pivot cover VI 19 link through pivot IV 16,
the bottom end of the rotating shaft sleeve VI 19 is provided with a telescopic outer sleeve 20, the telescopic outer sleeve 20 is connected with a telescopic rod 21 in a threaded manner, a fixed shaft 22 is arranged below the telescopic rod 21, the fixed shaft 22 is matched with a clamping rod 23 for use, the clamping rod 23 is connected with a clamping handle 24,
Further, the bottom end of the left arc-shaped inner clamping piece 31 is connected with the bottom end of the left clamping piece 26 of the arc-shaped outer clamping piece, and the bottom end of the right arc-shaped inner clamping piece 33 is connected with the bottom end of the right clamping piece 29 of the arc-shaped outer clamping piece.
Further, a motor I is arranged on the rotating shaft sleeve IV, and the motor I controls a support column II 18; and a motor II is arranged on the rotating shaft sleeve V, and the motor II controls the telescopic outer sleeve 20.
Furthermore, the telescopic rod 21 is provided with an electric motor III 34, an output shaft of the electric motor III 34 is provided with a winding shaft 35, the winding shaft 35 is provided with a pulling wire 36, and the outer ends of the pulling wire 36 are respectively connected with the inner surface of the clamping rod 23.
Further, the motor I, the motor II and the motor III 34 are all controlled by a single chip microcomputer, the single chip microcomputer receives a control signal of the wireless receiving module, and the wireless receiving module receives a control signal of the remote controller;
the machine body 4 of the linear motor is controlled by the single chip microcomputer;
the single chip microcomputer also sends signals to the motor driving module, the motor driving module controls the motor IV, and the motor IV drives the wheels 3.
The invention has the following beneficial effects:
1. the cylindrical sliding block at the outer end of the supporting rod is matched with the arc-shaped positioning groove in the sliding groove for use, so that the angle and the height of the supporting column I can be adjusted, the use is convenient, and the application range is wide;
2. the left arc-shaped inner clamping piece is matched with the slide bar slide way for use, and the right arc-shaped inner clamping piece is matched with the hollow bar slide way for use, so that the clamping force can be increased;
3. the body of the linear motor slides on the track of the linear motor, and the height of the support column I can be adjusted in a remote control mode.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a partially enlarged schematic view of fig. 1.
Fig. 3 is an enlarged view of the gripper of the present invention.
FIG. 4 is a flow chart of control signals according to the present invention.
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 novel manipulator comprises: the vehicle comprises a vehicle plate 1 and a linear motor, wherein wheels 3 are arranged at the bottom end of the vehicle plate 1, a track 2 of the linear motor is arranged at the front end of the top surface of the vehicle plate 1, a machine body 4 of the linear motor slides on the track 2 of the linear motor,
the machine body 4 of the linear motor is provided with a supporting limiting piece 5, the right side of the supporting limiting piece 5 is provided with a rotating shaft I6, the rotating shaft I6 is provided with a rotating shaft sleeve I7, the rotating shaft sleeve I7 is connected with a supporting rod 8, a cylindrical sliding block 11 at the top end of the supporting rod 8 slides in a sliding groove 9, the bottom end of the sliding groove 9 is provided with an arc-shaped positioning groove 10, and the arc-shaped positioning groove 10 is matched with the cylindrical sliding block 11 for use,
the utility model discloses a car turning device, including support column I12, spout 9 open the inboard at support column I12, the bottom of support column I12 connect pivot cover II 13, pivot cover II 13 cover on pivot II 14, pivot II 14 set up the rear end at sweep 1, the top of support column I12 connect pivot cover III 15, pivot cover III 15 and pivot cover IV link through pivot III 17, pivot cover IV on connect the one end of support column II 18, the other end of support column II 18 connect pivot cover V, pivot cover V and pivot cover VI 19 link through pivot IV 16,
the bottom end of the rotating shaft sleeve VI 19 is provided with a telescopic outer sleeve 20, the telescopic outer sleeve 20 is connected with a telescopic rod 21 in a threaded manner, a fixed shaft 22 is arranged below the telescopic rod 21, the fixed shaft 22 is matched with a clamping rod 23 for use, the clamping rod 23 is connected with a clamping handle 24,
Further, the bottom end of the left arc-shaped inner clamping piece 31 is connected with the bottom end of the left clamping piece 26 of the arc-shaped outer clamping piece, and the bottom end of the right arc-shaped inner clamping piece 33 is connected with the bottom end of the right clamping piece 29 of the arc-shaped outer clamping piece.
Further, a motor I is arranged on the rotating shaft sleeve IV, and the motor I controls a support column II 18;
and a motor II is arranged on the rotating shaft sleeve V, and the motor II controls the telescopic outer sleeve 20.
Furthermore, the telescopic rod 21 is provided with an electric motor III 34, an output shaft of the electric motor III 34 is provided with a winding shaft 35, the winding shaft 35 is provided with a pulling wire 36, and the outer ends of the pulling wire 36 are respectively connected with the inner surface of the clamping rod 23.
Further, the motor I, the motor II and the motor III 34 are all controlled by a single chip microcomputer, the single chip microcomputer receives a control signal of the wireless receiving module, and the wireless receiving module receives a control signal of the remote controller;
the machine body 4 of the linear motor is controlled by the single chip microcomputer;
the single chip microcomputer also sends signals to the motor driving module, the motor driving module controls the motor IV, and the motor IV drives the wheels 3.
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 manipulator, its constitution includes: sweep (1), linear electric motor, its characterized in that: the bottom of sweep (1) set up wheel (3), the top surface front end of sweep (1) set up linear electric motor's track (2), linear electric motor's track (2) on slip linear electric motor's fuselage (4), linear electric motor's fuselage (4) on set up and support spacing piece (5), the right side of supporting spacing piece (5) set up pivot I (6), pivot I (6) on set up pivot cover I (7), pivot cover I (7) on connect bracing piece (8), the top cylindricality slider (11) of bracing piece (8) slide in spout (9), the bottom of spout (9) set up arc constant head tank (10), arc constant head tank (10) cooperate cylindricality slider (11) to use, spout (9) open the inboard at support column I (12), the bottom of support column I (12) connect pivot cover II (13), the utility model discloses a car turning plate, including turning plate, pivot cover II (13) cover on pivot II (14), pivot II (14) set up the rear end at sweep (1), the top of support column I (12) connect pivot cover III (15), pivot cover III (15) be connected through pivot III (17) with pivot cover IV, pivot cover IV go up the one end of connecting support column II (18), the other end of support column II (18) connect pivot cover V, pivot cover V be connected through pivot IV (16) with pivot cover VI (19), the bottom of pivot cover VI (19) set up flexible overcoat (20), flexible overcoat (20) internal thread connection telescopic link (21), the below of telescopic link (21) set up fixed axle (22), fixed axle (22) cooperate clamping bar (23) to use, clamping bar (23) on connect tong (24), the tong (24) include vertical transition pole (25), the bottom of vertical transition pole (25) set up the outer clamping piece of arc, the outer clamping piece of arc left side clamping piece (26) internal surface set up arc slide bar (27), arc slide bar (27) slide in the hollow pole of arc (28), the hollow pole of arc (28) connect at the outer clamping piece of arc right side clamping piece (29) internal surface, the surface below of arc slide bar (27) set up slide bar slide way (30), slide bar slide way (30) on slide left side arc inner clamping piece (31), the surface below of the hollow pole of arc (28) set up hollow pole slide way (32), hollow pole slide way (32) on slide right side arc inner clamping piece (33), the left side arc inner clamping piece (31) the bottom and the outer left side clamping piece of arc left side clamping piece (26) link to each other, the bottom end of the right arc-shaped inner clamping piece (33) is connected with the bottom end of the right clamping piece (29) of the arc-shaped outer clamping piece, the rotating shaft sleeve IV is provided with a motor I, and the motor I controls the supporting column II (18); the rotating shaft sleeve V is provided with a motor II, the motor II controls the telescopic outer sleeve (20), the telescopic rod (21) is provided with a motor III (34), an output shaft of the motor III (34) is provided with a winding shaft (35), the winding shaft (35) is provided with a pulling wire (36), the outer end of the pulling wire (36) is respectively connected with the inner surface of the clamping rod (23), the motor I, the motor II and the motor III (34) are controlled by a single chip microcomputer, the single chip microcomputer receives a control signal of a wireless receiving module, and the wireless receiving module receives a control signal of a remote controller; the body (4) of the linear motor is controlled by the singlechip; the single chip microcomputer also sends a signal to the motor driving module, the motor driving module controls a motor IV, the motor IV drives wheels (3), a cylindrical sliding block at the outer end of a supporting rod of the manipulator is matched with an arc-shaped positioning groove in the sliding groove for use, and the angle and the height of the supporting column I can be adjusted; the left arc-shaped inner clamping piece of the manipulator is matched with the slide bar slide way for use, and the right arc-shaped inner clamping piece is matched with the hollow bar slide way for use, so that the clamping force can be increased; the body of the linear motor of the manipulator slides on the track of the linear motor, and the height of the support column I can be adjusted in a remote control mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710653375.1A CN107378911B (en) | 2017-08-02 | 2017-08-02 | Novel manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710653375.1A CN107378911B (en) | 2017-08-02 | 2017-08-02 | Novel manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107378911A CN107378911A (en) | 2017-11-24 |
| CN107378911B true CN107378911B (en) | 2020-07-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710653375.1A Active CN107378911B (en) | 2017-08-02 | 2017-08-02 | Novel manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN107378911B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621114B (en) * | 2018-04-11 | 2020-12-01 | 清华大学 | Mobile robot for processing large-scale structural member |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JOP20200120A1 (en) * | 2013-10-21 | 2017-06-16 | Esco Group Llc | Wear assembly removal and installation |
| CN203523387U (en) * | 2013-11-07 | 2014-04-09 | 四川农业大学 | Device for turning over watermelon |
| CN205213957U (en) * | 2015-10-30 | 2016-05-11 | 重庆康乐制药有限公司 | Laboratory mouse presss from both sides and gets ware |
| CN205134401U (en) * | 2015-11-10 | 2016-04-06 | 覃煦 | Multi freedom connecting rod formula pile up neatly arm |
| CN205497518U (en) * | 2016-04-11 | 2016-08-24 | 胡彬 | Electric industrial manipulator |
| CN205651369U (en) * | 2016-04-26 | 2016-10-19 | 上海为彪汽配制造有限公司 | Device is got to clamping jaw, chuck and clamp |
| CN105945974A (en) * | 2016-05-10 | 2016-09-21 | 安徽坤昌家具有限公司 | Mechanical claw for timber grabbing frame |
| CN105881507B (en) * | 2016-05-19 | 2018-09-14 | 潍坊科技学院 | A kind of puma manipulator control device |
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2017
- 2017-08-02 CN CN201710653375.1A patent/CN107378911B/en active Active
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| Publication number | Publication date |
|---|---|
| CN107378911A (en) | 2017-11-24 |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Fu Deya Inventor after: Liu Yihua Inventor after: Guo Yongqiang Inventor after: Lu Kai Inventor before: Lu Kai |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200616 Address after: 417000 No.3, Taihe Road, Industrial Park 1, Loudi Economic Development Zone, Hunan Province Applicant after: Loudi Jingming New Material Co., Ltd Address before: 241081 Chunxiao 591 # Building 10, Chunxiao Cuidi, Biguiyuan, Sanshan District, Wuhu City, Anhui Province Applicant before: WUHU TINGYOU ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |