CN111844001A - Manipulator based on automatic control - Google Patents
Manipulator based on automatic control Download PDFInfo
- Publication number
- CN111844001A CN111844001A CN202010740273.5A CN202010740273A CN111844001A CN 111844001 A CN111844001 A CN 111844001A CN 202010740273 A CN202010740273 A CN 202010740273A CN 111844001 A CN111844001 A CN 111844001A
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- Prior art keywords
- motor
- clamping
- side wall
- guide
- screw rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a manipulator based on automatic control, and relates to the technical field of mechanical equipment, wherein a vertical plate is arranged on the front side of a sliding rail, and the rear side of the vertical plate is arranged on the sliding rail in a sliding manner through a sliding block; the rear side wall of the vertical plate is fixedly connected with a nut screwed on the first screw rod through threads; an adjusting plate is movably arranged on the front side of the vertical plate, and the rear side wall of the adjusting plate is fixedly connected with a nut screwed on the second screw rod through threads; a cross beam is vertically and fixedly arranged on the front side wall of the adjusting plate, and a clamping mechanism is arranged on the lower side of the cross beam; the left side and the right side of the lower end of the internal threaded pipe are symmetrically provided with clamping arms in a rotating mode through a rotating shaft and a bearing; all there is the grip block through articulated elements swing joint on the lower extreme of the centre gripping arm of the left and right sides, and what robotic arm's motion adopted is that motor drive goes on, need not to adopt structures such as air throttle to carry out the cooperation work, has reduced cost of manufacture and energy resource consumption, and motor drive is convenient maintains and maintains the device wholly, can effectual control the dynamics of centre gripping goods at the in-process of centre gripping goods.
Description
Technical Field
The invention relates to the technical field of mechanical equipment, in particular to a manipulator based on automatic control.
Background
The manipulator is an automatic operating device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program.
At present mainly used robotic arm mainly carries out the centre gripping through modes such as atmospheric pressure to the goods and lifts up, and control robotic arm's dynamics has the degree of difficulty, need carry out the cooperation work through structures such as a large amount of inner structure and air throttle, and the cost of manufacture is higher, needs multiple modes such as electricity commentaries on classics gas to go on, is unfavorable for maintenance and maintenance.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art and provide the manipulator based on automatic control, which is simple in structure, reasonable in design and convenient to use.
In order to achieve the purpose, the invention adopts the technical scheme that: the automatic feeding device comprises an operation table, a base, guide wheels and a first guide rail, wherein the first guide rail is fixedly arranged on the rear side of the upper part of the operation table; the device also comprises a first motor, a position adjusting mechanism and a clamping mechanism; a rack is fixedly arranged on the inner top surface of a groove formed in the rear side wall of the base, a first motor is fixedly arranged on one side of the rear side wall of the operating platform through a motor support, a gear is fixedly arranged on the output end of the first motor, and the upper side of the gear is meshed with the rack; a bracket is vertically and fixedly arranged on the upper side surface of the base;
the position adjusting mechanism comprises a sliding rail, a vertical plate, an adjusting plate, a second motor, a third motor, a cross beam, a first screw rod and a second screw rod; sliding rails are fixedly arranged on the front side walls of the cross beams in the supports, vertical plates are arranged on the front sides of the sliding rails, the rear sides of the vertical plates are arranged on the sliding rails in a sliding mode through sliding blocks, a second motor is fixedly arranged on the right side wall in the supports through a motor support, a first lead screw is fixedly connected to the output end of the second motor, and the left end of the first lead screw is rotatably arranged on the left side of the supports through a bearing; the rear side wall of the vertical plate is fixedly connected with a nut screwed on the first screw rod through threads; the left side and the right side of the front side wall of the vertical plate are symmetrically and fixedly provided with guide rods through connecting plates, the front side wall of the vertical plate in the middle of each guide rod is fixedly provided with a third motor through a motor support, the output end of the third motor is fixedly connected with a second lead screw, the front side of the vertical plate is movably provided with an adjusting plate, the rear side wall of the adjusting plate is fixedly connected with a screw nut screwed on the second lead screw in a threaded manner, and the left side and the right side of the rear side of the adjusting plate are fixedly connected with linear bearings arranged on the guide rods; a cross beam is vertically and fixedly arranged on the front side wall of the adjusting plate, and a clamping mechanism is arranged on the lower side of the cross beam;
the clamping mechanism comprises a fourth motor, a third screw rod, a vertical beam, a clamping arm, a clamping plate, an internal threaded pipe, a screw rod and a fifth motor; an adjusting groove is formed in the beam, and the lower side of the adjusting groove is in an open shape; a vertical beam is movably inserted in the adjusting groove; a fourth motor is fixedly arranged on the front side wall inside the adjusting groove through a motor support, a third lead screw is fixedly connected to the output end of the fourth motor, the rear end of the third lead screw is rotatably embedded on the rear side wall inside the adjusting groove through a bearing, and the upper end of the vertical beam is fixedly connected with a nut screwed on the third lead screw through threads; the vertical beam is of a hollow structure with an opening at the lower end, a fifth motor is fixedly arranged on the inner top surface of the vertical beam through a motor support, a screw rod is fixedly connected to the output end of the fifth motor, an internal thread pipe is arranged on the lower end of the screw rod through a thread rotating sleeve, clamping arms are symmetrically arranged on the left side and the right side of the lower end of the internal thread pipe through a rotating shaft and a bearing in a rotating mode, and the upper end of the clamping arm positioned on the right side is movably inserted into the upper end of the clamping; the lower ends of the clamping arms on the left side and the right side are movably connected with clamping plates through hinge pieces, and the clamping plates on the left side and the right side are correspondingly arranged;
the first motor, the second motor, the third motor, the fourth motor and the fifth motor are all connected with an external power supply.
Furthermore, a ring plate is fixedly sleeved on the upper end head of the vertical beam, walking wheels are symmetrically and rotatably arranged on the left side and the right side of the bottom surface of the ring plate through wheel seats, and the lower sides of the walking wheels are in contact with the inner bottom surface of the adjusting groove; the traveling wheels support and guide the front and back movement of the vertical beams.
Furthermore, guide blocks are symmetrically and fixedly arranged on the left side wall and the right side wall of the upper end of the internal thread pipe, guide grooves are symmetrically formed in the left side wall and the right side wall inside the vertical beam, and the guide blocks are arranged inside the corresponding guide grooves in a vertically sliding mode; the up-and-down movement of the internally threaded pipe is guided and limited by the matching of the guide block and the guide groove.
Furthermore, a first spring is fixedly arranged on the clamping plate, and the upper end of the first spring is fixedly connected to the lower end of the clamping arm; the lower extreme of grip block is separated to both sides to the pulling force of spring one number, conveniently carries out the centre gripping of different angles.
Furthermore, an arc-shaped sleeve and an arc-shaped insertion rod are arranged between the clamping arms on the left side and the right side, one end of the arc-shaped insertion rod is movably inserted into the arc-shaped sleeve, the other end of the arc-shaped sleeve is fixedly arranged on the side wall of the clamping arm on the left side, and the left end of the arc-shaped insertion rod is fixedly arranged on the side wall of the clamping arm on the right side; the outside cover of arc sleeve pipe and arc inserted bar is equipped with No. two springs, and both ends are fixed respectively on the centre gripping arm of setting in the left and right sides about No. two springs.
Furthermore, a mounting plate is fixedly arranged on one side of the bottom surface of the base, an anti-roll roller is rotatably arranged at the lower end of the mounting plate through a wheel shaft, a second guide rail is fixedly arranged on the bottom surface of the operating platform, and the anti-roll roller is arranged on the second guide rail in a rolling manner; the anti-roll roller stabilizes the base when the bracket is tilted forward.
The working principle of the invention is as follows: when a workpiece is clamped by the device, the position of the base is adjusted, the first motor is turned on, the output end of the first motor drives the gear to rotate, and the base moves left and right on the first guide rail through the guide wheel due to the fact that the gear is meshed with the rack; then a second motor is turned on, and the output end of the second motor drives a first screw rod to rotate, so that the vertical plate moves left and right on the sliding rail through the sliding block, and fine adjustment in the left and right directions of the device is carried out until the clamping plate is positioned above the workpiece; the third motor is turned on, the output end of the third motor drives the second screw rod to rotate, the second screw rod drives the adjusting plate to slide up and down on the guide rod, and the adjusting plate is located at a proper position and stops; open No. four motors, the output of No. four motors drives No. three lead screws and rotates, erects the roof beam and carries out the back-and-forth movement in the inside of adjustment tank, it is located the left and right sides of work piece to reach the grip block, then open No. five motors, the output of No. five motors drives the screw rod and rotates, the internal thread pipe rises, the centre gripping arm rises, thereby make the grip block of the left and right sides press from both sides the work piece gradually tightly, at No. five motors continuous pivoted in-process, the internal thread pipe rises, adjust the clamping-force between the grip block of the left and right sides.
After adopting the structure, the invention has the beneficial effects that:
1. the mechanical arm is driven by a motor to move, and structures such as an air throttle and the like are not needed to be matched for working, so that the manufacturing cost and the energy consumption are reduced, and the motor is driven to conveniently maintain the whole device;
2. the clamping force in the process of clamping the goods can be adjusted by adjusting the movement stroke of the fifth motor;
3. the first motor carries out coarse adjustment on the position of the base, and the second motor carries out fine adjustment on the left and right positions of the clamping mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a right side view of fig. 1.
Fig. 3 is a rear view of fig. 1.
Fig. 4 is an enlarged view of a portion a in fig. 1.
Fig. 5 is an enlarged view of a portion B in fig. 1.
Fig. 6 is a schematic view of the internal structure of the vertical beam of the present invention.
Fig. 7 is a schematic view of the structure of the clamp arm of the present invention.
Description of reference numerals:
an operation table 1, a first guide rail 2, a base 3, a guide wheel 4, a rack 5, a first motor 6, a gear 7, a support 8, a position adjusting mechanism 9, a slide rail 9-1, a vertical plate 9-2, a second motor 9-3, a first lead screw 9-4, a guide rod 9-5, a third motor 9-6, a second lead screw 9-7, an adjusting plate 9-8, a cross beam 9-9, a clamping mechanism 10, an adjusting groove 10-1, a vertical beam 10-2, a fourth motor 10-3, a third lead screw 10-4, a fifth motor 10-5, a screw rod 10-6, an internal threaded pipe 10-7, a clamping arm 10-8, a clamping plate 10-9, a ring plate 11, a walking wheel 12, a guide block 13, a guide groove 14, a first spring 15, an arc-shaped sleeve 16, an arc-shaped inserted rod 17, a second spring 18, Mounting plate 19, anti-roll roller 20, No. two guide rails 21.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
Referring to fig. 1 to 7, the technical solution adopted by the present embodiment is: the device comprises an operation table 1, a base 3, guide wheels 4 and a first guide rail 2, wherein the first guide rail 2 is fixedly arranged on the rear side of the upper part of the operation table 1 through bolts, the base 3 is arranged above the first guide rail 2, a plurality of guide wheels 4 are rotatably embedded in the base 3 through wheel shafts, the plurality of guide wheels 4 are all arranged on the corresponding first guide rail 2 in a rolling manner, and the plurality of guide wheels 4 are arranged in two rows; the device also comprises a first motor 6, a position adjusting mechanism 9 and a clamping mechanism 10; a rack 5 is fixedly welded on the inner top surface of a groove formed in the rear side wall of the base 3, a first motor 6 with the model number of 60KTYZ is fixedly arranged on one side of the rear side wall of the operating platform 1 through a motor bracket 8 and a bolt, a gear 7 is fixedly arranged on the output end of the first motor 6 through a coupler, and the upper side of the gear 7 is meshed with the rack 5; a bracket 8 is vertically and fixedly welded on the upper side surface of the base 3;
the position adjusting mechanism 9 comprises a sliding rail 9-1, a vertical plate 9-2, an adjusting plate 9-8, a second motor 9-3, a third motor 9-6, a cross beam 9-9, a first screw rod 9-4 and a second screw rod 9-7; the front side wall of a cross beam 9-9 in a support 8 is fixedly provided with slide rails 9-1 through bolts, the front side of each slide rail 9-1 is provided with a vertical plate 9-2, the rear side of each vertical plate 9-2 is arranged on the corresponding slide rail 9-1 in a sliding mode through a slide block, the right side wall in the support 8 is fixedly provided with a second motor 9-3 with the model of 60KTYZ through a motor support 8 and the bolts, the output end of the second motor 9-3 is fixedly connected with a first lead screw 9-4 through a coupler, the left end of the first lead screw 9-4 is rotatably arranged on the left side of the support 8 through a bearing, the inner side wall of the bearing is fixedly welded with the first lead screw 9-4, and the outer side wall of the bearing is fixedly welded with the; the rear side wall of the vertical plate 9-2 is fixedly connected with a screw nut screwed on the first screw rod 9-4 through threads; the left side and the right side of the front side wall of the vertical plate 9-2 are symmetrically fixedly welded with guide rods 9-5 through connecting plates, a third motor 9-6 with the model of 60KTYZ is fixedly arranged on the front side wall of the vertical plate 9-2 in the middle of the guide rods 9-5 through a motor support 8 and a bolt, the output end of the third motor 9-6 is fixedly connected with a second lead screw 9-7 through a coupler, the front side of the vertical plate 9-2 is movably provided with an adjusting plate 9-8, the rear side wall of the adjusting plate 9-8 is fixedly welded with a screw nut screwed on the second lead screw 9-7, and the left side and the right side of the rear side of the adjusting plate 9-8 are fixedly connected with a linear bearing arranged on the guide rods 9-5 in a sliding; a cross beam 9-9 is vertically and fixedly arranged on the front side wall of the adjusting plate 9-8 through a bolt, and a clamping mechanism 10 is arranged on the lower side of the cross beam 9-9;
the clamping mechanism 10 comprises a fourth motor 10-3, a third screw rod 10-4, a vertical beam 10-2, a clamping arm 10-8, a clamping plate 10-9, an internal threaded pipe 10-7, a screw rod 10-6 and a fifth motor 10-5; an adjusting groove 10-1 is formed in the beam 9-9, and the lower side of the adjusting groove 10-1 is in an open shape; a vertical beam 10-2 is movably inserted in the adjusting groove 10-1; a fourth motor 10-3 with the model number of 30KTYZ is fixedly arranged on the front side wall in the adjusting groove 10-1 through a motor support 8 and a bolt, the output end of the fourth motor 10-3 is fixedly connected with a third screw rod 10-4 through a coupler, the rear end of the third screw rod 10-4 is rotatably embedded on the rear side wall in the adjusting groove 10-1 through a bearing, and the upper end of a vertical beam 10-2 is fixedly connected with a screw nut screwed on the third screw rod 10-4 through threads; a ring plate 11 is fixedly welded and sleeved on the upper end head of the vertical beam 10-2, walking wheels 12 are symmetrically arranged on the left side and the right side of the bottom surface of the ring plate 11 in a rotating mode through wheel seats, the top surface of each wheel seat is fixedly welded on the bottom surface of the ring plate 11, and the lower sides of the walking wheels 12 are in contact with the inner bottom surface of the adjusting groove 10-1; the traveling wheels 12 support and guide the front and back movement of the vertical beam 10-2; the vertical beam 10-2 is of a hollow structure with an opening at the lower end, a fifth motor 10-5 with the model number of 30KTYZ is fixedly arranged on the inner top surface of the vertical beam 10-2 through a motor bracket 8 and a bolt, a screw rod 10-6 is fixedly connected to the output end of the fifth motor 10-5 through a coupler, an internal threaded pipe 10-7 is arranged on the lower end of the screw rod 10-6 through a threaded rotating sleeve, guide blocks 13 are symmetrically and fixedly welded on the left side wall and the right side wall of the upper end of the internal threaded pipe 10-7, guide grooves 14 are symmetrically arranged on the left side wall and the right side wall inside the vertical beam 10-2, and the guide blocks 13 are arranged inside the corresponding guide grooves 14 in a vertical; the guide block 13 is matched with the guide groove 14 to guide and limit the up-and-down movement of the internally threaded pipe 10-7, the left side and the right side of the lower end of the internally threaded pipe 10-7 are symmetrically provided with clamping arms 10-8 through a rotating shaft and a bearing in a rotating mode, the upper end of the clamping arm 10-8 positioned on the right side is movably inserted into the upper end of the clamping arm 10-8 positioned on the left side, an arc-shaped sleeve 16 and an arc-shaped inserting rod 17 are arranged between the clamping arms 10-8 positioned on the left side and the right side, one end of the arc-shaped inserting rod 17 is movably inserted into the arc-shaped sleeve 16, the other end of the arc-shaped sleeve 16 is fixedly welded on the side wall of the clamping arm 10-8 positioned on; a second spring 18 is sleeved outside the arc-shaped sleeve 16 and the arc-shaped inserted rod 17, and the left end and the right end of the second spring 18 are fixedly welded on the clamping arms 10-8 at the left side and the right side respectively; the lower ends of the clamping arms 10-8 at the left side and the right side are movably connected with clamping plates 10-9 through hinge pieces, and the clamping plates 10-9 at the left side and the right side are correspondingly arranged; a first spring 15 is fixedly welded on the clamping plate 10-9, and the upper end of the first spring 15 is fixedly connected to the lower end of the clamping arm 10-8; the lower end of the clamping plate 10-9 is separated towards two sides by the tension of the first spring 15, so that clamping at different angles is facilitated;
a mounting plate 19 is fixedly welded on one side of the bottom surface of the base 3, an anti-roll roller 20 is rotatably arranged on the lower end of the mounting plate 19 through a wheel shaft, a second guide rail 21 is fixedly arranged on the bottom surface of the operating platform 1 through bolts, and the anti-roll roller 20 is arranged on the second guide rail 21 in a rolling manner; the anti-roll roller 20 stabilizes the base 3 when the bracket 8 tilts forward;
the first motor 6, the second motor 9-3, the third motor 9-6, the fourth motor 10-3 and the fifth motor 10-5 are all connected with an external power supply.
The working principle of the specific embodiment is as follows: when a workpiece is clamped through the device, the position of the base 3 is adjusted, the first motor 6 is turned on, the output end of the first motor 6 drives the gear 7 to rotate, and the base 3 moves left and right on the first guide rail 2 through the guide wheel 4 due to the fact that the gear 7 is meshed with the rack 5; then, a second motor 9-3 is turned on, and the output end of the second motor 9-3 drives a first screw rod 9-4 to rotate, so that a vertical plate 9-2 moves left and right on a sliding rail 9-1 through a sliding block, and fine adjustment in the left and right directions of the device is carried out until a clamping plate 10-9 is positioned above a workpiece; the third motor 9-6 is turned on, the output end of the third motor 9-6 drives the second screw rod 9-7 to rotate, the second screw rod 9-7 drives the adjusting plate 9-8 to slide up and down on the guide rod 9-5, and the adjusting plate 9-8 is positioned at a proper position to stop; the fourth motor 10-3 is turned on, the output end of the fourth motor 10-3 drives the third screw rod 10-4 to rotate, the vertical beam 10-2 moves back and forth in the adjusting groove 10-1 until the clamping plates 10-9 are positioned on the left side and the right side of the workpiece, then the fifth motor 10-5 is turned on, the output end of the fifth motor 10-5 drives the screw rod 10-6 to rotate, the internal threaded pipe 10-7 rises, the clamping arm 10-8 rises, so that the clamping plates 10-9 on the left side and the right side gradually clamp the workpiece, and in the process that the fifth motor 10-5 continuously rotates, the internal threaded pipe 10-7 rises to adjust the clamping force between the clamping plates 10-9 on the left side and the right side.
After adopting above-mentioned structure, this embodiment beneficial effect does:
1. the mechanical arm is driven by a motor to move, and structures such as an air throttle and the like are not needed to be matched for working, so that the manufacturing cost and the energy consumption are reduced, and the motor is driven to conveniently maintain the whole device;
2. the clamping force in the process of clamping the goods can be adjusted by adjusting the movement stroke of the fifth motor 10-5;
3. the first motor 6 coarsely adjusts the position of the base 3, and the second motor 9-3 finely adjusts the left and right positions of the clamping mechanism 10;
4. the anti-roll roller 20 rolls on the second guide rail 21, so that the phenomenon that the base 3 is derailed and inclined forward when the support 8 is inclined forward is effectively prevented.
The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. A manipulator based on automatic control comprises an operation table (1), a base (3), guide wheels (4) and a first guide rail (2), wherein the first guide rail (2) is fixedly arranged at the rear side of the upper part of the operation table (1), the base (3) is arranged above the first guide rail (2), a plurality of guide wheels (4) are rotatably embedded in the base (3) through wheel shafts, and the plurality of guide wheels (4) are all arranged on the corresponding first guide rail (2) in a rolling manner; the method is characterized in that: the device also comprises a first motor (6), a position adjusting mechanism (9) and a clamping mechanism (10); a rack (5) is fixedly arranged on the inner top surface of a groove formed in the rear side wall of the base (3), a first motor (6) is fixedly arranged on one side of the rear side wall of the operating platform (1) through a motor support (8), a gear (7) is fixedly arranged on the output end of the first motor (6), and the upper side of the gear (7) is meshed with the rack (5); a bracket (8) is vertically and fixedly arranged on the upper side surface of the base (3);
the position adjusting mechanism (9) comprises a sliding rail (9-1), a vertical plate (9-2), an adjusting plate (9-8), a second motor (9-3), a third motor (9-6), a cross beam (9-9), a first screw rod (9-4) and a second screw rod (9-7); sliding rails (9-1) are fixedly arranged on the front side walls of the cross beams (9-9) in the support (8), vertical plates (9-2) are arranged on the front sides of the sliding rails (9-1), the rear sides of the vertical plates (9-2) are arranged on the sliding rails (9-1) in a sliding mode through sliding blocks, a second motor (9-3) is fixedly arranged on the right side wall in the support (8) through a motor support (8), a first lead screw (9-4) is fixedly connected to the output end of the second motor (9-3), and the left end of the first lead screw (9-4) is rotatably arranged on the left side of the support (8) through a bearing; the rear side wall of the vertical plate (9-2) is fixedly connected with a screw nut screwed on the first screw rod (9-4) through threads; the left side and the right side of the front side wall of the vertical plate (9-2) are symmetrically and fixedly provided with guide rods (9-5) through connecting plates, the front side wall of the vertical plate (9-2) in the middle of each guide rod (9-5) is fixedly provided with a third motor (9-6) through a motor support (8), the output end of the third motor (9-6) is fixedly connected with a second lead screw (9-7), the front side of the vertical plate (9-2) is movably provided with an adjusting plate (9-8), the rear side wall of the adjusting plate (9-8) is fixedly connected with a screw nut screwed on the second lead screw (9-7), and the left side and the right side of the rear side of the adjusting plate (9-8) are fixedly connected with linear bearings arranged on the guide rods (9-5) in a sliding manner; a cross beam (9-9) is vertically and fixedly arranged on the front side wall of the adjusting plate (9-8), and a clamping mechanism (10) is arranged on the lower side of the cross beam (9-9);
the clamping mechanism (10) comprises a fourth motor (10-3), a third screw rod (10-4), a vertical beam (10-2), a clamping arm (10-8), a clamping plate (10-9), an internal threaded pipe (10-7), a screw rod (10-6) and a fifth motor (10-5); an adjusting groove (10-1) is formed in the beam (9-9), and the lower side of the adjusting groove (10-1) is open; a vertical beam (10-2) is movably inserted in the adjusting groove (10-1); a fourth motor (10-3) is fixedly arranged on the front side wall inside the adjusting groove (10-1) through a motor support (8), a third screw rod (10-4) is fixedly connected to the output end of the fourth motor (10-3), the rear end of the third screw rod (10-4) is rotatably embedded on the rear side wall inside the adjusting groove (10-1) through a bearing, and the upper end of a vertical beam (10-2) is fixedly connected with a screw nut screwed on the third screw rod (10-4); the vertical beam (10-2) is of a hollow structure with an opening at the lower end, a fifth motor (10-5) is fixedly arranged on the inner top surface of the vertical beam (10-2) through a motor support (8), a screw rod (10-6) is fixedly connected to the output end of the fifth motor (10-5), an internal threaded pipe (10-7) is arranged on the lower end of the screw rod (10-6) through a threaded rotating sleeve, clamping arms (10-8) are symmetrically arranged on the left side and the right side of the lower end of the internal threaded pipe (10-7) through a rotating shaft and a bearing in a rotating mode, and the upper end of the clamping arm (10-8) on the right side is movably inserted into the upper end of the clamping arm (10-; the lower ends of the clamping arms (10-8) at the left side and the right side are movably connected with clamping plates (10-9) through hinges, and the clamping plates (10-9) at the left side and the right side are correspondingly arranged;
the first motor (6), the second motor (9-3), the third motor (9-6), the fourth motor (10-3) and the fifth motor (10-5) are connected with an external power supply.
2. The manipulator based on automation control as claimed in claim 1, characterized in that: a ring plate (11) is fixedly sleeved on the upper end head of the vertical beam (10-2), walking wheels (12) are symmetrically arranged on the left side and the right side of the bottom surface of the ring plate (11) in a rotating mode through wheel seats, and the lower sides of the walking wheels (12) are in contact with the inner bottom surface of the adjusting groove (10-1); the traveling wheels (12) support and guide the front and back movement of the vertical beam (10-2).
3. The manipulator based on automation control as claimed in claim 1, characterized in that: guide blocks (13) are symmetrically and fixedly arranged on the left side wall and the right side wall of the upper end of the internal threaded pipe (10-7), guide grooves (14) are symmetrically formed in the left side wall and the right side wall in the vertical beam (10-2), and the guide blocks (13) are arranged in the corresponding guide grooves (14) in a vertically sliding mode; the guide block (13) is matched with the guide groove (14) to guide and limit the up-and-down movement of the internal thread pipe (10-7).
4. The manipulator based on automation control as claimed in claim 1, characterized in that: a first spring (15) is fixedly arranged on the clamping plate (10-9), and the upper end of the first spring (15) is fixedly connected to the lower end of the clamping arm (10-8); the lower end of the clamping plate (10-9) is separated towards two sides by the tensile force of the first spring (15), so that clamping at different angles is facilitated.
5. The manipulator based on automation control as claimed in claim 1, characterized in that: an arc-shaped sleeve (16) and an arc-shaped insertion rod (17) are arranged between the clamping arms (10-8) on the left side and the right side, one end of the arc-shaped insertion rod (17) is movably inserted into the arc-shaped sleeve (16), the other end of the arc-shaped sleeve (16) is fixedly arranged on the side wall of the clamping arm (10-8) on the left side, and the left end of the arc-shaped insertion rod (17) is fixedly arranged on the side wall of the clamping arm (10-8) on the right side; the outer sides of the arc-shaped sleeve (16) and the arc-shaped inserted rod (17) are sleeved with a second spring (18), and the left end and the right end of the second spring (18) are respectively fixedly arranged on the clamping arms (10-8) on the left side and the right side.
6. The manipulator based on automation control as claimed in claim 1, characterized in that: a mounting plate (19) is fixedly arranged on one side of the bottom surface of the base (3), an anti-roll roller (20) is rotatably arranged at the lower end of the mounting plate (19) through a wheel shaft, a second guide rail (21) is fixedly arranged on the bottom surface of the operating platform (1), and the anti-roll roller (20) is arranged on the second guide rail (21) in a rolling manner; the anti-roll roller (20) stabilizes the base (3) when the bracket (8) tilts forward.
7. The manipulator based on automation control as claimed in claim 1, characterized in that: the working principle is as follows: when a workpiece is clamped through the device, the position of the base (3) is adjusted, the first motor (6) is turned on, the output end of the first motor (6) drives the gear (7) to rotate, and the base (3) moves left and right on the first guide rail (2) through the guide wheel (4) due to the fact that the gear (7) is meshed with the rack (5); then a second motor (9-3) is turned on, and the output end of the second motor (9-3) drives a first screw rod (9-4) to rotate, so that a vertical plate (9-2) moves left and right on a sliding rail (9-1) through a sliding block, and fine adjustment in the left and right directions of the device is carried out until a clamping plate (10-9) is positioned above a workpiece; a third motor (9-6) is turned on, the output end of the third motor (9-6) drives a second screw rod (9-7) to rotate, the second screw rod (9-7) drives an adjusting plate (9-8) to slide up and down on a guide rod (9-5), and the adjusting plate (9-8) is located at a proper position to stop; a fourth motor (10-3) is turned on, the output end of the fourth motor (10-3) drives a third screw rod (10-4) to rotate, a vertical beam (10-2) moves back and forth in the adjusting groove (10-1) until the clamping plates (10-9) are positioned at the left side and the right side of the workpiece, then a fifth motor (10-5) is turned on, the output end of the fifth motor (10-5) drives a screw rod (10-6) to rotate, an internal thread pipe (10-7) rises, a clamping arm (10-8) rises, so that clamping plates (10-9) on the left side and the right side gradually clamp the workpiece, in the process that the fifth motor (10-5) continuously rotates, the internal threaded pipe (10-7) rises to adjust the clamping force between the clamping plates (10-9) on the left side and the right side.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010740273.5A CN111844001B (en) | 2020-07-28 | 2020-07-28 | Manipulator based on automatic control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010740273.5A CN111844001B (en) | 2020-07-28 | 2020-07-28 | Manipulator based on automatic control |
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| CN111844001A true CN111844001A (en) | 2020-10-30 |
| CN111844001B CN111844001B (en) | 2023-05-16 |
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| CN202010740273.5A Active CN111844001B (en) | 2020-07-28 | 2020-07-28 | Manipulator based on automatic control |
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| CN112658367A (en) * | 2020-12-25 | 2021-04-16 | 湖南智见精密制造有限公司 | Be used for vapour car trunk magnetism to inhale piece processing and use multi-wire saw |
| CN112935526A (en) * | 2021-01-27 | 2021-06-11 | 四川恒格光电科技有限公司 | Light guide column curved surface machining device |
| CN113002184A (en) * | 2021-02-01 | 2021-06-22 | 靖江特殊钢有限公司 | Automatic marking device for tightening coupling based on threading pipe |
| CN113927581A (en) * | 2021-11-12 | 2022-01-14 | 浦曼托(常州)智能装备有限公司 | Can effectively protect mechanized suspension type arm of centre gripping product |
| CN113941996A (en) * | 2021-11-10 | 2022-01-18 | 浦曼托(常州)智能装备有限公司 | Can telescopic transport manipulator of multi-angle location |
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| CN113927581B (en) * | 2021-11-12 | 2023-07-21 | 浦曼托(常州)智能装备有限公司 | Can effectively protect mechanized suspension type arm of centre gripping product |
| CN114216968B (en) * | 2021-12-20 | 2023-07-28 | 江苏欧朗汽车科技股份有限公司 | Surface defect detection device for machining cooling water pipe of automobile engine |
| CN114216968A (en) * | 2021-12-20 | 2022-03-22 | 江苏欧朗汽车管路系统有限公司 | Surface defect detection device for machining cooling water pipe of automobile engine |
| CN114940460B (en) * | 2022-04-20 | 2024-03-12 | 江苏新时代造船有限公司 | Guide rail installation device of container ship |
| CN114940460A (en) * | 2022-04-20 | 2022-08-26 | 江苏新时代造船有限公司 | Container ship guide rail installation device |
| CN115464357A (en) * | 2022-09-07 | 2022-12-13 | 深圳清联同创汽车电子有限公司 | Full-automatic telescopic rod clamping assembly and assembling equipment |
| CN115464357B (en) * | 2022-09-07 | 2024-06-11 | 深圳清联同创汽车电子有限公司 | Full-automatic clamping assembly of telescopic link and equipment |
| CN117733828A (en) * | 2024-01-10 | 2024-03-22 | 济南奥普瑞思智能装备有限公司 | Industrial mechanical arm for production line |
| CN117733828B (en) * | 2024-01-10 | 2024-05-14 | 济南奥普瑞思智能装备有限公司 | Industrial mechanical arm for production line |
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