CN107901071A - A kind of robot it is dedicated rotatable and can be anti-skidding manipulator - Google Patents
A kind of robot it is dedicated rotatable and can be anti-skidding manipulator Download PDFInfo
- Publication number
- CN107901071A CN107901071A CN201711380546.4A CN201711380546A CN107901071A CN 107901071 A CN107901071 A CN 107901071A CN 201711380546 A CN201711380546 A CN 201711380546A CN 107901071 A CN107901071 A CN 107901071A
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- China
- Prior art keywords
- gear
- gripper
- box
- bearing
- servomotor
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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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Classifications
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the manipulator that a kind of robot is dedicated rotatable and can be anti-skidding, including gripper and gear-box, the inner upper of the gear-box is provided with control gear, belt pulley is provided with below the control gear, and it is provided with driving gear on the left of control gear, active control bearing is provided with above the driving gear, the gripper is installed on the left of active control bearing at the top position of gear-box；The present invention is scientific and reasonable for structure, it is safe and convenient to use, there is provided anti-slip rubber tooth, swivel bearing and servomotor, when anti-slip rubber tooth can prevent that gripper from picking up object, due to object itself is smooth and the problem of slide, the shape of each object is different, the gripper of single direction cannot pick up the object of different directions, swivel bearing can rotate under the drive of servomotor, and then change the direction of the gripper, gripper is turned to appropriate position and pick up object.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of robot it is dedicated rotatable and can be anti-skidding machinery
Hand.
Background technology
Now in life, under the progress of Science and Technology Day crescent benefit, robot and has the arm of the mankind is maximum to distinguish
It is that flexibility ratio and resistance to dynamics, that is, the sharpest edges of manipulator recursive do same action in mechanical normal condition
Under will not always feel tired, can be mechanical arm application also will be more and more extensive, manipulator is that recent decades develop
A kind of high-tech automatic producing device come, the ability to fulfil assignment in the accuracy and environment of operation, industry mechanical arm machine
The important branch of people.
But manipulator currently on the market is not only complicated, but also function is single, is not provided with anti-slip rubber tooth, rotation
Shaft is held and servomotor, it is impossible to the manipulator is clenched object, it is impossible to rotates the manipulator.
The content of the invention
It is above-mentioned to solve it is an object of the invention to provide the manipulator that a kind of robot is dedicated rotatable and can be anti-skidding
What is proposed in background technology is not provided with anti-slip rubber tooth, swivel bearing and servomotor, it is impossible to clenches the manipulator
Object, it is impossible to make the manipulator rotate the problem of.
To achieve the above object, the present invention provides following technical solution：A kind of robot is dedicated rotatable and can be anti-skidding
Manipulator, including gripper and gear-box, the inner upper of the gear-box is provided with control gear, the control gear
Lower section is provided with belt pulley, and controls and be provided with driving gear on the left of gear, is provided with above the driving gear actively
Bearing is controlled, the gripper is installed on the left of active control bearing at the top position of gear-box, and below gripper
Insertion is provided with auxiliary control bearing at the top position of gear-box, and the gripper lower section is close to auxiliary control bearing
Anti-slip rubber tooth is provided with leftward position, is provided with driven gear below the driving gear, under the driven gear
Side is provided with active control bar, and the active control bar left side is provided with auxiliary control rod close to the lower position of gear-box,
Headstock is provided with the right side of the gear-box, the headstock is internally provided with motor, and is provided with the right side of headstock
Swivel bearing, is provided with mechanical arm on the right side of the swivel bearing, the inside left of the mechanical arm is provided with servomotor, institute
State to be embedded at the right positions of servomotor in swivel bearing front surface and be provided with intelligent control panel, the servomotor
It is electrically connected with motor with intelligent control panel, the intelligent control panel is electrically connected with external power supply.
Preferably, the headstock is rotatablely connected with mechanical arm by swivel bearing.
Preferably, the servomotor is fixedly connected with mechanical arm by fixed frame.
Preferably, the gripper is provided with two altogether, and two grippers are separately mounted to the both sides up and down of gear-box.
Preferably, the mechanical arm is cylindrical structural.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is scientific and reasonable for structure, safe and convenient to use, if
Anti-slip rubber tooth, swivel bearing and servomotor are put, when anti-slip rubber tooth can prevent that gripper from picking up object, due to object
Itself it is smooth and the problem of slide, the shape of each object is different, and the gripper of single direction cannot pick up different directions
Object, swivel bearing can rotate under the drive of servomotor, and then change the direction of the gripper, turn to gripper
Appropriate position is picked up by object.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention；
In figure：1- controls gear, 2- driving gears, 3- active controls bearing, 4- auxiliary controls bearing, 5- grippers, 6- are anti-skidding
Rubber teeth, 7- auxiliary control rods, 8- active controls bar, 9- driven gears, 10- belt pulleys, 11- headstocks, 12- swivel bearings,
13- servomotors, 14- mechanical arms, 15- intelligent control panels, 16- motors, 17- gear-boxes.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, the present invention provides a kind of technical solution：A kind of robot it is dedicated rotatable and can be anti-skidding machinery
Hand, including gripper 5 and gear-box 17, the inner upper of gear-box 17 are provided with control gear 1, and the lower section of control gear 1 is set
Belt pulley 10 is equipped with, and controls the left side of gear 1 to be provided with driving gear 2, the top of driving gear 2 is provided with active control axis
3 are held, gripper 5 is installed on the left side of active control bearing 3 at the top position of gear-box 17, and the lower section of gripper 5 is close
Insertion is provided with auxiliary control bearing 4 at the top position of gear-box 17, and the lower section of gripper 5 is close to a left side for auxiliary control bearing 4
Anti-slip rubber tooth 6 is provided with side position, the lower section of driving gear 2 is provided with driven gear 9, and the lower section of driven gear 9 is set
There is active control bar 8, the left side of active control bar 8 is provided with auxiliary control rod 7, gear-box close to the lower position of gear-box 17
17 right side is provided with headstock 11, and headstock 11 is internally provided with motor 16, and the right side of headstock 11 is provided with rotation
Bearing 12, the right side of swivel bearing 12 are provided with mechanical arm 14, and the inside left of mechanical arm 14 is provided with servomotor 13, rotation
Insertion is provided with intelligent control panel 15,13 He of servomotor at the right positions of servomotor 13 in 12 front surface of bearing
Motor 16 is electrically connected with intelligent control panel 15, and intelligent control panel 15 is electrically connected with external power supply.
Headstock 11 is rotatablely connected with mechanical arm 14 by swivel bearing 12.Servomotor 13 passes through fixation with mechanical arm 14
Frame is fixedly connected.Gripper 5 is provided with two altogether, and two grippers 5 are separately mounted to the both sides up and down of gear-box 17.Machinery
Arm 14 is cylindrical structural.
The servo-drive system in servomotor 13 in the present invention is position, orientation, state of object etc. is exported controlled volume
The automatic control system arbitrarily changed of input target can be followed, is positioned mainly by pulse, servomotor 13 receives one
A pulse, will rotate the corresponding angle of a pulse, so as to fulfill displacement, because servomotor 13 possesses in itself sends pulse
Function, so servomotor 13 often rotates an angle, can all send the pulse of corresponding number, and servomotor 13 receives
Pulse shaping is echoed, consequently, it is possible to which system, which will know that, has sent out how many pulse to servomotor 13, while how many arteries and veins has been received again
Refunds comes, in this way, it is possible to be accurately controlled very much the rotation of motor, so as to fulfill accurate positioning, can reach 0.001mm.
The operation principle and process for using of the present invention：For the manipulator after installation is complete, external power supply connects intelligent control face
Plate 15, intelligent control panel 15 control motor 16 and servomotor 13 to work normally, and motor 16, which rotates, drives belt to rotate, belt
Rotate and drive belt pulley 10 to rotate, belt pulley 10, which rotates, drives control gear 1 to rotate, and control gear 1, which rotates, drives driving gear 2
Rotate, driving gear 2, which rotates, drives driven gear 9 to rotate synchronously, and the synchronous rotation of driving gear 2 and driven gear 9 drives master
Dynamic control-rod 8 and auxiliary control rod 7 rotate, active control bar 8 and auxiliary control rod 7 come back rotation control machinery pawl 5 open and
Closure, during the opening of gripper 5, gripper 5 is moved to and is grabbed object both sides, is then rotated by motor 16 by gripper 5
Close, the anti-slip rubber tooth 6 in gripper 5 can prevent smooth object from sliding, and can not be captured in gripper 5 according to normal direction
During object, servomotor 13 is controlled to rotate by intelligent control panel 15, servomotor 13, which rotates, drives swivel bearing 12 to rotate,
Swivel bearing 12, which rotates, drives gripper 5 to rotate, and when turning to suitable position, which normally captures object.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of changes, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of robot it is dedicated rotatable and can be anti-skidding manipulator, including gripper（5）And gear-box（17）, its feature
It is：The gear-box（17）Inner upper be provided with control gear（1）, the control gear（1）Lower section be provided with skin
Belt wheel（10）, and control gear（1）Left side be provided with driving gear（2）, the driving gear（2）Top be provided with actively
Control bearing（3）, the gripper（5）Installed in active control bearing（3）Left side is close to gear-box（17）Top position at,
And gripper（5）Lower section is close to gear-box（17）Top position at insertion be provided with auxiliary control bearing（4）, the gripper
（5）Lower section is close to auxiliary control bearing（4）Leftward position at be provided with anti-slip rubber tooth（6）, the driving gear（2）Under
Side is provided with driven gear（9）, the driven gear（9）Lower section be provided with active control bar（8）, the active control bar
（8）Left side is close to gear-box（17）Lower position be provided with auxiliary control rod（7）, the gear-box（17）Right side set
Dynamic case（11）, the headstock（11）Be internally provided with motor（16）, and headstock（11）Right side be provided with rotation
Bearing（12）, the swivel bearing（12）Right side be provided with mechanical arm（14）, the mechanical arm（14）Inside left set
There is servomotor（13）, the swivel bearing（12）Close to servomotor in front surface（13）Right positions at be embedded in and be provided with
Intelligent control panel（15）, the servomotor（13）And motor（16）And intelligent control panel（15）It is electrically connected, it is described
Intelligent control panel（15）It is electrically connected with external power supply.
2. a kind of robot according to claim 1 it is dedicated rotatable and can be anti-skidding manipulator, it is characterised in that：Institute
State headstock（11）With mechanical arm（14）Pass through swivel bearing（12）Rotation connection.
3. a kind of robot according to claim 1 it is dedicated rotatable and can be anti-skidding manipulator, it is characterised in that：Institute
State servomotor（13）With mechanical arm（14）It is fixedly connected by fixed frame.
4. a kind of robot according to claim 1 it is dedicated rotatable and can be anti-skidding manipulator, it is characterised in that：Institute
State gripper（5）Two, and two grippers are provided with altogether（5）It is separately mounted to gear-box（17）Both sides up and down.
5. a kind of robot according to claim 1 it is dedicated rotatable and can be anti-skidding manipulator, it is characterised in that：Institute
State mechanical arm（14）For cylindrical structural.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711380546.4A CN107901071A (en) | 2017-12-20 | 2017-12-20 | A kind of robot it is dedicated rotatable and can be anti-skidding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711380546.4A CN107901071A (en) | 2017-12-20 | 2017-12-20 | A kind of robot it is dedicated rotatable and can be anti-skidding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107901071A true CN107901071A (en) | 2018-04-13 |
Family
ID=61870456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711380546.4A Withdrawn CN107901071A (en) | 2017-12-20 | 2017-12-20 | A kind of robot it is dedicated rotatable and can be anti-skidding manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107901071A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108633777A (en) * | 2018-05-23 | 2018-10-12 | 凤台县东风湖周洋蛋鸡养殖有限公司 | A kind of special egg pick device of breeding layer chicken |
| CN110053961A (en) * | 2019-04-18 | 2019-07-26 | 中国民航大学 | A kind of anti-skidding clamper of intelligence |
| CN111546373A (en) * | 2020-06-09 | 2020-08-18 | 山东省科学院海洋仪器仪表研究所 | A manipulator for kelp is reaped on platform |
-
2017
- 2017-12-20 CN CN201711380546.4A patent/CN107901071A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108633777A (en) * | 2018-05-23 | 2018-10-12 | 凤台县东风湖周洋蛋鸡养殖有限公司 | A kind of special egg pick device of breeding layer chicken |
| CN110053961A (en) * | 2019-04-18 | 2019-07-26 | 中国民航大学 | A kind of anti-skidding clamper of intelligence |
| CN111546373A (en) * | 2020-06-09 | 2020-08-18 | 山东省科学院海洋仪器仪表研究所 | A manipulator for kelp is reaped on platform |
| CN111546373B (en) * | 2020-06-09 | 2021-08-27 | 山东省科学院海洋仪器仪表研究所 | A manipulator for kelp is reaped on platform |
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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 | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180413 |