CN112894860A

CN112894860A - Manipulator clamping device

Info

Publication number: CN112894860A
Application number: CN202110114202.9A
Authority: CN
Inventors: 李培珍; 尹玉亮
Original assignee: Linyi University
Current assignee: Linyi University
Priority date: 2021-01-27
Filing date: 2021-01-27
Publication date: 2021-06-04

Abstract

The invention relates to the technical field of manipulators, and discloses a manipulator clamping device which comprises a support, wherein a connecting plate is fixed on the right side of the support, clamping arms are symmetrically arranged on the right side of the connecting plate, shells are fixed at the right ends of the two clamping arms, a clamping hand is symmetrically and rotatably connected to the right side of each shell, a first servo motor is fixed at the center of the left side in each shell, and a first bevel gear is fixed at the output end of each first servo motor; when the device is used, the device can detect objects made of different materials through the conducting strips, the current sensors, the first transparent object detection sensors and the second transparent object detection sensors, signals are fed back to the main control module, the main control module can control the first servo motor and the second servo motor, clamping hands and clamping arm clamping force are controlled, and then the clamping hands and the clamping arm clamping force can be automatically adjusted for the objects made of different materials.

Description

Manipulator clamping device

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator clamping device.

Background

The manipulator is an automatic operation 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, and is characterized in that various expected operations can be completed through programming, and the manipulator has the advantages of both human and manipulator machines in structure and performance.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a manipulator clamping device, which solves the problems in the prior art.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: a manipulator clamping device comprises a support, a connecting plate is fixed on the right side of the support, clamping arms are symmetrically arranged on the right side of the connecting plate, shells are fixed at the right ends of the two clamping arms, clamping hands are symmetrically and rotatably connected to the right side of each shell, a first servo motor is fixed at the center of the left side of each shell, a first bevel gear is fixed at the output end of the first servo motor, threaded rods are rotatably connected to the upper surface and the lower surface of each shell, second bevel gears are fixed at the opposite ends of the two threaded rods and meshed with the first bevel gears, a moving sleeve is in threaded connection with the outer side wall of each threaded rod, the left end of each clamping hand is rotatably connected with the right side of the moving sleeve, first conducting strips are fixed on the opposite sides of the two clamping hands, and a first transparent object detection sensor is fixed at the center of the right side of a box body, a plurality of second conducting strips are fixed on the opposite sides of the two clamping arms at equal intervals from left to right, a storage battery is fixed on the inner upper surface of the upper clamping arm, a current sensor is fixed on the inner lower surface of the lower clamping arm, a second transparent object detection sensor is fixed at the center of the right side of the connecting plate, a main control module is fixed inside the connecting plate, sliding grooves are symmetrically formed in the right side of the connecting plate relative to the second transparent object detection sensor, sliding blocks are connected inside the two sliding grooves in a sliding manner, the right sides of the two sliding blocks are respectively fixedly connected with the left sides of the two clamping arms, a protective shell is fixed at the top of the support, a second servo motor is fixed inside the support, the top end of an output shaft of the second servo motor is located inside the protective shell and is fixed with a driving gear, the right side in the protective shell is rotatably connected with a driven gear, the driving gear is connected with the driven gear through a rack in a transmission mode, the bottom end of a middle shaft of the driven gear is located below the protective shell and is fixedly provided with a connecting wheel, the left side and the right side of the lower surface of the connecting wheel are rotatably connected with connecting rods, and one ends, far away from the connecting wheels, of the two connecting rods are respectively rotatably connected with the front surfaces of the two clamping arms.

Preferably, rubber gaskets are fixed on the opposite sides of the two clamping arms and the opposite sides of the two clamping hands, and the first conducting strip and the second conducting strip penetrate through the rubber gaskets.

Preferably, the cross sections of the sliding groove and the sliding block are both T-shaped structures.

Preferably, reinforcing ribs are integrally formed at the top and the bottom of the support, and one ends of the two reinforcing ribs, which are far away from the support, are fixedly connected with the left side of the connecting plate.

Preferably, the inside of protective housing is located the driving gear with the symmetrical rotation is connected with drive gear between the driven gear, two drive gear respectively with the driving gear with the driven gear meshing is connected, the inside of protective housing is located two rotate between the drive gear and be connected with transition gear, a plurality of recesses have evenly been seted up to transition gear's lateral wall, and is a plurality of the inside of recess all is fixed with electric telescopic handle, and is a plurality of electric telescopic handle keeps away from the one end at transition gear center all is fixed with the tooth, the lateral wall of rack is fixed with force transducer.

Preferably, the length of the sliding groove is greater than the length of the connecting rod when the connecting rod moves to the highest point or the lowest point of the connecting wheel.

Preferably, the main control module is electrically connected to the first conductive sheet, the second conductive sheet, the current sensor, the first transparent object detection sensor, the second transparent object detection sensor, the first servo motor, and the second servo motor, respectively.

(III) advantageous effects

The invention provides a manipulator clamping device, which has the following beneficial effects:

(1) when the clamping device is used, two clamping hands on the two clamping arms can be used for clamping and fixing two objects simultaneously in one work, and in addition, when different objects are clamped, the connecting wheel is driven to rotate through the second servo motor, so that the two clamping arms can be opened and closed, other different objects can be clamped, the work efficiency can be greatly improved, and the clamping device is more convenient for operators to use.

(2) When the clamping arm device is used, objects made of different materials can be detected through the conducting strip, the current sensor, the first transparent object detection sensor and the second transparent object detection sensor, signals are fed back to the main control module, the main control module can control the clamping force of the clamping arm and the clamping hand by controlling the first servo motor and the second servo motor, and the clamping force of the clamping arm and the clamping hand can be automatically adjusted by the objects made of different materials.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a schematic view of the internal structure of the protective shell according to the present invention;

fig. 4 is an enlarged schematic view of a portion a of fig. 2 according to the present invention.

In the figure: 1. a support; 2. a second servo motor; 3. reinforcing ribs; 4. a connecting plate; 5. a clamp arm; 6. a connecting rod; 7. a rubber gasket; 8. a housing; 9. clamping a hand; 10. a connecting wheel; 11. a protective shell; 12. a main control module; 13. a chute; 14. a storage battery; 15. a second conductive sheet; 16. a first servo motor; 17. a first transparent object detection sensor; 18. moving the sleeve; 19. a second bevel gear; 20. a threaded rod; 21. a first bevel gear; 22. a current sensor; 23. a second transparent object detection sensor; 24. a slider; 25. a rack; 26. a driving gear; 27. a transmission gear; 28. a tension sensor; 29. teeth; 30. a driven gear; 31. a transition wheel; 32. an electric telescopic rod; 33. a groove; 34. a first conductive sheet.

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 to 4, the present invention provides a technical solution: a manipulator clamping device comprises a support 1, a connecting plate 4 is fixed on the right side of the support 1, clamping arms 5 are symmetrically arranged on the right side of the connecting plate 4, a shell 8 is fixed at the right ends of the two clamping arms 5, clamping hands 9 are symmetrically and rotatably connected to the right side of the shell 8, a first servo motor 16 is fixed at the center of the left side in the shell 8, a first bevel gear 21 is fixed at the output end of the first servo motor 16, a threaded rod 20 is rotatably connected to the upper surface and the lower surface in the shell 8, second bevel gears 19 are fixed at the opposite ends of the two threaded rods 20, the second bevel gears 19 are meshed with the first bevel gears 21, a moving sleeve 18 is in threaded connection with the outer side wall of the threaded rod 20, the left end of the clamping hand 9 is rotatably connected with the right side of the moving sleeve 18, first conducting strips 34 are fixed at the opposite sides of the two clamping hands 9, a first transparent object detection sensor 17 is, a plurality of second conducting strips 15 are fixed on the opposite sides of the two clamping arms 5 at equal intervals from left to right, a storage battery 14 is fixed on the inner upper surface of the upper clamping arm 5, a current sensor 22 is fixed on the inner lower surface of the lower clamping arm 5, a second transparent object detection sensor 23 is fixed at the center of the right side of the connecting plate 4, a master control module 12 is fixed inside the connecting plate 4, sliding grooves 13 are symmetrically formed in the right side of the connecting plate 4 relative to the second transparent object detection sensor 23, sliding blocks 24 are connected inside the two sliding grooves 13 in a sliding manner, the right sides of the two sliding blocks 24 are respectively fixedly connected with the left sides of the two clamping arms 5, a protective shell 11 is fixed on the top of the support 1, a second servo motor 2 is fixed inside the support 1, the top end of an output shaft of the second servo motor 2 is positioned inside the protective shell 11 and is fixed with a driving gear 26, a driven gear 30 is rotatably, the driving gear 26 is in transmission connection with the driven gear 30 through the rack 25, the bottom end of the middle shaft of the driven gear 30 is located below the protective shell 11 and is fixed with the connecting wheel 10, the left side and the right side of the lower surface of the connecting wheel 10 are both in rotary connection with the connecting rods 6, one ends of the two connecting rods 6 far away from the connecting wheel 10 are respectively in rotary connection with the front surfaces of the two clamping arms 5, when the clamping device is used, when an object is clamped, the two threaded rods 20 are driven to rotate through the first servo motor 16, so that the two clamping hands 9 can be opened and closed, and the object can be clamped, in the clamping process, the first conducting strips 34 on the two clamping hands 9 and the first transparent object detection sensor 17 on the shell 8 can detect the material of the object, and when the current sent by the first conducting strip 34 above can be transmitted to the first conducting strip 34 below through the clamped object, and is detected by the current sensor 22, at this moment, the current sensor 22 feeds back a signal to the main control module 12, at this moment, the main control module 12 judges that the gripped object is made of a metal material, and controls the first servo motor 16 to enable the two clamping hands 9 to slightly clamp the object without damaging the object, when the current sensor 22 does not detect the current signal, the first transparent object detection sensor 17 detects that the object is transparent at the same time, and feeds back the signal to the main control module 12, at this moment, the main control module 12 judges that the object is made of a glass material, and controls the first servo motor 16 to enable the two clamping hands 9 to slightly clamp the object without damaging the object, when the current sensor 22 does not detect the current signal, and simultaneously the first transparent object detection sensor 17 detects that the object is not transparent, at this moment, the main control module 12 judges that the object is made of a paper material, and controls the first servo motor 16 to slightly loosen the two clamping hands 9, and at the same time, does not drop the object, and in the process of clamping the object, when different objects need to be clamped at the same time, the second servo motor 2 will drive the connecting wheel 10 to rotate, so that the two clamping arms 5 can be opened and closed, so as to clamp a plurality of different other objects, in the process of clamping the object by the clamping arms 5, when the current sent by the upper second conducting plate 15 can be transmitted to the lower second conducting plate 15 through the clamped object and detected by the current sensor 22, the current sensor 22 feeds back the signal to the main control module 12, at this time, the main control module 12 judges that the clamped object is made of metal, and controls the second servo motor 2 to slightly clamp the object by the two clamping arms 5, and simultaneously, does not damage the object, when current sensor 22 does not detect the current signal, second transparency object detection sensor 23 detects that the object is transparent simultaneously, feed back the signal to host system 12, host system 12 judges the material of this object and is the glass material this moment, and control second servo motor 2 and make two centre gripping arms 5 press from both sides tightly the object slightly, be unlikely to make the object damage simultaneously, when current sensor 22 does not detect the current signal, second transparency object detection sensor 23 detects this object and is not transparent simultaneously, host system 12 judges this object and is the paper material this moment, and control second servo motor 2 and make two centre gripping arms 5 loosen the object slightly, be unlikely to make the object drop simultaneously.

Further, rubber gaskets 7 are fixed on the opposite sides of the two clamping arms 5 and the opposite sides of the two clamping hands 9, and the first conducting strip 34 and the second conducting strip 15 penetrate through the rubber gaskets 7, so that the friction force between the clamping hands 9 or the clamping arms 5 and the object can be increased, and the object can be clamped more firmly.

Furthermore, the cross sections of the sliding groove 13 and the sliding block 24 are both T-shaped structures, so that the situation that the clamping arm 5 is easily separated from the connecting plate 4 is avoided.

Furthermore, reinforcing ribs 3 are integrally formed at the top and the bottom of the support 1, and one ends, far away from the support 1, of the two reinforcing ribs 3 are fixedly connected with the left side of the connecting plate 4, so that the connecting plate 4 and the support 1 can be connected more firmly.

Further, the inside of the protective shell 11 is located between the driving gear 26 and the driven gear 30 and is symmetrically and rotatably connected with the transmission gears 27, the two transmission gears 27 are respectively engaged with the driving gear 26 and the driven gear 30, the inside of the protective shell 11 is located between the two transmission gears 27 and is rotatably connected with the transition gear 31, the outer side wall of the transition gear 31 is uniformly provided with a plurality of grooves 33, the inside of each groove 33 is fixed with an electric telescopic rod 32, one end of each electric telescopic rod 32, which is far away from the center of the transition gear 31, is fixed with a tooth 29, the outer side wall of the rack 25 is fixed with a tension sensor 28, in the using process, when the tension sensor 28 detects that the rack 25 is broken or fractured, a signal is fed back to the main control module 12, at the moment, the main control module 12 controls the plurality of electric telescopic rods 32 to be started, the transition wheel 31 is meshed with the two transmission gears 27, so that the situation that the manipulator cannot work continuously after the rack 25 is broken is avoided.

Further, the length of the sliding groove 13 is larger than the length of the connecting rod 6 when the connecting rod moves to the highest point or the lowest point of the connecting wheel 10, so that the situation that the two clamping arms 5 cannot be opened to the maximum degree is avoided.

Further, the main control module 12 is electrically connected to the first conductive sheet 34, the second conductive sheet 15, the current sensor 22, the first transparent object detection sensor 17, the second transparent object detection sensor 23, the first servo motor 16, and the second servo motor 2, respectively.

In conclusion, the working process of the invention is as follows: when the clamping device is used, when an object is clamped, the first servo motor 16 drives the two threaded rods 20 to rotate, so that the two clamping hands 9 can be opened and closed, so that the object can be clamped, in the clamping process, the first conducting strips 34 on the two clamping hands 9 and the first transparent object detection sensor 17 on the shell 8 can detect the material of the object, when the current sent by the first conducting strip 34 above the clamping hands can be transmitted to the first conducting strip 34 below the clamping hands through the clamped object and detected by the current sensor 22, the current sensor 22 feeds back a signal to the main control module 12, at the moment, the main control module 12 judges that the clamped object is a metal material, controls the first servo motor 16 to enable the two clamping hands 9 to clamp the object slightly, meanwhile, the object is not damaged, and when the current sensor 22 does not detect the current signal, meanwhile, the first transparent object detection sensor 17 detects that the object is transparent, and feeds back a signal to the main control module 12, at this time, the main control module 12 judges that the object is made of glass, and controls the first servo motor 16 to enable the two clamping hands 9 to slightly clamp the object without damaging the object, when the current sensor 22 does not detect a current signal, and the first transparent object detection sensor 17 detects that the object is not transparent, at this time, the main control module 12 judges that the object is made of paper, and controls the first servo motor 16 to enable the two clamping hands 9 to slightly loosen the object without dropping the object, and in the process of clamping the object, when different objects need to be clamped at the same time, the second servo motor 2 can drive the connecting wheel 10 to rotate, so that the two clamping arms 5 can be opened and closed, and a plurality of different other objects can be clamped, in the process of clamping an object by the clamping arms 5, when the current emitted from the upper second conductive sheet 15 can be transmitted to the lower second conductive sheet 15 through the clamped object and is detected by the current sensor 22, the current sensor 22 feeds back a signal to the main control module 12, the main control module 12 determines that the clamped object is made of a metal material and controls the second servo motor 2 to enable the two clamping arms 5 to slightly clamp the object without damaging the object, when the current sensor 22 does not detect the current signal and the second transparent object detection sensor 23 detects that the object is transparent, the signal is fed back to the main control module 12, the main control module 12 determines that the object is made of a glass material and controls the second servo motor 2 to enable the two clamping arms 5 to slightly clamp the object without damaging the object, and when the current sensor 22 does not detect the current signal, meanwhile, the second transparent object detection sensor 23 detects that the object is not transparent, and the main control module 12 determines that the object is made of paper, and controls the second servo motor 2 to slightly release the object from the two clamping arms 5, so that the object is not dropped.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

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

1. The utility model provides a manipulator clamping device, includes support (1), its characterized in that: the right side of the support (1) is fixed with a connecting plate (4), the right side of the connecting plate (4) is symmetrically provided with clamping arms (5), the right ends of the two clamping arms (5) are fixed with a shell (8), the right side of the shell (8) is symmetrically and rotatably connected with a clamping hand (9), a first servo motor (16) is fixed at the center of the left side in the shell (8), the output end of the first servo motor (16) is fixed with a first bevel gear (21), the upper surface and the lower surface in the shell (8) are rotatably connected with a threaded rod (20), the opposite ends of the two threaded rods (20) are respectively fixed with a second bevel gear (19), the second bevel gear (19) is meshed with the first bevel gear (21), the outer side wall of the threaded rod (20) is in threaded connection with a moving sleeve (18), the left end of the clamping hand (9) is rotatably connected with the right side of the moving sleeve (18), the opposite sides of the two clamping hands (9) are respectively fixed with a first conducting strip (34), the right center of the box body (8) is fixed with a first transparent object detection sensor (17), the opposite sides of the two clamping arms (5) are respectively fixed with a plurality of second conducting strips (15) at equal intervals from left to right, the upper surface of the inner part of the clamping arm (5) at the upper part is fixed with a storage battery (14), the lower surface of the inner part of the clamping arm (5) at the lower part is fixed with a current sensor (22), the right center of the connecting plate (4) is fixed with a second transparent object detection sensor (23), the inner part of the connecting plate (4) is fixed with a main control module (12), the right side of the connecting plate (4) is symmetrically provided with sliding grooves (13) relative to the second transparent object detection sensor (23), and the inner parts of the sliding grooves (13) are respectively connected with a sliding block, the right sides of the two sliding blocks (24) are respectively and fixedly connected with the left sides of the two clamping arms (5), a protective shell (11) is fixed at the top of the bracket (1), a second servo motor (2) is fixed in the bracket (1), the top end of an output shaft of the second servo motor (2) is positioned in the protective shell (11), a driving gear (26) is fixed, a driven gear (30) is rotatably connected to the right side in the protective shell (11), the driving gear (26) is in transmission connection with the driven gear (30) through a rack (25), the bottom end of the middle shaft of the driven gear (30) is positioned below the protective shell (11), and be fixed with fifth wheel (10), the lower surface left and right sides of fifth wheel (10) all rotates and is connected with connecting rod (6), two connecting rod (6) are kept away from the one end of fifth wheel (10) respectively with two the front surface of centre gripping arm (5) rotates and is connected.

2. The manipulator gripping device according to claim 1, wherein: rubber gaskets (7) are fixed on the opposite sides of the two clamping arms (5) and the opposite sides of the two clamping hands (9), and the first conducting plate (34) and the second conducting plate (15) penetrate through the rubber gaskets (7).

3. The manipulator gripping device according to claim 1, wherein: the sections of the sliding groove (13) and the sliding block (24) are both T-shaped structures.

4. The manipulator gripping device according to claim 1, wherein: reinforcing ribs (3) are integrally formed at the top and the bottom of the support (1), and one ends, far away from the support (1), of the two reinforcing ribs (3) are fixedly connected with the left side of the connecting plate (4).

5. The manipulator gripping device according to claim 1, wherein: the inside of protecting crust (11) is located driving gear (26) with symmetrical rotation is connected with drive gear (27), two between driven gear (30) drive gear (27) respectively with driving gear (26) with driven gear (30) meshing is connected, the inside of protecting crust (11) is located two it is connected with transition gear (31) to rotate between drive gear (27), a plurality of recess (33) have evenly been seted up to the lateral wall of transition gear (31), and is a plurality of the inside of recess (33) all is fixed with electric telescopic handle (32), and is a plurality of electric telescopic handle (32) are kept away from the one end at transition gear (31) center all is fixed with tooth (29), the lateral wall of rack (25) is fixed with tension sensor (28).

6. The manipulator gripping device according to claim 1, wherein: the length of the sliding groove (13) is larger than the length of the connecting rod (6) when the connecting rod moves to the highest point or the lowest point of the connecting wheel (10).

7. The manipulator gripping device according to claim 1, wherein: the main control module (12) is electrically connected with the first conducting strip (34), the second conducting strip (15), the current sensor (22), the first transparent object detection sensor (17), the second transparent object detection sensor (23), the first servo motor (16) and the second servo motor (2) respectively.