CN111252550B - Clamping and carrying manipulator of general type - Google Patents
Clamping and carrying manipulator of general type Download PDFInfo
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- CN111252550B CN111252550B CN202010266469.5A CN202010266469A CN111252550B CN 111252550 B CN111252550 B CN 111252550B CN 202010266469 A CN202010266469 A CN 202010266469A CN 111252550 B CN111252550 B CN 111252550B
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- motor
- clamping
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- cavity
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- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a universal clamping and carrying manipulator which comprises a base, wherein a first motor is arranged in the upper surface of the base, the upper end of the first motor is connected with a first rotating shaft, the first rotating shaft is fixedly connected with a supporting arm, the lower surface of the supporting arm is connected with the upper surface of the base in a sliding manner, an extending arm is connected to the upper side of the supporting arm, a lifting mechanism for lifting the extending arm is arranged in the supporting arm, and through changing the length and the distance of clamping pads, clamping and carrying operations can be completed on large objects and small objects, so that the application range of the manipulator is enlarged, the functions are more abundant, the use cost of the manipulator is lowered in a phase-changing manner, and the manipulator is suitable for factories with multiple product types and low yield; the friction force of the clamping pads on the articles can be increased by changing the angle of the clamping blocks, and the clamping pads are suitable for articles in different shapes.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a universal clamping and carrying mechanical arm.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. Is characterized in that various expected operations can be completed through programming, the advantages of the robot and the manipulator machine are combined in structure and performance,
conventional robots may be used only at specific locations, performing fixed actions on a fixed flow line, which may not affect larger plants, and for smaller plants with smaller and more diverse production volumes, expensive and single-function robots may not be suitable, so it is necessary to design a handling robot that can accommodate products of different shapes and sizes.
Disclosure of Invention
The invention aims to provide a universal clamping and carrying manipulator which is used for overcoming the defects in the prior art.
The invention relates to a universal clamping and carrying manipulator which comprises a base, wherein a first motor is arranged in the upper surface of the base, the upper end of the first motor is connected with a first rotating shaft, a supporting arm with the lower surface connected to the upper surface of the base in a sliding manner is fixedly connected onto the first rotating shaft, an extending arm is connected to the upper side of the supporting arm, a lifting mechanism used for lifting the extending arm is arranged in the supporting arm, the left end of the extending arm is connected with a motor base, a telescopic mechanism used for moving the motor base leftwards and rightwards is arranged in the extending arm, a second motor is fixedly arranged in the left surface of the motor base, a second rotating shaft is connected onto the second motor, a rotating block is fixedly connected to the left side of the second rotating shaft, a first air rod is fixedly connected to the left end of the rotating block, a first air pump is fixedly arranged at the left end of the first air rod, and a second air rod is connected onto the first, the pneumatic clamping device is characterized in that a third pneumatic rod is connected to the second pneumatic rod in a sliding mode, a power block is fixedly arranged at one end, far away from the rotating block, of the third pneumatic rod, a power cavity is formed in the power block, a first push rod extending out of the power block penetrates through one side wall, close to the rotating block, of the power cavity, a power mechanism used for pushing the first push rod is arranged in the power cavity, and a clamping mechanism used for clamping articles and symmetrical in the vertical direction is fixedly arranged at the lower end of the first push rod.
On the basis of the technical scheme, the lifting mechanism comprises a screw rod cavity located in the upper surface of the supporting arm, a third motor is fixedly arranged in the bottom wall of the screw rod cavity, the upper side of the third motor is connected with a threaded shaft, the threaded shaft is in threaded connection with a first nut in the screw rod cavity in a sliding mode, two supporting rods which are symmetrical in left and right positions are fixedly arranged on the upper side of the first nut, and the upper ends of the supporting rods are fixedly connected with the lower surface of the extending arm.
On the basis of the technical scheme, the telescopic mechanism comprises a spring cavity fixedly arranged in the left surface of the extension arm, the right end of the spring cavity is fixedly provided with an electromagnet, the left end of the electromagnet is fixedly connected with a spring, the left end of the spring is fixedly connected with a permanent magnet in the spring cavity in a sliding mode, the left end of the permanent magnet is fixedly connected with a push block in the spring cavity in a sliding mode, and the left end of the push block is fixedly connected with a second push rod on the right surface of the motor base.
On the basis of the technical scheme, the power mechanism comprises a fourth motor fixedly arranged in a side wall of the power cavity far away from the rotating block, one end, close to the rotating block, of the fourth motor is connected with a third rotating shaft, a rotating column is fixedly connected to the third rotating shaft, a clamping groove is formed in the rotating column, and a clamping rod fixedly arranged on the first push rod is abutted to the clamping groove.
On the basis of the technical scheme, the clamping mechanism comprises a first-stage air rod which is fixedly arranged on the first push rod and is symmetrical up and down, a second air pump is fixedly connected to the right end of the first-stage air rod, a second-stage air rod is slidably connected to the left side of the first-stage air rod, a third-stage air rod is slidably connected to the left side of the second-stage air rod, a clamping block used for clamping objects is arranged at the left end of the third-stage air rod, a cavity is arranged in the right surface of the clamping block, a bolt is fixedly arranged on the front wall and the rear wall of the cavity, and the left end of the third-stage air rod is rotatably connected with,
the utility model discloses a clamp piece, including tertiary gas pole, change piece, threaded connection, second nut, change piece, third motor, third nut, third.
The invention has the beneficial effects that: the clamping and carrying operation can be completed on large objects and small objects by changing the length and the distance of the clamping pads, so that the application range of the manipulator is increased, the functions are more abundant, the use cost of the manipulator is lowered in a phase-changing manner, and the manipulator is suitable for factories with various product types and low yield; the friction force of the clamping pads on the articles can be increased by changing the angle of the clamping blocks, and the clamping pads are suitable for articles in different shapes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of a general gripping and carrying manipulator of the present invention;
FIG. 2 is an enlarged view of the invention at A in FIG. 1;
FIG. 3 is an enlarged view of the invention at B in FIG. 1;
fig. 4 is a schematic view of the structure of fig. 2 in the direction of C-C according to the present invention.
Detailed Description
The invention will now be described in detail with reference to fig. 1-4, for convenience of description, the following orientations will now be defined: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
Referring to fig. 1 to 4, the general gripping and carrying manipulator according to the embodiment of the present invention includes a base 20, a first motor 21 is disposed in an upper surface of the base 20, an upper end of the first motor 21 is connected to a first rotating shaft 22, a supporting arm 23 having a lower surface slidably connected to the upper surface of the base 20 is fixedly connected to the first rotating shaft 22, an extending arm 29 is connected to an upper side of the supporting arm 23, a lifting mechanism 801 for lifting the extending arm 29 is disposed inside the supporting arm 23, a motor base 30 is connected to a left end of the extending arm 29, a telescopic mechanism 802 for moving the motor base 30 left and right is disposed inside the extending arm 29, a second motor 32 is fixedly disposed in a left surface of the motor base 30, a second rotating shaft 31 is connected to the second motor 32, and a rotating block 33 is fixedly connected to a left side of the second rotating shaft 31, the left end fixedly connected with first gas pole 37 of commentaries on classics piece 33, first gas pole 37's left end is equipped with first air pump 36 admittedly, sliding connection has second gas pole 39 on the first gas pole 37, sliding connection has third gas pole 40 on the second gas pole 39, third gas pole 40 keeps away from the one end of commentaries on classics piece 33 has set firmly power piece 70, the inside power chamber 42 that is equipped with of power piece 70, power chamber 42 is close to run through in a lateral wall of commentaries on classics piece 33 and has stretched out first push rod 48 of power piece 70, the inside power unit 803 that is used for promoting of first push rod 48 that is equipped with of power chamber 42, the lower extreme of first push rod 48 sets firmly the fixture 804 that is used for the upper and lower position symmetry of centre gripping article.
In addition, in one embodiment, the lifting mechanism 801 includes a screw cavity 26 located in the upper surface of the supporting arm 23, a third motor 24 is fixedly disposed in the bottom wall of the screw cavity 26, a threaded shaft 27 is connected to the upper side of the third motor 24, a first nut 25 slidably connected to the screw cavity 26 is threadedly connected to the threaded shaft 27, two support rods 28 are fixedly disposed on the upper side of the first nut 25, the two support rods 28 are symmetrically disposed at left and right positions, the upper ends of the support rods 28 are fixedly connected to the lower surface of the extending arm 29, when the third motor 24 is started, the third motor 24 drives the threaded shaft 27 to rotate, and since the first nut 25 is slidably connected to the screw cavity 26 and is axially limited by the screw cavity 26, the first nut 25 moves up and down under the rotation action of the threaded shaft 27 and drives the support rod 28 to move up and down, The up and down movement of the extension arm 29 is achieved.
In addition, in one embodiment, the telescoping mechanism 802 includes a spring chamber 66 secured within the left surface of the extension arm 29, an electromagnet 67 is fixedly arranged at the right end of the spring cavity 66, a spring 62 is fixedly connected at the left end of the electromagnet 67, the left end of the spring 62 is fixedly connected with a permanent magnet 65 which is slidably connected with the spring cavity 66, the left end of the permanent magnet 65 is fixedly connected with a push block 64 which is connected with the spring cavity 66 in a sliding way, the left end of the push block 64 is fixedly connected with a second push rod 63 with the left end fixedly arranged on the right surface of the motor base 30, when the electromagnet 67 is energized, a repulsive force is generated between the electromagnet 67 and the permanent magnet 65 and the spring 62 is stretched, the pushing block 64 moves leftward and pushes the second pushing rod 63 under the pushing of the permanent magnet 65, and the second pushing rod 63 moves leftward and pushes the motor base 30.
In addition, in an embodiment, the power mechanism 803 includes a fourth motor 46 fixedly disposed in a side wall of the power cavity 42 away from the rotating block 33, one end of the fourth motor 46 close to the rotating block 33 is connected to a third rotating shaft 45, the third rotating shaft 45 is fixedly connected to a rotating column 44, a clamping groove 43 is disposed on the rotating column 44, a clamping rod 47 fixedly disposed on the first push rod 48 is abutted to the clamping groove 43, when the fourth motor 46 rotates, the fourth motor 46 drives the third rotating shaft 45 to rotate, and the third rotating shaft 45 drives the clamping rod 47 to move up and down through the rotating column 44 and the clamping groove 43 and drives the first push rod 48 to move up and down.
In addition, in one embodiment, the clamping mechanism 804 includes a first air rod 49 fixed on the first push rod 48 and symmetrically arranged up and down, a second air pump 38 is fixedly connected to the right end of the first air rod 49, a second air rod 50 is slidably connected to the left side of the first air rod 49, a third air rod 51 is slidably connected to the left side of the second air rod 50, a clamping block 53 for clamping an object is arranged at the left end of the third air rod 51, a cavity 68 is arranged in the right surface of the clamping block 53, a bolt 69 is fixed on the front and rear walls of the cavity 68, the left end of the third air rod 51 is rotatably connected with the bolt 69,
a supporting rod 55 is fixedly connected to one side, far away from the rotating block 33, of the tertiary air rod 51, a motor plate 56 is fixedly connected to the left side of the supporting rod 55, a fifth motor 61 is fixedly arranged on the end face of the inner side of the motor plate 56, a threaded rod 59 is connected to the end face of the inner side of the fifth motor 61, a second nut 60 is connected to the threaded rod 59 in a threaded mode, the second nut 60 is hinged to a rotating rod 58 through a hinge 57, one end, close to the rotating block 33, of the rotating rod 58 is hinged to the clamping block 53 through the hinge 57, a pressure sensor 54 for detecting clamping pressure is fixedly arranged at the left end of the clamping block 53, a telescopic clamping pad 52 is fixedly arranged on one side, close to the rotating block 33, of the clamping block 53 and the primary,
when the second air pump 38 is started, the air pressure in the first-stage air rod 49, the second-stage air rod 50 and the third-stage air rod 51 rises, the second-stage air rod 50 and the third-stage air rod 51 are pushed leftwards to prolong the length of the part which can be clamped, when the fifth motor 61 is started, the fifth motor 61 drives the threaded rod 59 to rotate and enable the second nut 60 to move upwards and downwards, and the clamping blocks 53 rotate oppositely by taking the bolt 69 as a rotation center due to the fact that the second nut 60 moves upwards and downwards to increase friction force when clamping arc-shaped objects.
In the initial state, the threaded rod 59 abuts against the clamping blocks 53, the clamping blocks 53 on the upper side and the lower side are closest to each other, the supporting arm 23 abuts against the extending arm 29, the motor base 30 abuts against the extending arm 29, and the power blocks 70 on the upper side and the lower side are closest to each other.
When the carrying work is needed, the third motor 24 is started, when the third motor 24 is started, the third motor 24 drives the threaded shaft 27 to rotate, and because the first nut 25 is connected with the screw cavity 26 in a sliding manner and is limited by the screw cavity 26 to rotate axially, the first nut 25 moves up and down under the rotating action of the threaded shaft 27 and drives the support rod 28 to move up and down, so that the extending arm 29 moves up and down, the position of the clamping block 53 is adjusted to the height capable of clamping the object, then the third motor 24 is closed,
then the electromagnet 67 is electrified, when the electromagnet 67 is electrified, repulsion is generated between the electromagnet 67 and the permanent magnet 65 and the spring 62 is stretched, the push block 64 is pushed by the permanent magnet 65 to move leftwards and push the second push rod 63, the second push rod 63 moves leftwards and pushes the motor base 30, when the clamping block 53 reaches a position capable of being clamped and laid down smoothly, the current of the electromagnet 67 is kept stable,
then the second motor 32 is started, the clamping block 53 is rotated to a position for clamping the article, then the second motor 32 is closed, then the first air pump 36 and the second air pump 38 are started, when the second air pump 38 is started, the air pressure in the first-stage air rod 49, the second-stage air rod 50 and the third-stage air rod 51 is increased, the second-stage air rod 50 and the third-stage air rod 51 are pushed leftwards for prolonging the length of the clamping part, the first air pump 36 and the second air pump 38 are the same in principle, the length and the distance of the two clamping cushions 52 are adjusted to proper values according to the size of the article to be clamped,
then the fourth motor 46 is started, when the fourth motor 46 rotates, the fourth motor 46 drives the third rotating shaft 45 to rotate, the third rotating shaft 45 enables the clamping rod 47 to move up and down through the rotating column 44 and the clamping groove 43 and drives the first push rod 48 to move up and down, the first push rod 48 can finely adjust the distance between the clamping pads 52 to clamp and put down the object,
then, the first motor 21 is started, and the first motor 21 drives the clamping pad 52 to rotate, so as to realize the conveying action of the clamped object.
When carrying arc article, can start fifth motor 61, when fifth motor 61 starts, fifth motor 61 drives threaded rod 59 and rotates and makes second nut 60 reciprocate, and the up-and-down of second nut 60 makes clamp splice 53 use bolt 69 as the center of rotation and rotates in opposite directions, can increase the frictional force to arc article.
The invention has the beneficial effects that: the clamping and carrying operation can be completed on large objects and small objects by changing the length and the distance of the clamping pads, so that the application range of the manipulator is increased, the functions are more abundant, the use cost of the manipulator is lowered in a phase-changing manner, and the manipulator is suitable for factories with various product types and low yield; the friction force of the clamping pads on the articles can be increased by changing the angle of the clamping blocks, and the clamping pads are suitable for articles in different shapes.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (1)
1. The utility model provides a press from both sides of general type and get transport manipulator, includes the base, its characterized in that: the air pump comprises a base, and is characterized in that a first motor is arranged in the upper surface of the base, the upper end of the first motor is connected with a first rotating shaft, the first rotating shaft is fixedly connected with a supporting arm of which the lower surface is connected with the upper surface of the base in a sliding manner, the upper side of the supporting arm is connected with an extending arm, a lifting mechanism used for lifting the extending arm is arranged in the supporting arm, the left end of the extending arm is connected with a motor base, a telescopic mechanism used for moving the motor base leftwards and rightwards is arranged in the extending arm, a second motor is fixedly arranged in the left surface of the motor base, the second motor is connected with a second rotating shaft, the left side of the second rotating shaft is fixedly connected with a rotating block, the left end of the rotating block is fixedly connected with a first air rod, the left end of the first air rod is fixedly provided with a first air pump, the first air rod is connected with a second, a power block is fixedly arranged at one end, far away from the rotating block, of the third air rod, a power cavity is arranged in the power block, a first push rod extending out of the power block penetrates through the power cavity and is close to one side wall of the rotating block, a power mechanism used for pushing the first push rod is arranged in the power cavity, and a clamping mechanism used for clamping an article and symmetrical in up-and-down position is fixedly arranged at the lower end of the first push rod; the lifting mechanism comprises a screw cavity positioned in the upper surface of the supporting arm, a third motor is fixedly arranged in the bottom wall of the screw cavity, the upper side of the third motor is connected with a threaded shaft, a first nut which is connected with the screw cavity in a sliding manner is connected onto the threaded shaft in a threaded manner, two supporting rods which are symmetrical in left and right positions are fixedly arranged on the upper side of the first nut, and the upper ends of the supporting rods are fixedly connected with the lower surface of the extending arm; the telescopic mechanism comprises a spring cavity fixedly arranged in the left surface of the extension arm, an electromagnet is fixedly arranged at the right end of the spring cavity, a spring is fixedly connected at the left end of the electromagnet, a permanent magnet which is connected with the spring cavity in a sliding manner is fixedly connected at the left end of the spring, a push block which is connected with the spring cavity in a sliding manner is fixedly connected at the left end of the push block, a second push rod with the left end fixedly arranged on the right surface of the motor base is fixedly connected at the left end of the push block, the power mechanism comprises a fourth motor fixedly arranged in one side wall of the power cavity far away from the rotary block, one end of the fourth motor close to the rotary block is connected with a third rotary shaft, a rotary column is fixedly connected on the third rotary shaft, a clamping groove is arranged on the rotary column, a clamping rod fixedly arranged on the first push rod is abutted against the clamping groove, and the clamping mechanism comprises a primary air rod which is fixedly arranged, the right end of the first-stage air rod is fixedly connected with a second air pump, the left side of the first-stage air rod is slidably connected with a second-stage air rod, the left side of the second-stage air rod is slidably connected with a third-stage air rod, a clamping block for clamping articles is arranged at the left end of the third-stage air rod, a cavity is arranged in the right surface of the clamping block, a bolt is fixedly arranged on the front wall and the rear wall of the cavity, the left end of the third-stage air rod is rotatably connected with the bolt, a supporting rod is fixedly connected to one side of the third-stage air rod, which is far away from the rotating block, a motor plate is fixedly connected to the left side of the supporting rod, a fifth motor is fixedly arranged on the end face of the inner side of the motor plate, the end face of the fifth motor is connected with a threaded rod, a second nut is in threaded connection with the threaded rod, the, the left end of the clamping block is fixedly provided with a pressure sensor for detecting clamping pressure, and one side of the clamping block, close to the rotating block, of the first-stage gas rod is fixedly provided with a telescopic clamping pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010266469.5A CN111252550B (en) | 2020-04-07 | 2020-04-07 | Clamping and carrying manipulator of general type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010266469.5A CN111252550B (en) | 2020-04-07 | 2020-04-07 | Clamping and carrying manipulator of general type |
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| Publication Number | Publication Date |
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| CN111252550A CN111252550A (en) | 2020-06-09 |
| CN111252550B true CN111252550B (en) | 2020-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010266469.5A Active CN111252550B (en) | 2020-04-07 | 2020-04-07 | Clamping and carrying manipulator of general type |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111994859B (en) * | 2020-08-01 | 2021-10-22 | 朱深兰 | Automatic canning production line for architectural decoration coating |
| CN112123357B (en) * | 2020-08-28 | 2022-10-25 | 江苏齐鑫智能科技有限公司 | Multi-angle archive management grabbing device and method |
| CN112454338B (en) * | 2020-12-11 | 2023-10-10 | 江苏新光数控技术有限公司 | Multifunctional clamping device for truss manipulator |
| CN114700925B (en) * | 2022-03-03 | 2023-04-07 | 电子科技大学成都学院 | Mechanical arm |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2629928Y (en) * | 2003-07-24 | 2004-08-04 | 李威 | Aluminium alloy head auto-cooling manipulator |
| ITRM20060180A1 (en) * | 2006-03-31 | 2007-10-01 | Cristian Isopo | ELECTROMECHANICAL LIFTING DEVICE |
| CN202155882U (en) * | 2011-06-28 | 2012-03-07 | 苏州经贸职业技术学院 | Carrying manipulator system |
| CN107598916A (en) * | 2017-09-11 | 2018-01-19 | 芜湖凡达机械科技有限公司 | A kind of mechanical positioner |
| CN207643155U (en) * | 2017-11-30 | 2018-07-24 | 浙江机电职业技术学院 | A kind of simple electric mechanical gripper |
| CN209190766U (en) * | 2018-11-01 | 2019-08-02 | 南通龙磁电子有限公司 | It is a kind of for producing the manipulator of ferrite magnetic shoe |
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Effective date of registration: 20201118 Address after: No. 1-101, 2-101 and 3-101, Zhenye Road, Dongjing Town, Songjiang District, Shanghai, 201619 Applicant after: SHANGHAI ZHENGHE INTELLIGENT EQUIPMENT MANUFACTURING Co.,Ltd. Address before: No. 164 Yanshanjiao Village, Zhuge Town, Lanxi City, Jinhua City, Zhejiang Province, 321000 Applicant before: Lanxi Microcloud Automation Technology Co.,Ltd. |
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Denomination of invention: A Universal Clamping and Handling Manipulator Effective date of registration: 20221123 Granted publication date: 20201222 Pledgee: Industrial Bank Co.,Ltd. Shanghai Songjiang sub branch Pledgor: SHANGHAI ZHENGHE INTELLIGENT EQUIPMENT MANUFACTURING Co.,Ltd. Registration number: Y2022310000333 |