CN111300470A - Automatic change drive manipulator - Google Patents
Automatic change drive manipulator Download PDFInfo
- Publication number
- CN111300470A CN111300470A CN202010262127.6A CN202010262127A CN111300470A CN 111300470 A CN111300470 A CN 111300470A CN 202010262127 A CN202010262127 A CN 202010262127A CN 111300470 A CN111300470 A CN 111300470A
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- cylinder
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- 230000008859 change Effects 0.000 title claims description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000000670 limiting effect Effects 0.000 claims description 12
- 239000002245 particle Substances 0.000 claims description 8
- 238000003825 pressing Methods 0.000 claims description 8
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000000926 separation method Methods 0.000 description 9
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008602 contraction Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003781 tooth socket Anatomy 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B25J9/16—Programme controls
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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
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic driving manipulator, which is characterized by comprising a sensor, a singlechip, an electromagnetic switch controlled by the singlechip and a driving device, wherein the driving device is arranged on the singlechip; the driving device is detachably connected with a plurality of grippers; the driving device is also connected with an air cylinder; the distance between the air cylinder pushing grippers is enlarged; the other end of the cylinder is fixedly connected with a flat plate; a connecting rod is fixedly arranged on the driving device; the other end of the connecting rod movably penetrates through the flat plate; the driving device comprises a body; the telescopic member is connected with the round plate through a transmission member; the invention has the advantages of convenient clamping, electric driving and convenient movement through the transmission chain.
Description
Technical Field
The present invention relates to a robot arm, and more particularly, to an automated driving robot 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. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.
The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
Disclosure of Invention
The invention provides an automatic driving manipulator which has the beneficial effects of convenience in clamping, electric driving and convenience in moving through a conveying chain.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an automatic change drive manipulator, includes the sensor, singlechip and carry out the electromagnetic switch who controls through the singlechip, its characterized in that: a driving device is also arranged; the driving device is detachably connected with a plurality of grippers; the driving device is also connected with an air cylinder; the distance between the air cylinder pushing grippers is enlarged; the other end of the cylinder is fixedly connected with a flat plate; a connecting rod is fixedly arranged on the driving device; the other end of the connecting rod movably penetrates through the flat plate; the driving device comprises a body; a circular plate arranged on the body, and a telescopic piece connected with the circular plate through a transmission piece.
Through the arrangement, the manipulator senses the parts to be clamped through the sensor and then judges the parts through the computer, the singlechip is used for controlling the electromagnetic switch to drive the cylinder to stretch, the cylinder stretches to drive the whole driving device to realize the folding and the separation of the three grippers, thereby realizing the clamping of the parts, after the clamping, the control program of the computer drives the chain to rotate and drives the flat plate to move, thereby moving the manipulator on a plane, and because the air cylinder is fixed on the flat plate, when the piston rod of the air cylinder extends forwards, the driving device moves forwards, the two connecting rods slide with the flat plate, two limit rings can be arranged on the connecting rod, when the piston rod moves forwards to a certain distance, the limit rings are abutted against the flat plate for limiting, therefore, the piston rod continues to move forwards, the separation and the folding of the hand grip can be realized, and the extension and the contraction of the driving device can be realized in the arrangement mode; the principle of separation and folding of the grippers on the driving device is that the piston rod moves forwards to drive the circular plate to rotate, the driving piece is connected with the telescopic piece and the circular plate respectively, the distance between the telescopic piece and two pin shafts connected with the driving piece on the circular plate is reduced due to rotation of the circular plate, and under the condition, the driving piece can only push the telescopic piece to move outwards, so that separation of the grippers is achieved, and folding of the grippers is achieved.
The invention is further configured to: the body is provided with a circle accommodating groove; the body is also provided with a strip-shaped gap communicated with the containing circular groove; a prismatic part is integrally arranged in the circular plate; the prismatic part is provided with a through hole; an arc-shaped groove extending upwards is formed in the through hole; a piston rod on the cylinder is inserted into the through hole on the prismatic piece; the piston rod is provided with convex particles matched with the inner grooves of the through holes; when the cylinder pushes the piston rod to move forwards, the convex particles move along the track of the groove to drive the circular plate to rotate.
Through the arrangement, the through hole is internally provided with the arc-shaped groove extending upwards and the convex particles on the piston rod matched with the groove, so that the circular plate is driven to rotate when the piston rod stretches and retracts, and the tongs are separated and folded.
The invention is further configured to: the two ends of the transmission part are respectively and movably connected with the circular plate and the telescopic part through pin shafts; one side of the telescopic piece, which is far away from the circular plate, is provided with an inserting groove; the upper surface of the telescopic piece is provided with a connecting hole; the connecting hole is communicated with the inserting groove.
Through the arrangement, when the circular plate rotates, the distance between the circular plate and the pin shaft on the telescopic piece is reduced or enlarged, and the circular plate is limited by the circular accommodating groove because the distance of the transmission piece is unchanged, so that the telescopic piece can only be driven to move along the direction of the strip-shaped notch, and the separation and the folding of the grippers are realized.
The invention is further configured to: the upper surface of the body is provided with three arc-shaped pieces which enclose a circle; a pressing plate is arranged on the upper end face of the arc-shaped piece; a plane bearing is arranged at the position of the pressing plate opposite to the prismatic part; the plane bearing is abutted to the prismatic part; the piston rod penetrates through the through hole of the prismatic part and is movably inserted into the plane bearing.
Through the arrangement, the plane bearing can be abutted to the prismatic part, so that the circular plate can be prevented from being ejected out of the circular accommodating groove when the piston rod extends forwards, a limiting effect is achieved, and the plane bearing can reduce friction force and improve efficiency under the condition that the circular plate rotates.
The invention is further configured to: the upper end of the piston rod is provided with a circular groove; the circular groove is internally provided with a spring opposite to the lower surface of the pressing plate.
With the arrangement, the spring can provide elastic restoring force when the piston rod retracts backwards.
The invention is further configured to: the handle is of an L-shaped structure; the lower end of the hand grip is inserted into the insertion groove; the lower end of the hand grip is provided with a threaded hole; and a screw is arranged to penetrate through the connecting hole and is in threaded connection with the threaded hole.
Through the setting, can realize connecting dismantling of tongs, the tongs sets up to L type structure moreover, through the mode that sets up a plurality of screw holes, can change the distance between tongs and the body to change the initial distance size between the tongs.
The invention is further configured to: the upper end of the hand grip is provided with a clamping part; two parallel tooth grooves are arranged on the flat plate.
Through the arrangement, the tooth grooves can be connected with the racks, and then the racks are driven by the motor, so that the whole manipulator can move on a plane position.
The invention is further configured to: the both sides of bar breach opening upper end are provided with the stopper and carry on spacingly to the extensible member.
Through the arrangement, the limit block on the strip-shaped gap can prevent the telescopic piece from being separated from the strip-shaped gap; the limiting effect is realized.
The invention is further configured to: three strip-shaped notches are formed; the transmission part is inserted in the gap of the pin shaft; and the upper end of the pin shaft is provided with a cylinder with the diameter larger than that of the pin shaft to limit the transmission piece.
Through the setting, can rotate between driving medium and the round pin axle, the cylinder can carry on spacingly simultaneously, prevents that the driving medium from breaking away from.
In conclusion, the invention has the following beneficial effects: in the in-service use process, promote the piston rod through the cylinder and move forward, the body moves forward and drives the connecting rod and move forward, and the piston rod is at the process that moves forward, and the drive plectane rotates, orders about to separate between the tongs and fold to realize the effect of manipulator, thereby have convenient centre gripping, electric drive, the convenient beneficial effect that moves through the conveying chain.
Drawings
FIG. 1 is a schematic structural diagram of the present embodiment;
FIG. 2 is a schematic structural diagram of the present embodiment;
FIG. 3 is a schematic structural view of the present embodiment (with the platen and the two fingers removed);
FIG. 4 is a schematic structural diagram of a driving device according to the present embodiment;
fig. 5 is a schematic structural diagram of the driving device of the present embodiment.
Reference numerals: 1. a gripper; 2. a cylinder; 3. a flat plate; 4. a connecting rod; 5. a body; 6. a circular plate; 7. a transmission member; 8. a telescoping member; 9. placing a circular containing groove; 10. a strip-shaped notch; 11. a prismatic member; 12. a groove; 13. a piston rod; 14. a pin shaft; 15. inserting grooves; 16. connecting holes; 17. an arcuate member; 18. pressing a plate; 19. a circular groove; 20. a clamping portion; 21. a tooth socket; 22. and a limiting block.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The embodiment discloses an automatic driving manipulator, as shown in fig. 1 to 5, having the beneficial effects of facilitating clamping, electrically driving, and facilitating movement through a conveying chain. The device comprises a sensor, a singlechip, an electromagnetic switch controlled by the singlechip and a driving device; the driving device is detachably connected with a plurality of grippers 1; the driving device is also connected with a cylinder 2; the distance between the air cylinders 2 and the hand grips 1 is enlarged; the other end of the cylinder 2 is fixedly connected with a flat plate 3; the driving device is fixedly provided with a connecting rod 4; the other end of the connecting rod 4 movably penetrates through the flat plate 3; the drive means comprise a body 5; a circular plate 6 arranged on the body 5, and an expansion piece 8 connected with the circular plate 6 through a transmission piece 7.
Through the arrangement, the manipulator senses a part to be clamped through the sensor, and then after the part is judged by the computer, the single chip microcomputer is used for controlling the electromagnetic switch to drive the cylinder 2 to stretch and retract, the cylinder 2 stretches and retracts to drive the whole driving device to realize the folding and the separation of the three grippers 1, so that the part is clamped, after the part is clamped, a control program of the computer drives the chain to rotate to drive the flat plate 3 to move, so that the manipulator is moved on a plane, and because the cylinder 2 is fixed on the flat plate 3, when a piston rod 13 of the cylinder 2 extends forwards, the driving device moves forwards, the two connecting rods 4 slide with the flat plate 3, the connecting rods 4 can be provided with two limiting rings, when the piston rod 13 moves forwards to a certain distance, the limiting rings abut against the flat plate 3 to limit, so that the piston rod 13 continues to move forwards, and the, by adopting the arrangement mode, the extension and contraction of the driving device can be realized; the principle of the separation and folding of the grippers 1 on the driving device is that the piston rod 13 moves forwards to drive the circular plate 6 to rotate, the driving piece 7 is connected with the telescopic piece 8 and the circular plate 6 respectively, and the circular plate 6 rotates to reduce the distance between the telescopic piece 8 and two pin shafts 14 connected with the driving piece 7 on the circular plate 6, in this case, the driving piece 7 can only push the telescopic piece 8 to move outwards, so that the separation of the grippers 1 is realized, and on the contrary, the folding of the grippers 1 is realized.
The body 5 is provided with a containing circular groove 9; the body 5 is also provided with a strip-shaped gap 10 communicated with the containing circular groove 9; a prismatic part 11 is integrally arranged in the circular plate 6; a through hole is formed in the prismatic part 11; an arc-shaped groove 12 extending upwards is arranged in the through hole; a piston rod 13 on the cylinder 2 is inserted into the through hole on the prismatic component 11; the piston rod 13 is provided with convex particles matched with the through hole inner groove 12; when the cylinder 2 pushes the piston rod 13 to move forward, the convex particles move along the track of the groove 12 to drive the circular plate 6 to rotate.
Through the arrangement, the groove 12 which is arc-shaped and extends upwards in the through hole and the convex particles on the piston rod 13 matched with the groove 12 can drive the circular plate 6 to rotate when the piston rod 13 stretches, so that the tongs 1 are separated and folded.
Two ends of the transmission piece 7 are respectively and movably connected with the circular plate 6 and the telescopic piece 8 through pin shafts 14; the surface of the expansion piece 8, which is far away from the circular plate 6, is provided with an inserting groove 15; the upper surface of the telescopic part 8 is provided with a connecting hole 16; the connecting hole 16 is communicated with the inserting groove 15.
Through the arrangement, when the circular plate 6 rotates, the distance between the circular plate 6 and the pin 14 on the telescopic piece 8 becomes smaller or larger, and because the distance of the transmission piece 7 is unchanged, the circular plate 6 is limited by the circular accommodating groove 9, so that the telescopic piece 8 can only be driven to move along the direction of the strip-shaped notch 10, and the separation and the folding of the hand grips 1 are realized.
The upper surface of the body 5 is provided with three arc-shaped pieces 17 which enclose a circle; a pressing plate 18 is arranged on the upper end face of the arc-shaped piece 17; a plane bearing is arranged at the position of the pressing plate 18 opposite to the prismatic part 11; the plane bearing is abutted to the prismatic part 11; the piston rod 13 passes through the through hole of the prismatic member 11 and is movably inserted into the plane bearing.
Through the arrangement, the plane bearing can be abutted against the prismatic part 11, so that when the piston rod 13 extends forwards, the circular plate 6 is prevented from being pushed out of the circular accommodating groove 9, a limiting effect is achieved, and the plane bearing can reduce friction force and improve efficiency under the condition that the circular plate 6 rotates.
The upper end of the piston rod 13 is provided with a circular groove 19; the circular groove 19 is provided with a spring therein to be opposed to the lower surface of the pressing plate 18. The spring may provide an elastic restoring force when the piston rod 13 is retracted backward.
The hand grip 1 is of an L-shaped structure; the lower end of the hand grip 1 is inserted into the insertion groove 15; the lower end of the hand grip 1 is provided with a threaded hole; a screw is also provided to be threaded through the attachment hole 16 to the threaded hole.
Through the setting, can realize connecting the dismantling of tongs 1, tongs 1 sets up to L type structure moreover, through the mode that sets up a plurality of screw holes, can change the distance between tongs 1 and the body 5 to change the initial distance size between tongs 1.
The upper end of the hand grip 1 is provided with a clamping part 20; two parallel tooth grooves 21 are arranged on the flat plate 3. The tooth grooves 21 may be connected to a rack gear, and then the rack gear is driven by a motor, thereby achieving movement of the entire robot arm in a planar position.
The strip-shaped gap 10 is provided with limiting blocks 22 on two sides of the upper end of the opening to limit the telescopic piece 8. The limiting block 22 on the strip-shaped gap 10 can prevent the telescopic piece 8 from being separated from the strip-shaped gap 10; the limiting effect is realized.
Three strip-shaped notches 10 are arranged; the transmission piece 7 is inserted into the pin shaft 14 in a clearance manner; the upper end of the pin shaft 14 is provided with a cylinder with the diameter larger than that of the pin shaft 14 to limit the transmission member 7. The transmission part 7 and the pin shaft 14 can rotate, and the cylinder can limit the position to prevent the transmission part 7 from being separated.
In the in-service use process, promote piston rod 13 through cylinder 2 and move forward, body 5 moves forward and drives connecting rod 4 and move forward, and piston rod 13 is in the process of moving forward, and drive plectane 6 rotates, orders about to separate and fold between the tongs 1 to realize the effect of manipulator, thereby have convenient centre gripping, electric drive, the convenient beneficial effect that removes through the conveying chain.
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 made within the design concept of the present invention should be included in the scope of the present invention.
Claims (9)
1. The utility model provides an automatic change drive manipulator, includes the sensor, singlechip and carry out the electromagnetic switch who controls through the singlechip, its characterized in that: a driving device is also arranged; the driving device is detachably connected with a plurality of grippers (1); the driving device is also connected with a cylinder (2); the air cylinder (2) pushes the grippers (1) to expand the distance between the grippers; the other end of the cylinder (2) is fixedly connected with a flat plate (3); a connecting rod (4) is fixedly arranged on the driving device; the other end of the connecting rod (4) movably penetrates through the flat plate (3); the drive device comprises a body (5); a circular plate (6) arranged on the body (5), and an expansion piece (8) connected with the circular plate (6) through a transmission piece (7).
2. The automated driven robotic arm of claim 1, wherein: the body (5) is provided with a containing circular groove (9); the body (5) is also provided with a strip-shaped gap (10) communicated with the containing circular groove (9); a prismatic part (11) is integrally arranged in the circular plate (6); the prismatic part (11) is provided with a through hole; an arc-shaped groove (12) extending upwards is arranged in the through hole; a piston rod (13) on the cylinder (2) is inserted into the through hole on the prismatic piece (11); the piston rod (13) is provided with convex particles matched with the through hole inner groove (12); when the cylinder (2) pushes the piston rod (13) to move forwards, the convex particles move along the track of the groove (12) to drive the circular plate (6) to rotate.
3. The automated driven robotic arm of claim 2, wherein: two ends of the transmission piece (7) are respectively and movably connected with the circular plate (6) and the telescopic piece (8) through a pin shaft (14); a splicing groove (15) is formed in the surface of the telescopic piece (8) deviating from the circular plate (6); the upper surface of the telescopic piece (8) is provided with a connecting hole (16); the connecting hole (16) is communicated with the inserting groove (15).
4. The automated driven robotic arm of claim 3, wherein: the upper surface of the body (5) is provided with three arc-shaped pieces (17) which enclose into a circle; a pressing plate (18) is arranged on the upper end surface of the arc-shaped piece (17); a plane bearing is arranged at the position of the pressure plate (18) opposite to the prismatic part (11); the plane bearing is abutted against the prismatic part (11); the piston rod (13) passes through the through hole of the prismatic part (11) and is movably inserted into the plane bearing.
5. The automated driven robotic arm of claim 4, wherein: the upper end of the piston rod (13) is provided with a circular groove (19); a spring is arranged in the circular groove (19) and is opposite to the lower surface of the pressure plate (18).
6. The automated driven robotic arm of claim 5, wherein: the gripper (1) is of an L-shaped structure; the lower end of the gripper (1) is inserted into the insertion groove (15); the lower end of the gripper (1) is provided with a threaded hole; and a screw is arranged to penetrate through the connecting hole (16) and is in threaded connection with the threaded hole.
7. The automated driven robotic arm of claim 6, wherein: the upper end of the gripper (1) is provided with a clamping part (20); two parallel tooth grooves (21) are arranged on the flat plate (3).
8. The automated driven robotic arm of claim 7, wherein: the two sides of the upper end of the opening of the strip-shaped notch (10) are provided with limit blocks (22) for limiting the telescopic piece (8).
9. The automated driven robot of any one of claims 3-8, wherein: three strip-shaped notches (10) are arranged; the transmission part (7) is inserted into the pin shaft (14) in a clearance manner; the upper end of the pin shaft (14) is provided with a cylinder with the diameter larger than that of the pin shaft (14) to limit the transmission member (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010262127.6A CN111300470A (en) | 2020-04-06 | 2020-04-06 | Automatic change drive manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010262127.6A CN111300470A (en) | 2020-04-06 | 2020-04-06 | Automatic change drive manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111300470A true CN111300470A (en) | 2020-06-19 |
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ID=71155551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010262127.6A Pending CN111300470A (en) | 2020-04-06 | 2020-04-06 | Automatic change drive manipulator |
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| Country | Link |
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| CN (1) | CN111300470A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116214476A (en) * | 2023-05-09 | 2023-06-06 | 盐城漫澜信息科技服务有限公司 | Artificial intelligence scientific and technological information acquisition robot and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058410A (en) * | 2015-09-07 | 2015-11-18 | 重庆大学 | Precision outward staying type intelligent industrial robot actuator |
| CN105397738A (en) * | 2015-11-26 | 2016-03-16 | 雅化集团绵阳实业有限公司 | Novel lifting rotating platform |
| CN107718027A (en) * | 2017-11-16 | 2018-02-23 | 温州职业技术学院 | Adaptive inner cylinder clamping manipulator |
| CN108214529A (en) * | 2016-12-22 | 2018-06-29 | 常州轻工职业技术学院 | A kind of manipulator fixture and its obstruction method for line clogging robot |
| CN209614709U (en) * | 2019-03-19 | 2019-11-12 | 浙江亿金电器有限公司 | A kind of contact point welding machine fixture |
-
2020
- 2020-04-06 CN CN202010262127.6A patent/CN111300470A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058410A (en) * | 2015-09-07 | 2015-11-18 | 重庆大学 | Precision outward staying type intelligent industrial robot actuator |
| CN105397738A (en) * | 2015-11-26 | 2016-03-16 | 雅化集团绵阳实业有限公司 | Novel lifting rotating platform |
| CN108214529A (en) * | 2016-12-22 | 2018-06-29 | 常州轻工职业技术学院 | A kind of manipulator fixture and its obstruction method for line clogging robot |
| CN107718027A (en) * | 2017-11-16 | 2018-02-23 | 温州职业技术学院 | Adaptive inner cylinder clamping manipulator |
| CN209614709U (en) * | 2019-03-19 | 2019-11-12 | 浙江亿金电器有限公司 | A kind of contact point welding machine fixture |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116214476A (en) * | 2023-05-09 | 2023-06-06 | 盐城漫澜信息科技服务有限公司 | Artificial intelligence scientific and technological information acquisition robot and method |
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Application publication date: 20200619 |
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