CN110948473B - Polar coordinate type grabbing and storing spherical product manipulator - Google Patents
Polar coordinate type grabbing and storing spherical product manipulator Download PDFInfo
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- CN110948473B CN110948473B CN201911386070.4A CN201911386070A CN110948473B CN 110948473 B CN110948473 B CN 110948473B CN 201911386070 A CN201911386070 A CN 201911386070A CN 110948473 B CN110948473 B CN 110948473B
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- 210000000078 claw Anatomy 0.000 claims abstract description 65
- 238000005520 cutting process Methods 0.000 claims abstract description 54
- 238000003860 storage Methods 0.000 claims abstract description 30
- 230000003287 optical effect Effects 0.000 claims abstract description 12
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 6
- 235000017491 Bambusa tulda Nutrition 0.000 description 6
- 241001330002 Bambuseae Species 0.000 description 6
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 6
- 239000011425 bamboo Substances 0.000 description 6
- 238000009776 industrial production Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a polar coordinate type manipulator for grabbing and storing spherical products, which comprises a polar coordinate type manipulator, wherein one end of the manipulator is connected with a mechanical claw, and the mechanical claw comprises: the mechanical claw ball storage main body is provided with a ball inlet at the lower part; the steering engine fixing bracket is arranged above the mechanical claw ball storage main body; the ball lifting and slicing steering engine is arranged below the steering engine fixing bracket; the upper end of the lifting mechanism is connected with the steering engine fixing bracket, and the lower end of the lifting mechanism is arranged in the lifting mechanism supporting seat; the rotary ball-cutting steering engine is fixed at one side of the lower part of the mechanical claw ball-storing main body; the rotary ball cutting piece is arranged below the rotary ball cutting piece steering engine; the ball lifting cylinder fixing plate is fixed below the mechanical claw ball storage main body; the ball lifting cylinder is fixed below the ball lifting cylinder fixing plate and is communicated with the ball cutting space; the ball lifting sheet is connected with a ball lifting slice steering engine through an optical axis. According to the invention, a plurality of spherical products can be grabbed and stored and then moved to the designated position, so that the speed and accuracy for conveying the spherical products are improved.
Description
Technical Field
The invention relates to the technical field of manipulator for grabbing spherical products, in particular to a polar coordinate manipulator for grabbing and storing spherical products.
Background
In recent decades, industrial manipulators have been developed into a high-tech automatic production device, which is an important branch of industrial robots, is a mechanical device with anthropomorphic arm functions, and can move any object or tool according to the time-varying requirement of space position, so that the operation requirement of certain industrial production is completed, the accuracy of manipulator operation and the capability of completing operation in various environments are achieved, and the industrial manipulator has wide development prospect in various fields of national economy.
At present, most industrial manipulators are finger manipulators, and the finger manipulators can be flexibly applied to various industrial production, and various operations are performed by simulating human fingers, so that the corresponding production purpose is achieved. However, if a plurality of spherical products need to be grasped and stored, and moved to a designated place again, the conventional finger-type manipulator is difficult to accomplish the task, and is relatively clumsy, and the accuracy and speed are difficult to meet the demands.
Disclosure of Invention
The invention discloses a polar coordinate type manipulator for grabbing and storing spherical products, which can grab and store a plurality of spherical products and then move to a designated position, thereby improving the speed and accuracy of conveying the spherical products.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the utility model provides a polar coordinate formula grabs access spherical product manipulator, includes polar coordinate formula arm, arm one end is connected with the gripper, the gripper includes:
the mechanical claw ball storage main body is sealed at the periphery and is provided with a ball inlet at the lower part;
the steering engine fixing bracket is arranged above the mechanical claw ball storage main body;
the ball lifting and slicing steering engine is arranged below the steering engine fixing bracket;
the upper end of the lifting mechanism is connected with the steering engine fixing bracket, the lower end of the lifting mechanism is arranged in the lifting mechanism supporting seat, and the lifting mechanism supporting seat is fixed by the mechanical claw ball storage main body;
the rotary ball-cutting steering engine is fixed on one side of the lower part of the mechanical claw ball-storing main body;
the rotary ball cutting piece is arranged below the rotary ball cutting piece steering engine and is controlled by the rotary ball cutting piece steering engine;
the ball lifting cylinder fixing plate is fixed below the mechanical claw ball storage main body, and a ball cutting space is reserved between the ball lifting cylinder fixing plate and the mechanical claw ball storage main body for accommodating a rotary ball cutting piece steering engine and a rotary ball cutting piece;
the ball lifting cylinder is fixed below the ball lifting cylinder fixing plate and is communicated with the ball cutting space;
the ball lifting piece is connected with the ball lifting slice steering engine through an optical axis and can move up and down between the lower part and the upper part of the ball lifting barrel;
the rotary ball cutting piece can rotate to pass over the ball lifting piece and cover the lower part of the ball inlet.
Further, the lifting mechanism is an electric push rod.
Further, the mechanical claw further comprises a steering engine fixing frame and a mechanical claw rotating steering engine, one side of the steering engine fixing frame is connected with the polar coordinate type mechanical arm, the other side of the steering engine fixing frame is rotationally connected with the mechanical claw rotating steering engine, and the mechanical claw rotating steering engine is used for driving the mechanical claw to rotate.
Further, the ball main part is deposited to rotatory ball piece steering wheel, rotatory ball piece, lift ball section of thick bamboo and gripper all is provided with two, the diameter of lifting ball section of thick bamboo is different in order to snatch the ball of equidimension, and mid portion intercommunication, the optical axis sets up in the position department that two lift ball section of thick bamboo communicate.
Further, the mechanical arm comprises a lifting arm mechanism and a translation arm mechanism, the lifting arm mechanism comprises a lifting driving motor, a lifting screw rod and a lifting connecting block, the lifting screw rod is vertically arranged, the lifting driving motor drives the lifting connecting block to move through the lifting screw rod, the translation arm mechanism comprises a translation driving motor, a translation screw rod and a translation connecting block, the translation screw rod is transversely arranged, the translation driving motor drives the translation connecting block to move through the translation screw rod, and the lifting connecting block is connected with the translation connecting block; and one end of the translation screw rod, which is far away from the translation driving motor, is connected with the mechanical claw. Still further, the arm still includes rotary mechanism, rotary mechanism includes rotary driving motor, pinion and gear wheel, rotary driving motor drives the pinion is rotatory, the pinion with the gear wheel meshing, the gear wheel drives lifting arm mechanism rotation.
Further, the lifting arm mechanism further comprises a module fixing sleeve, the upper part of the module fixing sleeve is sleeved with a large gear, so that the lifting arm mechanism and the lifting arm mechanism synchronously rotate, and the lower part of the module fixing sleeve is sleeved in a bearing and can rotate relative to the bearing; the inside is sleeved with a lifting driving motor.
When the polar coordinate type ball product grabbing and storing manipulator is needed to capture and store the ball products, the ball lifting sheet extends to the bottommost end of the ball lifting cylinder, the ball lifting cylinder is used for covering the ball products, the ball lifting sheet rotates to block the corresponding ball lifting cylinder passage opening and cut the ball products into the ball lifting cylinder passage, the ball products are lifted to the position below the ball cutting sheet, then the ball cutting sheet rotates to the position where the lifted ball products are not blocked, the ball lifting sheet continues to be lifted to the position where the ball products are at least 2/3 of the height of the ball products exceeds the ball cutting sheet, the ball cutting sheet rotates, the ball products are cut into the ball storing main body of the mechanical claw through the ball inlet, and the process is repeated, so that more ball products are captured and stored in the ball storing main body of the mechanical claw. Because the mechanical claw does not need to store spherical products by other external objects, the time for capturing and grabbing the spherical products is shortened, and the spherical products can be covered by the spherical lifting cylinder in the range together, so that the precision requirement for position placement is reduced, the spherical products can be grabbed in a larger range by the relative finger type mechanical arm, and the operation is quicker and more accurate.
Furthermore, the invention adopts a proper polar coordinate type mechanical arm structure, compared with the traditional XYZ-axis three-dimensional motion, the mechanical arm has more flexibility and rapidness in motion due to the fact that the rotating mechanism is arranged in the polar coordinate type three-dimensional motion, and therefore, the mechanical arm can be driven to grab a target object more rapidly and accurately. The polar coordinate type three-dimensional motion structure is quite stable, small in shaking and capable of providing necessary conditions for accurate grabbing of mechanical claws.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic diagram of the front view structure of the present invention.
Fig. 3 is a schematic view of the structure in the ball-catching state of the gripper.
Fig. 4 is a schematic view of the other surface of the robot claw in the ball-catching state.
Fig. 5 is a schematic view of the structure in the ball-cutting state of the gripper.
Fig. 6 is a schematic view of the other surface of the ball-cutting mechanism.
Fig. 7 is a schematic rear view of the ball storing body and the ball lifting cylinder of the mechanical claw.
Fig. 8 is a schematic view of the C-C cross-sectional structure of fig. 7.
Fig. 9 is a schematic top view of the ball-lifting cylinder fixing plate.
Fig. 10 is a schematic perspective view of the lift arm mechanism and the translating arm mechanism.
Fig. 11 is a schematic perspective view of the rotation mechanism.
Fig. 12 is a schematic view of a ball-lifting tab catching a ball.
In the figure, a rotating mechanism 1, a pinion 101, a rotary driving motor 102, a bearing sleeve 103, a large gear 104, a bearing 105, a module fixing sleeve 106, a mechanical claw 2, a rotary ball cutting steering engine 201, a ball lifting cylinder 202, a mechanical claw ball storage main body 203, a steering engine fixing frame 204, a ball lifting cutting steering engine 205, a steering engine fixing bracket 206, a lifting mechanism 207, a ball lifting sheet 208, a rotary ball cutting sheet 209, a ball lifting cylinder fixing plate 210, a ball guiding groove 211, a connecting plate 212, an optical axis 213, a mechanical claw rotary steering engine 214, a ball guiding hole 215, a lifting arm mechanism 3, a lifting screw rod 301, a lifting connecting block 302, a lifting fixing bracket 303, a translation arm mechanism 4, a translation screw rod 401, a translation fixing bracket 402, a translation connecting block 403 and a translation driving motor 404.
Detailed Description
The present invention is further illustrated below with reference to specific examples, but the scope of the present invention is not limited to the following examples.
The utility model provides a polar coordinates formula is grabbed and is taken spherical product manipulator, as shown in fig. 1 and 2, including polar coordinates formula arm, arm one end is connected with the gripper, combines the fig. 3~6 to show, and the gripper includes gripper deposit ball main part 203, steering wheel fixed bolster 206, lifts ball section steering wheel 205, elevating system 207, rotatory section steering wheel 201, rotatory section 209, lifts ball section of thick bamboo fixed plate 210, lifts ball section of thick bamboo 202, lifts ball section of thick bamboo 208 and optical axis 213, wherein: a gripper ball storage main body 203, the periphery of which is closed and used for storing spherical products, and the lower part of which is provided with a ball inlet; the steering engine fixing bracket 206 is arranged above the mechanical claw ball storage main body 203; the ball lifting and slicing steering engine 205 is arranged below the steering engine fixing bracket 206 and is fixed through the steering engine fixing bracket 206; the upper end of the lifting mechanism 207 is connected with the steering engine fixing support 206, the lower end of the lifting mechanism is arranged in the lifting mechanism supporting seat, the lifting mechanism supporting seat is fixed by the mechanical claw ball storage main body 203, namely, the lifting mechanism supporting seat can be connected with one side of the mechanical claw ball storage main body 203 and also can be connected with the top of the mechanical claw ball storage main body 203, and the lifting mechanism 207 lifts the ball lifting slicing steering engine 205 by lifting the steering engine fixing support 206; a rotary ball-cutting steering engine 201 fixed at one side of the lower part of the mechanical claw ball-storing main body 203; the rotary ball cutting blade 209 is arranged below the rotary ball cutting blade steering engine 201 and is controlled by the rotary ball cutting blade steering engine 201; the ball lifting cylinder fixing plate 210 is fixed below the mechanical claw ball storage main body 203 as shown in fig. 7, and a ball cutting space is reserved between the ball lifting cylinder fixing plate and the mechanical claw ball storage main body 203 for accommodating the rotary ball cutting steering engine 201 and the rotary ball cutting 209; the ball lifting cylinder 202 is fixed below the ball lifting cylinder fixing plate 210 and is communicated with the ball cutting space, and generally, through holes, namely ball guiding holes 215, are formed in the ball lifting cylinder fixing plate 210, so that spherical products can be lifted from the ball lifting cylinder 202 to the ball cutting space; the ball lifting piece 208 is connected with the ball lifting slice steering engine 205 through an optical axis 213 and can move up and down between the lower part and the upper part of the ball lifting barrel 202, namely the optical axis 213 passes through the mechanical claw ball storage main body 203 to be connected with the ball lifting slice steering engine 205, the optical axis 213 drives the ball lifting piece 208 to move upwards from the lower part of the ball lifting barrel 202 to the upper part of the ball lifting barrel fixing plate 210 along the ball lifting barrel 202, and the same reverse movement can be also realized; the rotary ball cutting blade 209 can rotate past above the ball lifting blade 208 and shield the ball access below. When it is desired to capture and store the spherical product, as shown in fig. 3 and 4, the ball lifting piece 208 is extended to the bottommost end of the ball lifting barrel 202, then the ball lifting barrel 202 is used to cover the spherical product, and the cover height is more than two thirds of the height of the spherical product, as shown in fig. 12, the ball lifting piece 208 is rotated to block the corresponding passage opening of the ball lifting barrel 202 and cut the spherical product into the passage of the ball lifting barrel 202, as shown in fig. 5 and 6, the lifting mechanism is lifted to drive the ball lifting piece 208 to move upwards, the spherical product is lifted below the ball cutting piece 209, then the ball cutting piece 209 is rotated to a height which does not block the lifted spherical product, the ball lifting piece 208 is continuously lifted to at least 2/3 of the height exceeding the ball cutting piece 209, the ball cutting piece 209 is rotated, the spherical product is cut into the gripper ball storage main body 203 through the ball inlet, the ball cutting piece 209 keeps the ball inlet blocked, the spherical product is not leaked, and the process is repeated to capture more spherical product and store in the gripper ball storage main body 203. When the ball product is in the main body 203, the ball cutting piece 209 is opened before the ball product is lifted to the main body 203, so that the original ball product in the main body 203 falls freely to a height slightly larger than the thickness of the ball cutting piece 209, and then the ball product and the ball product lifted by the ball lifting piece 208 are lifted to a storage area together, and then the ball cutting piece 209 is closed to cut the ball into the main body 203, thereby realizing reciprocating periodic motion and storing the ball product. Preferably, a ball guiding groove 211 is arranged at a position below the ball inlet, and the ball guiding groove 211 can be formed on the side wall of the mechanical claw ball storage main body 203 so as to better guide the spherical product into the mechanical claw ball storage main body 203.
Further, the lifting mechanism 207 is provided in this embodiment, which is convenient to control, the lifting mechanism 207 adopts an electric push rod, and the lifting and descending control of the electric push rod is already in the prior art, which is not described in detail herein.
Further, in order to facilitate the ball grabbing work at each angle, in this embodiment, the mechanical claw is further set to a rotatable angle, the mechanical claw further includes a steering gear fixing frame 204 and a mechanical claw rotating steering gear 214, one side of the steering gear fixing frame is connected with the polar coordinate type mechanical arm, the other side of the steering gear fixing frame is rotationally connected with the mechanical claw rotating steering gear, the mechanical claw rotating steering gear is used for driving the mechanical claw to rotate, in this embodiment, the mechanical claw rotating steering gear 214 is connected with the connecting plate 212, the connecting plate 212 is driven to rotate, the outer end of the connecting plate 212 is connected with the mechanical claw ball storing main body 203, the mechanical claw ball storing main body 203 is driven to rotate, and therefore the ball lifting cylinder 202 can grab spherical products at different positions.
Further, considering that the spherical products have different sizes, the present embodiment specifically designs a structure capable of grabbing balls of different sizes, and as shown in fig. 8 and 9, the rotary ball-cutting steering engine 201, the rotary ball-cutting 209, the ball-lifting barrel 202 and the mechanical claw ball-storing main body 203 are all provided with two parts, which are generally arranged together or separated into two parts by a partition board, and the drawing in the present embodiment illustrates that the separation is performed by the partition board. The diameters of the ball lifting cylinders 202 are different to grasp balls with different sizes, the middle parts are communicated, the optical axis 213 is arranged at the communicated position of the two ball lifting cylinders 202 to realize lifting of the optical axis 213, when the ball lifting cylinders 202 are lifted, the ball lifting plates 208 are positioned in the ball lifting cylinders 202, and the ball lifting plates 208 can be rotatably adjusted to different ball lifting cylinders 202, so that the large ball and the small ball can be grasped and can share the same, and the large ball and the small ball are respectively rotationally cut into different mechanical claw ball storage main bodies 203 through different rotary ball cutting plates 209.
Further, this embodiment still further provides a mechanical arm structure, as shown in fig. 10, the mechanical arm includes lifting arm mechanism 3 and translation arm mechanism 4, including lifting arm mechanism 3 including lift driving motor, lifting screw 301 and lifting connection piece 302, lifting screw 301 vertical setting, be equipped with the internal thread in the lifting connection piece 302 and cooperate with lifting screw 301, lifting driving motor passes through lifting screw 301 drive lifting connection piece rectilinear motion, lifting fixing frame 303 provides a bearing structure for lifting screw 301, but fixed lifting driving motor simultaneously, more specifically, in this embodiment, lifting driving motor's fixed part is connected with lifting fixing frame 303's bottom surface, lifting driving motor's output shaft passes lifting fixing frame 303 and lifting screw 301's one end is connected, lifting screw 301's the other end is connected with lifting fixing frame 303's interior top surface rotation. The translation arm mechanism 4 comprises a translation driving motor 404, a translation screw rod 401 and a translation connecting block 403, wherein the translation screw rod 401 is transversely arranged, internal threads are arranged in the translation connecting block 403 and are matched with the translation screw rod 401, the translation driving motor drives the translation connecting block to transversely linearly move through the translation screw rod, the lifting connecting block 302 is connected with the translation connecting block 403, the lifting connecting block 302 can be directly connected with the translation connecting block 403, and one end, far away from the translation driving motor 404, of the translation screw rod 401 is connected with the mechanical claw through a connecting piece. The translation mount 402 provides a supporting structure for the translation lead screw 401, and can fix the translation driving motor 404 simultaneously, more specifically, in this embodiment, the fixed part of the translation driving motor 404 is connected with the outer side surface of the translation mount 402, and the output shaft of the translation driving motor 404 passes through the translation mount 402 to be connected with one end of the translation lead screw 401, and the other end of the translation lead screw 401 is rotationally connected with the inner top surface of the translation mount 402.
Further, as shown in fig. 11, the mechanical arm further includes a rotation mechanism 1 for rotating at different large angles, the rotation mechanism includes a rotation driving motor 102, a pinion 101 and a large gear 104, the rotation driving motor drives the pinion 101 to rotate, the pinion 101 is meshed with the large gear 104, and the large gear 104 drives the lifting arm mechanism 3 to rotate. The pinion 101 and the large gear 104 referred to herein are relatively large and small in comparison with each other in terms of the size of the two gears, so as to achieve a deceleration function. The embodiment is provided with a rotary driving motor fixing block 105, one side of the rotary driving motor fixing block is used for fixing the rotary driving motor 102, the upper end of the rotary driving motor 102 is connected with the pinion 101, a bearing 105 is arranged below the large gear 104, a fixing part of the bearing 105 is fixedly connected with the bottom plate, the lifting arm mechanism 3 can rotate relative to the bottom plate, the middle of the large gear 104 is fixedly connected with the lifting arm mechanism 3, and the lifting driving motor in the lifting arm mechanism 3 can be buried at a connecting position. More specifically, the embodiment is further provided with a module fixing sleeve 106, the middle part of the module fixing sleeve 106 is large, the upper part and the lower part of the module fixing sleeve 106 are small, the upper part of the module fixing sleeve 106 is sleeved in the large gear 104 and fixedly connected with the inner wall of the large gear 104, the module fixing sleeve can synchronously rotate with the large gear 104, the upper part of the module fixing sleeve 106 is sleeved with a lifting fixing frame 303 or is directly connected with the lifting fixing frame 303, so that the lifting fixing frame 303 is driven to rotate, a lifting driving motor is sleeved in the module fixing sleeve 106, and the fixing part of the lifting driving motor is connected with the module fixing sleeve 106; the lower part of the die set fixing sleeve 106 is sleeved in the two bearing bearings 105 and can rotate relative to the bearing bearings 105, and the bearing bearings 105 are sleeved in the bearing sleeve 103 for protecting the bearing bearings 105; the middle part of the die set fixing sleeve 106 can bear better load. This embodiment has set up this module fixed cover 106 and has hidden lift driving motor to can reduce the height of lifting arm mechanism 3, reduce whole device's occupation space, can make rotary mechanism 1 store the invalid stroke of Y axle's module through module fixed cover 106 promptly, reduce extravagant space, can also reach the rotatory important effect of drive lifting arm mechanism 3.
According to the polar coordinate type mechanical arm structure, the mechanical claw 2 can be driven to rotate in a large angle through the rotation of the rotating mechanism 1, the mechanical claw 2 can be driven to move up and down through the control of the lifting driving motor, and the mechanical claw 2 can be driven to move transversely through the control of the translation driving motor 404, so that the grabbing requirements of spherical products at different positions are met.
Claims (7)
1. The utility model provides a spherical product manipulator is taken to grabbing of polar coordinates formula, includes polar coordinates formula arm, arm one end is connected its characterized in that with the gripper:
the gripper comprises:
the mechanical claw ball storage main body is sealed at the periphery and is provided with a ball inlet at the lower part;
the steering engine fixing bracket is arranged above the mechanical claw ball storage main body;
the ball lifting and slicing steering engine is arranged below the steering engine fixing bracket;
the upper end of the lifting mechanism is connected with the steering engine fixing bracket, the lower end of the lifting mechanism is arranged in the lifting mechanism supporting seat, and the lifting mechanism supporting seat is fixed by the mechanical claw ball storage main body;
the rotary ball-cutting steering engine is fixed on one side of the lower part of the mechanical claw ball-storing main body;
the rotary ball cutting piece is arranged below the rotary ball cutting piece steering engine and is controlled by the rotary ball cutting piece steering engine;
the ball lifting cylinder fixing plate is fixed below the mechanical claw ball storage main body, and a ball cutting space is reserved between the ball lifting cylinder fixing plate and the mechanical claw ball storage main body for accommodating a rotary ball cutting piece steering engine and a rotary ball cutting piece;
the ball lifting cylinder is fixed below the ball lifting cylinder fixing plate and is communicated with the ball cutting space;
the ball lifting piece is connected with the ball lifting slice steering engine through an optical axis and can move up and down between the lower part and the upper part of the ball lifting barrel;
the rotary ball cutting piece can rotate to pass over the ball lifting piece and cover the lower part of the ball inlet.
2. The polar coordinates type robot for gripping and accessing spherical products according to claim 1, wherein:
the lifting mechanism is an electric push rod.
3. The polar coordinates type robot for gripping and accessing spherical products according to claim 1, wherein:
the mechanical claw further comprises a steering engine fixing frame and a mechanical claw rotating steering engine, one side of the steering engine fixing frame is connected with the polar coordinate type mechanical arm, the other side of the steering engine fixing frame is rotationally connected with the mechanical claw rotating steering engine, and the mechanical claw rotating steering engine is used for driving the mechanical claw to rotate.
4. The polar coordinates type robot for gripping and accessing spherical products according to claim 1, wherein:
the rotary ball cutting steering engine, the rotary ball cutting engine, the ball lifting cylinder and the mechanical claw ball storage main body are all provided with two ball storage main bodies, the diameters of the ball lifting cylinders are different to grasp balls of different sizes, the middle parts are communicated, and the optical axis is arranged at the position where the two ball lifting cylinders are communicated.
5. The polar coordinates type robot for gripping and accessing spherical products according to claim 1, wherein:
the mechanical arm comprises a lifting arm mechanism and a translation arm mechanism, the lifting arm mechanism comprises a lifting driving motor, a lifting screw rod and a lifting connecting block, the lifting screw rod is vertically arranged, the lifting driving motor drives the lifting connecting block to move through the lifting screw rod, the translation arm mechanism comprises a translation driving motor, a translation screw rod and a translation connecting block, the translation screw rod is transversely arranged, the translation driving motor drives the translation connecting block to move through the translation screw rod, and the lifting connecting block is connected with the translation connecting block; and one end of the translation screw rod, which is far away from the translation driving motor, is connected with the mechanical claw.
6. The polar coordinates type robot for gripping and accessing spherical products according to claim 5, wherein:
the mechanical arm further comprises a rotating mechanism, the rotating mechanism comprises a rotary driving motor, a pinion and a large gear, the rotary driving motor drives the pinion to rotate, the pinion is meshed with the large gear, and the large gear drives the lifting arm mechanism to rotate.
7. The polar coordinates type robot for gripping and accessing spherical products according to claim 6, wherein:
the lifting arm mechanism further comprises a module fixing sleeve, the upper part of the module fixing sleeve is sleeved with a large gear, so that the lifting arm mechanism and the lifting arm mechanism synchronously rotate, and the lower part of the module fixing sleeve is sleeved in a bearing and can rotate relative to the bearing; the inside is sleeved with a lifting driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911386070.4A CN110948473B (en) | 2019-12-29 | 2019-12-29 | Polar coordinate type grabbing and storing spherical product manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911386070.4A CN110948473B (en) | 2019-12-29 | 2019-12-29 | Polar coordinate type grabbing and storing spherical product manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110948473A CN110948473A (en) | 2020-04-03 |
| CN110948473B true CN110948473B (en) | 2023-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911386070.4A Active CN110948473B (en) | 2019-12-29 | 2019-12-29 | Polar coordinate type grabbing and storing spherical product manipulator |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5639136A (en) * | 1995-02-27 | 1997-06-17 | Tol-O-Matic, Inc. | Multimotion actuator for a rotary gripper |
| CN205704271U (en) * | 2016-05-04 | 2016-11-23 | 天津中安华典数据安全科技有限公司 | The pellet part traced to the source for product captures articulated robot arm |
| JP2017100226A (en) * | 2015-12-01 | 2017-06-08 | 株式会社デンソー | Robot hand |
| CN209717715U (en) * | 2019-01-30 | 2019-12-03 | 广州番禺职业技术学院 | A kind of three coordinate clamp devices |
| CN211415166U (en) * | 2019-12-29 | 2020-09-04 | 桂林电子科技大学 | Polar coordinate type manipulator for grabbing and storing spherical products |
-
2019
- 2019-12-29 CN CN201911386070.4A patent/CN110948473B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5639136A (en) * | 1995-02-27 | 1997-06-17 | Tol-O-Matic, Inc. | Multimotion actuator for a rotary gripper |
| JP2017100226A (en) * | 2015-12-01 | 2017-06-08 | 株式会社デンソー | Robot hand |
| CN205704271U (en) * | 2016-05-04 | 2016-11-23 | 天津中安华典数据安全科技有限公司 | The pellet part traced to the source for product captures articulated robot arm |
| CN209717715U (en) * | 2019-01-30 | 2019-12-03 | 广州番禺职业技术学院 | A kind of three coordinate clamp devices |
| CN211415166U (en) * | 2019-12-29 | 2020-09-04 | 桂林电子科技大学 | Polar coordinate type manipulator for grabbing and storing spherical products |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110948473A (en) | 2020-04-03 |
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