CN109719717A - A kind of new energy intelligent robot clamping device - Google Patents
A kind of new energy intelligent robot clamping device Download PDFInfo
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- CN109719717A CN109719717A CN201910182683.XA CN201910182683A CN109719717A CN 109719717 A CN109719717 A CN 109719717A CN 201910182683 A CN201910182683 A CN 201910182683A CN 109719717 A CN109719717 A CN 109719717A
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- connecting rod
- clamping device
- intelligent robot
- new energy
- fixedly connected
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Abstract
The invention discloses a kind of new energy intelligent robot clamping devices, including body, machine cavity is offered in the body, decelerating motor is installed in the machine cavity, the upper end of the body is circumferentially welded with a circle support column, the upper end of the support column is fixedly connected with horizontally disposed fixed disk, and the output shaft of the decelerating motor runs through the inner wall of machine cavity and is fixedly connected with output shaft.Present invention employs the designs of multistation alternative expression aid mechanism, output shaft drives the partial gear of connection fixed thereto to rotate, partial gear alternately drives the multiple driven gears being circumferentially arranged to move when rotating, each driven gear is further driven to rotating arm when moving and turns an angle, rotating arm rotate when by transmission mechanism pull two fixture blocks it is close to each other move or it is separate, to realize the clamping to material, due to the constant airspeed of partial gear rotation, alternately the station of design can greatly increase the degree of cooperation between multistation, be conducive to rhythmization, precision operation.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of new energy intelligent robot clamping devices.
Background technique
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of the mankind.
The critical component that the clamping of mechanical arm works as robotic gripper, needs accurately to control multiple gripper jaws some
Under alternate use condition, current robot clamping device is difficult to meet this standard.
Summary of the invention
The purpose of the present invention is to solve above-mentioned problems, and a kind of new energy intelligent robot clamping machine proposed
Structure.
To achieve the goals above, present invention employs following technical solutions:
A kind of new energy intelligent robot clamping device, including body, offer machine cavity in the body, in the machine cavity
Decelerating motor is installed, the upper end of the body is circumferentially welded with a circle support column, and the upper end of the support column is fixedly connected with
Horizontally disposed fixed disk, the output shaft of the decelerating motor runs through the inner wall of machine cavity and is fixedly connected with output shaft, described defeated
Shaft is rotatably connected on body by bearing block, and the output shaft runs through the middle part of fixed disk simultaneously far from one end of decelerating motor
It is fixedly connected with partial gear by flat key, fixed disk is circumferentially provided at least one driven tooth as the center of circle using partial gear
Wheel, the middle part of the driven gear are rotatably connected on the upper end of fixed disk by shaft, and the axis rotation of the driven gear is solid
Surely it is connected with rotating arm, the fixed arm being used cooperatively with rotating arm is circumferentially provided in the fixed disk, is pacified on the fixed arm
Equipped with clamping device, transmission mechanism, the input of the output end and clamping device of the transmission mechanism are connected on the rotating arm
End connection；
The upper end of the fixed arm is fixedly connected with horizontally disposed top plate, and the upper end of the top plate is equipped with solar energy
Plate and the matched solar energy regulating mechanism used are lied prostrate, is equipped on the solar energy photovoltaic panel for tracking sunray
The bottom end of light sensor, the top plate is fixedly connected with charge storage element；The charge storage element includes battery group, voltage conversion
Device and switching switch, the switching switch are electrically connected with battery group and solar energy photovoltaic panel.
Preferably, the quantity of the driven gear is four, and four driven gears are circumferentially arranged in fixed disk.
Preferably, the partial gear can only be engaged with a driven gear simultaneously.
Preferably, the fixed arm is mounted in fixed disk by floral disc and bolt.
Preferably, the transmission mechanism includes first connecting rod, second connecting rod, third connecting rod and fixture block；
One end of the first connecting rod is rotatably connected on rotating arm by pin shaft, and the other end of the first connecting rod passes through
Pin shaft is rotatablely connected with second connecting rod and third connecting rod jointly, and the quantity of the fixture block is two, and two fixture blocks are respectively with the
Two connecting rods are fixedly connected with third connecting rod, and one end that two fixture blocks are located remotely from each other is welded with extension spring, the extension spring
One end far from fixture block is welded on fixed arm.
Preferably, the length of the second connecting rod is less than the length of third connecting rod.
Preferably, fluting is offered on the fixed arm, the coupling part and third of the second connecting rod and fixture block connect
The coupling part of bar and fixture block passes through fixed pin and is slidably connected in fluting.
Preferably, the clamping device includes tripod, reset spring and support block；The tripod is bolted company
It connects on fixture block, the reset spring is welded on fixture block and is located between two tripods, and the reset spring is far from fixture block
One end be welded with support block, and support block is slidably connected on tripod.
Preferably, the support block offers arrival slot far from one end of reset spring.
Preferably, two tripods one end close to each other offers the sliding slot using rectangular configuration, the cunning
Sliding block is slidably connected in slot, the sliding block is fixedly connected with the side wall of support block.
Compared with prior art, the present invention has following advantages:
Using the design of multistation alternative expression aid mechanism, output shaft drives the partial gear of connection fixed thereto to turn
Dynamic, partial gear alternately drives the multiple driven gears being circumferentially arranged to move when rotating, and each driven gear moves Shi Junjin
One step drive rotating arm turn an angle, rotating arm rotate when by transmission mechanism pull two fixture blocks it is close to each other move or
Separate, to realize the clamping to material, due to the constant airspeed of partial gear rotation, alternately the station of design can be very big
Increase multistation between degree of cooperation, be conducive to rhythmization, precision operation.
The present invention is converted solar energy into electrical energy by solar energy photovoltaic panel, and further converts electrical energy into battery group
Chemical energy when the not enough power supply of battery group, cut by switching switch to be powered by solar energy to robot
Mains-supplied is shifted to, energy-saving and environment-friendly purpose has been reached.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of new energy intelligent robot clamping device proposed by the present invention；
Fig. 2 is partial gear and driven gear mesh schematic representation in Fig. 1 of the present invention；
Fig. 3 is a kind of side view of new energy intelligent robot clamping device proposed by the present invention；
Fig. 4 is transmission mechanism schematic diagram in Fig. 1 of the present invention；
Fig. 5 is clamping device schematic diagram in Fig. 1 of the present invention.
In figure: 1 fixed disk, 2 partial gears, 3 driven gears, 4 rotating arms, 5 transmission mechanisms, 51 first connecting rods, 52
Two connecting rods, 53 third connecting rods, 54 fixture blocks, 55 extension springs, 6 clamping devices, 61 tripods, 62 reset springs, 63 support blocks, 64 are supported
Slot, 65 sliding slots, 66 sliding blocks, 7 fixed arms, 71 flutings, 72 floral discs, 73 flutings, 8 bodies, 9 support columns, 10 output shafts, 11 bearings
Seat, 12 machine cavities, 13 decelerating motors, 14 solar energy photovoltaic panels, 15 light sensors, 16 solar energy regulating mechanisms, 17 charge storage elements,
18 top plates.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to figs. 1 to 5, a kind of new energy intelligent robot clamping device, including body 8 is opened up in the body 8 organic
Chamber 12 is equipped with decelerating motor 13 in the machine cavity 12, and the upper end of the body 8 is circumferentially welded with a circle support column 9, the branch
The upper end of dagger 9 is fixedly connected with horizontally disposed fixed disk 1, and the output shaft of the decelerating motor 13 runs through the inner wall of machine cavity 12
And it is fixedly connected with output shaft 10, the output shaft 10 is rotatably connected on body 8 by bearing block 11, and the output shaft 10 is remote
One end from decelerating motor 13 runs through the middle part of fixed disk 1 and is fixedly connected with partial gear 2 by flat key, and fixed disk is not with
Complete gear 2 is that the center of circle is circumferentially provided at least one driven gear 3, and the middle part of the driven gear 3 is rotated by shaft to be connected
It connects in the upper end of fixed disk 1, the axis rotation of the driven gear 3 is fixedly connected with rotating arm 4, circumferential direction in the fixed disk 1
It is provided with the fixed arm 7 being used cooperatively with rotating arm 4, the fixed arm 7 is mounted in fixed disk 1 by floral disc 72 and bolt,
Clamping device 6 is installed on the fixed arm 7.
The clamping device includes tripod 61, reset spring 62 and support block 63；The tripod 61 is bolted
It is connected on fixture block 54, the reset spring 62 is welded on fixture block 54 and is located between two tripods 61, the reset bullet
Spring 62 is welded with support block 63 far from one end of fixture block 54, and support block 63 is slidably connected on tripod 61.The effect of clamping device 6
It is, clamped by two support blocks 63 to article between the two, the effect of reset spring 62 is to compensate, and prevents card
Extremely, mechanical wear is caused.
The support block 63 offers arrival slot 64 far from one end of reset spring 62, and semicircle can be used in arrival slot 64, can also adopt
With rectangle etc., can be changed according to the shape of object to be held.
Two tripod 61 one end close to each other offer the sliding slot 65 using rectangular configuration, the sliding slot 65
Sliding block 66 is inside slidably connected, the sliding block 66 is fixedly connected with sliding block 66 with the side wall of support block 63 and limit is played in the setting of sliding slot 65
The effect of position, to make support block 63 that can only realize linear motion.
Transmission mechanism 5, the output end of the transmission mechanism 5 and the input terminal of clamping device 6 are connected on the rotating arm 4
Connection.
The transmission mechanism 5 includes first connecting rod 51, second connecting rod 52, third connecting rod 53 and fixture block 54；Specific connection side
Formula is as follows: one end of the first connecting rod 51 is rotatably connected on rotating arm 4 by pin shaft, the other end of the first connecting rod 51
It is rotatablely connected jointly with second connecting rod 52 and third connecting rod 53 by pin shaft, the quantity of the fixture block 54 is two, and two folders
Block 54 is fixedly connected with second connecting rod 52 and third connecting rod 53 respectively, and one end that two fixture blocks 54 are located remotely from each other is welded with stretching
Spring 55, the described one end of extension spring 55 far from fixture block 54 are welded on fixed arm 7.The effect of transmission mechanism 5 is, leads to
Crossing first connecting rod 51 pulls second connecting rod 52 and second connecting rod 53 to move synchronously, the further band of second connecting rod 52 and third connecting rod 53
Move two movements close to each other of fixture block 54.
Further preferably, the length of the second connecting rod 52 is less than the length of third connecting rod 53, since rotating arm 4 is rotation
Movement, thus the length compensation needed when the movement of second connecting rod 52 is smaller.
Fluting 71 is offered on the fixed arm 7, the second connecting rod 52 connects with the coupling part of fixture block 54 and third
The coupling part of bar 53 and fixture block 54 passes through fixed pin and is slidably connected in fluting 71.The work of limit is played in the setting of fluting 71
With to make second connecting rod 52 and third connecting rod 53 that can only realize linear motion.Second connecting rod 52 and third connecting rod 53 mutually lean on
When nearly movement, two support blocks 63 can be driven to clamp material between the two, drive is played in the setting of extension spring 55
The effect that fixture block 54 resets.
The upper end of the fixed arm 7 is fixedly connected with horizontally disposed top plate 18, and the upper end of the top plate 18 is equipped with too
It is positive can photovoltaic panel 14 and the matched solar energy regulating mechanism 16 used, be equipped with for chasing after on the solar energy photovoltaic panel 14
The bottom end of the light sensor 15 of track sunray, the top plate 18 is fixedly connected with charge storage element 17；The charge storage element 17
Including battery group, electric pressure converter and switching switch, the switching switch and battery group and solar energy photovoltaic panel 14 are electrical
Connection.
Further preferably, the quantity of the driven gear 3 is four, and the circumferential setting of four driven gears 3 is in fixed disk 1
On.
Further preferably, the partial gear 2 can only be engaged with a driven gear 3 simultaneously, to realize multiple rotations
4 alternately operating of pivoted arm.
The present invention is converted solar energy into electrical energy by solar energy photovoltaic panel 14, and further converts electrical energy into battery
The chemical energy of group passes through switching switching to mains-supplied when the not enough power supply of battery group.
Decelerating motor 13, decelerating motor 13 and then the drive rotation of output shaft 10 are opened when operation, the drive of output shaft 10 is therewith
The partial gear 2 being fixedly connected rotates, and partial gear 2 alternately drives the multiple driven gears 3 being circumferentially arranged to transport when rotating
Dynamic, each driven gear 3 is further driven to rotating arm 4 when moving and turns an angle, and rotating arm 4 passes through driver when rotating
Structure 5 pulls the movement or separate close to each other of two fixture blocks 54, to realize the clamping to material.
In the present invention unless specifically defined or limited otherwise, term " sliding ", " rotation ", " fixation ", " being equipped with " etc.
Term shall be understood in a broad sense, for example, it may be being welded to connect, be also possible to be bolted, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of new energy intelligent robot clamping device, including body (8), which is characterized in that offered in the body (8)
Machine cavity (12), the machine cavity (12) is interior to be equipped with decelerating motor (13), and the upper end of the body (8) is circumferentially welded with circle support
The upper end of column (9), the support column (9) is fixedly connected with horizontally disposed fixed disk (1), the output of the decelerating motor (13)
Axis runs through the inner wall of machine cavity (12) and is fixedly connected with output shaft (10), and the output shaft (10) is connected by bearing block (11) rotation
It connects on body (8), the output shaft (10) is run through the middle part of fixed disk (1) far from the one end of decelerating motor (13) and passed through flat
Key is fixedly connected with partial gear (2), and fixed disk is that the center of circle is circumferentially provided at least one driven tooth with partial gear (2)
It takes turns (3), the middle part of the driven gear (3) is rotatably connected on the upper end of fixed disk (1), the driven gear (3) by shaft
Axis rotation be fixedly connected with rotating arm (4), be circumferentially provided on the fixed disk (1) and to be used cooperatively with rotating arm (4)
Fixed arm (7) is equipped with clamping device (6) on the fixed arm (7), is connected with transmission mechanism (5) on the rotating arm (4),
The output end of the transmission mechanism (5) is connect with the input terminal of clamping device (6)；
The upper end of the fixed arm (7) is fixedly connected with horizontally disposed top plate (18), and the upper end of the top plate (18) is equipped with
Solar energy photovoltaic panel (14) and the matched solar energy regulating mechanism (16) used are installed on the solar energy photovoltaic panel (14)
There is the light sensor (15) for tracking sunray, the bottom end of the top plate (18) is fixedly connected with charge storage element (17)；
The charge storage element (17) includes battery group, electric pressure converter and switching switch, switching switch and battery group and too
Positive energy photovoltaic panel (14) is electrically connected.
2. a kind of new energy intelligent robot clamping device according to claim 1, which is characterized in that the driven gear
(3) quantity is four, and four driven gears (3) are circumferentially arranged on fixed disk (1).
3. a kind of new energy intelligent robot clamping device according to claim 1, which is characterized in that the incomplete tooth
Wheel (2) can only be engaged with a driven gear (3) simultaneously.
4. a kind of new energy intelligent robot clamping device according to claim 1, which is characterized in that the fixed arm
(7) it is mounted on fixed disk (1) by floral disc (72) and bolt.
5. a kind of new energy intelligent robot clamping device according to claim 1, which is characterized in that the transmission mechanism
It (5) include first connecting rod (51), second connecting rod (52), third connecting rod (53) and fixture block (54)；
One end of the first connecting rod (51) is rotatably connected on rotating arm (4) by pin shaft, the first connecting rod (51) it is another
One end is rotatablely connected with second connecting rod (52) and third connecting rod (53) jointly by pin shaft, and the quantity of the fixture block (54) is two
It is a, and two fixture blocks (54) are fixedly connected with second connecting rod (52) and third connecting rod (53) respectively, two fixture blocks (54) are mutually remote
From one end be welded with extension spring (55), the extension spring (55) is welded on fixed arm far from the one end of fixture block (54)
(7) on.
6. a kind of new energy intelligent robot clamping device according to claim 5, which is characterized in that the second connecting rod
(52) length is less than the length of third connecting rod (53).
7. a kind of new energy intelligent robot clamping device according to claim 5, which is characterized in that the fixed arm
(7) it is offered on fluting (71), the coupling part and third connecting rod (53) of the second connecting rod (52) and fixture block (54) and folder
The coupling part of block (54) passes through fixed pin and is slidably connected in fluting (71).
8. a kind of new energy intelligent robot clamping device according to claim 5, which is characterized in that the clamping device
It (6) include tripod (61), reset spring (62) and support block (63)；The tripod (61) is bolted to connection in fixture block
(54) on, the reset spring (62) is welded on fixture block (54) and is located between two tripods (61), the reset spring
(62) one end far from fixture block (54) is welded with support block (63), and support block (63) is slidably connected on tripod (61).
9. a kind of new energy intelligent robot clamping device according to claim 8, which is characterized in that the support block (63)
One end far from reset spring (62) offers arrival slot (64).
10. a kind of new energy intelligent robot clamping device according to claim 8, which is characterized in that two described three
Foot prop (61) one end close to each other offers the sliding slot (65) using rectangular configuration, slidably connects in the sliding slot (65)
Sliding block (66), the sliding block (66) are fixedly connected with the side wall of support block (63).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910182683.XA CN109719717A (en) | 2019-03-12 | 2019-03-12 | A kind of new energy intelligent robot clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910182683.XA CN109719717A (en) | 2019-03-12 | 2019-03-12 | A kind of new energy intelligent robot clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109719717A true CN109719717A (en) | 2019-05-07 |
Family
ID=66302240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910182683.XA Withdrawn CN109719717A (en) | 2019-03-12 | 2019-03-12 | A kind of new energy intelligent robot clamping device |
Country Status (1)
| Country | Link |
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| CN (1) | CN109719717A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111003584A (en) * | 2020-01-06 | 2020-04-14 | 顾建荣 | Conveying device for correcting limiting cable |
| CN111993402A (en) * | 2020-07-14 | 2020-11-27 | 兰州电机股份有限公司 | Mechanical arm for grabbing shaft |
| CN117140582A (en) * | 2023-10-13 | 2023-12-01 | 衢州市万龙机械制造有限公司 | Industrial robot snatchs arm with intelligence |
| CN117773902A (en) * | 2024-01-24 | 2024-03-29 | 博科数联(青岛)智能科技有限公司 | Mechanical arm for intelligent industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111003584A (en) * | 2020-01-06 | 2020-04-14 | 顾建荣 | Conveying device for correcting limiting cable |
| CN111003584B (en) * | 2020-01-06 | 2021-10-22 | 惠州市供电局电器安装有限公司 | Conveying device for correcting limiting cable |
| CN111993402A (en) * | 2020-07-14 | 2020-11-27 | 兰州电机股份有限公司 | Mechanical arm for grabbing shaft |
| CN111993402B (en) * | 2020-07-14 | 2023-10-27 | 兰州电机股份有限公司 | Mechanical arm for grabbing shaft |
| CN117140582A (en) * | 2023-10-13 | 2023-12-01 | 衢州市万龙机械制造有限公司 | Industrial robot snatchs arm with intelligence |
| CN117140582B (en) * | 2023-10-13 | 2024-03-29 | 衢州市万龙机械制造有限公司 | Industrial robot snatchs arm with intelligence |
| CN117773902A (en) * | 2024-01-24 | 2024-03-29 | 博科数联(青岛)智能科技有限公司 | Mechanical arm for intelligent industrial robot |
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Application publication date: 20190507 |