CN111421505B - Manipulator capable of screwing bolt - Google Patents
Manipulator capable of screwing bolt Download PDFInfo
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- CN111421505B CN111421505B CN202010435515.XA CN202010435515A CN111421505B CN 111421505 B CN111421505 B CN 111421505B CN 202010435515 A CN202010435515 A CN 202010435515A CN 111421505 B CN111421505 B CN 111421505B
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- groove
- bolt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
- B25B27/14—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator capable of screwing a bolt, which comprises a manipulator arm and a dismounting mechanism, wherein a manipulator claw is arranged at the free end of the manipulator arm, an accommodating cavity is arranged in the manipulator arm, and a communication port is formed in the end surface of the free end; the disassembly mechanism is arranged in the accommodating cavity and comprises a handle and a body, the handle can be held by a mechanical hand claw, the body is provided with a mounting hole, a first clamping seat and a second clamping seat are oppositely arranged in the mounting hole, V-shaped clamping grooves are formed in the two clamping seats, the two clamping grooves can be clamped at two opposite angles of a hexagon nut of a bolt, each groove wall of the two clamping grooves is provided with a pressure sensor, when all the pressure sensors detect pressure, the first clamping seat and the second clamping seat clamp the bolt, the first clamping seat is connected with a driving mechanism in the handle, and the driving mechanism can drive the first clamping seat to move towards or away from the second clamping seat. The manipulator capable of screwing the bolt can realize automatic bolt screwing operation and is suitable for bolts of different types.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator capable of screwing a bolt.
Background
The surface of power equipment is provided with fasteners such as bolt usually for fixed power equipment's frame and shell, and the bolt quantity on the power equipment is more usually, and manual operation intensity of labour is big, and has the potential safety hazard around the power equipment, if the operator is in this position for a long time, situations such as the easy emergence electric shock. In addition, for the power equipment close to the wall, the position of the bolt is hidden, and the manual screwing of an operator is very difficult.
Disclosure of Invention
The embodiment of the invention aims to: the utility model provides a can twist manipulator of bolt soon, its simple structure can realize twisting the bolt operation soon automatically, reduces the operation degree of difficulty, and need not the manual work and be close to equipment operation, safe and reliable.
To achieve the purpose, the embodiment of the invention adopts the following technical scheme:
there is provided a screwable bolt robot comprising:
the mechanical arm is arranged on the movable base, a mechanical claw is arranged at the free end of the mechanical arm, an accommodating cavity is formed in the mechanical arm, a communicating port communicated with the accommodating cavity is formed in the end face of the free end, and the communicating port is located on one side face, which can be gripped by the mechanical claw, at intervals;
the disassembly mechanism is arranged in the accommodating cavity and can move to one side face which can be held by the mechanical hand claw through the communication port, the disassembly mechanism comprises a handle and a body, the mechanical hand claw can hold the handle, the body is arranged at one end of the handle, a mounting hole which penetrates along the thickness direction of the body is arranged in the body, a first clamping seat and a second clamping seat are oppositely arranged in the mounting hole, a V-shaped first clamping groove is formed in the first clamping seat, a V-shaped second clamping groove is formed in the second clamping seat, the first clamping groove and the second clamping groove can be clamped at two opposite corners of a hexagon nut of the bolt, each groove wall of the first clamping groove and the second clamping groove is provided with a pressure sensor, and when all the pressure sensors detect pressure, the bolt is tightly clamped by the first clamping seat and the second clamping seat, the first clamping seat is connected with a driving mechanism in the handle, the driving mechanism can drive the first clamping seat to move towards or away from the second clamping seat so as to change the distance between the first clamping groove and the second clamping groove, and the driving mechanism and the pressure sensor are both connected with a controller.
As a preferable scheme of the manipulator capable of screwing the bolt, a first button and a second button are arranged on the handle, when the first button is pressed by a finger of the manipulator claw, the first clamping seat can move towards a direction close to the second clamping seat, when the second button is pressed by the manipulator claw, the first clamping seat moves towards a direction far away from the second clamping seat, and after the first button and the second button are loosened, the first clamping seat immediately stops moving.
As a preferable scheme of the manipulator capable of screwing the bolt, the body includes a first base and a second base, the first base and the second base are both formed by bending or bending a strip-shaped plate, the outer side wall of the first base is connected with the handle, the first base has a first groove with an opening facing one side away from the handle, the second base has a second groove with an opening facing one side close to the first base, the first base is connected with the second base so that the first groove and the second groove jointly form the mounting hole, the first clamping seat is arranged at the center of the first groove, and the second clamping seat is arranged at the center of the second groove.
As an optimal scheme of the manipulator capable of screwing the bolt, one end of the first base is hinged to one end of the second base through a hinge shaft, the other end of the first base is attracted to the other end of the second base through an electromagnet, and a wire of the electromagnet is connected with a controller in the handle through a wiring channel in the first base.
As an optimal scheme of the manipulator capable of screwing the bolt, a torsional spring is arranged on the hinged shaft and always drives the second base to turn towards one side face of the first base, so that one end, far away from the hinged shaft, of the second base and one end, far away from the hinged shaft, of the first base are magnetically attracted.
As a preferable mode of the bolt-screwable manipulator, a convex part is convexly provided on an outer side of one end of the second base away from the hinge shaft.
As an optimal scheme of the manipulator capable of screwing the bolt, a positioning groove is concavely formed in the end face of one end, away from the hinged shaft, of the second base, and the end face of one end, away from the hinged shaft, of the first base is provided with the electromagnet which can be inserted into the positioning groove.
As a preferable scheme of the manipulator capable of screwing the bolt, the second clamping seat is detachably connected with the second base.
As a preferred scheme of the manipulator capable of screwing the bolt, the driving mechanism comprises a sleeve, one end of the sleeve is provided with a sealing plate, the center of the sealing plate is provided with a threaded hole, the first clamping seat is fixed on the sealing plate through a screw, the screw is a countersunk screw, an internal thread is arranged in the sleeve, the outer wall of the sleeve is provided with a guide convex strip, the handle is internally provided with an installation cavity, the body is provided with a first through hole communicated with the installation cavity, the sleeve is inserted into the first through hole, and a guide groove inserted into the guide convex strip is arranged on the hole wall of the first through hole; the mounting cavity is internally provided with a motor, an output shaft of the motor is connected with a first gear, the first gear is meshed with a second gear, the second gear is coaxially connected with a driving screw rod, and one end, far away from the second gear, of the driving screw rod is inserted into the sleeve and matched with the internal thread.
As an optimal scheme of the manipulator of the bolt of can screwing, be provided with the power in the handle, the power with the controller is connected, the power is connected through the wire and is located the handle is kept away from the electrical socket of body one end, hold the chamber with the just right chamber end of intercommunication mouth is provided with electric socket, electric socket with the energy supply system of manipulator is connected, electric socket with the electrical socket is pegged graft.
As a preferable scheme of the manipulator capable of screwing the bolt, a connecting wire is arranged on the handle, one end of the connecting wire is connected with one end of the handle far away from the body, the other end of the connecting wire is connected with the cavity bottom of the accommodating cavity, and when the dismounting mechanism is completely positioned outside the accommodating cavity and the manipulator claw grips the handle, the connecting wire is in a stretched state.
The embodiment of the invention has the beneficial effects that: the accommodating cavity is arranged, so that the dismounting mechanism can be accommodated and hidden, and the dismounting mechanism is prevented from falling off and being damaged due to collision with external equipment when not in use; the side that can grip through the terminal surface at the free end is close to the manipulator hand claw sets up the intercommunication mouth, can make dismounting mechanism freely slide when the manipulator hand claw upset up to manipulator hand claw department by its gripping, is convenient for realize subsequent bolt operation of twisting, and sets up dismounting mechanism's first cassette into automatic mobilizable structure, can cooperate the bolt of different models to dismantle, and the commonality is strong, and whole operation is automatic, need not manual operation and twists the bolt soon.
Drawings
The invention is explained in more detail below with reference to the figures and examples.
Fig. 1 is a schematic structural view of a detaching mechanism of a bolt-screwable robot according to an embodiment of the present invention.
Fig. 2 is a schematic partial cross-sectional view of a detachment mechanism of an embodiment of the present invention (the second cartridge and the second base are not shown).
In the figure:
100. a disassembly mechanism;
1. a handle; 11. a first button; 12. a second button; 13. a mounting cavity;
2. a body; 21. a first card holder; 211. a first card slot; 22. a second card holder; 221. a second card slot; 23. mounting holes; 24. a first base; 241. a first groove; 25. a second base; 251. a second groove; 252. a convex portion; 26. hinging a shaft; 27. an electromagnet;
3. a pressure sensor; 4. a drive mechanism; 41. a sleeve; 42. closing the plate; 43. a screw; 44. a guide convex strip; 45. a motor; 46. a first gear; 47. a second gear; 48. the screw is driven.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1 and 2, the bolt-screwable manipulator of the present invention includes a manipulator arm (not shown) and a detaching mechanism 100, wherein the manipulator arm is a conventional industrial robot arm, and the basic functions (such as extending, retracting, rotating, etc.) and control of the manipulator arm are well known in the art, and therefore, the detailed description thereof is omitted here.
The mechanical arm is arranged on a movable base, a mechanical claw is arranged at the free end of the mechanical arm, a containing cavity is arranged in the mechanical arm, a communicating port communicated with the containing cavity is formed in the end face of the free end, the communicating port is located on one side face, which can be held by the mechanical claw, at intervals, the dismounting mechanism 100 is used for screwing a bolt, the dismounting mechanism 100 is arranged in the containing cavity and can move to one side face, which can be held by the mechanical claw, through the communicating port, the dismounting mechanism 100 comprises a handle 1 and a body 2, the mechanical claw can hold the handle 1, the body 2 is arranged at one end of the handle 1, a mounting hole 23 penetrating through the body 2 in the thickness direction is formed in the body 2, and a first clamping seat 21 and a second clamping seat 22 are oppositely arranged in the mounting hole 23, the first clamping seat 21 is provided with a V-shaped first clamping groove 211, the second clamping seat 22 is provided with a V-shaped second clamping groove 221, the first clamping groove 211 and the second clamping groove 221 can be clamped at two opposite corners of a hexagon nut of the bolt, each groove wall of the first clamping groove 211 and the second clamping groove 221 is provided with a pressure sensor 3, when all the pressure sensors 3 detect pressure, the bolt is clamped by the first clamping seat 21 and the second clamping seat 22, the first clamping seat 21 is connected with a driving mechanism 4 in the handle 1, the driving mechanism 4 can drive the first clamping seat 21 to move towards or away from the second clamping seat 22 so as to change the distance between the first clamping groove 211 and the second clamping groove 221, and the driving mechanism 4 and the pressure sensors 3 are both connected with a controller. By arranging the accommodating cavity, the dismounting mechanism 100 can be accommodated and hidden, and the dismounting mechanism 100 is prevented from falling off and being damaged by collision with external equipment when not in use; set up the intercommunication mouth through the side that the terminal surface at the free end is close to the manipulator hand claw and can grip, can make dismounting mechanism 100 freely slide when the manipulator hand claw upset up to manipulator hand claw department by its gripping, be convenient for realize subsequent bolt operation of twisting, and set up dismounting mechanism 100's first cassette 21 to automatic mobilizable structure, can cooperate the bolt of different models to dismantle, the commonality is strong, whole operation is automatic, need not manual operation and revolves wrong bolt.
The handle 1 is provided with a first button 11 and a second button 12, when the first button 11 is pressed by fingers of a manipulator paw, the first clamping seat 21 can move towards the direction close to the second clamping seat 22, when the second button 12 is pressed by the manipulator paw, the first clamping seat 21 moves towards the direction far from the second clamping seat 22, and after the first button 11 and the second button 12 are loosened, the first clamping seat 21 immediately stops moving. The fingers of the manipulator claw can automatically select to press different buttons to adjust the distance between the first clamping seat 21 and the second clamping seat 22, so that full-automatic operation is realized.
Specifically, when the manipulator operates, firstly, the palm of the manipulator claw faces upwards, the accommodating cavity is obliquely arranged, the detaching mechanism 100 slides out of the accommodating cavity under the action of self gravity and slides onto the palm of the manipulator claw, the manipulator claw is folded and holds the handle 1 of the detaching mechanism 100, then the base is moved to the equipment needing to screw the bolt, the position of the bolt on the equipment is shot through the camera on the manipulator, then the detaching mechanism 100 is moved to the bolt, the bolt is inserted into the mounting hole 23 of the body 2, the finger of the manipulator claw presses the first button 11 (the first clamping seat 21 and the second clamping seat 22 are farthest away in the initial state), then the first clamping seat 21 starts to move towards the second clamping seat 22 until the pressure sensors 3 of the first clamping seat 21 and the second clamping seat 22 detect the pressure, and the finger of the manipulator claw is loosened, first cassette 21 stops moving, first cassette 21 and the nut of second cassette 22 clamp bolt this moment, the manipulator arm of manipulator begins drive handle 1 rotatory, make the bolt all unscrew from equipment, then manipulator arm takes the nut to collection box department, the finger of manipulator paw presses second button 12, first cassette 21 begins to keep away from second cassette 22, the bolt breaks away from first cassette 21 and second cassette 22 and drops to the collection box in, if the bolt that needs to twist on the equipment has all been handled, manipulator paw upset to manipulator palm up this moment, open manipulator paw, and make manipulator arm slope certain angle up, make dismounting mechanism 100 slide and get back to and hold the intracavity and realize.
In order to prevent the dismounting mechanism 100 from sliding out of the accommodating cavity in the moving process of the whole manipulator, an electromagnet can be arranged in the accommodating cavity to selectively magnetically attract and fix the dismounting mechanism 100, when the dismounting mechanism 100 needs to slide out, the electromagnet is de-energized and demagnetized, and when the dismounting mechanism 100 needs to be fixed, the electromagnet is used for attracting and dismounting the dismounting mechanism 100.
In one embodiment, the body 2 includes a first base 24 and a second base 25, the first base 24 and the second base 25 are both formed by bending or bending a strip-shaped plate, an outer side wall of the first base 24 is connected to the handle 1, the first base 24 has a first groove 241 opening to a side away from the handle 1, the second base 25 has a second groove 251 opening to a side close to the first base 24, the first base 24 and the second base 25 are connected such that the first groove 241 and the second groove 251 jointly form the mounting hole 23, the first clamping seat 21 is disposed at a center of the first groove 241, and the second clamping seat 22 is disposed at a center of the second groove 251. By providing the first base 24 and the second base 25 as detachable structures, the difficulty of manufacturing the entire body 2 can be reduced.
In the present embodiment, the first base 24 and the second base 25 are both circular arc plates.
Specifically, one end of the first base 24 is hinged to one end of the second base 25 through a hinge shaft 26, the other end of the first base 24 attracts the other end of the second base 25 through an electromagnet 27, and a wire of the electromagnet 27 is connected to a controller in the handle 1 through a routing channel in the first base 24. The first base 24 and the second base 25 are connected in a hinged mode, so that the whole manipulator can screw bolts on the back side of equipment arranged close to a wall, at the moment, the mounting hole 23 in the body 2 of the dismounting mechanism 100 is not directly sleeved outside the bolt from the axis direction of the bolt, but the first base 24 and the second base 25 are separated firstly by extruding the side face of the bolt, and then the bolt is clamped between the first clamping groove 211 and the second clamping groove 221 in the mounting hole 23, so that the bolt can be screwed down when the equipment does not need to be carried away even if the equipment is close to the wall; through setting up electro-magnet 27, can open first base 24 and second base 25 when needs, make electro-magnet 27 lose the electricity demagnetization can, when needs revolve wrong bolt, first base 24 and second base 25 can firmly inhale magnetism again and fix together, guarantee that the work of revolving of bolt can go on smoothly.
Preferably, a torsion spring (not shown) is disposed on the hinge shaft 26, and the torsion spring always drives the second base 25 to turn toward a side of the first base 24, so that one end of the second base 25 away from the hinge shaft 26 and one end of the first base 24 away from the hinge shaft 26 are magnetically attracted. The design of the torsion spring can ensure that the first base 24 and the second base 25 can return to the closed position requiring magnetic attraction at any time.
In addition, a convex portion 252 is convexly provided on an outer side of one end of the second base 25 away from the hinge shaft 26. By providing the projection 252, the first base 24 and the second base 25 can be forcibly separated by abutting the projection 252 against the bolt, providing a support point for the separation operation.
In one embodiment, a positioning groove is concavely formed on an end surface of the second base 25 away from the hinge shaft 26, and the electromagnet 27 is arranged on an end surface of the first base 24 away from the hinge shaft 26, and the electromagnet 27 can be inserted into the positioning groove. By providing the positioning groove, the first base 24 and the second base 25 can be prevented from being dislocated at the end having the electromagnet 27, and the connection failure of the two at this position can be effectively prevented.
In one embodiment, the second socket 22 is detachably connected to the second base 25. The detachable connection facilitates the second clamping seat 22 to be replaced with different specifications and models, so as to be suitable for bolts of more models.
Specifically, the second card slot 221 may be detachably connected to the second base 25 through a countersunk screw, or detachably connected to the second base 25 through a snap mechanism.
In one embodiment, the driving mechanism 4 includes a sleeve 41, a sealing plate 42 is disposed at one end of the sleeve 41, a threaded hole is disposed at the center of the sealing plate 42, the first clamping seat 21 is fixed on the sealing plate 42 through a screw 43, the screw 43 is a countersunk screw 43, an internal thread is disposed in the sleeve 41, a guiding convex strip 44 is disposed on an outer wall of the sleeve 41, an installation cavity 13 is disposed in the handle 1, a first through hole communicated with the installation cavity 13 is formed in the body 2, the sleeve 41 is inserted into the first through hole, and a guiding groove inserted into the guiding convex strip 44 is disposed on a hole wall of the first through hole; a motor 45 is arranged in the mounting cavity 13, an output shaft of the motor 45 is connected with a first gear 46, the first gear 46 is meshed with a second gear 47, the second gear 47 is coaxially connected with a driving screw 48, and one end, far away from the second gear 47, of the driving screw 48 is inserted into the sleeve 41 and matched with the internal thread.
In this embodiment, be provided with the power in the handle 1, the power with the controller (the controller here can be the solitary controller in the disassembly body 100, also can be manipulator arm's controller) is connected, the power is located through the wire connection handle 1 keeps away from the electrical socket of body 2 one end, hold the chamber with the just right chamber end of intercommunication mouth is provided with electric socket, electric socket with the energy supply system of manipulator is connected, electric socket with the electrical socket is pegged graft. By providing an electrical outlet and an electrical socket that plugs therewith, the power source of the detachment mechanism 100 can be charged not only by means of the functional system of the manipulator arm.
In addition, a connecting wire is arranged on the handle 1, one end of the connecting wire is connected with one end, far away from the body 2, of the handle 1, the other end of the connecting wire is connected with the bottom of the accommodating cavity, and when the dismounting mechanism 100 is completely positioned outside the accommodating cavity and the manipulator claw grips the handle 1, the connecting wire is in a stretched state. By providing the connecting wire, the dismounting mechanism 100 can be prevented from being damaged by being accidentally knocked down on the ground.
In the description herein, it is to be understood that the terms "upper" and the like are based on the orientation or positional relationship shown in the drawings, which are for convenience of description and simplicity of operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention.
In the description herein, references to the term "an embodiment" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. A rotatable bolt manipulator, comprising:
the mechanical arm is arranged on the movable base, a mechanical claw is arranged at the free end of the mechanical arm, an accommodating cavity is formed in the mechanical arm, a communicating port communicated with the accommodating cavity is formed in the end face of the free end, and the communicating port is located on one side face, which can be gripped by the mechanical claw, at intervals;
the disassembly mechanism is arranged in the accommodating cavity and can move to one side face which can be held by the mechanical hand claw through the communication port, the disassembly mechanism comprises a handle and a body, the mechanical hand claw can hold the handle, the body is arranged at one end of the handle, a mounting hole which penetrates along the thickness direction of the body is arranged in the body, a first clamping seat and a second clamping seat are oppositely arranged in the mounting hole, a V-shaped first clamping groove is formed in the first clamping seat, a V-shaped second clamping groove is formed in the second clamping seat, the first clamping groove and the second clamping groove can be clamped at two opposite corners of a hexagon nut of the bolt, each groove wall of the first clamping groove and the second clamping groove is provided with a pressure sensor, and when all the pressure sensors detect pressure, the bolt is tightly clamped by the first clamping seat and the second clamping seat, the first clamping seat is connected with a driving mechanism in the handle, the driving mechanism can drive the first clamping seat to move towards or away from the second clamping seat so as to change the distance between the first clamping groove and the second clamping groove, and the driving mechanism and the pressure sensor are both connected with a controller.
2. The mechanical arm capable of screwing a bolt according to claim 1, wherein a first button and a second button are disposed on the handle, when the first button is pressed by a finger of the mechanical arm claw, the first clamping seat can move towards a direction close to the second clamping seat, when the second button is pressed by the mechanical arm claw, the first clamping seat moves towards a direction far away from the second clamping seat, and after the first button and the second button are released, the first clamping seat stops moving immediately.
3. The mechanical arm capable of screwing a bolt according to claim 1, wherein the body comprises a first base and a second base, the first base and the second base are both formed by bending or bending a strip-shaped plate, the outer side wall of the first base is connected with the handle, the first base is provided with a first groove with an opening facing to one side away from the handle, the second base is provided with a second groove with an opening facing to one side close to the first base, the first base and the second base are connected, so that the first groove and the second groove jointly form the mounting hole, the first clamping seat is arranged at the center of the first groove, and the second clamping seat is arranged at the center of the second groove.
4. The mechanical arm capable of screwing bolts according to claim 3, wherein one end of the first base is hinged to one end of the second base through a hinge shaft, the other end of the first base attracts the other end of the second base through an electromagnet, and a wire of the electromagnet is connected with the controller in the handle through a wiring channel in the first base.
5. The manipulator of claim 4, wherein the hinge shaft is provided with a torsion spring, and the torsion spring always drives the second base to turn toward a side of the first base, so that one end of the second base away from the hinge shaft and one end of the first base away from the hinge shaft are magnetically attracted.
6. The screw-bolt-twistable manipulator of claim 4 or 5, wherein a protrusion is provided to protrude from an outer side of an end of the second base away from the hinge shaft.
7. The mechanical hand for screwing bolts according to claim 4 or 5, wherein a positioning groove is concavely provided on an end surface of the second base at an end away from the hinge shaft, and the electromagnet is provided on an end surface of the first base at an end away from the hinge shaft, and the electromagnet can be inserted into the positioning groove.
8. The manipulator of claim 1, wherein the driving mechanism includes a sleeve, a sealing plate is disposed at one end of the sleeve, a threaded hole is disposed at the center of the sealing plate, the first clamping seat is fixed on the sealing plate through a screw, the screw is a countersunk screw, an internal thread is disposed in the sleeve, a guiding convex strip is disposed on the outer wall of the sleeve, an installation cavity is disposed in the handle, a first through hole communicated with the installation cavity is formed in the body, the sleeve is inserted into the first through hole, and a guiding groove inserted into the guiding convex strip is disposed on the hole wall of the first through hole; the mounting cavity is internally provided with a motor, an output shaft of the motor is connected with a first gear, the first gear is meshed with a second gear, the second gear is coaxially connected with a driving screw rod, and one end, far away from the second gear, of the driving screw rod is inserted into the sleeve and matched with the internal thread.
9. The mechanical arm capable of screwing the bolt according to claim 1, wherein a power supply is arranged in the handle and connected with the controller, the power supply is connected with an electric socket which is positioned at one end of the handle far away from the body through a lead, an electric socket is arranged at the bottom of the accommodating cavity opposite to the communication port and connected with an energy supply system of the mechanical arm, and the electric socket is plugged with the electric socket.
10. The mechanical hand capable of screwing bolts according to claim 9, wherein the handle is provided with a connecting wire, one end of the connecting wire is connected with one end of the handle far away from the body, the other end of the connecting wire is connected with the bottom of the accommodating cavity, and when the dismounting mechanism is completely positioned outside the accommodating cavity and the mechanical hand claw holds the handle, the connecting wire is in a stretched state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010435515.XA CN111421505B (en) | 2020-05-21 | 2020-05-21 | Manipulator capable of screwing bolt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010435515.XA CN111421505B (en) | 2020-05-21 | 2020-05-21 | Manipulator capable of screwing bolt |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111421505A CN111421505A (en) | 2020-07-17 |
| CN111421505B true CN111421505B (en) | 2021-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010435515.XA Active CN111421505B (en) | 2020-05-21 | 2020-05-21 | Manipulator capable of screwing bolt |
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| CN (1) | CN111421505B (en) |
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