CN111993404A

CN111993404A - Control method of small mechanical arm tail end clamping device

Info

Publication number: CN111993404A
Application number: CN202010821833.XA
Authority: CN
Inventors: 秦天云
Original assignee: Fuyang Shengdong Intelligent Manufacturing Technology Development Co ltd
Current assignee: Fuyang Shengdong Intelligent Manufacturing Technology Development Co ltd
Priority date: 2018-04-26
Filing date: 2018-04-26
Publication date: 2020-11-27
Also published as: CN108284441B; CN108284441A

Abstract

The invention discloses an operation and control method of a small mechanical arm tail end clamping device, which comprises a connecting seat, wherein a hollow mounting seat is fixed at the top of the connecting seat, a first motor is fixed at the top of the hollow mounting seat, a first gear which is rotatably sleeved on the inner side of the hollow mounting seat is fixed on an output shaft of the first motor, the first gear is in meshed connection with a second gear, a rotating column which is rotatably connected with the hollow mounting seat is fixed at the top of the second gear, and an electric cylinder is fixed at the top end of the rotating column. According to the invention, through the second motor, the threaded rod, the internal threaded pipe, the rectangular sliding block, the fixed block, the connecting rod, the first clamping plate and the second clamping plate, a plurality of objects can be clamped at one time, so that the transfer efficiency is improved, the use is convenient, the limiting frame, the first clamping plate, the second clamping plate and other structures can be integrally disassembled, so that the maintenance or the replacement is convenient, the functions are powerful, and the service life of the mechanical arm can be prolonged.

Description

Control method of small mechanical arm tail end clamping device

The application is a divisional application of a patent with the application date of 2018, 4, 26 and the application number of 201810387475.9 and the name of 'a small-sized mechanical arm tail end clamping device'.

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a control method of a small mechanical arm tail end clamping device.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

Present warehouse uses automatic manipulator and manual manipulator more often, however, the clamping part of these two kinds of manipulators all is integrative with the manipulator to set up, when its clamping part takes place to damage in the in-process of getting the article and carrying out the transfer when pressing from both sides, need spend very long time to maintain and change, the process is very loaded down with trivial details, and maintenance duration overlength, lead to the article transfer inefficiency, make the life of arm short, in addition, the manipulator that uses at present can only snatch a transfer article for the most one time, make article transfer inefficiency.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a method for operating a clamping device at the tail end of a small mechanical arm.

In order to achieve the purpose, the invention adopts the following technical scheme: a control method of a clamping device at the tail end of a small mechanical arm comprises a connecting seat, wherein a hollow mounting seat is fixed at the top of the connecting seat, a first motor is fixed at the top of the hollow mounting seat, a first gear which is rotatably sleeved on the inner side of the hollow mounting seat is fixed on an output shaft of the first motor, the first gear is in meshed connection with a second gear, a rotating column which is rotatably connected with the hollow mounting seat is fixed at the top of the second gear, an electric cylinder is fixed at the top end of the rotating column, a hollow guide arm is vertically fixed on a piston rod of the electric cylinder, a limiting frame is fixed at one end of the hollow guide arm through a screw, a second motor is fixed at the other end of the hollow guide arm, a threaded rod is fixed on an output shaft of the second motor, an internal threaded pipe which is slidably sleeved on the inner side of the hollow guide arm is sleeved on the outer side of the threaded rod in a threaded manner, and rectangular sliding blocks which, and one end of the rectangular sliding block, which is far away from the internal thread pipe, is fixed with fixed blocks symmetrically arranged at two sides of the hollow guide arm, the fixed blocks are connected with a clamping structure, the clamping structure comprises a connecting rod fixed at one side of the fixed blocks through screws, one end of the connecting rod, which is far away from the fixed blocks, is fixed with a second clamping plate positioned at the inner side of a limiting frame, the opposite side of the second clamping plate is provided with a first clamping plate fixed at the inner side of the limiting frame, one side of the limiting frame, which is close to the fixed blocks, is provided with a rectangular hole matched with the connecting rod in size, the connecting rod is slidably sleeved in the rectangular hole, the connecting rod and the fixed blocks are provided with threaded holes, a first screw is sleeved in the threaded hole, the inner wall of one side of the limiting frame, which is close to the hollow guide, a sliding groove is formed in one side, close to the fixed block, of the hollow guide arm along the length direction, the rectangular sliding block is matched with the sliding groove in size, and the rectangular sliding block is sleeved in the sliding groove in a sliding mode;

the control method comprises the following steps: set up first motor is used for driving first gear, second gear, rotates post and electronic jar and rotates, rotates the direction of snatching that is used for adjusting the object, just the second motor orders about the threaded rod when using and rotates, wherein, when internal thread pipe, rectangle slider, fixed block and connecting rod slide each other for change the distance between first splint and the second splint, because spacing frame passes through the second fix with screw with the cavity guiding arm, and connecting rod and fixed block pass through first fix with screw, realize dismantling spacing frame when taking out first screw and second screw.

Further, the opposite sides of first splint and second splint all are equipped with arc centre gripping groove, and the length of first splint and second splint is greater than the height of spacing frame, and wherein, the quantity of first splint and second splint is a plurality of.

Further, electronic jar is used for adjusting the height of cavity guide arm, wherein, one side of electronic jar is fixed with the controller that is located first motor top, and the controller model is ATMEGA, and the below of controller is equipped with reserve power.

Drawings

Fig. 1 is a schematic structural diagram of a small-sized mechanical arm end clamping device according to the present invention;

FIG. 2 is a schematic top view of an internal structure of a hollow guiding arm of a clamping device for an end of a small robot arm according to the present invention;

fig. 3 is a schematic side view of an internally threaded tube of a small robot arm end clamping device according to the present invention.

In the figure: the device comprises a connecting seat 1, a hollow mounting seat 2, an electric cylinder 3, a first motor 4, a first gear 5, a second gear 6, a rotating column 7, a hollow guide arm 8, a second motor 9, a threaded rod 10, an internal threaded tube 11, a rectangular sliding block 12, a fixed block 13, a connecting rod 14, a limiting frame 15, a first clamping plate 16, a second clamping plate 17, a first screw 18 and a second screw 19.

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.

Referring to fig. 1-3, a method for operating and controlling a clamping device at the tail end of a small-sized mechanical arm comprises a connecting seat 1, a hollow mounting seat 2 is fixed at the top of the connecting seat 1, a first motor 4 is fixed at the top of the hollow mounting seat 2, a first gear 5 rotatably sleeved on the inner side of the hollow mounting seat 2 is fixed on an output shaft of the first motor 4, a second gear 6 is connected with the first gear 5 in a meshing manner, a rotating column 7 rotatably connected with the hollow mounting seat 2 is fixed at the top of the second gear 6, an electric cylinder 3 is fixed at the top end of the rotating column 7, a hollow guide arm 8 is vertically fixed on a piston rod of the electric cylinder 3, a limit frame 15 is fixed at one end of the hollow guide arm 8 by a screw, a second motor 9 is fixed at the other end of the hollow guide arm 8, a threaded rod 10 is fixed at the output shaft of the second motor 9, and an internal threaded tube 11 slidably sleeved on the inner side of the hollow guide arm 8, one end of the internal thread tube 11 is fixed with a rectangular sliding block 12 which is symmetrically arranged, one end of the rectangular sliding block 12 far away from the internal thread tube 11 is fixed with a fixed block 13 which is symmetrically arranged at two sides of the hollow guide arm 8, the fixed block 13 is connected with a clamping structure which comprises a connecting rod 14 which is fixed at one side of the fixed block 13 through a screw, one end of the connecting rod 14 far away from the fixed block 13 is fixed with a second clamping plate 17 which is positioned at the inner side of the limit frame 15, the opposite side of the second clamping plate 17 is provided with a first clamping plate 16 which is fixed at the inner side of the limit frame 15, one side of the limit frame 15 close to the fixed block 13 is provided with a rectangular hole which is matched with the connecting rod 14 in size, the connecting rod 14 is sleeved in the rectangular hole in a sliding manner, the connecting rod 14 and the fixed block 13 are both provided with threaded holes, the threaded, and cavity guiding arm 8 and second screw 19 threaded connection, and cavity guiding arm 8 is located electronic jar 3's top, one side that cavity guiding arm 8 is close to fixed block 13 is equipped with the spout along length direction, and rectangle slider 12 and spout size adaptation, and rectangle slider 12 slides and cup joints in the spout, the opposite side of first splint 16 and second splint 17 all is equipped with arc centre gripping groove, and the length of first splint 16 and second splint 17 is greater than the height of spacing frame 15, one side of electronic jar 3 is fixed with the controller that is located first motor 4 top, and the controller model is ATMEGA16, and the below of controller is equipped with the deposit power.

The working principle is as follows: in the invention, the arranged first motor 4 is used for driving the first gear 5, the second gear 6, the rotating column 7 and the electric cylinder 3 to rotate and is used for adjusting the grabbing direction of an object so as to conveniently grab the objects in different directions, the arranged electric cylinder 3 can adjust the height of the hollow guide arm 8 so as to conveniently transfer the object to positions with different heights after the object is grabbed, thereby facilitating transportation, when the arranged second motor 9 is used, the threaded rod 10 can be driven to rotate, the internal threaded tube 11, the rectangular sliding block 12, the fixed block 13 and the connecting rod 14 slide under the action of the threads, at the moment, the distance between the first clamping plate 16 and the second clamping plate 17 is changed, thereby clamping and fixing the object, and the number of the arranged first clamping plate 16 and the second clamping plate 17 is multiple, thereby clamping multiple objects at one time, and further improving the transfer efficiency, the use is convenient; because spacing frame 15 passes through second screw 19 with cavity guiding arm 8 fixedly, and connecting rod 14 and fixed block 13 are fixed through first screw 18, for this reason when the clamping structure damage back, only need take out first screw 18 and second screw 19 and can get off spacing frame 15 overall structure very convenient dismantlement, and then convenient maintenance or change, powerful.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A control method of a clamping device at the tail end of a small mechanical arm comprises a connecting seat (1), and is characterized in that a hollow mounting seat (2) is fixed at the top of the connecting seat (1), a first motor (4) is fixed at the top of the hollow mounting seat (2), a first gear (5) rotatably sleeved on the inner side of the hollow mounting seat (2) is fixed on an output shaft of the first motor (4), a second gear (6) is connected to the first gear (5) in a meshing manner, a rotating column (7) rotatably connected with the hollow mounting seat (2) is fixed at the top of the second gear (6), an electric cylinder (3) is fixed at the top end of the rotating column (7), a hollow guide arm (8) is vertically fixed on a piston rod of the electric cylinder (3), a limiting frame (15) is fixed at one end of the hollow guide arm (8) through a screw, and a second motor (9) is fixed at the other end of the hollow guide arm (8), the output shaft of second motor (9) is fixed with threaded rod (10), and the outside screw thread of threaded rod (10) has cup jointed the slip and has cup jointed at inboard internal thread pipe (11) of cavity guiding arm (8), the one end of internal thread pipe (11) is fixed with rectangle slider (12) that the symmetry set up, and the one end that internal thread pipe (11) were kept away from in rectangle slider (12) is fixed with fixed block (13) that the symmetry set up in cavity guiding arm (8) both sides, and fixed block (13) are connected with clamping structure, clamping structure includes connecting rod (14) through the fix with screw in fixed block (13) one side, and the one end that fixed block (13) were kept away from in connecting rod (14) is fixed with second splint (17) that are located spacing frame (15) inboard, and the offside of second splint (17) is equipped with fixes first splint (16) at spacing frame (15) inboard, one side that spacing frame (15) are close to fixed block (13) is equipped with the rectangular hole The connecting rod (14) is sleeved in the rectangular hole in a sliding mode, threaded holes are formed in the connecting rod (14) and the fixing block (13), first screws (18) are sleeved in the threaded holes in a sleeved mode, inserting holes are formed in the inner wall, close to the hollow guide arm (8), of the limiting frame (15), second screws (19) are inserted in the inserting holes, the hollow guide arm (8) is in threaded connection with the second screws (19), the hollow guide arm (8) is located above the electric cylinder (3), a sliding groove is formed in one side, close to the fixing block (13), of the hollow guide arm (8) in the length direction, the rectangular sliding block (12) is matched with the sliding groove in size, and the rectangular sliding block (12) is sleeved in the sliding groove in a sliding mode;

the operation method comprises the following steps: set up first motor (4) are used for driving first gear (5), second gear (6), rotation post (7) and electronic jar (3) and rotate, rotate the direction of snatching that can adjust the object, just second motor (9) order about threaded rod (10) when using and rotate, wherein, when internal thread pipe (11), rectangle slider (12), fixed block (13) and connecting rod (14) slide each other, be used for changing the distance between first splint (16) and second splint (17), because spacing frame (15) are fixed through second screw (19) with cavity guiding arm (8), and connecting rod (14) and fixed block (13) are fixed through first screw (18), realize dismantling spacing frame (15) when taking out first screw (18) and second screw (19).

2. The manipulation method of the end clamping device of the small robot arm according to claim 1, wherein the first clamping plate (16) and the second clamping plate (17) are provided with arc-shaped clamping grooves on opposite sides, and the length of the first clamping plate (16) and the length of the second clamping plate (17) are greater than the height of the limiting frame (15), wherein the number of the first clamping plate (16) and the second clamping plate (16) is multiple.

3. The manipulation method of the small-sized mechanical arm end clamping device according to claim 1, wherein the electric cylinder (3) is used for adjusting the height of the hollow guide arm (8), wherein a controller above the first motor (4) is fixed on one side of the electric cylinder (3) and is of the type ATMEGA16, and a reserve power supply is arranged below the controller.