CN108372512A - On a kind of mechanical arm can intelligent automatic control rotary grasping device - Google Patents
On a kind of mechanical arm can intelligent automatic control rotary grasping device Download PDFInfo
- Publication number
- CN108372512A CN108372512A CN201810164579.3A CN201810164579A CN108372512A CN 108372512 A CN108372512 A CN 108372512A CN 201810164579 A CN201810164579 A CN 201810164579A CN 108372512 A CN108372512 A CN 108372512A
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- China
- Prior art keywords
- fixedly connected
- crawl
- platform
- hydraulic oil
- micro hydraulic
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention discloses on a kind of mechanical arm can intelligent automatic control rotary grasping device, including capturing platform, rotary grasping fixing device is equipped with below the crawl platform, rotating driving device is equipped with above the crawl platform, telescope support device is equipped with above the crawl platform, the crawl platform is externally provided with controller, the signal receiving end of the controller is electrically connected with infrared distance sensor and pressure-detecting device, the power output end of the controller and micro hydraulic oil pump, micro hydraulic solenoid valve, rotating driving device and telescope support device are electrically connected.The invention has the advantages that of simple structure and strong practicability.
Description
Technical field
The present invention relates to manipulator relevant device field, on especially a kind of mechanical arm can intelligent automatic control rotation
Grabbing device.
Background technology
In the modern life, with being showing improvement or progress day by day for science and technology, in the industrial production, the application of manipulator is also increasingly wider
It is general, and existing manipulator type is varied, but the grabbing device on manipulator is but only very few several, and when crawl
After one can only have been captured, next article could be captured again after the article of crawl is put down, can not be accomplished article quickly
It carries or moves.
Invention content
The purpose of the present invention is to solve the above problem, devise on a kind of mechanical arm can intelligent automatic control rotation
Turn grabbing device.
Realize above-mentioned purpose the technical scheme is that, on a kind of mechanical arm can intelligent automatic control rotary grasping
Device, including crawl platform, equipped with rotary grasping fixing device below the crawl platform, the rotary grasping fixing device by
It is fixedly connected with shaft hole positioned at the shaft hole being opened at crawl platform upper surface center, positioned at upper and lower ends inside shaft hole
Two fixing bearings, in fixing bearing with the rotary shaft that fixing bearing is fixedly connected, be located at crawl platform above with rotate
Rotation gear one that axis is fixedly connected, the rotating platform being fixedly connected with rotary shaft below crawl platform, positioned at rotary flat
Several crawl pedestals below rotating platform are fixedly connected with and be evenly distributed below platform with rotating platform, are opened under crawl pedestal
Groove at centre of surface, the infrared distance sensor being fixedly connected with groove in groove are located at crawl base lower surface
Edge is fixedly connected with equally distributed three crawl fixed jaws with crawl pedestal and positioned at crawl fixed jaw inner surface lower end
The fixing device being fixedly connected with crawl fixed jaw collectively forms, and the fixing device is by being located under crawl fixed jaw inner surface
The micro hydraulic oil held the fixed cylinder being fixedly connected with crawl fixed jaw, be fixedly connected with fixed cylinder positioned at one end inside fixed cylinder
Cylinder, positioned at the in-oil cylinder hydraulic oil of micro hydraulic, the micro hydraulic hydraulic fluid port that is opened in micro hydraulic oil cylinder outer surface upper and lower ends,
The micro hydraulic oil pipe that is fixedly connected with miniature two hydraulic oil ports on two micro hydraulic hydraulic fluid ports is located at micro hydraulic oil
Micro hydraulic oil pump that Guan Shangyu micro hydraulic oil pipes are fixedly connected is located at micro hydraulic oil pump side and consolidates with micro hydraulic oil pipe
Surely the micro hydraulic solenoid valve connected, the mini mobile being flexibly connected with micro hydraulic oil cylinder inside micro hydraulic oil cylinder are lived
Plug, the fixed link being fixedly connected with mini mobile piston at mini mobile piston side centre of surface are opened in micro hydraulic oil
Fixed link mouth at the side surface center of cylinder side is fixedly connected with fixed link mouth in fixed link mouth and is sealed with fixed link and connects
The gasket that connects is opened on the side surface of fixed cylinder side and the macropore being flexibly connected with fixed link and the pressure in fixed link
Detection device collectively forms, and rotating driving device is equipped with above the crawl platform, flexible branch is equipped with above the crawl platform
Rack device, the crawl platform are externally provided with controller, signal receiving end and infrared distance sensor and the pressure of the controller
Detection device is electrically connected, and power output end and micro hydraulic oil pump, micro hydraulic solenoid valve, the rotation of the controller drive
Device and telescope support device are electrically connected.
The rotating driving device is by the stepper motor that one end is fixedly connected with crawl platform above crawl platform, position
The driving gear that is fixedly connected with stepper motor round end in stepper motor round end is located at driving gear side and driving gear
Mutually the driven gear of occlusion, be fixedly connected and input terminal is fixedly connected with driven gear with platform is captured positioned at stepper motor side
Speed reducer and be fixedly connected with output end of reducer positioned at output end of reducer and with the rotary teeth that is engaged of rotation one phase of gear
Wheel two collectively forms.
The telescope support device from be located at crawl platform above the other end with capture platform be fixedly connected and telescopic end to
Under electric telescopic rod, be fixedly connected with electric telescopic rod above electric telescopic rod crossbearer, be located at crossbearer one end with it is horizontal
Shaft that frame is fixedly connected, positioned at the shaft bearing that shaft upper and lower ends are fixedly connected with shaft, be sleeved on the outside of shaft bearing
Shaft sleeve on surface, the shaft sleeve fixed frame being fixedly connected with shaft sleeve below shaft sleeve, positioned at shaft
The gear wheel being fixedly connected in sleeve fixing frame and with shaft lower end, the small tooth being mutually engaged with gear wheel positioned at gear wheel side
Wheel, the low speed rotation motor being fixedly connected with pinion gear below the pinion gear and below low speed rotation motor with low speed rotation
Rotating motor is fixedly connected and the pedestal being fixedly connected with shaft sleeve fixed frame collectively forms.
The pedestal is fixedly connected with the ground.
The stepper motor, electric telescopic rod and the power output end of low speed rotation motor and controller are electrically connected.
The pressure-detecting device by be opened in the little groove of fixed link one end centre of surface and in the little groove with
The pressure sensor that little groove is fixedly connected collectively forms, and the signal receiving end of the pressure sensor and controller electrically connects
It connects.
Described fixed link one end is equipped with anti-skid wearable pad.
PLC system is equipped in the controller.
The controller is equipped with capacitance display screen, control button and switch button.
The controller, which is equipped with, uses electrical interface, described to be electrically connected with electrical interface and external power supply.
Using technical scheme of the present invention make a kind of mechanical arm on can intelligent automatic control rotary grasping device,
By above-mentioned apparatus, when needing crawl, some grabbing device below crawl platform is rotated to above article and is grabbed
It takes, so that next article is crawled device crawl, grabbing below entire rotating platform by stepper motor again after crawl
After taking device all to grab article, then article is moved to by appointed place by telescope support device and is put down, can effectively subtracted
The time of few article carrying, the present apparatus is simple in structure, easy to operate.
Description of the drawings
Fig. 1 be on a kind of mechanical arm of the present invention can intelligent automatic control rotary grasping device structural representation
Figure；
Fig. 2 is the schematic diagram of rotary grasping device of the present invention；
Fig. 3 is the upward view of rotating platform of the present invention；
Fig. 4 is the schematic diagram of fixing device of the present invention；
Fig. 5 is the schematic diagram of controller of the present invention；
In figure, 1, crawl platform；2, shaft hole；3, fixing bearing；4, rotary shaft；5, gear one is rotated；6, rotating platform；
7, pedestal is captured；8, groove；9, infrared distance sensor；10, fixed jaw is captured；11, fixed cylinder；12, micro hydraulic oil cylinder；
13, hydraulic oil；14, micro hydraulic hydraulic fluid port；15, micro hydraulic oil pipe；16, micro hydraulic oil pump；17, micro hydraulic solenoid valve；
18, mini mobile piston；19, fixed link；20, fixed link mouth；21, gasket；22, macropore；23, controller；24, stepping electricity
Machine；25, driving gear；26, driven gear；27, speed reducer；28, gear two is rotated；29, electric telescopic rod；30, crossbearer；31、
Shaft；32, shaft bearing；33, shaft sleeve；34, shaft sleeve fixed frame；35, gear wheel；36, pinion gear；37, low speed revolves
Rotating motor；38, pedestal；39, little groove；40, pressure sensor；41, PLC system；42, capacitance display screen；43, control button；
44, switch button；45, electrical interface is used；46, anti-skid wearable pad.
Specific implementation mode
The present invention is specifically described below in conjunction with the accompanying drawings, as shown in Figure 1, can intelligently be controlled automatically on a kind of mechanical arm
The rotary grasping device of system, including crawl platform 1,1 lower section of the crawl platform are equipped with rotary grasping fixing device, the rotation
Crawl fixing device is by positioned at being opened in the shaft hole 2 at crawl platform 1 upper surface center, be located at 2 inside upper and lower ends of shaft hole
Two fixing bearings 3 being fixedly connected with shaft hole 2, the rotary shaft 4 being fixedly connected with fixing bearing 3 in fixing bearing 3,
Consolidate with rotary shaft 4 positioned at capturing the rotation gear 1 being fixedly connected with rotary shaft 4 above platform 1, being located at 1 lower section of crawl platform
Surely the rotating platform 6 that connects is fixedly connected with rotating platform 6 positioned at 6 lower section of rotating platform and is evenly distributed under rotating platform 6
Several crawl pedestals 7 of side, the groove 8 being opened at crawl pedestal 7 lower surface center are fixedly connected in groove 8 with groove 8
Infrared distance sensor 9, positioned at crawl 7 lower surface edge of pedestal at capture pedestal 7 be fixedly connected with equally distributed three
Crawl fixed jaw 10 and the fixing device being fixedly connected with crawl fixed jaw 10 positioned at crawl 10 inner surface lower end of fixed jaw are total
With constituting, the fixing device is by positioned at crawl 10 inner surface lower end of fixed jaw and the fixation that is fixedly connected of crawl fixed jaw 10
Cylinder 11, the micro hydraulic oil cylinder 12 being fixedly connected with fixed cylinder 11 positioned at 11 inside one end of fixed cylinder, positioned at micro hydraulic oil cylinder
Interior hydraulic oil 13, the micro hydraulic hydraulic fluid port 14 for being opened in 12 outer surface upper and lower ends of micro hydraulic oil cylinder, be located at two it is miniature
The micro hydraulic oil pipe 15 that is fixedly connected with miniature two hydraulic oil ports 14 in hydraulic oil port 14 is located on micro hydraulic oil pipe 15
The micro hydraulic oil pump 16 that is fixedly connected with micro hydraulic oil pipe 15 is located at 16 side of micro hydraulic oil pump and micro hydraulic oil pipe
15 be fixedly connected micro hydraulic solenoid valve 17, be flexibly connected with micro hydraulic oil cylinder 12 positioned at the inside of micro hydraulic oil cylinder 12
Mini mobile piston 18, the fixed link being fixedly connected with mini mobile piston 18 at 18 side surface center of mini mobile piston
19, it is opened in the fixed link mouth 20 at 12 side side surface center of micro hydraulic oil cylinder, is located in fixed link mouth 20 and fixed link mouth
20 be fixedly connected and be tightly connected with fixed link 19 gasket 21, be opened on 11 side side surface of fixed cylinder and with fixed link 19
The macropore 22 and the pressure-detecting device in fixed link 19 of flexible connection collectively form, and 1 top of the crawl platform is equipped with
Rotating driving device, 1 top of the crawl platform are equipped with telescope support device, and the crawl platform 1 is externally provided with controller 23, institute
The signal receiving end and infrared distance sensor and pressure-detecting device for stating controller 23 are electrically connected, the electricity of the controller 23
Source output terminal is electrically connected with micro hydraulic oil pump, micro hydraulic solenoid valve, rotating driving device and telescope support device；It is described
Rotating driving device by the stepper motor 24 that one end is fixedly connected with crawl platform 1 above crawl platform 1, to be located at stepping electric
Driving gear 25 that 24 round end of machine is fixedly connected with 24 round end of stepper motor is located at 25 side of driving gear and driving gear
The driven gear 26 of 25 phases occlusion, positioned at 24 side of stepper motor with capture platform 1 and be fixedly connected and input terminal and driven gear
26 speed reducers 27 being fixedly connected and be fixedly connected with 27 output end of speed reducer positioned at 27 output end of speed reducer and with rotation gear
The rotation gear 2 28 of one 5 phases occlusion collectively forms；The telescope support device is by being located at the crawl 1 top other end of platform and grabbing
Make even platform 1 is fixedly connected and telescopic end is downward electric telescopic rod 29, be located at 29 top of electric telescopic rod and electric telescopic rod 29
The crossbearer 30 that is fixedly connected, the shaft 31 being fixedly connected with crossbearer 30 positioned at 30 one end of crossbearer, be located at 31 upper and lower ends of shaft with
Shaft bearing 32 that shaft 31 is fixedly connected, is located at shaft set at the shaft sleeve 33 being sleeved on 32 outer surface of shaft bearing
Shaft sleeve fixed frame 34 that 33 lower section of cylinder is fixedly connected with shaft sleeve 33 is located at that shaft sleeve fixed frame 34 is interior and and shaft
Gear wheel 35 that 31 lower ends are fixedly connected, is located at small tooth at the pinion gear 36 being engaged with 35 phase of gear wheel positioned at 35 side of gear wheel
The low speed rotation motor 37 and be located at 37 lower section of low speed rotation motor and low speed rotation that 36 lower section of wheel is fixedly connected with pinion gear 36
Motor 37 is fixedly connected and the pedestal 38 being fixedly connected with shaft sleeve fixed frame 34 collectively forms；The pedestal 38 is solid with ground
Fixed connection；The stepper motor 24, electric telescopic rod 29 and low speed rotation motor 37 and the power output end of controller 23 are electrical
Connection；The pressure-detecting device is by being opened in the little groove 39 of 19 one end centre of surface of fixed link and in little groove 39
The pressure sensor 40 being fixedly connected with little groove 39 collectively forms, and the pressure sensor 40 and the signal of controller 23 receive
End is electrically connected；19 one end of the fixed link is equipped with anti-skid wearable pad 46；PLC system 41 is equipped in the controller 23；It is described
Controller 23 is equipped with capacitance display screen 42, control button 43 and switch button 44；The controller 23 is equipped with and uses electrical interface
45, it is described to be electrically connected with electrical interface 45 and external power supply.
The characteristics of the present embodiment is that rotary grasping fixing device, the rotary grasping are equipped with below the crawl platform
Fixing device is by positioned at being opened in the shaft hole at crawl platform upper surface center, be located at upper and lower ends and shaft hole inside shaft hole
Two fixing bearings being fixedly connected, the rotary shaft being fixedly connected with fixing bearing in fixing bearing are located at crawl platform
Rotation gear one that top is fixedly connected with rotary shaft, the rotating platform being fixedly connected with rotary shaft below crawl platform,
Several crawl pedestals below rotating platform are fixedly connected with and be evenly distributed on rotating platform below rotating platform, are opened in
Groove at crawl base lower surface center, is located at crawl at the infrared distance sensor being fixedly connected with groove in groove
Base lower surface edge is fixedly connected with equally distributed three crawl fixed jaws with crawl pedestal and in crawl fixed jaw
The fixing device that side surface lower end is fixedly connected with crawl fixed jaw collectively forms, and the fixing device is by being located at crawl fixed jaw
Fixed cylinder that inner surface lower end is fixedly connected with crawl fixed jaw, one end is fixedly connected with fixed cylinder inside the fixed cylinder
Micro hydraulic oil cylinder, positioned at the in-oil cylinder hydraulic oil of micro hydraulic, be opened in the micro- of micro hydraulic oil cylinder outer surface upper and lower ends
Type hydraulic oil port, the micro hydraulic oil pipe being fixedly connected with miniature two hydraulic oil ports on two micro hydraulic hydraulic fluid ports, position
In the micro hydraulic oil pump being fixedly connected with micro hydraulic oil pipe on micro hydraulic oil pipe, be located at micro hydraulic oil pump side with it is micro-
Micro hydraulic solenoid valve that type hydraulic oil pipe is fixedly connected is located inside micro hydraulic oil cylinder and is flexibly connected with micro hydraulic oil cylinder
Mini mobile piston, be fixedly connected with mini mobile piston at mini mobile piston side centre of surface fixed link, open
Fixed link mouth at the side surface center of micro hydraulic oil cylinder side, be fixedly connected with fixed link mouth in fixed link mouth and with
The gasket of fixed link sealed connection is opened in the macropore being flexibly connected on the side surface of fixed cylinder side and with fixed link and positioned at solid
Pressure-detecting device in fixed pole collectively forms, and the pressure-detecting device is by being opened in the small of fixed link one end centre of surface
Groove and the pressure sensor being fixedly connected with little groove in little groove collectively form, and rotation is equipped with above the crawl platform
Rotary driving device, the rotating driving device is by the stepping electricity that one end is fixedly connected with crawl platform above crawl platform
Machine, is located at driving gear side and master at the driving gear being fixedly connected with stepper motor round end positioned at stepper motor round end
Driven gear that moving gear is mutually engaged is fixedly connected positioned at stepper motor side with crawl platform and input terminal is consolidated with driven gear
Surely it the speed reducer that connects and is fixedly connected with output end of reducer positioned at output end of reducer and is engaged with rotation one phase of gear
Rotation gear two collectively forms, and telescope support device is equipped with above the crawl platform, and the telescope support device is grabbed by being located at
Make even the other end is fixedly connected with crawl platform above platform and telescopic end is downward electric telescopic rod, be located at electric telescopic rod top
The crossbearer that is fixedly connected with electric telescopic rod, is located at shaft upper and lower ends at the shaft being fixedly connected with crossbearer positioned at crossbearer one end
The shaft bearing that is fixedly connected with shaft, is located at below shaft sleeve the shaft sleeve being sleeved on shaft bearing outer surface
The shaft sleeve fixed frame that is fixedly connected with shaft sleeve is fixedly connected in shaft sleeve fixed frame and with shaft lower end
Gear wheel, is fixedly connected below the pinion gear pinion gear being mutually engaged with gear wheel positioned at gear wheel side with pinion gear
It low speed rotation motor and is fixedly connected with low speed rotation motor below low speed rotation motor and consolidates with shaft sleeve fixed frame
Surely the pedestal connected collectively forms, and by above-mentioned apparatus, when needing crawl, will capture some grabbing device below platform
It rotates to above article and is captured, so that next article is crawled device crawl by stepper motor again after crawl, when
After grabbing device below entire rotating platform all grabs article, then article is moved to by telescope support device and specifies ground
Side is put down, and can effectively reduce the time of article carrying, the present apparatus is simple in structure, easy to operate.
In the present embodiment, in the present embodiment, it will be connect, controlled with external power supply with electrical interface on controller
Switch button starting device on controller, controller control low speed rotation motor operation, and low speed rotation motor passes through pinion gear
Gear wheel rotation, gear wheel is driven to drive shaft rotation, shaft that entire crawl platform is driven to start to rotate, by crawl platform movement
Above to article, corresponding micro hydraulic oil pump is controlled at this time and micro hydraulic solenoid valve is started to work, micro hydraulic oil pump
Hydraulic oil is moved in mobile piston or so, drives mobile piston movement, mobile piston driving fixed link movement, fixed link
Article is fixed, whether controller detects fixed link by article fixation by pressure sensor, works as pressure sensor
After the pressure value detected is higher than setting value, controller control micro hydraulic oil pump and micro hydraulic solenoid valve are stopped, this
When article fixed finished, controller controls stepper motor rotation, and stepper motor drives driving gear rotation, driving gear band
Dynamic driven gear rotation, driven gear drive speed reducer operation, speed reducer that rotary shaft rotation, rotary shaft is driven to drive rotating platform
It rotates by a certain angle, controller control stepper motor is stopped, and repeats above-mentioned fixed object manipulation at this time, when article is solid
After fixed, rotation process is repeated, has captured article as aforesaid operations carry out being repeated up to the last one grabbing device
Bi Hou, then control low speed rotation motor and will capture platform and rotate to the place of unloading and unload, controller is infrared by detecting
The variation for the distance signal that distance measuring sensor detects detects whether article is successfully crawled, when capturing abnormal, controller
Control device is stopped, and staff is waited for repair.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of which part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (10)
1. on a kind of mechanical arm can intelligent automatic control rotary grasping device, including crawl platform (1), which is characterized in that
Rotary grasping fixing device is equipped with below the crawl platform (1), the rotary grasping fixing device is put down by being located to be opened in capture
Shaft hole (2) at platform (1) upper surface center is located at the internal upper and lower ends of shaft hole (2) are fixedly connected with shaft hole (2) two
A fixing bearing (3) is located at the rotary shaft (4) being fixedly connected with fixing bearing (3) in fixing bearing (3), is located at crawl platform
(1) top is fixedly connected with rotary shaft (4) rotation gear one (5) is located at below crawl platform (1) and is fixed with rotary shaft (4)
The rotating platform (6) of connection is fixedly connected with rotating platform (6) below rotating platform (6) and is evenly distributed on rotary flat
Several crawl pedestals (7) below platform (6), are located in groove (8) groove (8) being opened at crawl pedestal (7) lower surface center
The infrared distance sensor (9) that is fixedly connected with groove (8) is located at crawl pedestal (7) lower surface edge and crawl pedestal (7)
It is fixedly connected with equally distributed three crawl fixed jaws (10) and is located at crawl fixed jaw (10) inner surface lower end and captures admittedly
Determine the fixing device that pawl (10) is fixedly connected to collectively form, the fixing device is by being located under crawl fixed jaw (10) inner surface
It holds the fixed cylinder (11) being fixedly connected with crawl fixed jaw (10), fixed positioned at the internal one end of fixed cylinder (11) and fixed cylinder (11)
The micro hydraulic oil cylinder (12) of connection is located at the in-oil cylinder hydraulic oil of micro hydraulic (13), is opened in micro hydraulic oil cylinder (12) outside
The micro hydraulic hydraulic fluid port (14) of side surface upper and lower ends is located on two micro hydraulic hydraulic fluid ports (14) and miniature two hydraulic oil ports
(14) the micro hydraulic oil pipe (15) that is fixedly connected is located on micro hydraulic oil pipe (15) and micro hydraulic oil pipe (15) is fixed connects
The micro hydraulic oil pump (16) that connects, be fixedly connected with micro hydraulic oil pipe (15) positioned at micro hydraulic oil pump (16) side it is miniature
Hydraulic buttery valve (17) is located at the mini mobile work being flexibly connected with micro hydraulic oil cylinder (12) inside micro hydraulic oil cylinder (12)
Plug (18) is located at the fixed link being fixedly connected with mini mobile piston (18) at mini mobile piston (18) side surface center
(19), be opened in fixed link mouth (20) at micro hydraulic oil cylinder (12) side side surface center, be located in fixed link mouth (20) with
Fixed link mouth (20) be fixedly connected and be tightly connected with fixed link (19) gasket (21), be opened in fixed cylinder (11) side side table
The macropore (22) and the pressure-detecting device in fixed link (19) being flexibly connected on face and with fixed link (19) collectively form,
It is equipped with rotating driving device above the crawl platform (1), telescope support device is equipped with above the crawl platform (1), it is described
Crawl platform (1) is externally provided with controller (23), signal receiving end and infrared distance sensor and the pressure of the controller (23)
Detection device is electrically connected, power output end and micro hydraulic oil pump, micro hydraulic solenoid valve, the rotation of the controller (23)
Driving device and telescope support device are electrically connected.
2. on a kind of mechanical arm according to claim 1 can intelligent automatic control rotary grasping device, feature exists
In the rotating driving device is by being located at the stepper motor that one end is fixedly connected with crawl platform (1) above crawl platform (1)
(24), be located at stepper motor (24) round end be fixedly connected with stepper motor (24) round end driving gear (25), be located at lead
Driven gear (26) that moving gear (25) side is mutually engaged with driving gear (25), to be located at stepper motor (24) side flat with crawl
The speed reducer (27) and be located at speed reducer (27) output end that platform (1) is fixedly connected and input terminal is fixedly connected with driven gear (26)
It is fixedly connected with speed reducer (27) output end and the rotation gear two (28) being mutually engaged with rotation gear one (5) collectively forms.
3. on a kind of mechanical arm according to claim 1 can intelligent automatic control rotary grasping device, feature exists
In, the telescope support device from be located above crawl platform (1) other end with capture platform (1) be fixedly connected and telescopic end to
Under electric telescopic rod (29), be located at electric telescopic rod (29) above be fixedly connected with electric telescopic rod (29) crossbearer (30),
The shaft (31) that is fixedly connected with crossbearer (30) positioned at crossbearer (30) one end is located at shaft (31) upper and lower ends and consolidates with shaft (31)
Surely the shaft bearing (32) that connects, is located at shaft sleeve at the shaft sleeve (33) being sleeved on shaft bearing (32) outer surface
(33) lower section is fixedly connected with shaft sleeve (33) shaft sleeve fixed frame (34), be located at shaft sleeve fixed frame (34) it is interior and
The gear wheel (35) being fixedly connected with shaft (31) lower end, the small tooth being mutually engaged with gear wheel (35) positioned at gear wheel (35) side
Wheel (36) is located at the low speed rotation motor (37) being fixedly connected with pinion gear (36) below pinion gear (36) and is located at low speed rotation
The pedestal for being fixedly connected with low speed rotation motor (37) and being fixedly connected with shaft sleeve fixed frame (34) below motor (37)
(38) it collectively forms.
4. on a kind of mechanical arm according to claim 2 can intelligent automatic control rotary grasping device, feature exists
In the pedestal (38) is fixedly connected with the ground.
5. on a kind of mechanical arm according to claim 2,3 can intelligent automatic control rotary grasping device, feature
It is, the stepper motor (24), electric telescopic rod (29) and low speed rotation motor (37) and the power supply of controller (23) export
End is electrically connected.
6. on a kind of mechanical arm according to claim 1 can intelligent automatic control rotary grasping device, feature exists
In the pressure-detecting device is by being opened in the little groove (39) of fixed link (19) one end centre of surface and being located at little groove
(39) pressure sensor (40) being fixedly connected with little groove (39) in collectively forms, the pressure sensor (40) and controller
(23) signal receiving end is electrically connected.
7. on a kind of mechanical arm according to claim 1 can intelligent automatic control rotary grasping device, feature exists
In described fixed link (19) one end is equipped with anti-skid wearable pad (46).
8. on a kind of mechanical arm according to claim 1 can intelligent automatic control rotary grasping device, feature exists
In equipped with PLC system (41) in the controller (23).
9. on a kind of mechanical arm according to claim 1 can intelligent automatic control rotary grasping device, feature exists
In the controller (23) is equipped with capacitance display screen (42), control button (43) and switch button (44).
10. on a kind of mechanical arm according to claim 1 can intelligent automatic control rotary grasping device, feature exists
In the controller (23), which is equipped with, uses electrical interface (45), described to be electrically connected with electrical interface (45) and external power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810164579.3A CN108372512B (en) | 2018-02-28 | 2018-02-28 | But intelligent automatic control's rotatory grabbing device on robotic arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810164579.3A CN108372512B (en) | 2018-02-28 | 2018-02-28 | But intelligent automatic control's rotatory grabbing device on robotic arm |
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| CN108372512B CN108372512B (en) | 2021-05-11 |
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| CN201810164579.3A Active CN108372512B (en) | 2018-02-28 | 2018-02-28 | But intelligent automatic control's rotatory grabbing device on robotic arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108674992A (en) * | 2018-08-14 | 2018-10-19 | 安徽锐利玻璃机械有限公司 | A kind of transport boom hoisting of glass |
| CN109823967A (en) * | 2019-01-28 | 2019-05-31 | 南京钜力智能制造技术研究院有限公司 | A kind of building element intelligent robot grabs mould method and device automatically |
| CN110921296A (en) * | 2019-11-13 | 2020-03-27 | 徐州泓吉环锻科技有限公司 | Auxiliary material replacing equipment for connecting rod forging, punching and trimming |
| CN112044922A (en) * | 2020-08-01 | 2020-12-08 | 广西力源宝科技有限公司 | Fermentation cylinder grabbing manipulator and grabbing method thereof |
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| CN108674992A (en) * | 2018-08-14 | 2018-10-19 | 安徽锐利玻璃机械有限公司 | A kind of transport boom hoisting of glass |
| CN109823967A (en) * | 2019-01-28 | 2019-05-31 | 南京钜力智能制造技术研究院有限公司 | A kind of building element intelligent robot grabs mould method and device automatically |
| CN110921296A (en) * | 2019-11-13 | 2020-03-27 | 徐州泓吉环锻科技有限公司 | Auxiliary material replacing equipment for connecting rod forging, punching and trimming |
| CN112044922A (en) * | 2020-08-01 | 2020-12-08 | 广西力源宝科技有限公司 | Fermentation cylinder grabbing manipulator and grabbing method thereof |
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