CN111941415A - Clamping type clamp for power-assisted manipulator - Google Patents
Clamping type clamp for power-assisted manipulator Download PDFInfo
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- CN111941415A CN111941415A CN202010789564.3A CN202010789564A CN111941415A CN 111941415 A CN111941415 A CN 111941415A CN 202010789564 A CN202010789564 A CN 202010789564A CN 111941415 A CN111941415 A CN 111941415A
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- Prior art keywords
- cylinder
- detection device
- connecting rod
- driving rod
- 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a clamping type clamp for a power-assisted manipulator, which comprises an upper cylinder seat, wherein a first cylinder is arranged in the middle above the upper cylinder seat, a flange shaft sleeve is connected above a protection plate, a first rotating shaft is arranged in the flange shaft sleeve, a gear is fixedly arranged at the upper end of the first rotating shaft, one end of a square tube is horizontally arranged on a support plate, the other end of the square tube is fixedly connected with a flange, a cylinder support frame is arranged above the support plate, a second cylinder is arranged on the cylinder support frame, the moving end of the second cylinder is fixedly connected with a rack, the gear and the rack are meshed and connected with each other, a connecting rod mounting seat is fixedly arranged below the upper cylinder seat, one end of a connecting rod is respectively arranged between two clamping jaws through a rotating shaft. The telescopic end of the first air cylinder moves to drive the base to move up and down, the two clamping jaws and the base jointly clamp the cylindrical workpiece, and the clamp can rotate and clamp and has the characteristic of convenience in use.
Description
Technical Field
The invention relates to the technical field of clamps, in particular to a clamping type clamp for a power-assisted manipulator.
Background
The manipulator is a novel device developed in the process of mechanization and automation production. In the modern production process, the mechanical arm is widely applied to an automatic production line, the development and production of a robot become a new technology which is rapidly developed in the high-tech field, and the development of the mechanical arm is promoted, so that the mechanical arm can be organically combined with mechanization and automation better.
The manipulator in the prior art does not need a clamp for the cylindrical weight, and is inconvenient to clamp the cylindrical weight.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a clamping type clamp for a power-assisted manipulator, which solves the problem that the manipulator in the prior art does not have a clamp for clamping a cylindrical weight and is inconvenient to clamp the cylindrical weight.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: a clamping type clamp for a power-assisted manipulator comprises an upper air cylinder seat, wherein a protection plate is fixedly arranged above the upper air cylinder seat, a first air cylinder is arranged on the inner side of the protection plate above the upper air cylinder seat, a flange shaft sleeve is connected above the protection plate, a support plate is arranged above the flange shaft sleeve, a first rotating shaft is arranged in the flange shaft sleeve, a gear is fixedly arranged at the upper end of the first rotating shaft, one end of a square pipe is horizontally arranged on the support plate, the other end of the square pipe is fixedly connected with a flange, an air cylinder support frame is arranged above the support plate, a second air cylinder is arranged on the air cylinder support frame, the moving end of the second air cylinder is fixedly connected with a rack, the lower end of the first rotating shaft is fixedly connected with the protection plate, the gear and the rack are meshed with each other and connected, a connecting rod installation seat is fixedly arranged, two be provided with tight piece of clamp on the jack catch, two be connected with connecting rod one end respectively through the pivot in the middle of the jack catch, the upper end at the base is connected to the connecting rod other end, the base upper end links to each other with the removal end of first cylinder.
Preferably, the clamping block is rotatably connected with the clamping jaw through a pin shaft.
Preferably, the protection plate is n-shaped, and two sides of the protection plate are arranged on two sides of the cylinder upper seat.
Preferably, the cylinder support frame is L-shaped, and the cylinder support frame is of a steel plate bending structure.
Preferably, two of said gripping blocks are disposed on opposite inner sides of the jaw.
Preferably, a rubber pad is arranged below the base.
Preferably, the shield plate includes: the air cylinder comprises an upper plate and a side plate connected to the side wall below the upper plate, wherein the side plate is fixedly connected with an upper seat of the air cylinder.
Preferably, a plurality of first connecting through holes are arranged on the clamping jaw at intervals, and rotating shafts are arranged in the first connecting through holes.
Preferably, the base front end sets up safety device, safety device includes:
the L-shaped connecting rod is arranged at the front end of the base, the two sides of the base are provided with the L-shaped connecting rods, and the L-shaped connecting rods are fixedly connected with the base;
the shell is arranged at the lower end of the left L-shaped connecting rod and is fixedly connected with the L-shaped connecting rod;
the driving motor is arranged in the shell and is fixedly connected with the shell;
the thread driving rod is arranged on the right side of the driving motor and is fixedly connected with the output end of the driving motor, and the thread driving rod is arranged in the left-right direction;
the sliding rail is arranged at the lower end of the shell and is fixedly connected with the shell, and the sliding rail is parallel to the threaded driving rod;
the movable frame is arranged in the shell, a first threaded hole is formed in the upper end of the movable frame, the threaded driving rod penetrates into the first threaded hole to be in threaded connection with the movable frame, and the lower end of the movable frame is in sliding connection with the sliding rail and moves left and right along the sliding rail;
the gear rack is arranged in the shell and fixedly connected with the shell, the gear rack is parallel to the threaded driving rod, and the gear rack is positioned behind the movable frame;
the first driving rod is arranged in the moving frame and positioned below the first threaded hole, the upper end of the first driving rod is rotatably connected with the moving frame through a bearing, and the first driving rod is perpendicular to the threaded driving rod;
the first gear is arranged on the first driving rod and fixedly connected with the first driving rod, the diameter of the first gear is larger than the front and rear width of the sliding frame, and the first gear is in meshing transmission with the gear strip;
the first bevel gear is arranged at the lower end of the first driving rod and is fixedly connected with the first driving rod;
the second driving rod is rotatably connected in the movable frame, the second driving rod is parallel to the threaded driving rod, and two ends of the second driving rod are rotatably connected with the movable frame through bearings;
the second bevel gear is arranged on the second driving rod and fixedly connected with the second driving rod, and the second bevel gear is in meshing transmission with the first bevel gear;
the threaded rod is arranged in the shell, the threaded rod is parallel to the threaded driving rod, and the left end of the threaded rod is fixedly connected with the right end of the second driving rod;
the butt joint block is arranged at the lower end of the right L-shaped connecting rod and is fixedly connected with the L-shaped connecting rod;
and the second threaded hole is arranged on the butt joint block, and is arranged in the left-right direction and corresponds to the second threaded rod.
Preferably, the power-assisted manipulator still includes alarm device with embracing formula anchor clamps, alarm device includes:
the controller and the alarm are arranged on the protection plate;
the air pressure detection device is arranged on the first air cylinder and used for detecting the air pressure value of the first air cylinder;
the first angle detection device is arranged on the base and used for detecting an included angle between the first air cylinder and the connecting rod;
the second angle detection device is arranged on the base and used for detecting the angle between the connecting rod and the clamping jaw;
the pressure detection device is arranged on the contact surface of the clamping block and the clamped object and is used for detecting the pressure of the clamping block on the clamped object;
the temperature sensor is arranged in the first cylinder and used for detecting the temperature of the gas in the first cylinder;
the controller is connected with alarm, atmospheric pressure detection device, first angle detection device, second angle detection device, pressure detection device, temperature sensor electricity, the controller is based on atmospheric pressure detection device, first angle detection device, second angle detection device, pressure detection device, temperature sensor detection value control alarm and reports to the police, includes following step:
wherein l1For the length of the connecting rod, /)2Is the distance from a rotating shaft (14) connected with a connecting rod (15) on one clamping jaw (18) to a clamping block (19) on the clamping jaw (18), theta is the included angle between a first cylinder and the connecting rod, namely the angle value detected by a first angle detection device, alpha is the angle between the connecting rod and the clamping jaw, namely the angle value detected by a second angle detection device, p is the air pressure value of the first cylinder and the air pressure value detected by an air pressure detection device, and lambda is the air pressure value detected by a second angle detection device1For a predetermined transfer efficiency of the first cylinder，λ2The preset transmission efficiency between the connecting rod and the clamping jaw is set;
Wherein mu1Is a preset friction coefficient mu between the base and the connecting rod2Is a preset friction coefficient t between the connecting rod and the clamping jaw0The preset temperature of the gas in the first cylinder is t, and the t is the detection value of the temperature sensor;
and 3, comparing the calculated pressure correction value with the detection value of the pressure sensor by the controller, and controlling an alarm to give an alarm by the controller when the detection value of the pressure sensor is smaller than the calculated pressure correction value.
(III) advantageous effects
The invention provides a clamping type clamp for a power-assisted manipulator, which has the following beneficial effects: the second cylinder and the first cylinder are communicated with an air source, and a simple control button is arranged, so that the following functions can be realized: the second cylinder drives the rack to move, the rack drives the gear to rotate, the rotation of the gear can drive the first rotating shaft to rotate, the rotation of the first rotating shaft drives the protection plate to rotate, and the rotation of the clamping jaw is realized; meanwhile, the telescopic end of the first cylinder moves to drive the base to move up and down, the two clamping claws and the base jointly clamp the columnar heavy object, the clamp can rotate and clamp, and the clamp has the characteristic of convenience in use.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a partially enlarged structural view of the present invention;
FIG. 3 is a block diagram of the safety shield apparatus of the present invention;
FIG. 4 is a view showing the inside structure of the casing of the present invention;
fig. 5 is a structural view of the moving frame in the housing.
In the figure: 1. an air cylinder upper seat; 2. a protection plate; 3. a flange shaft sleeve; 4. a first rotating shaft; 5. a gear; 6. a rack; 7. a second cylinder; 8. a support plate; 9. a cylinder support frame; 10. a square tube; 11. a connecting flange; 12. a first cylinder; 13. a connecting rod mounting seat; 14. a rotating shaft; 15. a connecting rod; 16. a base; 17. a rubber pad; 18. a claw; 19. a clamping block; 20. an L-shaped connecting rod; 21. a housing; 22. a butt joint block; 23. a second threaded hole; 24. a drive motor; 25. a threaded drive rod; 26. a slide rail; 27. moving the frame; 28. a gear rack; 29. a first drive lever; 30. a first gear; 31. a first bevel gear; 32. a second drive lever; 33. a second bevel gear; 34. a threaded rod; 35. a first threaded hole; 36. an upper plate; 37. side plates.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-2, the present invention provides a technical solution: a clamping type clamp for a power-assisted manipulator comprises an upper cylinder seat 1, a protection plate 2 is fixedly installed above the upper cylinder seat 1, a first cylinder 12 is installed in the middle of the upper portion of the upper cylinder seat 1, the protection plate 2 is connected with a flange shaft sleeve 3, a support plate 8 is installed above the flange shaft sleeve 3, a first rotating shaft 4 is installed in the flange shaft sleeve 3, a gear 5 is fixedly installed at the upper end of the first rotating shaft 4, one end of a square pipe 10 is installed in the horizontal direction of the support plate 8, the other end of the square pipe 10 is fixedly connected with a flange 11, a cylinder support frame 9 is installed above the support plate 8, a second cylinder 7 is installed on the cylinder support frame 9, the moving end of the second cylinder 7 is fixedly connected with a rack 6, the lower end of the first rotating shaft 4 is fixedly connected with the protection plate 2, the gear 5 is meshed with the rack 6 and is connected, and a connecting rod, the lower end of the connecting rod installation seat 13 is connected with two clamping jaws 18 through pin shafts, the lower ends of the clamping jaws 18 are fixedly provided with clamping blocks 19, one ends of connecting rods 15 are respectively arranged in the middles of the clamping jaws 18 through rotating shafts 14, the other ends of the connecting rods 15 are connected to the upper end of a base 16, the upper end of the base 16 is connected with the moving end of a first air cylinder 12, and a rubber pad 17 is installed below the base 16.
Furthermore, the clamping block 19 is rotatably connected with the clamping jaw 18 through a pin shaft, so that the clamping block can rotate in the direction, and the applicability is improved.
Further, guard plate 2 is the n type, 2 both sides of guard plate set up the both sides of cylinder upper bracket 1, the device in the guard plate of protection that can be better.
Further, the cylinder support frame 9 is L-shaped, the cylinder support frame 9 is a steel plate bending structure, and the telescopic end of the second cylinder 7 and the gear 5 can be arranged on the same plane.
Furthermore, the two clamping blocks 19 are arranged on the opposite inner sides of the clamping jaws 18, so that the clamping blocks can better clamp objects.
Furthermore, a rubber pad 17 is arranged below the base, so that the clamped object can be prevented from being scratched.
Further, the shielding plate 2 includes: the upper plate 35 and the side plate 36 connected with the side wall below the upper plate, wherein the side plate 36 is fixedly connected with the cylinder upper seat 1, and devices in the protection plate 2 can be better protected.
Further, interval sets up a plurality of first connecting holes 37 on the jack catch, all set up the pivot in the first connecting hole 37, can switch connecting rod 15 and 18 the hookup location of jack catch, improve anchor clamps's suitability.
The working principle and the beneficial effects of the technical scheme are as follows:
this anchor clamps are detachable to be connected in helping hand manipulator and stretch out the end, during the use, are connected to this anchor clamps on the manipulator (specifically for connecting on the manipulator through flange 11), lead to the air supply for second cylinder 7, first cylinder 12 to set up simple control button, can realize following function: the second cylinder 7 drives the rack 6 to move, the rack 6 drives the gear 5 to rotate, the rotation of the gear 5 can drive the first rotating shaft 4 to rotate, the rotation of the first rotating shaft 4 drives the protection plate 2 and the rotation of the integral structure of the cylinder upper seat 1, the rotation of the clamping jaws 18 connected with the cylinder upper seat 1 is realized, the problem that the clamping jaws of the manipulator in the prior art are not flexible enough when only moving in one direction for use is solved, meanwhile, the telescopic end of the first cylinder 12 moves to drive the base 16 to move up and down, the base moves downwards to clamp the upper end of a cylindrical heavy object and simultaneously drive the clamping blocks on the two clamping jaws to clamp two opposite sides of the cylindrical heavy object close to the cylindrical heavy object, the two clamping jaws 18 and the base 16 jointly realize the clamping of the side end of the cylindrical workpiece (heavy object) (the cylindrical heavy object is transversely placed, and the two clamping jaws and the rubber pads on the base clamp/clamp the peripheral sides of the cylindrical heavy object, the clamp can realize rotation and clamping, has the characteristic of convenient use, and solves the problem that the clamp for cylindrical heavy objects is inconvenient to clamp by a manipulator without pins in the prior art, the clamping block 19 is rotationally connected with the jaw 18 through the pin shaft, so that the clamping block can rotate in the direction, the applicability is improved, the cylinder support frame 9 is L-shaped, the cylinder support frame 9 is of a structure formed by bending a steel plate, the telescopic end of a second cylinder and a gear can be arranged on the same plane, a rubber pad is arranged below the base, the clamped object can be prevented from being scratched, a plurality of first connecting through holes are arranged on the jaw at intervals, rotating shafts are arranged in the first connecting holes, the connecting positions of the connecting rod and the jaw can be switched, and the applicability of the clamp is improved.
In one embodiment, the base 16 is provided at a front end thereof with a safety guard, the safety guard comprising:
the L-shaped connecting rod 20 is arranged at the front end of the base 16, the L-shaped connecting rods 20 are arranged on two sides of the base 16, and the L-shaped connecting rods 20 are fixedly connected with the base 16;
the shell 21 is arranged at the lower end of the left L-shaped connecting rod 20 and fixedly connected with the L-shaped connecting rod 20;
the driving motor 24 is arranged in the shell 21, and the driving motor 24 is fixedly connected with the shell 21;
the threaded driving rod 25 is arranged on the right side of the driving motor 24 and fixedly connected with the output end of the driving motor 24, and the threaded driving rod 25 is arranged in the left-right direction;
the slide rail 26 is arranged at the lower end of the shell 21 and is fixedly connected with the shell 21, and the slide rail 26 is parallel to the threaded driving rod 25;
the movable frame 27 is arranged in the shell 21, a first threaded hole 35 is formed in the upper end of the movable frame 27, the threaded driving rod 25 penetrates into the first threaded hole 35 to be in threaded connection with the movable frame 27, the lower end of the movable frame 27 is in sliding connection with the sliding rail 26, and the movable frame 27 moves left and right along the sliding rail 26;
the gear rack 28 is arranged in the shell 21 and fixedly connected with the shell 21, the gear 5 is parallel to the threaded driving rod 25, and the gear rack 28 is positioned behind the moving frame 27;
the first driving rod 29 is arranged in the moving frame 27 and is positioned below the first threaded hole 35, the upper end of the first driving rod 29 is rotatably connected with the moving frame 27 through a bearing, and the first driving rod 29 is perpendicular to the threaded driving rod 25;
the first gear 30 is arranged on the first driving rod 29 and is fixedly connected with the first driving rod 29, the diameter of the first gear 30 is larger than the front and back width of the sliding frame, and the first gear 30 is in meshing transmission with the gear rack 28;
the first bevel gear 31 is arranged at the lower end of the first driving rod 29, and the first bevel gear 31 is fixedly connected with the first driving rod 29;
the second driving rod 32 is rotatably connected in the moving frame 27, the second driving rod 32 is parallel to the threaded driving rod 25, and both ends of the second driving rod 32 are rotatably connected with the moving frame 27 through bearings;
a second bevel gear 33, wherein the second bevel gear 33 is arranged on the second driving rod 32, the second bevel gear 33 is fixedly connected with the second driving rod 32, and the second bevel gear 33 is in meshing transmission with the first bevel gear 31;
the threaded rod 34 is arranged in the shell 21, the threaded rod 34 is parallel to the threaded driving rod 25, and the left end of the threaded rod 34 is fixedly connected with the right end of the second driving rod 32;
the butt joint block 22 is arranged at the lower end of the right L-shaped connecting rod 20, and is fixedly connected with the L-shaped connecting rod 20;
and a second screw hole 23, wherein the second screw hole 23 is formed in the butt joint block 22, and the second screw hole 23 is formed in the left-right direction and corresponds to the second screw rod 34.
The working principle and the beneficial effects of the technical scheme are that when the device is used, after a clamped object is clamped, the driving motor 24 is started, the driving motor 24 rotates to drive the threaded driving rod 25 to rotate, the threaded driving rod 25 drives the moving frame 27 to move rightwards, when the first gear 30 in the moving frame 27 is meshed with 5 gears, the first gear 30 starts to rotate to drive the first driving rod 29 to rotate, the first driving rod 29 drives the first conical gear 31 to rotate, the first conical gear 31 drives the second conical gear 33 to rotate, the second conical gear 33 drives the second driving rod 32 to rotate, the second driving rod 32 drives the threaded rod 34 to rotate, so that the threaded rod 34 can rotate while moving rightwards, and is screwed into the second threaded hole 23 in the right butting block 22, so that the clamped object is limited in the safety device, and when the problems of air cut-off and the like occur, the safety device can protect the clamped object from falling down, the safety is improved, the protection range of the safety device can be improved by arranging the L-shaped connecting rod 20, and the safety protection device can be protected more firmly by arranging the threaded rod 34 and the second threaded hole 23.
In one embodiment, a clamp-on clamp for a power-assisted robot further includes an alarm device, the alarm device including:
the controller and the alarm are arranged on the protection plate;
the air pressure detection device is arranged on the first air cylinder and used for detecting the air pressure value of the first air cylinder;
the first angle detection device is arranged on the base and used for detecting an included angle between the first air cylinder and the connecting rod;
the second angle detection device is arranged on the base and used for detecting the angle between the connecting rod and the clamping jaw;
the pressure detection device is arranged on the contact surface of the clamping block and the clamped object and is used for detecting the pressure of the clamping block on the clamped object;
the temperature sensor is arranged in the first cylinder and used for detecting the temperature of the gas in the first cylinder;
the controller is connected with alarm, atmospheric pressure detection device, first angle detection device, second angle detection device, pressure detection device, temperature sensor electricity, the controller is based on atmospheric pressure detection device, first angle detection device, second angle detection device, pressure detection device, temperature sensor detection value control alarm and reports to the police, includes following step:
wherein l1For the length of the connecting rod, /)2Is the distance from a rotating shaft 14 connected with a connecting rod 15 on one clamping jaw 18 to a clamping block 19 on the clamping jaw 18, theta is the included angle between the first air cylinder and the connecting rod, namely the angle value detected by the first angle detection device, alpha is the angle between the connecting rod and the clamping jaw, namely the angle value detected by the second angle detection device, p is the air pressure value of the first air cylinder and the air pressure value detected by the air pressure detection device, and lambda is1For a predetermined transfer efficiency (efficiency of cylinder thrust transfer to connecting rod) of the first cylinder, lambda2For a predetermined transfer efficiency between the connecting rod and the jaws (transfer of force on the connecting rod to the jawsEfficiency of (c);
Wherein mu1Is a preset friction coefficient (preferably, the connecting rod is rotationally connected with the base through a connecting rotating shaft, and the preset friction coefficient between the base and the connecting rod is the friction coefficient between the connecting rotating shaft and the connecting rod), mu2Is the preset friction coefficient between the connecting rod and the clamping jaw (preferably, the connecting rod is rotationally connected with the clamping jaw through a rotating shaft, the preset friction coefficient between the connecting rod and the clamping jaw is the friction coefficient between the rotating shaft and the connecting rod), t0The preset temperature of the gas in the first cylinder is t, and the t is the detection value of the temperature sensor;
and 3, comparing the calculated pressure correction value with the detection value of the pressure sensor by the controller, and controlling an alarm to give an alarm by the controller when the detection value of the pressure sensor is smaller than the calculated pressure correction value.
The working principle and the beneficial effects of the technical proposal are that firstly, the theoretical value F of the pressure of the clamping block acting on the surface of the clamped object is calculated according to the detection values of the air pressure detection device, the first angle detection device and the second angle detection device and the formula (1), the theoretical value F of the pressure of the clamping block acting on the surface of the clamped object is corrected according to the detection value of the temperature sensor and the formula (2), and the pressure correction value F is obtained1(ii) a The controller compares the calculated pressure correction value with the pressure sensor detection value, when the pressure sensor detection value is smaller than the calculated pressure correction value, the controller controls the alarm to give an alarm, so that the working state of the clamp can be monitored, and when the clamping jaws and the connecting rod, the connecting rod and the base are clamped and the like, the worker can be reminded of overhauling in time.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The clamping type clamp for the power-assisted manipulator comprises an upper cylinder seat (1) and is characterized in that a protection plate (2) is fixedly mounted above the upper cylinder seat (1), a first cylinder (12) is arranged on the inner side of the protection plate (2) above the upper cylinder seat (1), a flange shaft sleeve (3) is connected above the protection plate (2), a support plate (8) is mounted above the flange shaft sleeve (3), a first rotating shaft (4) is mounted in the flange shaft sleeve (3), a gear (5) is fixedly mounted at the upper end of the first rotating shaft (4), one end of a square pipe (10) is horizontally mounted on the support plate (8), a flange (11) is fixedly connected at the other end of the square pipe (10), a cylinder support frame (9) is mounted above the support plate (8), a second cylinder (7) is mounted on the cylinder support frame (9), and a rack (6) is fixedly connected at the moving end of the second cylinder (7), first rotation axis (4) lower extreme and guard plate (2) fixed connection, gear (5) link to each other with rack (6) intermeshing, the fixed connecting rod mount pad (13) that is provided with in cylinder upper bracket (1) below, two jack catchs (18) of round pin hub connection are passed through to the relative both sides of connecting rod mount pad (13) lower extreme, two be provided with on jack catch (18) and press from both sides tight piece (19), two be connected with connecting rod (15) one end respectively through pivot (14) in the middle of jack catch (18), the upper end in base (16) is connected to the connecting rod (15) other end, base (16) upper end links to each other with the removal end of first cylinder (12).
2. A clasping clamp for a power-assisted manipulator as claimed in claim 1, characterized in that the clamping block (19) is pivotally connected to the jaw (18) by a pin.
3. A clasping clamp for a power-assisted manipulator according to claim 1, characterized in that the protection plate (2) is n-shaped, and both sides of the protection plate (2) are arranged on both sides of the cylinder upper seat (1).
4. A clasping clamp for a power-assisted manipulator as claimed in claim 1, wherein the cylinder support frame (9) is L-shaped, and the cylinder support frame (9) is a steel plate bending structure.
5. A grip clamp for a power assisted manipulator according to claim 1, characterized in that the two clamping blocks (19) are arranged on opposite inner sides of the jaws (18).
6. A grip clamp for a power assisted manipulator according to claim 1, wherein a rubber pad (17) is mounted below the base (16).
7. A power-assisted manipulator clamp according to claim 1, wherein the guard plate (2) comprises: the cylinder upper seat structure comprises an upper plate (35) and a side plate (36) connected to the side wall below the upper plate (35), wherein the side plate (36) is fixedly connected with the cylinder upper seat (1).
8. A clasping clamp for a power-assisted manipulator according to claim 1, wherein a plurality of first connecting holes (37) are arranged at intervals on the clamping jaw (18), and rotating shafts are arranged in the first connecting holes (37).
9. A clasping clamp for a power-assisted manipulator as claimed in claim 1, wherein the base (16) is provided at its front end with a safety guard comprising:
the L-shaped connecting rod (20) is arranged at the front end of the base (16), the L-shaped connecting rods (20) are arranged on two sides of the base (16), and the L-shaped connecting rods (20) are fixedly connected with the base (16);
the shell (21), the said shell (21) is set up in the lower end of the left side L-shaped tie rod (20), fixedly connect with L-shaped tie rod (20);
the driving motor (24) is arranged in the shell (21), and the driving motor (24) is fixedly connected with the shell (21);
the screw thread driving rod (25) is arranged on the right side of the driving motor (24) and fixedly connected with the output end of the driving motor (24), and the screw thread driving rod (25) is arranged in the left-right direction;
the sliding rail (26) is arranged at the lower end of the shell (21) and is fixedly connected with the shell (21), and the sliding rail (26) is parallel to the threaded driving rod (25);
the movable frame (27) is arranged in the shell (21), a first threaded hole (35) is formed in the upper end of the movable frame (27), the threaded driving rod (25) penetrates into the first threaded hole (35) to be in threaded connection with the movable frame (27), and the lower end of the movable frame (27) is in sliding connection with the sliding rail (26) and moves left and right along the sliding rail (26);
the gear rack (28) is arranged in the shell (21) and fixedly connected with the shell (21), the gear (5) is parallel to the threaded driving rod (25), and the gear rack (28) is positioned behind the moving frame (27);
the first driving rod (29) is arranged in the moving frame (27) and is positioned below the first threaded hole (35), the upper end of the first driving rod (29) is rotatably connected with the moving frame (27) through a bearing, and the first driving rod (29) is perpendicular to the threaded driving rod (25);
the first gear (30) is arranged on the first driving rod (29) and fixedly connected with the first driving rod (29), the diameter of the first gear (30) is larger than the front-back width of the moving frame (27), and the first gear (30) is in meshing transmission with the gear rack (28);
the first conical gear (31) is arranged at the lower end of the first driving rod (29), and is fixedly connected with the first driving rod (29);
the second driving rod (32) is rotatably connected in the moving frame (27), the second driving rod (32) is parallel to the threaded driving rod (25), and two ends of the second driving rod (32) are rotatably connected with the moving frame (27) through bearings;
the second bevel gear (33), the second bevel gear (33) is arranged on the second driving rod (32), the second bevel gear (33) is fixedly connected with the second driving rod (32), and the second bevel gear (33) is in meshing transmission with the first bevel gear (31);
the threaded rod (34) is arranged in the shell (21), the threaded rod (34) is parallel to the threaded driving rod (25), and the left end of the threaded rod (34) is fixedly connected with the right end of the second driving rod (32);
the butt joint block (22) is arranged at the lower end of the right L-shaped connecting rod (20) and fixedly connected with the L-shaped connecting rod (20);
and the second threaded hole (23) is formed in the butt joint block (22), and the second threaded hole (23) is arranged in the left-right direction and corresponds to the second threaded rod (34).
10. A grip clamp for a power assist manipulator according to claim 1, further comprising an alarm device, the alarm device comprising:
the controller and the alarm are arranged on the protection plate;
the air pressure detection device is arranged on the first air cylinder and used for detecting the air pressure value of the first air cylinder;
the first angle detection device is arranged on the base and used for detecting an included angle between the first air cylinder and the connecting rod;
the second angle detection device is arranged on the base and used for detecting the angle between the connecting rod and the clamping jaw;
the pressure detection device is arranged on the contact surface of the clamping block and the clamped object and is used for detecting the pressure of the clamping block on the clamped object;
the temperature sensor is arranged in the first cylinder and used for detecting the temperature of the gas in the first cylinder;
the controller is connected with alarm, atmospheric pressure detection device, first angle detection device, second angle detection device, pressure detection device, temperature sensor electricity, the controller is based on atmospheric pressure detection device, first angle detection device, second angle detection device, pressure detection device, temperature sensor detection value control alarm and reports to the police, includes following step:
step 1, calculating a theoretical value F of the pressure of the clamping block acting on the surface of the clamped object according to detection values of the air pressure detection device, the first angle detection device and the second angle detection device and a formula (1);
wherein l1Is the length of the connecting rod (15) |2Is the distance from a rotating shaft (14) connected with a connecting rod (15) on one clamping jaw (18) to a clamping block (19) on the clamping jaw (18), theta is the included angle between a first air cylinder (12) and the connecting rod (15), namely the angle value detected by a first angle detection device, alpha is the angle between the connecting rod (15) and the clamping jaw (18), namely the angle value detected by a second angle detection device, p is the air pressure value of the first air cylinder and the air pressure value detected by the air pressure detection device, and lambda is the air pressure value of the first air cylinder1For a predetermined transfer efficiency, lambda, of the first cylinder2The preset transmission efficiency between the connecting rod and the clamping jaw is set;
step 2, correcting the theoretical value of the pressure of the clamping block acting on the surface of the clamped object according to the detection value of the temperature sensor and a formula (2) to obtain a pressure correction value F1；
Wherein mu1Is a preset friction coefficient mu between the base and the connecting rod2Is a preset friction coefficient t between the connecting rod and the clamping jaw0The preset temperature of the gas in the first cylinder is t, and the t is the detection value of the temperature sensor;
and 3, comparing the calculated pressure correction value with the detection value of the pressure sensor by the controller, and controlling an alarm to give an alarm by the controller when the detection value of the pressure sensor is smaller than the calculated pressure correction value.
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| CN202010789564.3A CN111941415B (en) | 2020-08-07 | 2020-08-07 | Clamping type clamp for power-assisted manipulator |
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| CN202010789564.3A CN111941415B (en) | 2020-08-07 | 2020-08-07 | Clamping type clamp for power-assisted manipulator |
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| CN112505284A (en) * | 2020-11-23 | 2021-03-16 | 重庆公共运输职业学院 | Quick detection device of job site large-scale bridge bracket damage |
| CN112744498A (en) * | 2020-12-28 | 2021-05-04 | 上海快仓智能科技有限公司 | Transfer robot, transfer control method, control equipment and warehousing system |
| CN112768391A (en) * | 2020-12-31 | 2021-05-07 | 上海至纯洁净系统科技股份有限公司 | Mechanical clamping device is listened in wafer box linkage |
| CN113198560A (en) * | 2021-05-06 | 2021-08-03 | 佳木斯大学 | Blood specimen test tube rack and identification alarm method |
| CN113751433A (en) * | 2021-09-07 | 2021-12-07 | 宁波格劳博智能工业有限公司 | Full intelligent cleaning and detecting device for lithium battery electrolyte ton barrel |
| CN114102499A (en) * | 2021-12-24 | 2022-03-01 | 无锡承方科技有限公司 | Bolt fastening device |
| WO2022148012A1 (en) * | 2021-01-11 | 2022-07-14 | 广州大学 | Mechanical arm for gripping workpiece requiring reinforced grinding |
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