CN112140136A - But manipulator of dynamics is got to automatically regulated clamp - Google Patents
But manipulator of dynamics is got to automatically regulated clamp Download PDFInfo
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- CN112140136A CN112140136A CN202011028094.5A CN202011028094A CN112140136A CN 112140136 A CN112140136 A CN 112140136A CN 202011028094 A CN202011028094 A CN 202011028094A CN 112140136 A CN112140136 A CN 112140136A
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- wall
- fixedly connected
- roller
- rod
- movably connected
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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Abstract
The invention relates to the technical field of mechanical arms, and discloses a mechanical arm capable of automatically adjusting clamping force, which comprises a shell, wherein the bottom of the shell is movably connected with a clamping hand, the inner wall of the clamping hand is movably connected with a connecting roller, the inner wall of the connecting roller is movably connected with a roller shaft, the inner wall of the clamping hand is fixedly connected with a sealed cylinder, the inner wall of the sealed cylinder is fixedly connected with an electromagnet, and the inner wall of the sealed cylinder, close to the electromagnet, is movably connected with a magnetorheological fluid glue box. This but manipulator of dynamics is got to automatically regulated clamp through the contact of electric contact and electric contact stick, drives the motion of connecting the roller, when avoiding the manipulator clamp to get the object of big quality, the phenomenon of landing takes place for the object of big quality, avoids the object to drop to the ground, avoids causing the waste of resource and economic loss, improves the processing conveying efficiency of assembly line, does not need the settlement data when getting the object of less quality once more, and save time has improved the practicality, has improved work efficiency.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator capable of automatically adjusting clamping force.
Background
The manipulator replaces the manual work to accomplish the mechanical structure of work, and it is extensive to use the machine in the manufacturing of precision machine and well transportation trade, but current manipulator when pressing from both sides and getting the object, the dynamics of pressing from both sides and getting is all set for in advance by data, can not carry out automatic regulation, and with regard to current manipulator, the dynamics of manipulator is the undersize, can lead to the landing of object.
Because the size of different objects, quality are different, when the big object of quality is got to current manipulator clamp, can take place the phenomenon that the big object of quality takes place the landing, lead to the object to fall to the ground, cause the waste of resource and economic loss, can reduce the processing conveying efficiency of assembly line, reuse it to need the people for setting for data when the less object of quality is got to the clamp, waste time, extravagant vigor has reduced the practicality, has reduced work efficiency.
Therefore, a manipulator capable of automatically adjusting the clamping force is provided to solve the above problems.
Disclosure of Invention
Technical scheme (I)
In order to realize the purposes that the sizes and the qualities of different objects are different, the phenomenon that the object with large quality slips when the manipulator clamps the object with large quality is avoided, the object is prevented from falling to the ground, the waste of resources and the economic loss are avoided, the processing and transporting efficiency of the assembly line is improved, data does not need to be set when the manipulator clamps the object with small quality again, the time and the labor are saved, the practicability is improved, and the working efficiency is improved, the invention provides the following technical scheme: a manipulator capable of automatically adjusting clamping force comprises a shell, wherein the bottom of the shell is movably connected with a clamping hand, the inner wall of the clamping hand is movably connected with a connecting roller, the inner wall of the connecting roller is movably connected with a roller shaft, the inner wall of the clamping hand is fixedly connected with a sealed cylinder, the inner wall of the sealed cylinder is fixedly connected with an electromagnet, the inner wall of the sealed cylinder and the inner side close to the electromagnet are movably connected with a magnetorheological fluid box, the inner wall of the sealed cylinder and the inner side close to the magnetorheological fluid box are movably connected with a sliding plate, and the inner side of the sliding plate is fixedly connected with a connecting rod;
the inner wall of the connecting roller is fixedly connected with a limiting block, the inner side of the limiting block is fixedly connected with a reset spring, the inner side of the limiting block is movably connected with a rotating rod, the inner wall of the rotating rod is elastically connected with a limiting rod, the inner wall of the limiting rod is fixedly connected with a magnetic block, and the outer side, close to the magnetic block, of the inner wall of the limiting block is fixedly connected with a magnet;
the outside fixedly connected with transfer line of roller, the outside fixedly connected with electric contact of roller, the inboard of connecting roller and the outside fixedly connected with electric contact rod that is close to the roller.
Preferably, the surface of the roll shaft is rough, the structure of the roll shaft is a cylindrical structure, and the roll shaft plays a role in rotation.
Preferably, the structure of connecting roller is the half cylinder structure, connecting roller and connecting rod fixed connection, the structure of connecting rod is the cuboid structure, and the connecting roller plays the effect of centre gripping object.
Preferably, the magnetorheological fluid is filled inside the magnetorheological fluid box, the magnetorheological fluid mainly comprises carbonyl iron powder and silicone oil, and the magnetorheological fluid plays a role in pushing the sliding plate.
Preferably, the structure of stopper and dwang is the loop configuration, the length of stopper is greater than the length of dwang, and the stopper plays spacing effect.
Preferably, the dwang and transfer line fixed connection, the structure of transfer line is the cuboid structure, and the axis of rotation plays the effect of compression reset spring.
Preferably, the magnetism of the opposite face of the magnetic block and the magnet is opposite, the inner wall of the limiting block is provided with a clamping groove, the size of the limiting rod is matched with that of the clamping groove, and the magnetic block and the magnet play a mutual attraction role.
Preferably, the electric contact is of a hemispherical structure, the electric contact rod is of a cylindrical structure, the electric contact is electrically connected with the electromagnetic iron, and the electric contact plays a role in connecting a circuit.
(II) advantageous effects
Compared with the prior art, the invention provides the manipulator capable of automatically adjusting the clamping force, and the manipulator has the following beneficial effects:
1. this but manipulator of dynamics is got to automatically regulated clamp, through the contact of electric contact and electric contact stick, drive the motion of connecting the roller, when avoiding the manipulator clamp to get the object of big quality, the phenomenon of landing takes place for the object of big quality, avoids the object to drop to the ground, avoids causing the waste of resource and economic loss, improves the processing conveying efficiency of assembly line, does not need the settlement data when getting the object of less quality once more, save time, the strength of saving has improved the practicality, has improved work efficiency.
2. The manipulator capable of automatically adjusting the clamping force changes the original liquid state into the solid state under the action of the magnetic field based on the characteristics of the magnetorheological fluid through the separation of the electric contact and the electric contact rod, and the shape of the magnetorheological fluid can be a cone under the action of the magnetic field.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged partial view of portion A of FIG. 1;
FIG. 3 is a schematic view of the structure of the gripper of the present invention;
FIG. 4 is an enlarged partial view of the portion B in FIG. 3 according to the present invention.
In the figure: 1. a housing; 2. clamping a hand; 3. a roll shaft; 4. a connecting roller; 5. sealing the cylinder; 6. a slide plate; 7. A connecting rod; 8. a magnetorheological fluid gel box; 9. an electromagnet; 10. a limiting block; 11. a return spring; 12. rotating the rod; 13. a transmission rod; 14. a limiting rod; 15. a magnetic block; 16. a magnet; 17. an electrical contact bar; 18. An electrical contact.
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.
Referring to fig. 1-4, a manipulator capable of automatically adjusting clamping force comprises a shell 1, a clamping hand 2 is movably connected to the bottom of the shell 1, a connecting roller 4 is movably connected to the inner wall of the clamping hand 2, a roller shaft 3 is movably connected to the inner wall of the connecting roller 4, the surface of the roller shaft 3 is rough, the roller shaft 3 is of a cylindrical structure, a sealed cylinder 5 is fixedly connected to the inner wall of the clamping hand 2, an electromagnet 9 is fixedly connected to the inner wall of the sealed cylinder 5, a magnetorheological fluid box 8 is movably connected to the inner wall of the sealed cylinder 5 and close to the electromagnet 9, magnetorheological fluid is filled in the magnetorheological fluid box 8, the magnetorheological fluid mainly comprises carbonyl iron powder and silicone oil, a sliding plate 6 is movably connected to the inner wall of the sealed cylinder 5 and close to the magnetorheological fluid box 8, a connecting rod 7 is fixedly connected to the inner side of the sliding plate 6, and the connecting roller 4 is, the connecting roller 4 is fixedly connected with a connecting rod 7, and the connecting rod 7 is of a cuboid structure;
the inner wall of the connecting roller 4 is fixedly connected with a limiting block 10, the limiting block 10 and the rotating rod 12 are both of annular structures, the length of the limiting block 10 is greater than that of the rotating rod 12, the inner side of the limiting block 10 is fixedly connected with a return spring 11, the inner side of the limiting block 10 is movably connected with the rotating rod 12, the rotating rod 12 is fixedly connected with the driving rod 13, the driving rod 13 is of a cuboid structure, the inner wall of the rotating rod 12 is elastically connected with a limiting rod 14, the inner wall of the limiting rod 14 is fixedly connected with a magnet 15, the magnetism of the opposite surface of the magnet 15 and the magnetism of the magnet 16 are opposite, the inner wall of the limiting block 10 is provided with a clamping groove, the size of the limiting rod 14 is;
the outside fixedly connected with transfer line 13 of roller 3, the outside fixedly connected with electric contact 18 of roller 3, the inboard and the outside fixedly connected with electric contact rod 17 that is close to roller 3 of connecting roll 4, electric contact 18 are the hemisphere structure, and electric contact rod 17 is the cylinder structure, and electric contact 18 and electro-magnet 9 electric connection.
The working principle is as follows: when the manipulator works, the clamping hand 2 can slide along the shell 1 to clamp articles, when the clamping force of the clamping hand 2 is insufficient, and an object with large mass is clamped, because the surface of the roller shaft 3 is rough, the object can drive the roller shaft 3 and the clamping hand 2 to move relatively, because the roller shaft 3 is movably connected with the connecting roller 4, the roller shaft 3 can rotate under the action force of the object sliding, the rotation of the roller shaft 3 drives the transmission rod 13 fixedly connected to the outer side to extrude the rotating rod 12 to rotate, so that the limiting rod 14 contracts along the inner wall of the rotating rod 12, the magnetic block 15 is separated from the magnet 16 under the action of the extrusion force, and the rotating rod 12 can compress the reset spring 11 at the inner side of the limiting block 10;
when the electric contact 18 is in contact with the electric contact rod 17, the electric contact rod 17 has a limiting effect, so that the roller shaft 3 does not rotate, at the moment, the electric contact 18 is in contact with the electric contact rod 17, so that a circuit is in a connected state, the electromagnet 9 has magnetism, then the electromagnet 9 forms a magnetic field under the action of energization, at the moment, magnetorheological fluid in the magnetorheological fluid rubber box 8 is under the action of a strong magnetic field, the original fluid is changed into a high-viscosity rubber object, the shape of the magnetorheological fluid is changed into a cone, so that the volume of the magnetorheological fluid rubber box 8 expands, the sliding plate 6 is pushed to slide along the inner wall of the sealing cylinder 5, the connecting rod 7 is driven to move, and the connecting rod 7 is fixedly connected with the connecting roller 4, so that the connecting rod 7 can push the connecting roller 4 to move inwards, and the clamping of the clamp 2 on a downward moving object is realized;
above-mentioned process is as shown in fig. 3, and the size, the quality of different objects are different, when avoiding the manipulator clamp to get the object of big quality, takes place the phenomenon that the object of big quality takes place the landing, avoids the object to fall to the ground, avoids causing the waste of resource and economic loss, improves the processing conveying efficiency of assembly line, does not need to set for data when it is got to the less object clamp of quality once more, and save time saves strength, has improved the practicality, has improved work efficiency.
When the clamping hand 2 finishes clamping an object with large mass, the rotating rod 12 returns to the original position under the action of the return spring 11, and then the roller shaft 3 is driven to rotate reversely through the transmission rod 13, at the moment, the limiting rod 14 is clamped with the clamping groove in the inner wall of the limiting block 10, and under the action of opposite magnetism of opposite surfaces of the magnetic block 15 and the magnet 16, an acting force of mutual attraction exists between the magnetic block 15 and the magnet 16;
meanwhile, the electric contact 18 is separated from the electric contact rod 17, so that the electromagnet 9 loses magnetism, at the moment, magnetorheological fluid in the magnetorheological fluid rubber box 8 is changed into a liquid state from the rubber package after being electrified, and meanwhile, the conical structure disappears, so that the volume of the magnetorheological fluid rubber box 8 is reduced, the sliding plate 6 is driven to shrink, the connecting roller 4 is driven to return to the original position through the connecting rod 7, and the clamping hand 2 continues to work;
when the clamping hand 2 clamps a light object, the light object is not enough to break away the acting force between the magnetic block 15 and the magnet 16, the object does not rub against the clamping hand 2, and the clamping hand 2 can normally clamp the object to work;
the process is as shown in fig. 1, based on the characteristics of the magnetorheological fluid, the original liquid state is changed into the solid state under the action of the magnetic field, the shape of the magnetorheological fluid is a cone under the action of the magnetic field, and when the magnetic field disappears, the magnetorheological fluid is changed into the original fluid state, so that the process is reversible, the resource is recycled, the mechanical failure is avoided, and the service life of the gripper 2 is prolonged.
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 (8)
1. The utility model provides a but manipulator of dynamics is got to automatically regulated clamp, includes casing (1), its characterized in that: the bottom of the shell (1) is movably connected with a clamping hand (2), the inner wall of the clamping hand (2) is movably connected with a connecting roller (4), the inner wall of the connecting roller (4) is movably connected with a roller shaft (3), the inner wall of the clamping hand (2) is fixedly connected with a sealed cylinder (5), the inner wall of the sealed cylinder (5) is fixedly connected with an electromagnet (9), the inner wall of the sealed cylinder (5) close to the electromagnet (9) is movably connected with a magnetorheological fluid glue box (8), the inner wall of the sealed cylinder (5) close to the magnetorheological fluid glue box (8) is movably connected with a sliding plate (6), and the inner side of the sliding plate (6) is fixedly connected with a connecting rod (7);
the inner wall of the connecting roller (4) is fixedly connected with a limiting block (10), the inner side of the limiting block (10) is fixedly connected with a reset spring (11), the inner side of the limiting block (10) is movably connected with a rotating rod (12), the inner wall of the rotating rod (12) is elastically connected with a limiting rod (14), the inner wall of the limiting rod (14) is fixedly connected with a magnetic block (15), and the outer side, close to the magnetic block (15), of the inner wall of the limiting block (10) is fixedly connected with a magnet (16);
the outside fixedly connected with transfer line (13) of roller (3), the outside fixedly connected with electric contact (18) of roller (3), the inboard of connecting roller (4) just is close to outside fixedly connected with electric contact rod (17) of roller (3).
2. The manipulator capable of automatically adjusting the clamping force as claimed in claim 1, wherein: the surface of the roll shaft (3) is rough, and the structure of the roll shaft (3) is a cylinder structure.
3. The manipulator capable of automatically adjusting the clamping force as claimed in claim 1, wherein: the structure of connecting roller (4) is the half cylinder structure, connecting roller (4) and connecting rod (7) fixed connection, the structure of connecting rod (7) is the cuboid structure.
4. The manipulator capable of automatically adjusting the clamping force as claimed in claim 1, wherein: the inner side of the magnetorheological fluid box (8) is filled with magnetorheological fluid, and the magnetorheological fluid mainly comprises carbonyl iron powder and silicone oil.
5. The manipulator capable of automatically adjusting the clamping force as claimed in claim 1, wherein: the structure of stopper (10) and dwang (12) is the loop configuration, the length of stopper (10) is greater than the length of dwang (12).
6. The manipulator capable of automatically adjusting the clamping force as claimed in claim 1, wherein: dwang (12) and transfer line (13) fixed connection, the structure of transfer line (13) is the cuboid structure.
7. The manipulator capable of automatically adjusting the clamping force as claimed in claim 1, wherein: the magnetism of the opposite surfaces of the magnetic block (15) and the magnet (16) is opposite, the inner wall of the limiting block (10) is provided with a clamping groove, and the size of the limiting rod (14) is matched with that of the clamping groove.
8. The manipulator capable of automatically adjusting the clamping force as claimed in claim 1, wherein: the electric contact (18) is of a hemispherical structure, the electric contact rod (17) is of a cylindrical structure, and the electric contact (18) is electrically connected with the electromagnet (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011028094.5A CN112140136A (en) | 2020-09-26 | 2020-09-26 | But manipulator of dynamics is got to automatically regulated clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011028094.5A CN112140136A (en) | 2020-09-26 | 2020-09-26 | But manipulator of dynamics is got to automatically regulated clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112140136A true CN112140136A (en) | 2020-12-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011028094.5A Withdrawn CN112140136A (en) | 2020-09-26 | 2020-09-26 | But manipulator of dynamics is got to automatically regulated clamp |
Country Status (1)
| Country | Link |
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| CN (1) | CN112140136A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112886125A (en) * | 2021-01-18 | 2021-06-01 | 李梦雨 | Solar street lamp battery convenient to change |
| CN113146665A (en) * | 2021-04-21 | 2021-07-23 | 余姚市浙江大学机器人研究中心 | Dexterous hand with tactile feedback and variable rigidity and control method thereof |
| CN113843019A (en) * | 2021-12-02 | 2021-12-28 | 江苏柏盛家纺有限公司 | Waste textile fabric recycling comprehensive treatment crushing machine |
| CN114653792A (en) * | 2022-04-11 | 2022-06-24 | 江苏国气检测技术有限公司 | A symmetry type veneer reeling machine for environmental protection equipment production |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101566210A (en) * | 2009-06-05 | 2009-10-28 | 哈尔滨工业大学 | Magnetorheological fluid with volume having compressibility after rated pressure |
-
2020
- 2020-09-26 CN CN202011028094.5A patent/CN112140136A/en not_active Withdrawn
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101566210A (en) * | 2009-06-05 | 2009-10-28 | 哈尔滨工业大学 | Magnetorheological fluid with volume having compressibility after rated pressure |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112886125A (en) * | 2021-01-18 | 2021-06-01 | 李梦雨 | Solar street lamp battery convenient to change |
| CN113146665A (en) * | 2021-04-21 | 2021-07-23 | 余姚市浙江大学机器人研究中心 | Dexterous hand with tactile feedback and variable rigidity and control method thereof |
| CN113843019A (en) * | 2021-12-02 | 2021-12-28 | 江苏柏盛家纺有限公司 | Waste textile fabric recycling comprehensive treatment crushing machine |
| CN113843019B (en) * | 2021-12-02 | 2022-02-18 | 江苏柏盛家纺有限公司 | Waste textile fabric recycling comprehensive treatment crushing machine |
| CN114653792A (en) * | 2022-04-11 | 2022-06-24 | 江苏国气检测技术有限公司 | A symmetry type veneer reeling machine for environmental protection equipment production |
| CN114653792B (en) * | 2022-04-11 | 2023-09-15 | 宁波谦屹节能科技有限公司 | Symmetrical plate bending machine for production of environmental protection equipment |
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Application publication date: 20201229 |