CN110228078A - A kind of clamper of puma manipulator - Google Patents
A kind of clamper of puma manipulator Download PDFInfo
- Publication number
- CN110228078A CN110228078A CN201910377606.XA CN201910377606A CN110228078A CN 110228078 A CN110228078 A CN 110228078A CN 201910377606 A CN201910377606 A CN 201910377606A CN 110228078 A CN110228078 A CN 110228078A
- Authority
- CN
- China
- Prior art keywords
- sliding slot
- movable claw
- wall
- section
- slot outer
- Prior art date
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
Abstract
The invention discloses a kind of clampers of puma manipulator, including sliding slot outer wall A, sliding slot outer wall B, the lower end sliding slot outer wall A sets sliding slot outer wall B, sliding slot outer wall A and sliding slot outer wall B forms sliding slot, sliding slot outer wall A right end is equipped with laser orientation instru-ment, camera is equipped on the right side of laser orientation instru-ment, controller is equipped in sliding slot outer wall A right end, sliding slot outer wall A and sliding slot outer wall B forms sliding slot, sliding slot left end is equipped with fixed block, fixed block right end is equipped with sliding slot column, sliding slot column is equipped with spring, spring right end is equipped with sealing cover, sliding slot column right end is equipped with adjusting block, first segment movable claw is equipped with Section of four movable claw, the second section movable claw right side is equipped with third section movable claw, section four, electric telescopic rod is equipped between movable claw and third section movable claw, section four, pressure sensor is equipped in movable claw；Has the advantages of easy to operate, maintenance cost is low, reduces the damage to product appearance, and the position of object can be determined by laser orientation instru-ment, the real-time record course of work.
Description
Technical field
The present invention relates to intelligent machine technical fields, and in particular to is a kind of clamper of puma manipulator.
Background technique
Mechanical arm holder pushes industrial further development to play important work to industrial production automation is realized
With.Industry mechanical arm clamper can replace manpower and carry out onerous toil, and the significant labor intensity for mitigating worker improves labour
Condition can operate under hostile environment to protect personal safety, thus be widely used in machine-building, metallurgy, electronics, light industry and
The departments such as atomic energy, can more raise labour productivity and automatization level；Traditional mechanical arm holder holds in product clamping
Easily cause to damage to product appearance；Meanwhile it not can determine that the position of object and whether having caught object.
Summary of the invention
The purpose of the present invention is to provide the clamper of kind of puma manipulator, have easy to operate, maintenance cost is low, subtracts
The advantages of having lacked the damage to product appearance, the position of object can be determined by laser orientation instru-ment, having recorded the course of work in real time,
Solves problem of the prior art.
To achieve the above object, the invention provides the following technical scheme: a kind of clamper of puma manipulator, including sliding slot
Outer wall A, sliding slot outer wall B, fixing seat, sliding slot column, spring, sealing cover, laser orientation instru-ment, camera, adjusting block, first segment activity
Pawl, the second section movable claw, third section movable claw, bolt, electric telescopic rod, Section of four movable claw, pressure sensor, controller,
The lower end sliding slot outer wall A sets sliding slot outer wall B, the sliding slot outer wall A and sliding slot outer wall B composition sliding slot, and the sliding slot outer wall A is right
End is equipped with laser orientation instru-ment, and the laser orientation instru-ment is fixed by screws on sliding slot outer wall A, on the right side of the laser orientation instru-ment
Equipped with camera, the camera is screwed on sliding slot outer wall A, and controller, institute are equipped in the sliding slot outer wall A right end
It states controller to be fixed by screws in sliding slot outer wall A, the sliding slot outer wall A and sliding slot outer wall B form sliding slot, and sliding slot left end is set
There is fixed block, the fixed block is connected with sliding slot inner wall by pulley, and the fixed block right end is equipped with sliding slot column, the sliding slot column
It is fixed by welding on fixed block, the sliding slot column is equipped with spring, and the spring is directly sleeved on sliding slot column, the spring
Right end is equipped with sealing cover, and the sealing cover is fixed by welding on sliding slot, and the sliding slot column right end is equipped with adjusting block, the tune
Locking nub is fixed by welding on sliding slot column, and first segment movable claw and the activity of the second section are bolted on the adjusting block
On pawl, the first segment movable claw is equipped with Section of four movable claw, and Section of four work is bolted in the first segment movable claw
Pawl, the second section movable claw right end are equipped with third section movable claw, and the second section is bolted in the third section movable claw
On movable claw, electric telescopic rod, the electric telescopic rod both ends are equipped between Section of four movable claw and third section movable claw
It is fixed by welding on Section of four movable claw and third section movable claw, pressure sensing is equipped in Section of four movable claw
Device, the pressure sensor are fixed by screws in Section of four movable claw.
Preferably, hole is offered among the sealing cover allows sliding slot column to penetrate.
Preferably, Section of four movable claw lower end and third section movable claw upper end are equipped with anti-slop serrations.
Preferably, the power supply connects controller by cable, and the controller connects laser orientation instru-ment by cable, takes the photograph
As on head and pressure sensor.
Preferably, the electric telescopic rod model are as follows: KM01, the laser orientation instru-ment model: LDM42, it is described to take the photograph
As head dummy number are as follows: Sharp CCD, the pressure sensor model: MIK-P300.
Compared with prior art, beneficial effects of the present invention are as follows: a kind of clamper of puma manipulator, easy to operate,
Maintenance cost is low, can effectively reduce to the frictional force for picking up object, can by the position of laser orientation instru-ment precision objects,
Camera records the process of work, and can pressure sensor can detecte clip to object.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of the clamper of puma manipulator of the present invention；
Fig. 2 is a kind of partial schematic diagram of the clamper of puma manipulator of the present invention.
Explanation is marked in figure: 1 sliding slot outer wall A, 2 sliding slot outer wall B, 3 fixing seats, 4 sliding slot columns, 5 springs, 6 sealing covers, 7 are swashed
Light-seeking instrument, 8 cameras, 9 adjusting blocks, 10 first segment movable claws, 11 second section movable claws, 12 third section movable claws, 13 bolts,
14 electric telescopic rods, 15 the 4th sections of movable claws, 16 pressure sensors, 17 controllers.
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, is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
A kind of clamper of puma manipulator referring to FIG. 1-2, including sliding slot outer wall A1, sliding slot outer wall B2, fixing seat 3,
Sliding slot column 4, spring 5, sealing cover 6, laser orientation instru-ment 7, camera 8, adjusting block 9, first segment movable claw 10, the second section movable claw
11, third section movable claw 12, bolt 13, electric telescopic rod 14, Section of four movable claw 15, pressure sensor 16, controller 17 are sliding
The lower end slot outer wall A1 sets sliding slot outer wall B2, sliding slot outer wall A1 and sliding slot outer wall B2 composition sliding slot, and sliding slot outer wall A1 right end is equipped with
Laser orientation instru-ment 7,7 model of laser orientation instru-ment: LDM42, laser orientation instru-ment 7 are fixed by screws on sliding slot outer wall A1, laser
Camera 8,8 model of camera are as follows: Sharp CCD, camera 8 are screwed sliding slot outer wall A1 are equipped on the right side of position indicator 7
On, controller 17 is equipped in sliding slot outer wall A1 right end, controller 17 is fixed by screws in sliding slot outer wall A1, sliding slot outer wall A1
Sliding slot is formed with sliding slot outer wall B2, sliding slot left end is equipped with fixed block 3, and fixed block 3 is connected with sliding slot inner wall by pulley, fixed block
3 right ends are equipped with sliding slot column 4, and sliding slot column 4 is fixed by welding on fixed block 3, and sliding slot column 4 is equipped with spring 5, and spring 5 is direct
It covers on sliding slot column 4,5 right end of spring is equipped with sealing cover 6, and sealing cover 6 is fixed by welding on sliding slot, and 4 right end of sliding slot column is set
There is adjusting block 9, adjusting block 9 is fixed by welding on sliding slot column 4, is connected to first segment activity with bolt 13 on adjusting block 9
On pawl 10 and the second section movable claw 11, first segment movable claw 10 is equipped with Section of four movable claw 15, and first segment movable claw 10 passes through
It is bolted Section of four movable claw 15,11 right end of the second section movable claw is equipped with third section movable claw 12, and third section movable claw 12 is logical
It crosses and is bolted on the second section movable claw 11, electric telescopic rod is equipped between Section of four movable claw 15 and third section movable claw 12
14,14 model of electric telescopic rod are as follows: 14 both ends of KM01 electric telescopic rod are fixed by welding in Section of four movable claw 15 and
On three section movable claws 12, pressure sensor 16 is equipped in Section of four movable claw 15,16 model of pressure sensor: MIK-P300, pressure
Force snesor 16 is fixed by screws in Section of four movable claw 15, hole is offered among sealing cover 6, sliding slot column 4 is allowed to penetrate, the
Four section movable claws, 15 lower end and 12 upper end of third section movable claw are equipped with anti-slop serrations, and power supply connects controller 17, control by cable
Device 17 processed is connected on laser orientation instru-ment 7, camera 8 and pressure sensor 16 by cable,.
Working principle: a kind of clamper of puma manipulator connects clamper with the mechanical arm of existing telescopic rod, power supply
Controller is connected by cable, controller is connected on laser orientation instru-ment, camera and pressure sensor by cable to be guaranteed to set
Standby normal operation drives fixed block 3 to be moved left and right, leads to by 3 telescopic rod of existing machinery arm telescopic rod connection fixing block
Sliding slot outer wall A1 and sliding slot outer wall B2 composition sliding slot is crossed, fixed block 3 slides in sliding slot, and fixed block 3 is equipped with sliding slot column 4, sliding
Slot column 4 is equipped with spring, increases a storage power when can be stretched, and the right side of spring 5 is tightly connected by sealing cover 6
Side passes through the bolted first segment movable claw 10 and the second section movable claw of adjusting block 13 to guarantee the normal work of spring 5
On 11, power is stored in sealing cover 6 by stretching 3 spring 5 of fixed block, to adjust the angle of movable claw, passes through Section of four movable claw
15 and the second section movable claw 12 among electric telescopic rod control the flexible angle of crawl object, laser orientation instru-ment 7 launches
Laser is accurately positioned the position of crawl object, and camera 8 records the course of work, and data storage, movable claw catches object,
Pressure sensor 16 transfers data on controller 17, and controller 17 connects existing machinery arm telescopic rod, to control crawl, closes
Power supply is disconnected when closing machine.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms；Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
Interior, any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (5)
1. a kind of clamper of puma manipulator, it is characterised in that: including sliding slot outer wall A(1), sliding slot outer wall B(2), fixing seat
(3), sliding slot column (4), spring (5), sealing cover (6), laser orientation instru-ment (7), camera (8), adjusting block (9), first segment activity
Pawl (10), the second section movable claw (11), third section movable claw (12), bolt (13), electric telescopic rod (14), Section of four movable claw
(15), pressure sensor (16) and controller (17), the sliding slot outer wall A(1) lower end sets sliding slot outer wall B(2), outside the sliding slot
Wall A(1) and sliding slot outer wall B(2) composition sliding slot, the sliding slot outer wall A(1) right end be equipped with laser orientation instru-ment (7), the laser
Position indicator (7) is fixed by screws in sliding slot outer wall A(1) on, camera (8) are equipped on the right side of the laser orientation instru-ment (7), it is described
Camera (8) is screwed sliding slot outer wall A(1) on, the sliding slot outer wall A(1) controller (17) are equipped in right end, it is described
Controller (17) is fixed by screws in sliding slot outer wall A(1) in, the sliding slot outer wall A(1) and sliding slot outer wall B(2) composition cunning
Slot, sliding slot left end are equipped with fixed block (3), and the fixed block (3) is connected with sliding slot inner wall by pulley, and the fixed block (3) is right
End is equipped with sliding slot column (4), and the sliding slot column (4) is fixed by welding on fixed block (3), and the sliding slot column (4) is equipped with bullet
Spring (5), the spring (5) are directly sleeved on sliding slot column (4), and spring (5) right end is equipped with sealing cover (6), the sealing cover
(6) it is fixed by welding on sliding slot, sliding slot column (4) right end is equipped with adjusting block (9), and the adjusting block (9) passes through welding
It is fixed on sliding slot column (4), is connected to first segment movable claw (10) with bolt (13) on the adjusting block (9) and the second section is living
In pawl (11), the first segment movable claw (10) is equipped with Section of four movable claw (15), and the first segment movable claw (10) is logical
It crosses and is bolted Section of four movable claw (15), the second section movable claw (11) right end is equipped with third section movable claw (12), described
Third section movable claw (12) is bolted on the second section movable claw (11), and Section of four movable claw (15) and third section are living
Electric telescopic rod (14) are equipped between pawl (12), electric telescopic rod (14) both ends are fixed by welding in Section of four work
In pawl (15) and third section movable claw (12), pressure sensor (16) are equipped in Section of four movable claw (15), the pressure
Force snesor (16) is fixed by screws in Section of four movable claw (15).
2. a kind of clamper of puma manipulator according to claim 1, it is characterised in that: the sealing cover (6) is intermediate
Offering hole allows sliding slot column (4) to penetrate.
3. a kind of clamper of puma manipulator according to claim 1, it is characterised in that: Section of four movable claw
(15) lower end and third section movable claw (12) upper end are equipped with anti-slop serrations.
4. a kind of clamper of puma manipulator according to claim 1, it is characterised in that: the power supply is connected by cable
It connects controller (17), the controller (17) passes through cable connection laser orientation instru-ment (7), camera (8) and pressure sensor
(16) on.
5. a kind of clamper of puma manipulator according to claim 1, it is characterised in that: the electric telescopic rod (14)
Model are as follows: KM01, laser orientation instru-ment (7) model: LDM42, camera (8) model are as follows: Sharp CCD, the pressure
Force snesor (16) model: MIK-P300.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910377606.XA CN110228078A (en) | 2019-05-07 | 2019-05-07 | A kind of clamper of puma manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910377606.XA CN110228078A (en) | 2019-05-07 | 2019-05-07 | A kind of clamper of puma manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110228078A true CN110228078A (en) | 2019-09-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910377606.XA Pending CN110228078A (en) | 2019-05-07 | 2019-05-07 | A kind of clamper of puma manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110228078A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111840703A (en) * | 2020-07-28 | 2020-10-30 | 汪佳丽 | Intelligent infusion management identification device and management system thereof |
-
2019
- 2019-05-07 CN CN201910377606.XA patent/CN110228078A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111840703A (en) * | 2020-07-28 | 2020-10-30 | 汪佳丽 | Intelligent infusion management identification device and management system thereof |
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