CN112976020B - Intelligent robot manipulator and control system thereof - Google Patents
Intelligent robot manipulator and control system thereof Download PDFInfo
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- CN112976020B CN112976020B CN202110135540.0A CN202110135540A CN112976020B CN 112976020 B CN112976020 B CN 112976020B CN 202110135540 A CN202110135540 A CN 202110135540A CN 112976020 B CN112976020 B CN 112976020B
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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
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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
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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
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of robots, in particular to an intelligent robot manipulator and a control system thereof, and provides a scheme aiming at the problems that a clamping structure is simple and different types of objects cannot be well clamped and carried. The telescopic rod obliquely arranged is vertical to the surface of the object, so that the clamping is more labor-saving, and the length of the telescopic rod can be adjusted according to the surface of the object, so that the phenomenon that the centre of gravity of the clamping cannot be determined by a simple clamping structure, the clamping is easy to shake, fall and damage in the clamping and carrying process is avoided, and the use efficiency of the manipulator is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent manipulator of a robot and a control system thereof.
Background
A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings. There are many types of robots, including a manipulator, which is an automatic operating system that simulates some of the motion functions of a human hand and arm to grasp, carry objects or operate 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 can replace manual work to work on a plurality of production lines due to the characteristics of the manipulator, can work for a long time only by sufficient energy without rest, has low cost and high efficiency, is mostly used for carrying goods and grabbing objects in the current market, but the types and the weights of the goods are different, the simple clamping structure of the manipulator can not well fix the objects, the objects can fall off in the carrying process, the shapes are different sometimes, even the circular or overhigh objects need to be clamped and carried, the gravity center of the clamping can not be determined by the simple clamping structure, the phenomenon that the clamping and carrying process is easy to shake, fall and damage occurs, the use efficiency of the manipulator is reduced,
disclosure of Invention
Based on the technical problems that the clamping structure is simple, when objects with different shapes and weights are grabbed, the adjusting steps are too complex, even the objects which are round or too high need to be clamped and carried, the centre of gravity of clamping cannot be determined by the simple clamping structure, so that the clamping and carrying process is easy to shake, fall and damage, and the use efficiency of the manipulator is reduced, the robot intelligent manipulator and the control system thereof are provided.
The invention provides an intelligent robot manipulator and a control system thereof, which comprises a bottom plate and a movable wheel, wherein the outer wall of the bottom end of the movable wheel is provided with a connecting block, the outer wall of the bottom end connected with the block is movably connected with a fixed plate, the outer walls of the two sides of the movable wheel are respectively provided with a vertical plate, the inner wall of the top end of the fixed plate is connected with a base through a screw, the outer walls of the two sides of the bottom end of the base are respectively connected with a gear set through threads, the outer wall of the bottom end of the gear set is respectively provided with a first connecting rod, the outer wall of the bottom end of the first connecting rod is movably connected with a first clamping plate, the outer wall of one side of the first clamping plate is respectively provided with two circular holes distributed at equal intervals, the inner wall of each circular hole is respectively connected with a sliding rod in a sliding manner, the outer wall of one side of each sliding rod is provided with an outer plate, the outer wall of the bottom end of the first clamping plate is respectively connected with a fixed rod through a screw, and the fixed rods are respectively connected with the outer plates, the bottom of splint one all swing joint have the rotary rod outward, and the rotary rod all is connected with the planking, and the opposite side outer wall of splint one bottom all bonds and has slipmat one, the bottom outer wall of riser all is connected with pneumatic cylinder one through rivet, and the one end of pneumatic cylinder piston rod all has the bracing piece through screw connection, and the bracing piece all slides with the fixed plate and be connected, the equal swing joint of bottom outer wall of bracing piece has splint two, and the opposite side outer wall of splint two has all seted up the rectangle recess, and the equal fixedly connected with seven to nine telescopic links that the equidistance distributes of the inner wall of rectangle recess, the opposite side outer wall of splint two bottoms all bonds and has slipmat two, and the opposite side outer wall of slipmat two has seted up the mounting groove, and the inner wall of mounting groove all has seven to nine vacuum suction nozzles that the equidistance distributes through threaded connection.
Preferably, spring one has all been cup jointed to the outer wall of slide bar, and spring one all is connected with splint one, and spring two has all been cup jointed to the outer wall of telescopic link, the equal fixedly connected with sponge piece of top outer wall of telescopic link, and spring two all is connected with the sponge piece.
Preferably, the vacuum suction nozzles are distributed in an annular array, the vacuum suction nozzle located in the center is larger than the vacuum suction nozzle located in the outer ring, the telescopic rods are all obliquely arranged, and the inclination angles of the telescopic rods are all ten degrees to fifteen degrees.
Preferably, the bottom outer wall of bracing piece all is provided with connecting rod two, and connecting rod two all is connected with splint two, and the equal swing joint of both sides outer wall of base bottom has the gag lever post, and the gag lever post all is connected with splint one.
Preferably, the outer wall of the top end of the bottom plate is provided with a base, the outer wall of the top end of the base is movably connected with a first force arm, the outer wall of the top end of the first force arm is movably connected with a rotating shaft, the outer wall of the other side of the rotating shaft is provided with a second force arm, and the second force arm is connected with the movable wheel.
Preferably, the top outer wall swing joint of fixed plate has the annular plate, and the annular plate all is connected with riser and pneumatic cylinder one.
Preferably, the bottom of planking is the arc setting, and the opposite side outer wall of planking bottom all is provided with the arc wall, and the arc wall all corresponds with the position of slipmat one.
Preferably, the inner wall of the second connecting rod is connected with a second hydraulic cylinder through a rivet, and one end of a piston rod of the second hydraulic cylinder is connected with the second clamping plate through a screw.
Preferably, the outer walls of the two sides of the first clamping plate are provided with sliding grooves, the inner walls of the sliding grooves are connected with sliding blocks in a sliding mode, the sliding blocks are connected with the outer plate, and the outer wall of the other side of the sliding rod is connected with an extrusion plate through screws.
Preferably, the ultrasonic sensor system comprises a single chip microcomputer, a plurality of ultrasonic sensors, a driving circuit and electromagnetic coils, wherein each ultrasonic sensor is connected with the single chip microcomputer, the single chip microcomputer is connected with the driving circuit, each group of driving circuits is connected with one group of electromagnetic coils, each group of driving circuits corresponds to one group of electromagnetic coils, and each ultrasonic sensor corresponds to two groups of driving circuits.
The beneficial effects of the invention are as follows:
1. the intelligent robot manipulator and the control system thereof are provided with a first clamping plate, a second clamping plate, an outer plate, a telescopic rod, a sliding rod, a non-slip mat, a first hydraulic cylinder and a vacuum suction nozzle, when an object with a simple structure and a smooth contact area is clamped, the first hydraulic cylinder drives a support rod and a connecting rod to slide downwards through a piston rod, the second clamping plate is flush with the first clamping plate in height, the second clamping plate and the first clamping plate clamp the object under the control of a program, the first clamping plate fixes two sides of the object through the non-slip mat, the second clamping plate fixes two sides of the object through the non-slip mat, the object is conveyed under the action of a force arm, when the object with a smooth and round surface or an excessively high object needs to be clamped, the first hydraulic cylinder extends out of the piston rod to slide downwards, the second clamping plate is positioned below the first clamping plate, and the first hydraulic cylinder stops acting when the gravity center of the object can be grabbed, the second clamping plate and the first clamping plate grab and fix an object through the second non-slip mat and the first non-slip mat, the object carrying process is more stable, the object is grabbed and fixed, the gear set under the base rotates under the action of the motor to control the clamping of the clamping plate to the object, meanwhile, the hydraulic cylinder in the second connecting rod controls the clamping of the clamping plate to the object, when the first clamping plate is clamped, the object can firstly touch the extrusion plate, the sliding rod slides to drive the sliding block to slide on the first clamping plate, and simultaneously the sliding rod extrudes the outer plate, the outer plate rotates on the fixed rod, the arc-shaped groove on the other side of the bottom of the outer plate is matched with the extrusion plate object to be further fixed, when the second clamping plate clamps the object, the sponge block and the telescopic rod on the two surfaces of the clamping plate can simultaneously touch the surface of the object, the obliquely arranged telescopic rod is vertical to the surface of the object, and the clamping is more labor-saving, meanwhile, the length of the telescopic rod can be adjusted according to the surface of an object, the phenomenon that the centre of gravity of clamping cannot be determined by a simple clamping structure and the clamping and carrying process is easy to shake, fall and damage is avoided, and the using efficiency of the manipulator is improved.
2. This intelligent robot manipulator and control system thereof through being provided with spring one, slide bar, spring two and telescopic link, and the removal of a pair of slide bar of spring is cushioned spacingly, and the shrink of two pairs of telescopic links of spring cushions spacingly, makes stripper plate and the sponge piece that are connected with on slide bar and the telescopic link more laminate with the article surface, further improves the fastness that the article snatched, prevents that the article from dropping.
3. This intelligent manipulator of robot and control system through being provided with slipmat one, slipmat two and vacuum suction nozzle, when carrying out the article and snatching, the further increase frictional force of slipmat prevents that the article from dropping, and vacuum suction nozzle can adsorb on the article surface under the atmospheric pressure effect after being extruded the exhaust air during centre gripping simultaneously, and this kind of adsorption affinity can not be too strong, in case splint loosen vacuum suction nozzle and will drop, further improves the ability of snatching of clamping system.
The parts of the system not involved are the same as or can be implemented using existing technology.
Drawings
Fig. 1 is a schematic perspective view of the overall structure of a robot intelligent manipulator and a control system thereof according to the present invention;
fig. 2 is a schematic perspective view of a clamping structure of the robot intelligent manipulator and a control system thereof according to the present invention;
fig. 3 is a schematic front view of a structure of a clamping plate of the robot intelligent manipulator and the control system thereof according to the present invention;
fig. 4 is an enlarged schematic view of a structure of a clamping plate of the robot intelligent manipulator and a control system thereof;
FIG. 5 is a schematic front view of a second structure of a clamping plate of the robot intelligent manipulator and a control system thereof provided by the invention;
fig. 6 is a schematic front view of a second structure of a clamping plate of the robot intelligent manipulator and the control system thereof provided by the invention.
In the figure: 1. a base plate; 2. a base; 3. a force arm I; 4. a rotating shaft; 5. a force arm II; 6. a movable wheel; 7. connecting blocks; 8. an annular plate; 9. a fixing plate; 10. a first clamping plate; 11. a second clamping plate; 12. a vertical plate; 13. a first hydraulic cylinder; 14. a support bar; 15. an outer plate; 16. a base; 17. a gear set; 18. a first connecting rod; 19. a limiting rod; 20. a first spring; 21. a slider; 22. fixing the rod; 23. rotating the rod; 24. a first anti-skid pad; 25. a slide bar; 26. a pressing plate; 27. an arc-shaped slot; 28. a second connecting rod; 29. a telescopic rod; 30. a second anti-skid pad; 31. a second hydraulic cylinder; 32. a sponge block; 33. a second spring; 34. a vacuum nozzle.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are used only for convenience in describing the present invention and for simplification of description, and do not indicate or imply that the system or element being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-6, an intelligent robot manipulator and a control system thereof comprise a bottom plate 1 and a movable wheel 6, wherein the outer wall of the bottom end of the movable wheel 6 is provided with a connecting block 7, the outer wall of the bottom end connected with the block is movably connected with a fixed plate 9, the outer walls of the two sides of the movable wheel 6 are both provided with vertical plates 12, the inner wall of the top end of the fixed plate 9 is connected with a base 16 through screws, the outer walls of the two sides of the bottom end of the base 16 are both connected with a gear set 17 through threads, the outer wall of the bottom end of the gear set 17 is both provided with a first connecting rod 18, the outer wall of the bottom end of the first connecting rod 18 is both movably connected with a first clamping plate 10, the outer wall of one side of the first clamping plate 10 is both provided with two circular holes distributed at equal intervals, the inner walls of the circular holes are both slidably connected with a sliding rod 25, the outer wall of one side of the sliding rod 25 is both provided with an outer plate 15, and the outer wall of the bottom end of the first clamping plate 10 is both connected with a fixed rod 22 through screws, the fixed rods 22 are connected with the outer plate 15, the outer part of the bottom end of the first splint 10 is movably connected with a rotating rod 23, the rotating rods 23 are connected with the outer plates 15, the outer wall of the other side of the bottom end of the first clamping plate 10 is bonded with a first anti-slip pad 24, the outer wall of the bottom end of the vertical plate 12 is connected with a first hydraulic cylinder 13 through rivets, one end of a piston rod of the first hydraulic cylinder 13 is connected with a supporting rod 14 through a screw, the supporting rod 14 is connected with the fixed plate 9 in a sliding manner, the outer wall of the bottom end of the supporting rod 14 is movably connected with a clamping plate II 11, a rectangular groove is arranged on the outer wall of the other side of the second clamping plate 11, seven to nine telescopic rods 29 which are distributed at equal intervals are fixedly connected to the inner wall of the rectangular groove, a second non-slip mat 30 is bonded on the outer wall of the other side of the bottom end of the second clamping plate 11, and the outer wall of the other side of the second anti-skid pad 30 is provided with a mounting groove, and the inner wall of the mounting groove is connected with seven to nine vacuum suction nozzles 34 which are distributed equidistantly through threads.
According to the invention, the outer walls of the sliding rods 25 are sleeved with the first springs 20, the first springs 20 are connected with the first clamping plates 10, the outer walls of the telescopic rods 29 are sleeved with the second springs 33, the outer walls of the top ends of the telescopic rods 29 are fixedly connected with the sponge blocks 32, and the second springs 33 are connected with the sponge blocks 32, so that the friction force between the telescopic rods and the grabbed objects can be increased, and the clamping capacity is improved.
In the invention, the vacuum suction nozzles 34 are distributed in an annular array, the vacuum suction nozzle 34 positioned in the center is larger than the vacuum suction nozzles 34 positioned on the outer rings, the telescopic rods 29 are all obliquely arranged, and the inclined angles of the telescopic rods 29 are all ten degrees to fifteen degrees, so that objects can be clamped in a vertical state in a more labor-saving manner, and the structure is not easy to damage.
In the invention, the outer walls of the bottom ends of the supporting rods 14 are respectively provided with a second connecting rod 28, the second connecting rods 28 are respectively connected with a second clamping plate 11, the outer walls of two sides of the bottom end of the base 16 are respectively movably connected with a limiting rod 19, and the limiting rods 19 are respectively connected with a first clamping plate 10.
In the invention, the base 2 is arranged on the outer wall of the top end of the bottom plate 1, the force arm I3 is movably connected to the outer wall of the top end of the base 2, the rotating shaft 4 is movably connected to the outer wall of the top end of the force arm I3, the force arm II 5 is arranged on the outer wall of the other side of the rotating shaft 4, and the force arm II 5 is connected with the movable wheel 6, so that the clamping mechanism can be adjusted in a large range, and the objects can be conveniently carried.
In the invention, the outer wall of the top end of the fixed plate 9 is movably connected with the annular plate 8, and the annular plate 8 is connected with the vertical plate 12 and the first hydraulic cylinder 13.
In the invention, the bottom of the outer plate 15 is arranged in an arc shape, the outer wall of the other side of the bottom end of the outer plate 15 is provided with an arc-shaped groove 27, and the arc-shaped grooves 27 correspond to the positions of the first anti-skid pads 24.
In the invention, the inner wall of the second connecting rod 28 is connected with a second hydraulic cylinder 31 through a rivet, and one end of a piston rod of the second hydraulic cylinder 31 is connected with the second clamping plate 11 through a screw.
In the invention, the outer walls of two sides of the first clamping plate 10 are respectively provided with a sliding groove, the inner walls of the sliding grooves are respectively connected with a sliding block 21 in a sliding manner, the sliding blocks 21 are respectively connected with the outer plate 15, and the outer wall of the other side of the sliding rod 25 is respectively connected with an extrusion plate 26 through a screw, so that the outer plate 15 can rotate on the fixed rod 22 in the stress process, the bottom of the outer plate 15 tilts to clamp an object, and the grabbing capacity of the object is further improved.
The ultrasonic sensor comprises a single chip microcomputer, a plurality of ultrasonic sensors, a driving circuit and electromagnetic coils, wherein each ultrasonic sensor is connected with the single chip microcomputer, the single chip microcomputer is connected with the driving circuit, each group of driving circuits is connected with one group of electromagnetic coils, each group of driving circuits corresponds to one group of electromagnetic coils, and each ultrasonic sensor corresponds to two groups of driving circuits.
The working principle is as follows: when the robot intelligent manipulator and the control system thereof are needed to be used, the bottom plate 1 is installed and fixed at a designated position, the base 2 is installed on the bottom plate 1, the force arm I3, the force arm II 5 and the rotating shaft 4 are arranged on the base 2, the clamping structure is connected with the force arm II 5 through the movable wheel 6, when an object needs to be clamped and conveyed, the clamping structure moves and rotates through the force arm to clamp and convey the object, when the object with a simple structure and a smooth contact area is clamped, the hydraulic cylinder I13 drives the supporting rod 14 and the connecting rod II 28 to slide downwards through the piston rod, the height of the clamping plate II 11 is flush with that of the clamping plate I10, the clamping plate II 11 and the clamping plate I10 clamp the object under the control of a program, the clamping plate I10 fixes the two sides of the object through the non-slip mat I24, the clamping plate II 11 fixes the two sides of the object through the non-slip mat II 30, and conveys the object under the force arm action, when an object with a smooth and circular surface or an object with an excessively high surface needs to be clamped, the hydraulic cylinder I13 acts to extend out of the piston rod to slide downwards, the clamping plate II 11 is located below the clamping plate I10, when the gravity center of the object can be grabbed, the hydraulic cylinder I13 can stop acting, the clamping plate II 11 and the clamping plate I10 grab and fix the object through the non-slip mat II 30 and the non-slip mat I24, the object is more stable in the carrying process, the fixed plate 9 supports the object in grabbing and fixing, the gear set 17 below the base 16 rotates under the action of the motor to control the clamping plate I10 to clamp the object, the hydraulic cylinder II 31 in the connecting rod II 28 acts to control the clamping plate II 11 to clamp the object, when the clamping plate I10 is combined for clamping, the object firstly touches the extrusion plate 26, the sliding rod 25 slides to drive the sliding block 21 to slide on the clamping plate I10, and the sliding rod 25 extrudes the outer plate 15 at the same time, when the outer plate 15 rotates on the fixing rod 22, the arc-shaped groove 27 on the other side of the bottom of the outer plate 15 is matched with the extrusion plate 26 to further fix an object, the first spring 20 buffers and limits the displacement of the sliding rod 25, the second clamping plate 11 clamps the object, the sponge block 32 and the telescopic rod 29 on the surface of the second clamping plate 11 can simultaneously touch the surface of the object, the telescopic rod 29 which is obliquely arranged is vertical to the surface of the object, the clamping is more labor-saving, meanwhile, the telescopic rod 29 can adjust the length according to the surface of the object, the second spring 33 buffers and absorbs the shaking of the object, the first clamping plate 10 and the second clamping plate 11 increase the friction force through the first non-slip mat 24 and the second non-slip mat 30 during clamping, the first connecting rod 18, the limiting rod 19 and the second connecting rod 28 carry out limiting support on the clamping structure, the structure is kept stable, and the vacuum suction nozzles 34 which are distributed on the surface of the second non-slip mat 30 in an annular array can be adsorbed on the surface of the object to further fix the object during clamping of the second clamping plate 11, the surfaces of the first non-slip mat 24 and the second non-slip mat 30 are provided with anti-slip lines, and the arc-shaped grooves 27 correspond to the positions of the first non-slip mat 24 and the extrusion plate 26, so that the use process of the intelligent robot manipulator and the control system of the robot manipulator is completed.
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 (9)
1. The intelligent robot manipulator comprises a bottom plate (1) and a movable wheel (6), and is characterized in that a connecting block (7) is arranged on the outer wall of the bottom end of the movable wheel (6), a fixing plate (9) is movably connected to the outer wall of the bottom end of the connecting block, vertical plates (12) are arranged on the outer walls of two sides of the movable wheel (6), a base (16) is connected to the inner wall of the top end of the fixing plate (9) through screws, gear sets (17) are connected to the outer walls of two sides of the bottom end of the base (16) through threads, a first connecting rod (18) is arranged on the outer wall of the bottom end of each gear set (17), a first clamping plate (10) is movably connected to the outer wall of the bottom end of each first connecting rod (18), two circular holes distributed at equal intervals are formed in the outer wall of one side of each clamping plate (10), sliding rods (25) are slidably connected to the inner walls of the circular holes, an outer wall of one side of each sliding rod (25) is provided with an outer plate (15), the outer wall of one side of the bottom end of the first splint (10) is connected with a fixing rod (22) through screws, the fixing rod (22) is connected with the outer plate (15), the outer wall of the bottom end of the first splint (10) is movably connected with a rotating rod (23), the rotating rod (23) is connected with the outer plate (15), the outer wall of the other side of the bottom end of the first splint (10) is bonded with a first anti-skid pad (24), the outer wall of the bottom end of the vertical plate (12) is connected with a first hydraulic cylinder (13) through rivets, one end of a piston rod of the first hydraulic cylinder (13) is connected with a supporting rod (14) through screws, the supporting rod (14) is connected with the fixing plate (9) in a sliding mode, the outer wall of the bottom end of the supporting rod (14) is movably connected with a second splint (11), the outer wall of the other side of the second splint (11) is provided with rectangular grooves, and the inner walls of the rectangular grooves are fixedly connected with seven to nine telescopic rods (29) which are distributed at equal intervals, the outer wall of the other side of the bottom end of the splint II (11) is bonded with a non-slip mat II (30), the outer wall of the other side of the non-slip mat II (30) is provided with a mounting groove, and the inner wall of the mounting groove is connected with seven to nine vacuum suction nozzles (34) which are distributed equidistantly through threads;
the outer wall of the top end of the fixing plate (9) is movably connected with an annular plate (8), and the annular plate (8) is connected with a vertical plate (12) and a first hydraulic cylinder (13).
2. The robot intelligent manipulator according to claim 1, wherein the outer walls of the sliding rods (25) are respectively sleeved with a first spring (20), the first springs (20) are respectively connected with the first clamping plates (10), the outer walls of the telescopic rods (29) are respectively sleeved with a second spring (33), the outer walls of the top ends of the telescopic rods (29) are respectively fixedly connected with a sponge block (32), and the second springs (33) are respectively connected with the sponge block (32).
3. The robot intelligent manipulator according to claim 1, wherein the vacuum suction nozzles (34) are distributed in an annular array, the vacuum suction nozzle (34) located at the center is larger than the vacuum suction nozzle (34) located at the outer ring, the telescopic rods (29) are all arranged in an inclined manner, and the inclined angles of the telescopic rods (29) are all ten degrees to fifteen degrees.
4. The robot intelligent manipulator according to claim 1, wherein the outer walls of the bottom ends of the support rods (14) are respectively provided with a second connecting rod (28), the second connecting rods (28) are respectively connected with the second clamping plate (11), the outer walls of the two sides of the bottom end of the base (16) are respectively movably connected with a limiting rod (19), and the limiting rods (19) are respectively connected with the first clamping plate (10).
5. The robot intelligent manipulator according to claim 1, wherein the base (2) is arranged on the outer wall of the top end of the bottom plate (1), the force arm I (3) is movably connected to the outer wall of the top end of the base (2), the rotating shaft (4) is movably connected to the outer wall of the top end of the force arm I (3), the force arm II (5) is arranged on the outer wall of the other side of the rotating shaft (4), and the force arm II (5) is connected with the movable wheel (6).
6. The robot intelligent manipulator according to claim 1, wherein the bottom of the outer plate (15) is arc-shaped, and the outer wall of the other side of the bottom end of the outer plate (15) is provided with an arc-shaped groove (27), and the arc-shaped grooves (27) correspond to the positions of the first anti-skid pads (24).
7. The robot intelligent manipulator of claim 4, wherein the inner wall of the second connecting rod (28) is connected with a second hydraulic cylinder (31) through a rivet, and one end of a piston rod of the second hydraulic cylinder (31) is connected with the second clamping plate (11) through a screw.
8. The robot intelligent manipulator according to claim 1, wherein the outer walls of the two sides of the first clamping plate (10) are provided with sliding grooves, the inner walls of the sliding grooves are connected with sliding blocks (21) in a sliding mode, the sliding blocks (21) are connected with the outer plate (15), and the outer wall of the other side of the sliding rod (25) is connected with a pressing plate (26) through screws.
9. The intelligent robot manipulator and the control system thereof are characterized by comprising a single chip microcomputer, a plurality of ultrasonic sensors, a driving circuit and electromagnetic coils, wherein each ultrasonic sensor is connected with the single chip microcomputer, the single chip microcomputer is connected with the driving circuit, each group of driving circuit is connected with one group of electromagnetic coils, each group of driving circuit corresponds to one group of electromagnetic coils, and each ultrasonic sensor corresponds to two groups of driving circuits.
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| CN202110135540.0A CN112976020B (en) | 2021-02-01 | 2021-02-01 | Intelligent robot manipulator and control system thereof |
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| CN113307023A (en) * | 2021-07-08 | 2021-08-27 | 苏州市华创力自动化科技有限公司 | Liquid anti-shaking robot and control method thereof |
| CN113547535A (en) * | 2021-07-29 | 2021-10-26 | 王淼 | Multi-degree-of-freedom manipulator |
| CN113510728A (en) * | 2021-08-02 | 2021-10-19 | 广东工业大学 | Anti-falling manipulator |
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