CN111730621A - Manipulator of intelligent robot - Google Patents
Manipulator of intelligent robot Download PDFInfo
- Publication number
- CN111730621A CN111730621A CN202010714196.6A CN202010714196A CN111730621A CN 111730621 A CN111730621 A CN 111730621A CN 202010714196 A CN202010714196 A CN 202010714196A CN 111730621 A CN111730621 A CN 111730621A
- Authority
- CN
- China
- Prior art keywords
- rotary
- worm
- rotating
- plate
- intelligent robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of mechanical manufacturing process equipment, in particular to a manipulator of an intelligent robot, which comprises a first rotating mechanism, a horizontal moving mechanism, a vertical moving mechanism, a second rotating mechanism, a turnover mechanism, a clamping mechanism and a controller, wherein the first rotating mechanism is arranged on the first rotating mechanism; the intelligent robot comprises an intelligent robot body, a first rotating mechanism, a horizontal moving mechanism, a vertical moving mechanism, a second rotating mechanism, a turnover mechanism and a clamping mechanism, wherein the first rotating mechanism is arranged on the intelligent robot body; the scheme changes the traditional XY axis driving mode, is more favorable for curvilinear motion, and each part has self-locking capacity and is accurately controlled.
Description
Technical Field
The invention relates to the field of mechanical manufacturing process equipment, in particular to a manipulator of an intelligent robot.
Background
In the prior art, because the actions of a processing workpiece of the numerical control tool grinding machine during feeding and discharging are complex, some numerical control tool grinding machines with low automation degree can only feed and discharge materials in a manual mode, the labor intensity is high, the automation level is low, and errors are easy to occur in operation; some numerical control tool grinding machines adopt a manipulator for feeding and discharging, but are not well matched with other parts of a machine tool, such as a grinding wheel spindle and a workpiece spindle, and the structure of the numerical control tool grinding machines is unreasonable, so that the feeding production efficiency is influenced.
Chinese patent CN201821482063.5 discloses an intelligent manipulator, which comprises a material claw used for clamping a material rod, and the intelligent manipulator comprises a longitudinal moving mechanism, a transverse moving mechanism, an up-down moving mechanism, and a manipulator turnover mechanism. By adopting the technical scheme, the numerical control system of the computer is utilized to realize good matching with the grinding wheel spindle and the workpiece spindle of the machine tool, realize complex feeding action, improve the feeding automation degree and improve the production efficiency.
But the structure still adopts the traditional XY axis movement mode and is not good at curvilinear motion. And the structure uses the cylinder to realize the lifting and pitching motion, and the precision is lower.
Disclosure of Invention
In order to solve the technical problem, the technical scheme solves the problem, changes the traditional XY axis driving mode, is more favorable for curvilinear motion, and all parts have self-locking capacity and are controlled accurately.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a manipulator of an intelligent robot is characterized by comprising a first rotating mechanism, a horizontal moving mechanism, a vertical moving mechanism, a second rotating mechanism, a turnover mechanism, a clamping mechanism and a controller; the intelligent robot comprises an intelligent robot body, a first rotating mechanism, a horizontal moving mechanism, a vertical moving mechanism, a second rotating mechanism, a turnover mechanism and a clamping mechanism, wherein the first rotating mechanism is arranged on the intelligent robot body, the horizontal moving mechanism is symmetrically and horizontally arranged at the output end of the bottom of the first rotating mechanism, the vertical moving mechanism is vertically fixedly connected with the movable end of the horizontal moving mechanism, the second rotating mechanism is arranged at the bottom end of the vertical moving mechanism, the turnover mechanism is arranged at the output end of the second rotating mechanism, the clamping mechanism is arranged at the working end of the turnover mechanism, and the first rotating mechanism, the.
Preferably, the first rotating mechanism comprises a fixing plate, a worm and gear driving assembly, a first rotating shaft and a stabilizing assembly; fixed plate and intelligent robot body fixed connection, worm gear drive assembly fixed mounting is on the fixed plate, first rotation axis rotates with the fixed plate vertically to be connected, first rotation axis bottom and horizontal migration mechanism top central point fixed connection, the coaxial cover of stabilizing component is established outside first rotation axis and with leave the clearance between the first rotation axis, stabilizing component top and fixed plate bottom fixed connection, stabilizing component installs on horizontal migration mechanism bottom symmetry, worm gear drive assembly is connected with the controller electricity.
Preferably, the worm gear and worm drive assembly comprises a bearing seat, a first worm wheel and a first rotary driver; the pair of bearing seats are oppositely arranged on the fixing plate, two ends of the first worm are rotatably connected with the bearing seats, the first worm wheel is sleeved on the first rotating shaft and is in meshed transmission with the first worm, the first rotary driver is fixedly arranged on the fixing plate, the output end of the first rotary driver is fixedly connected with the first worm, and the first rotary driver is electrically connected with the controller.
Preferably, the stabilizing assembly comprises a guide hanging bracket, a hanging plate, a second rotating shaft, a ball and a limiting block; the guide hanging bracket comprises an annular mounting plate fixedly connected with the top and the bottom of the fixed plate, a hollow cylindrical connecting part coaxially arranged below the annular mounting plate, a circular bearing part arranged below the hollow cylindrical connecting part and an annular groove arranged at the upper end of the circular bearing part around the axis of the circular bearing part, the guide hanging bracket is coaxially arranged with the axis of the first rotating shaft, the top end of the guide hanging bracket is arranged at the bottom of the fixed plate, the first rotating shaft penetrates through the center of the guide hanging bracket, a pair of hanging plates are symmetrically arranged at two sides of the horizontal moving mechanism, the axis of the second rotating shaft is horizontally arranged on the hanging plates, a limiting block is arranged at the end part of the second rotating shaft, a ball is rotatably connected with the second rotating shaft and is arranged between.
Preferably, the horizontal moving mechanism comprises a supporting plate, a mounting seat, a first lead screw, a second rotary driver, a guide rod, a guide groove and a first sliding block; the backup pad is horizontally installed in first rotary mechanism output bottom of symmetry, the both ends at backup pad length direction are installed to the mount pad symmetry, first lead screw both ends are rotated with the mount pad and are connected, second rotary actuator installs on the mount pad and output and first lead screw tip fixed connection, the guide bar sets up symmetrically in first lead screw both sides and tip and mount pad fixed connection, the guide way is seted up on the backup pad bottom surface and with first slider upper end sliding connection, first slider and first lead screw thread link, first slider and guide bar clearance fit, vertical installation is down on first slider of vertical moving mechanism, second rotary actuator is connected with the controller electricity.
Preferably, the vertical moving mechanism comprises a rotary driving assembly and a telescopic assembly; the rotary driving assembly is fixedly installed at the bottom of the output end of the horizontal moving mechanism, the axis of the driving end of the rotary driving assembly is perpendicular to the axis of the output end of the horizontal moving mechanism, the telescopic assembly is fixedly installed at the bottom of the rotary driving assembly, the input end of the telescopic assembly is fixedly connected with the output end of the rotary driving assembly, the second rotary mechanism is fixedly installed at the bottom of the working end of the telescopic assembly, and the rotary driving assembly is electrically connected with the controller.
Preferably, the rotary driving assembly comprises a mounting box, a first transmission shaft, a first right-angle bevel gear, a second transmission shaft, a second right-angle bevel gear and a third rotary driver; install bin fixed mounting is in horizontal migration mechanism work end bottom, first transmission shaft and second transmission shaft rotate with the side of install bin respectively with ground and are connected, first right angle cone gear and second right angle cone gear respectively with first transmission shaft, the second transmission shaft is located the inside one end fixed connection of install bin, first right angle cone gear and the meshing of second right angle cone gear, third rotary actuator installs on the install bin lateral wall and output and first transmission shaft fixed connection, second transmission shaft bottom and flexible subassembly input fixed connection, third rotary actuator is connected with the controller electricity.
Preferably, the telescopic assembly comprises a telescopic frame, an end cover, a second lead screw, a second sliding block, a connecting rod and a bottom plate; the telescopic frame is vertically installed in the bottom of the rotary driving assembly, the end covers are fixedly installed at the upper end and the lower end of the telescopic frame, the two ends of the second lead screw are rotatably connected with the end covers, the top end of the second lead screw is fixedly connected with the output end of the rotary driving assembly, the second slider is connected with the inner portion of the telescopic frame in a east China manner, the connecting rod is vertically installed at the bottom of the second slider around the axis of the second lead screw, the connecting rod is in clearance fit with the end covers at the bottom of the telescopic frame, the bottom plate is fixedly installed at the bottom end of the portion.
Preferably, the second rotating mechanism comprises a driving bracket, a third rotating shaft, a second worm wheel, a fourth rotating driver, a driving gear and an annular toothed plate; drive support fixed mounting is on vertical moving mechanism work end, the third rotation axis rotates with the drive support top to be connected, the second worm rotates with the drive support both sides to be connected, the second worm wheel cup joints on the third rotation axis and meshes with the second worm, the fourth rotary actuator installs on the drive support and output and second worm one end fixed connection, drive gear installs on the third rotation axis, annular toothed plate rotates with vertical moving mechanism work end bottom to be connected, annular toothed plate and drive gear meshing transmission, tilting mechanism fixed mounting is in annular toothed plate bottom, the fourth rotary actuator is connected with the controller electricity.
Preferably, the turnover mechanism comprises a hinge base, an electric push rod, a rotating part, a fourth rotating shaft and an eccentric shaft; articulated seat fixed mounting is in second rotary mechanism bottom, and the fourth rotation axis is installed in the rotating part both sides and is rotated with articulated seat and be connected symmetrically, and the eccentric shaft symmetry is installed on the fourth rotation axis, and electric putter one end is articulated with articulated seat side, and the electric putter output rotates with the eccentric shaft to be connected, and clamping mechanism fixed mounting is on the rotating part, and electric putter is connected with the controller electricity.
Compared with the prior art, the invention has the beneficial effects that:
1. the manipulator is driven by the controller to move linearly in the horizontal direction through the horizontal moving mechanism, and the manipulator moves on a circular horizontal plane under the combined action of the first rotating mechanism and the horizontal moving mechanism;
2. each part all has self-locking ability, and control is accurate, and is specific, and first rotary mechanism, tilting mechanism all adopt worm gear formula drive mode, and horizontal movement mechanism, vertical movement mechanism have all adopted lead screw drive, and tilting mechanism then passes through electric putter accurate control angle.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a second perspective view of the present invention;
FIG. 3 is a front view of the present invention;
fig. 4 is a perspective view of a first rotary mechanism of the present invention;
fig. 5 is an exploded perspective view of a first rotating mechanism of the present invention;
FIG. 6 is a perspective view of the horizontal movement mechanism of the present invention;
FIG. 7 is a perspective view of the vertical movement mechanism of the present invention;
FIG. 8 is an exploded perspective view of FIG. 7;
fig. 9 is a perspective view of a second rotary mechanism of the present invention;
FIG. 10 is a perspective view of the canting mechanism of the present invention;
fig. 11 is a perspective view of the clamping mechanism of the present invention.
Description of reference numerals:
1-a first rotation mechanism; 1 a-a fixed plate; 1 b-a worm gear drive assembly; 1b 1-bearing seat; 1b2 — first worm; 1b3 — first worm gear; 1b4 — first rotary drive; 1 c-a first axis of rotation; 1 d-a stabilizing component; 1d 1-guide hanger; 1d 2-hanging plate; 1d 3-second axis of rotation; 1d 4-ball bearing; 1d 5-stop block;
2-a horizontal moving mechanism; 2 a-a support plate; 2 b-a mounting seat; 2 c-a first lead screw; 2 d-a second rotary drive; 2 e-a guide bar; 2 f-a guide groove; 2 g-a first slider;
3-a vertical moving mechanism; 3 a-a rotary drive assembly; 3a 1-installation box; 3a2 — first drive shaft; 3a 3-first right angle bevel gear; 3a 4-second drive shaft; 3a 5-second right angle bevel gear; 3a 6-third rotary drive; 3 b-a telescopic assembly; 3b 1-telescoping mast; 3b2 — end caps; 3b 3-second lead screw; 3b4 — second slider; 3b 5-connecting rod; 3b 6-bottom plate;
4-a second rotation mechanism; 4 a-a drive carriage; 4 b-a third axis of rotation; 4 c-a second worm; 4 d-a second worm gear; 4 e-a fourth rotary drive; 4 f-drive gear; 4 g-annular toothed plate;
5-turning over mechanism; 5 a-a hinged seat; 5 b-an electric push rod; 5 c-a rotating part; 5 d-a fourth axis of rotation; 5 e-an eccentric shaft;
6-clamping mechanism.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
As shown in fig. 1, fig. 2 and fig. 11, a manipulator of an intelligent robot is characterized by comprising a first rotating mechanism 1, a horizontal moving mechanism 2, a vertical moving mechanism 3, a second rotating mechanism 4, a turnover mechanism 5, a clamping mechanism 6 and a controller; first rotary mechanism 1 is installed on intelligent robot body, horizontal migration mechanism 2 is symmetrically horizontally arranged on first rotary mechanism 1 bottom output, vertical migration mechanism 3 is vertical with 2 expansion end fixed connection of horizontal migration mechanism, second rotary mechanism 4 is installed in 3 bottoms of vertical migration mechanism, tilting mechanism 5 sets up on the 4 output of second rotary mechanism, clamping mechanism 6 is installed on 5 work ends of tilting mechanism, first rotary mechanism 1, horizontal migration mechanism 2, vertical migration mechanism 3, second rotary mechanism 4, tilting mechanism 5, clamping mechanism 6 all is connected with the controller electricity.
The clamping mechanism 6 is a clamping cylinder detachably provided with a clamping plate for clamping a shaft body. The controller drives the horizontal moving mechanism 2 to drive the vertical moving mechanism 3, the second rotating mechanism 4, the turnover mechanism 5 and the clamping mechanism 6 to integrally rotate together through the first rotating mechanism 1. The controller drives the vertical moving mechanism 3, the second rotating mechanism 4, the turnover mechanism 5 and the clamping mechanism 6 to do linear motion in the horizontal direction through the horizontal moving mechanism 2. The manipulator moves on a circular horizontal plane through the combined action of the first rotating mechanism 1 and the horizontal moving mechanism 2. The controller drives the second rotating mechanism 4, the turnover mechanism 5 and the clamping mechanism 6 to perform lifting motion together through the vertical moving mechanism 3, so that the output tail end of the whole body has a vertical motion dimension. The first rotating mechanism 1, the horizontal moving mechanism 2 and the vertical moving mechanism 3 are matched together to enable the manipulator to move freely in a cylindrical space. The working end of the clamping mechanism 6 is the output end of the whole manipulator, and the output end can move to be on the same axis with the rotating shaft of the first rotating mechanism 1, so that the working blind area right below the rotating shaft is eliminated. The second rotating mechanism 4 and the turnover mechanism 5 jointly form a structure similar to a wrist, and the controller enables the turnover mechanism 5 and the clamping mechanism 6 to have the capability of independent rotation through the second rotating mechanism 4, so that the turnover mechanism is suitable for flexibly rotating the grabbed workpiece in a small range. The controller enables the clamping mechanism 6 to carry the workpiece to perform pitching motion through the turnover mechanism 5. The controller clamps the workpiece through the tail end of the clamping mechanism 6 and a fixed clamping plate matched with the workpiece in shape. And a vision sensor for vision observation is also arranged on the manipulator, and the manipulator is accurately operated through the electric connection with the controller.
As shown in fig. 3, the first rotating mechanism 1 includes a fixing plate 1a, a worm gear and worm drive assembly 1b, a first rotating shaft 1c and a stabilizing assembly 1 d; fixed plate 1a and intelligent robot body fixed connection, worm gear drive assembly 1b fixed mounting is on fixed plate 1a, first rotation axis 1c axis is vertically rotated with fixed plate 1a and is connected, first rotation axis 1c bottom and 2 top central points of horizontal migration mechanism fixed connection, stabilize coaxial cover of subassembly 1d establish first rotation axis 1c outside and with leave the clearance between the first rotation axis 1c, stabilize subassembly 1d top and fixed plate 1a bottom fixed connection, stabilize subassembly 1d bottom and install on horizontal migration mechanism 2 symmetrically, worm gear drive assembly 1b is connected with the controller electricity.
The fixing plate 1a connects the whole manipulator and the intelligent robot together, and provides support for the whole manipulator. The controller drives the first rotating shaft 1c to rotate through the worm gear driving component 1b, and the first rotating shaft 1c drives the horizontal moving mechanism 2 to integrally rotate. The stabilizing assembly 1d guides the rotation of the horizontal moving mechanism 2, so that the instability of the horizontal moving mechanism 2 supported by the first rotating shaft 1c at a single point is eliminated, the weighing of the first rotating shaft 1c is reduced, and the durability of the structure is improved.
As shown in fig. 4, the worm gear and worm drive assembly 1b comprises a bearing seat 1b1, a first worm 1b2, a first worm wheel 1b3 and a first rotary driver 1b 4; the pair of bearing seats 1b1 are oppositely arranged on the fixed plate 1a, two ends of the first worm 1b2 are rotatably connected with the bearing seats 1b1, the first worm wheel 1b3 is sleeved on the first rotating shaft 1c and is in meshing transmission with the first worm 1b2, the first rotary driver 1b4 is fixedly arranged on the fixed plate 1a, the output end of the first rotary driver is fixedly connected with the first worm 1b2, and the first rotary driver 1b4 is electrically connected with the controller.
First rotary actuator 1b4 is for installing the servo motor of speed reducer, has improved servo motor's output torque through the speed reducer, provides the protection to servo motor simultaneously, has effectively reduced the maintenance cost. The controller sends a signal to the first rotary driver 1b4, and the first rotary driver 1b4 receives the signal and drives the first worm 1b2 mounted on the bearing block 1b1 to rotate around its own axis. When the first worm 1b2 rotates, the first worm wheel 1b3 is driven to bring the first rotary shaft 1c into rotary motion around the axis of the first rotary shaft 1 c. The structure can provide larger driving force and self-locking, so that the rotation of the horizontal moving mechanism 2 is more accurate and controllable.
As shown in fig. 5, the stabilizing assembly 1d includes a guide hanger 1d1, a hanging plate 1d2, a second rotating shaft 1d3, a ball 1d4 and a limiting block 1d 5; the guide hanger 1d1 comprises an annular mounting plate with the top fixedly connected with the bottom of the fixed plate 1a, a hollow cylindrical connecting part coaxially arranged below the annular mounting plate, a circular bearing part arranged below the hollow cylindrical connecting part and an annular groove arranged at the upper end of the circular bearing part around the axis of the circular bearing part, the guide hanger 1d1 is coaxially arranged with the axis of the first rotating shaft 1c, the top end of the guide hanger 1d1 is installed at the bottom of the fixed plate 1a, the first rotating shaft 1c passes through the center of the guide hanger 1d1, the pair of hanging plates 1d2 are symmetrically installed at both sides of the horizontal moving mechanism 2, the axis of the second rotating shaft 1d3 is horizontally installed on the hanging plate 1d2, the limit block 1d5 is installed at the end part of the second rotating shaft 1d3, the ball 1d4 is rotatably connected with the second rotating shaft 1d3 and is arranged between the hanging plate 1d2 and the limit block 1d5, and the ball 1d4 is in rolling connection with the annular groove of the guide hanger 1d 1.
The two sides of the horizontal moving mechanism 2 are suspended on the guide hanger 1d1 through the hanging plate 1d2, and the friction force during rotation is reduced through the rolling connection of the ball 1d4 on the hanging plate 1d2 on the inner side of the hanging plate 1d2 and the annular groove of the guide hanger 1d 1. The annular groove of the guide hanger 1d1 further guides the rotation of the horizontal movement mechanism 2.
As shown in fig. 6, the horizontal moving mechanism 2 includes a supporting plate 2a, a mounting base 2b, a first lead screw 2c, a second rotary driver 2d, a guide rod 2e, a guide groove 2f and a first slider 2 g; the support plate 2a is horizontally and symmetrically installed at the bottom of the output end of the first rotating mechanism 1, the installation seat 2b is symmetrically installed at two ends of the support plate 2a in the length direction, two ends of the first lead screw 2c are rotatably connected with the installation seat 2b, the second rotating driver 2d is installed on the installation seat 2b, the output end of the second rotating driver is fixedly connected with the end of the first lead screw 2c, the guide rods 2e are symmetrically arranged on two sides of the first lead screw 2c, the end of the guide rods is fixedly connected with the installation seat 2b, the guide grooves 2f are formed in the bottom surface of the support plate 2a and are slidably connected with the upper end of the first sliding block 2g, the first sliding block 2g is in threaded connection with the first lead screw 2c, the first sliding block 2g is in clearance fit with the guide rods 2e, the vertical moving mechanism 3 is vertically installed on the first.
The second rotary driver 2d is a servo motor. The horizontal moving mechanism 2 is integrally and fixedly installed below the first rotating mechanism 1 through the supporting plate 2a so as to be capable of rotating around the axis of the output end of the first rotating mechanism 1. The controller sends a signal to the second rotary driver 2d, and the second rotary driver 2d receives the signal and drives the first lead screw 2c on the mounting base 2b to rotate. Under the driving action of the first lead screw 2c and the guiding and limiting action of the guide rod 2e and the guide groove 2f on the first slide block 2g, the first slide block 2g makes linear motion along the axis direction of the first lead screw 2c, and finally drives the vertical moving mechanism 3, the second rotating mechanism 4, the turnover mechanism 5 and the clamping mechanism 6 to make overall horizontal motion.
As shown in fig. 3 and 7, the vertical moving mechanism 3 includes a rotary driving assembly 3a and a telescopic assembly 3 b; rotary driving subassembly 3a fixed mounting is in 2 output end bottoms of horizontal migration mechanism, and rotary driving subassembly 3 a's drive end axis sets up with the output end axis is perpendicular, and flexible subassembly 3b fixed mounting is in rotary driving subassembly 3a bottom and input and rotary driving subassembly 3a output end fixed connection, and second rotary mechanism 4 fixed mounting is in flexible subassembly 3b work end bottom, and rotary driving subassembly 3a is connected with the controller electricity.
The controller sends a signal to the rotary drive assembly 3a, and the rotary drive assembly 3a receives the signal and transmits the drive end torque to the telescoping assembly 3b after rotating ninety degrees. The telescopic assembly 3b realizes the integral lifting movement of the second rotating mechanism 4, the turnover mechanism 5 and the clamping mechanism 6 through the torque transmitted by the rotary driving assembly 3 a. This structure can ensure that the robot output end can move to the axial position of the first rotating mechanism 1, thereby eliminating a work blind area.
As shown in fig. 8, the rotary drive assembly 3a includes a mounting case 3a1, a first drive shaft 3a2, a first right-angle bevel gear 3a3, a second drive shaft 3a4, a second right-angle bevel gear 3a5, and a third rotary drive 3a 6; the mounting box 3a1 is fixedly mounted at the bottom of the working end of the horizontal moving mechanism 2, the first transmission shaft 3a2 and the second transmission shaft 3a4 are respectively rotatably connected with the side surface of the mounting box 3a1 and the ground, the first right-angle cone gear 3a3 and the second right-angle cone gear 3a5 are respectively fixedly connected with the first transmission shaft 3a2 and one end of the second transmission shaft 3a4 positioned in the mounting box 3a1, the first right-angle cone gear 3a3 is engaged with the second right-angle cone gear 3a5, the third rotary driver 3a6 is mounted on the side wall of the mounting box 3a1, the output end of the third rotary driver is fixedly connected with the first transmission shaft 3a2, the bottom end of the second transmission shaft 3a4 is fixedly connected with the input end of the telescopic assembly 3b, and the third rotary driver 3a6 is.
The third rotary driver 3a6 is a servo motor. The controller sends a signal to the third rotary driver 3a6, and the third rotary driver 3a6 receives the signal and drives the first right-angle bevel gear 3a3 to rotate through the first transmission shaft 3a 2. The first right angle bevel gear 3a3 drives the second transmission shaft 3a4 to rotate by meshing action with the second right angle bevel gear 3a 5. The second drive shaft 3a4 ultimately drives the input end of the telescopic assembly 3b to rotate. The mounting box 3a1 provides support for the rotary drive assembly 3a as a whole. The output torque is rotated ninety degrees by this arrangement.
As shown in fig. 8, the telescopic assembly 3b includes a telescopic frame 3b1, an end cap 3b2, a second lead screw 3b3, a second slider 3b4, a connecting rod 3b5 and a bottom plate 3b 6; telescopic frame 3b1 is vertically installed in the bottom of rotary drive assembly 3a, end cover 3b2 is fixedly installed at the upper and lower both ends of telescopic frame 3b1, the both ends of second lead screw 3b3 are connected with end cover 3b2 rotation, the top end of second lead screw 3b3 is still fixedly connected with the output end of rotary drive assembly 3a, second slider 3b4 is connected with the inside china east of telescopic frame 3b1, connecting rod 3b5 is vertically installed at the bottom of second slider 3b4 around the second lead screw 3b3 axis, connecting rod 3b5 is in clearance fit with end cover 3b2 at the bottom of telescopic frame 3b1, bottom plate 6 is fixedly installed at the bottom end of the part of connecting rod 3b5 that stretches out telescopic frame 3b1, second rotary mechanism 4 is fixedly connected with bottom plate 3b 6.
The top end of the second lead screw 3b3 is the input end of the telescopic assembly 3 b. The controller drives the second lead screw 3b3 to rotate through the rotary driving assembly 3 a. Under the driving action of the second lead screw 3b3 and the guiding action of the telescopic frame 3b1, the second slide block 3b4 vertically moves up and down along the axial direction of the second lead screw 3b 3. The second sliding block 3b4 pushes the connecting rod 3b5 to vertically move up and down, so as to drive the bottom plate 3b6 to move up and down, and finally drive the second rotating mechanism 4, the turnover mechanism 5 and the clamping mechanism 6 to move up and down.
As shown in fig. 9, the second rotating mechanism 4 includes a driving bracket 4a, a third rotating shaft 4b, a second worm 4c, a second worm wheel 4d, a fourth rotating driver 4e, a driving gear 4f and a ring-shaped toothed plate 4 g; drive support 4a fixed mounting is on 3 work ends of vertical moving mechanism, third rotation axis 4b rotates with drive support 4a top to be connected, second worm 4c rotates with drive support 4a both sides to be connected, second worm wheel 4d cup joints on third rotation axis 4b and meshes with second worm 4c, fourth rotary actuator 4e installs on drive support 4a and output and second worm 4c one end fixed connection, drive gear 4f installs on third rotation axis 4b, annular toothed plate 4g rotates with 3 work end bottoms of vertical moving mechanism to be connected, annular toothed plate 4g meshes the transmission with drive gear 4f, tilting mechanism 5 fixed mounting is in annular toothed plate 4g bottom, fourth rotary actuator 4e is connected with the controller electricity.
The fourth rotary driver 4e is a servo motor. The controller sends a signal to the fourth rotation driver 4e, and the fourth rotation driver 4e receives the signal and drives the second worm 4c on the driving bracket 4a to rotate. The second worm 4c rotates the second worm wheel 4d engaged therewith, and the second worm wheel 4d rotates the third rotary shaft 4b to rotate the drive gear 4f together. The driving gear 4f drives the annular toothed plate 4g meshed with the driving gear to rotate at the bottom of the working end of the vertical moving mechanism 3, so that the turnover mechanism 5 and the clamping mechanism 6 are driven to integrally rotate. The annular toothed plate 4g and the vertical moving mechanism 3 are further provided with a limiting plate above the rotating connection position for preventing the annular toothed plate 4g from falling.
As shown in fig. 10, the turnover mechanism 5 includes a hinge base 5a, an electric push rod 5b, a rotation portion 5c, a fourth rotation shaft 5d and an eccentric shaft 5 e; the hinged seat 5a is fixedly installed at the bottom end of the second rotating mechanism 4, the fourth rotating shafts 5d are symmetrically installed on two sides of the rotating part 5c and are rotatably connected with the hinged seat 5a, the eccentric shafts 5e are symmetrically installed on the fourth rotating shafts 5d, one end of the electric push rod 5b is hinged with the side face of the hinged seat 5a, the output end of the electric push rod 5b is rotatably connected with the eccentric shafts 5e, the clamping mechanism 6 is fixedly installed on the rotating part 5c, and the electric push rod 5b is electrically connected with the controller.
The controller converts the linear motion into a rotary motion around the axis of the fourth rotary shaft 5d through the electric push rod 5b and the eccentric shaft 5e, thereby driving the rotary part 5c to perform a tilting and pitching motion with the clamping mechanism 6. The hinged seat 5a provides support for the tilting mechanism 5 as a whole.
The device realizes the functions of the invention through the following steps, thereby solving the technical problems provided by the invention:
firstly, a controller drives a horizontal moving mechanism 2 to drive a vertical moving mechanism 3, a second rotating mechanism 4, a turnover mechanism 5 and a clamping mechanism 6 to integrally rotate together through a first rotating mechanism 1;
the controller drives the vertical moving mechanism 3, the second rotating mechanism 4, the turnover mechanism 5 and the clamping mechanism 6 to do linear motion in the horizontal direction through the horizontal moving mechanism 2;
thirdly, the manipulator moves on a circular horizontal plane under the combined action of the first rotating mechanism 1 and the horizontal moving mechanism 2;
driving a second rotating mechanism 4, a turnover mechanism 5 and a clamping mechanism 6 to perform lifting motion together by a controller through a vertical moving mechanism 3, so that the output tail end of the whole body has a vertical motion dimension;
fifthly, the mechanical arm can freely move in a cylindrical space under the joint cooperation of the first rotating mechanism 1, the horizontal moving mechanism 2 and the vertical moving mechanism 3;
sixthly, the controller enables the turnover mechanism 5 and the clamping mechanism 6 to have independent rotation capacity through the second rotating mechanism 4, and the turnover mechanism is suitable for flexibly rotating the grabbed workpiece in a small range;
and seventhly, enabling the clamping mechanism 6 to have the capability of carrying the workpiece to perform pitching motion through the turnover mechanism 5 by the controller. The controller clamps the workpiece through the tail end of the clamping mechanism 6 and a fixed clamping plate matched with the workpiece in shape;
and step eight, a visual sensor for visual observation is further arranged on the manipulator, and the manipulator is accurately operated through electric connection with the controller.
The foregoing has described the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The manipulator of the intelligent robot is characterized by comprising a first rotating mechanism (1), a horizontal moving mechanism (2), a vertical moving mechanism (3), a second rotating mechanism (4), a turnover mechanism (5), a clamping mechanism (6) and a controller;
first rotary mechanism (1) is installed on intelligent robot body, horizontal migration mechanism (2) is the symmetry horizontal setting on first rotary mechanism (1) bottom output, vertical migration mechanism (3) vertical with horizontal migration mechanism (2) movable end fixed connection, second rotary mechanism (4) are installed in vertical migration mechanism (3) bottom, tilting mechanism (5) set up on second rotary mechanism (4) output, clamping mechanism (6) are installed on tilting mechanism (5) work end, first rotary mechanism (1), horizontal migration mechanism (2), vertical migration mechanism (3), second rotary mechanism (4), tilting mechanism (5), clamping mechanism (6) all are connected with the controller electricity.
2. Manipulator of an intelligent robot according to claim 1, characterized in that the first rotation mechanism (1) comprises a fixing plate (1 a), a worm gear and worm drive assembly (1 b), a first rotation axis (1 c) and a stabilizing assembly (1 d); fixed plate (1 a) and intelligent robot body fixed connection, worm gear drive assembly (1 b) fixed mounting is on fixed plate (1 a), first rotation axis (1 c) axis vertically rotates with fixed plate (1 a) and is connected, first rotation axis (1 c) bottom and horizontal migration mechanism (2) top central point fixed connection, stabilizing component (1 d) coaxial cover establish first rotation axis (1 c) outside and with first rotation axis (1 c) between leave the clearance, stabilizing component (1 d) top and fixed plate (1 a) bottom fixed connection, stabilizing component (1 d) bottom is installed on horizontal migration mechanism (2) symmetrically, worm gear drive assembly (1 b) is connected with the controller electricity.
3. The robot hand of an intelligent robot according to claim 2, wherein the worm gear and worm drive assembly (1 b) comprises a bearing seat (1 b 1), a first worm (1 b 2), a first worm gear (1 b 3) and a first rotary drive (1 b 4); the pair of bearing seats (1 b 1) are oppositely arranged on the fixing plate (1 a), two ends of a first worm (1 b 2) are rotatably connected with the bearing seats (1 b 1), a first worm wheel (1 b 3) is sleeved on a first rotating shaft (1 c) and is in meshing transmission with the first worm (1 b 2), a first rotary driver (1 b 4) is fixedly arranged on the fixing plate (1 a) and the output end of the first rotary driver is fixedly connected with the first worm (1 b 2), and the first rotary driver (1 b 4) is electrically connected with the controller.
4. The manipulator of the intelligent robot as claimed in claim 2, wherein the stabilizing assembly (1 d) comprises a guide hanger (1 d 1), a hanging plate (1 d 2), a second rotating shaft (1 d 3), a ball (1 d 4) and a limiting block (1 d 5); the guide hanger (1 d 1) comprises an annular mounting plate, a hollow cylindrical connecting part, a circular bearing part and an annular groove, wherein the top of the annular mounting plate is fixedly connected with the bottom of the fixing plate (1 a), the hollow cylindrical connecting part is coaxially arranged below the annular mounting plate, the circular bearing part is arranged below the hollow cylindrical connecting part, the annular groove is arranged at the upper end of the circular bearing part around the axis of the circular bearing part, the guide hanger (1 d 1) is coaxially arranged with the axis of the first rotating shaft (1 c), the top end of the guide hanger (1 d 1) is arranged at the bottom of the fixing plate (1 a), the first rotating shaft (1 c) penetrates through the center of the guide hanger (1 d 1), a pair of hanging plates (1 d 2) are symmetrically arranged at two sides of the horizontal moving mechanism (2), the axis of the second rotating shaft (1 d 3) is horizontally arranged on the hanging plate (1 d 2), the limiting block (1 d 5) is arranged at the end part of the second rotating shaft (1 d 3), the ball (1 d 4) is rotatably connected with the second, the ball (1 d 4) is connected with the annular groove of the guide hanger (1 d 1) in a rolling way.
5. The manipulator of the intelligent robot according to claim 1, wherein the horizontal moving mechanism (2) comprises a support plate (2 a), a mounting seat (2 b), a first lead screw (2 c), a second rotary driver (2 d), a guide rod (2 e), a guide groove (2 f) and a first slide block (2 g); the support plate (2 a) is horizontally and symmetrically arranged at the bottom of the output end of the first rotating mechanism (1), the mounting seats (2 b) are symmetrically arranged at two ends of the support plate (2 a) in the length direction, two ends of the first lead screw (2 c) are rotationally connected with the mounting seats (2 b), the second rotary driver (2 d) is arranged on the mounting seats (2 b) and the output end of the second rotary driver is fixedly connected with the end part of the first lead screw (2 c), the guide rods (2 e) are symmetrically arranged at two sides of the first lead screw (2 c) and the end parts of the first lead screw are fixedly connected with the mounting seats (2 b), the guide grooves (2 f) are arranged on the bottom surface of the support plate (2 a) and are in sliding connection with the upper end of the first slide block (2 g), the first slide block (2 g) is in threaded connection with the first lead screw (2 c), the first slide block (2 g) is in clearance fit with the guide rods (2 e), the vertical moving mechanism (3) is, the second rotary driver (2 d) is electrically connected to the controller.
6. The robot hand of an intelligent robot according to claim 1, wherein the vertical moving mechanism (3) comprises a rotary driving assembly (3 a) and a telescopic assembly (3 b); rotation driving subassembly (3 a) fixed mounting is in horizontal migration mechanism (2) output bottom, the drive end axis and the output axis of rotation driving subassembly (3 a) set up perpendicularly, flexible subassembly (3 b) fixed mounting is in rotation driving subassembly (3 a) bottom and input and rotation driving subassembly (3 a) output fixed connection, second rotary mechanism (4) fixed mounting is in flexible subassembly (3 b) work end bottom, rotation driving subassembly (3 a) is connected with the controller electricity.
7. The robot hand of an intelligent robot according to claim 6, wherein the rotary drive assembly (3 a) comprises a mounting box (3 a 1), a first transmission shaft (3 a 2), a first right angle bevel gear (3 a 3), a second transmission shaft (3 a 4), a second right angle bevel gear (3 a 5) and a third rotary drive (3 a 6); the mounting box (3 a 1) is fixedly mounted at the bottom of the working end of the horizontal moving mechanism (2), the first transmission shaft (3 a 2) and the second transmission shaft (3 a 4) are respectively rotatably connected with the side surface of the mounting box (3 a 1) and the ground, the first right-angle bevel gear (3 a 3) and the second right-angle bevel gear (3 a 5) are respectively fixedly connected with the first transmission shaft (3 a 2) and the end of the second transmission shaft (3 a 4) positioned in the mounting box (3 a 1), the first right-angle bevel gear (3 a 3) and the second right-angle bevel gear (3 a 5) are meshed, the third rotary driver (3 a 6) is mounted on the side wall of the mounting box (3 a 1), the output end of the third rotary driver is fixedly connected with the first transmission shaft (3 a 2), the bottom end of the second transmission shaft (3 a 4) is fixedly connected with the input end of the telescopic assembly (3 b), and the third rotary driver (3 a 6) is electrically connected with the.
8. The manipulator of the intelligent robot as claimed in claim 6, wherein the telescopic assembly (3 b) comprises a telescopic frame (3 b 1), an end cover (3 b 2), a second lead screw (3 b 3), a second slider (3 b 4), a connecting rod (3 b 5) and a bottom plate (3 b 6); the telescopic frame (3 b 1) is vertically installed at the bottom of the rotary driving assembly (3 a), the end covers (3 b 2) are fixedly installed at the upper end and the lower end of the telescopic frame (3 b 1), the two ends of the second lead screw (3 b 3) are rotatably connected with the end cover (3 b 2), the top end of the second lead screw (3 b 3) is further fixedly connected with the output end of the rotary driving assembly (3 a), the second sliding block (3 b 4) is connected with the inner east of the telescopic frame (3 b 1), the connecting rod (3 b 5) is vertically installed at the bottom of the second sliding block (3 b 4) around the axis of the second lead screw (3 b 3), the connecting rod (3 b 5) is in clearance fit with the end cover (3 b 2) at the bottom of the telescopic frame (3 b 1), the bottom plate (3 b 6) is fixedly installed at the bottom end of the portion, extending out of the telescopic frame (3 b 1), and the second rotating mechanism (4) is fixedly connected with the bottom plate (3 b.
9. The manipulator of the intelligent robot according to claim 1, wherein the second rotating mechanism (4) comprises a driving bracket (4 a), a third rotating shaft (4 b), a second worm (4 c), a second worm gear (4 d), a fourth rotating driver (4 e), a driving gear (4 f) and an annular toothed plate (4 g); drive support (4 a) fixed mounting is on vertical moving mechanism (3) work end, third rotation axis (4 b) rotates with drive support (4 a) top and is connected, second worm (4 c) rotate with drive support (4 a) both sides and is connected, second worm wheel (4 d) cup joint on third rotation axis (4 b) and mesh with second worm (4 c), fourth rotary actuator (4 e) are installed on drive support (4 a) and output and second worm (4 c) one end fixed connection, drive gear (4 f) are installed on third rotation axis (4 b), annular pinion rack (4 g) rotate with vertical moving mechanism (3) work end bottom and are connected, annular pinion rack (4 g) and drive gear (4 f) meshing transmission, tilting mechanism (5) fixed mounting is in annular pinion rack (4 g) bottom, fourth rotary actuator (4 e) are connected with the controller electricity.
10. The manipulator of the intelligent robot according to claim 1, wherein the turnover mechanism (5) comprises a hinged base (5 a), an electric push rod (5 b), a rotating part (5 c), a fourth rotating shaft (5 d) and an eccentric shaft (5 e); articulated seat (5 a) fixed mounting is in second rotary mechanism (4) bottom, fourth rotation axis (5 d) are installed symmetrically in rotating part (5 c) both sides and with articulated seat (5 a) rotation connection, eccentric shaft (5 e) symmetry is installed on fourth rotation axis (5 d), electric putter (5 b) one end is articulated with articulated seat (5 a) side, electric putter (5 b) output is connected with eccentric shaft (5 e) rotation, clamping mechanism (6) fixed mounting is on rotating part (5 c), electric putter (5 b) is connected with the controller electricity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010714196.6A CN111730621A (en) | 2020-07-22 | 2020-07-22 | Manipulator of intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010714196.6A CN111730621A (en) | 2020-07-22 | 2020-07-22 | Manipulator of intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111730621A true CN111730621A (en) | 2020-10-02 |
Family
ID=72657212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010714196.6A Withdrawn CN111730621A (en) | 2020-07-22 | 2020-07-22 | Manipulator of intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111730621A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112281615A (en) * | 2020-11-24 | 2021-01-29 | 靳红艳 | A get core patching device for engineering road construction quality detects |
| CN112407930A (en) * | 2020-12-01 | 2021-02-26 | 段福强 | Industrial production limit clamp capable of achieving multi-angle direction adjustment |
| CN112899957A (en) * | 2021-01-18 | 2021-06-04 | 高军凯 | Device is tailor to end of a thread for cloth sewing |
| CN114178108A (en) * | 2021-12-16 | 2022-03-15 | 刘宏勋 | Spout material spraying and use shower nozzle angle modulation control mechanism |
| WO2022105333A1 (en) * | 2020-11-17 | 2022-05-27 | 陈红燕 | Clothing fabric laser-cutter based on machine vision |
| CN115281224A (en) * | 2022-09-15 | 2022-11-04 | 江苏科伯瑞工业技术有限公司 | Automatic face equipment of beating of rotation type |
| CN116213632A (en) * | 2023-05-08 | 2023-06-06 | 中国机械总院集团北京机电研究所有限公司 | Movable type accurate positioning die quick-change mechanical arm and die replacement equipment |
-
2020
- 2020-07-22 CN CN202010714196.6A patent/CN111730621A/en not_active Withdrawn
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022105333A1 (en) * | 2020-11-17 | 2022-05-27 | 陈红燕 | Clothing fabric laser-cutter based on machine vision |
| CN112281615A (en) * | 2020-11-24 | 2021-01-29 | 靳红艳 | A get core patching device for engineering road construction quality detects |
| CN112407930A (en) * | 2020-12-01 | 2021-02-26 | 段福强 | Industrial production limit clamp capable of achieving multi-angle direction adjustment |
| CN112899957A (en) * | 2021-01-18 | 2021-06-04 | 高军凯 | Device is tailor to end of a thread for cloth sewing |
| CN112899957B (en) * | 2021-01-18 | 2022-11-04 | 上海崇明腾飞内衣有限公司 | Thread end cutting device for cloth sewing |
| CN114178108A (en) * | 2021-12-16 | 2022-03-15 | 刘宏勋 | Spout material spraying and use shower nozzle angle modulation control mechanism |
| CN114178108B (en) * | 2021-12-16 | 2022-12-27 | 佛山市顺德区杰润五金塑料有限公司 | Spout material spraying and use shower nozzle angle modulation control mechanism |
| CN115281224A (en) * | 2022-09-15 | 2022-11-04 | 江苏科伯瑞工业技术有限公司 | Automatic face equipment of beating of rotation type |
| CN116213632A (en) * | 2023-05-08 | 2023-06-06 | 中国机械总院集团北京机电研究所有限公司 | Movable type accurate positioning die quick-change mechanical arm and die replacement equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111730621A (en) | Manipulator of intelligent robot | |
| CN108656092B (en) | Series-parallel robot based on four branched chains, two-rotation and one-movement parallel mechanism | |
| CN107676584B (en) | Electric adjusting bracket for accelerator | |
| CN107830358B (en) | Control device for electric adjusting bracket of accelerator | |
| CN211491533U (en) | Arm that angle and height can freely be adjusted | |
| CN112279154A (en) | Lifting transfer robot | |
| CN213503092U (en) | Grabbing manipulator for packaging machinery | |
| CN110449625B (en) | Machining center for machining long shaft | |
| CN219212060U (en) | Portal frame type welding robot capable of being adjusted at multiple angles | |
| CN219854577U (en) | Automatic change shrink arm | |
| CN109434414B (en) | Movable tool of robot assembly demonstration system | |
| CN111438622A (en) | Clamping device for polishing metal material | |
| CN110842984A (en) | Power mechanical arm with radiation resistance and high-precision positioning operation | |
| CN214922660U (en) | Automatic cleaning device for machine tool machining | |
| CN214446537U (en) | Novel fixed-interval switching mechanism | |
| CN219543173U (en) | Mechanical arm for logistics sorting | |
| CN116352687B (en) | Free sliding structure of six-axis robot | |
| CN212666057U (en) | Swinging boom manipulator | |
| CN216707429U (en) | Adjustable supporting and positioning device for machining mechanical arm | |
| CN220007847U (en) | Mechanical arm with liftable base | |
| CN216634456U (en) | Industrial robot connects base convenient to angle of adjustment | |
| CN220593181U (en) | Novel joint robot | |
| CN219216694U (en) | Multi-axis moving track of robot | |
| JP2617775B2 (en) | Industrial robot with horizontal arm | |
| CN215824317U (en) | Perforating device for precision machining of military mechanical shell |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20201002 |