CN112976037A - Manipulator is used in processing of accurate spare part - Google Patents
Manipulator is used in processing of accurate spare part Download PDFInfo
- Publication number
- CN112976037A CN112976037A CN202110284219.9A CN202110284219A CN112976037A CN 112976037 A CN112976037 A CN 112976037A CN 202110284219 A CN202110284219 A CN 202110284219A CN 112976037 A CN112976037 A CN 112976037A
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- China
- Prior art keywords
- fixedly connected
- finger
- rod
- servo motor
- precision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention provides a mechanical arm for machining precision parts and relates to the field of mechanical arms. This manipulator is used in processing of accurate spare part, including last casing, casing under the lower extreme fixedly connected with of last casing, the equal fixedly connected with anti-skidding rubber in inboard of finger, anti-skidding rubber all is provided with pressure sensor near the middle part of finger one side, one side middle part that the briquetting was kept away from to the mounting groove all is provided with self-locking switch, sleeve bottom rear end inner wall fixedly connected with safety net, telescopic back wall and fixed connection are all run through to the one end of slide bar are at the lower extreme of movable plate both sides, the bottom middle part fixedly connected with video sensor of casing down. Can realize monitoring the clamp power of getting numerical value size through pressure sensor, the briquetting is pressed self-locking switch and is made the auto-lock of second servo motor and avoid accurate spare part to warp, makes can not drop through the safety net and lead to the damage, is worth wideling popularize.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator for machining precision parts.
Background
With the development of the Chinese industrial technology, the rapid development of industrial automation liberates a lot of labor force, and an important aspect of embodying industrial automation is the use and the slow popularization of a manipulator.
When the manipulator that precision parts added in the existing market used, if it is too big to grab power, probably can make precision parts surface produce the burr or make precision parts surface take place to warp, cause precision parts yields low, and it is second when a lot of manipulators snatch precision parts now, probably can lead to precision parts to drop because of snatching infirm, makes two precision break and causes manufacturing cost's increase.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a manipulator for precision part processing, which solves the problems that the precision part yield is low due to the large grabbing force of the manipulator for precision part processing, and the precision part is likely to fall and break when being grabbed.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a manipulator for machining precise parts comprises an upper shell, wherein the lower end of the upper shell is fixedly connected with a lower shell, the middle parts of the two sides of the lower shell are rotatably connected to the upper end of a rotating rod through rotating shafts, the lower end of the rotating rod is rotatably connected to the outer side of the upper end of a finger through rotating shafts, the inner side of the upper end of the finger is rotatably connected to the lower end of a driving rod through rotating shafts, the upper end of the driving rod is rotatably connected to the two sides of the middle part of the lower shell through mounting shafts, the mounting shafts penetrate through the lower shell, the middle parts of the mounting shafts are fixedly connected to the middle part of a turbine, the inner sides of the finger are fixedly connected with anti-skid rubber, the middle part of one side, close to the finger, of the anti-skid rubber is provided with a pressure sensor, the upper part and the lower part, close, the utility model discloses a portable electronic device, including movable plate, sliding block, mounting groove, self-locking switch, the equal fixed connection in one side at the briquetting both ends of the other end of sliding block, the equal sliding connection of briquetting is in the mounting groove, one side middle part that the briquetting was kept away from to the mounting groove all is provided with self-locking switch, the equal fixedly connected with limiting plate in both ends around going up the casing, the outside of limiting plate slides and is provided with the sleeve, sleeve bottom rear end inner wall fixedly connected with safety net, the other end fixedly connected with dead lever of safety net, the equal fixedly connected with slide bar in both ends of dead lever, the one end of slide bar all runs through telescopic back wall and.
Preferably, the middle part of the upper end of the upper shell is fixedly connected to the driving end of the lower end of the first servo motor, and the middle part of the upper end of the first servo motor is fixedly connected to the piston rod at the lower end of the hydraulic cylinder.
Preferably, the turbines are arranged on two sides of the inner middle of the lower shell, the inner middle of the lower shell is rotatably connected with a worm, the turbines are meshed with two sides of the worm, the upper end of the worm penetrates through the top wall of the lower shell and extends to form a driving end, the upper end of the worm is fixedly connected to the lower end of the second servo motor, and the second servo motor is fixedly connected to the inner middle of the upper shell.
Preferably, the both ends equal fixedly connected with spring that the sliding block one side was kept away from to the briquetting, the equal fixed connection of the other end of spring is at the inner wall of mounting groove.
Preferably, the middle parts of the front end and the rear end of the upper surface of the limiting plate are fixedly connected to the lower end of the first hydraulic rod, and the upper end of the first hydraulic rod is fixedly connected to the front side and the rear side of the top wall in the sleeve.
Preferably, the sliding rods are all connected inside the sliding grooves in a sliding mode, and the sliding grooves are all formed in the bottoms of the inner walls of the two sides of the sleeve.
Preferably, the middle part of the moving plate is fixedly connected to the piston end of the second hydraulic rod, and the second hydraulic rod is fixedly connected to the middle part of the outer wall of the rear end of the sleeve.
Preferably, the self-locking switch is electrically connected with the second servo motor.
The working principle is as follows: when the manipulator for machining the precise parts is used, the hydraulic cylinder realizes the extension and retraction of the manipulator, the first servo motor is combined with the video sensor to enable fingers to flexibly adjust clamping positions when clamping and moving the precise parts, the situation that the precise parts fall and break when being clamped is avoided, when the manipulator clamps and moves the precise parts, the second servo motor drives the worm to rotate, the two turbines rotate to enable the mounting shaft to drive the driving rod, the driving rod enables the fingers to move inwards, meanwhile, the anti-skid rubber on the inner sides of the fingers can be parallel all the time through the rotating rod, the precise parts are stably clamped, when the precise parts are clamped by the fingers, the corresponding clamping force is adjusted according to the weight of the precise parts, the clamping force can be monitored through the pressure sensor, and the precise parts are prevented from being deformed due to overlarge clamping force, simultaneously can produce the deformation of certain distance when anti-skidding rubber contact precision parts, after removing the certain distance, make the sliding block promote the briquetting, the briquetting presses down self-locking switch and makes the second servo motor auto-lock, it can only be in the certain limit to make the finger press from both sides the clamp of precision parts to get, avoid producing the defective products because the finger presss from both sides the precision parts deformation that leads to too big precision parts of displacement to the precision parts clamp, after the precision parts removal is got to the finger clamp, first hydraulic stem falls the sleeve, the second hydraulic cylinder makes the safety net open in precision parts lower part through movable plate and slide bar, can not fall down at the in-process that precision parts removed and lead to the damage, and the production efficiency is promoted, and the production cost is saved, and is worth widelys popularization.
(III) advantageous effects
The invention provides a mechanical arm for machining precision parts. The method has the following beneficial effects:
1. when the precision part is clamped by the fingers, the clamping force is adjusted according to the weight of the precision part, the numerical value of the clamping force can be monitored through the pressure sensor, the precision part is prevented from being deformed due to overlarge clamping force, meanwhile, the anti-skid rubber can be deformed for a certain distance when contacting the precision part, after the anti-skid rubber moves for a certain distance, the sliding block pushes the pressing block, the pressing block presses the self-locking switch to enable the second servo motor to be self-locked, the precision part can be clamped by the fingers only within a certain range, and defective products caused by deformation of the precision part due to overlarge clamping displacement of the fingers on the precision part are avoided.
2. According to the invention, the clamping position of the fingers can be flexibly adjusted when the fingers clamp and move the precision parts by combining the first servo motor with the video sensor, so that the situation that the precision parts fall and break when being clamped is avoided, after the fingers clamp and move the precision parts, the first hydraulic rod lowers the sleeve, and the second hydraulic cylinder opens the safety net at the lower parts of the precision parts through the moving plate and the sliding rod, so that the precision parts cannot fall and be damaged in the moving process, the production efficiency is improved, the production cost is saved, and the device is worthy of vigorous popularization.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a sectional structural view of the present invention.
Fig. 3 is a side view structural diagram of the present invention.
Fig. 4 is a perspective view of the sleeve of the present invention.
Fig. 5 is a top view structural view of the safety net of the present invention.
Fig. 6 is an enlarged view of a portion a in fig. 2.
Wherein, 1, finger; 2. a driving lever; 3. a video sensor; 4. a lower housing; 5. a first servo motor; 6. a hydraulic cylinder; 7. an upper housing; 8. installing a shaft; 9. rotating the rod; 10. anti-skid rubber; 11. a turbine; 12. a worm; 13. a limiting plate; 14. a second servo motor; 15. a chute; 16. a first hydraulic lever; 17. a sleeve; 18. a second hydraulic rod; 19. moving the plate; 20. a safety net; 21. fixing the rod; 22. a slide bar; 23. a pressure sensor; 24. a self-locking switch; 25. mounting grooves; 26. a spring; 27. briquetting; 28. and a slider.
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.
Example (b):
as shown in fig. 1-6, an embodiment of the present invention provides a manipulator for processing precision parts, including an upper housing 7, a lower housing 4 fixedly connected to a lower end of the upper housing 7, middle portions of two sides of the lower housing 4 rotatably connected to an upper end of a rotating rod 9 through a rotating shaft, lower ends of the rotating rod 9 rotatably connected to an outer side of an upper end of a finger 1 through a rotating shaft, inner sides of the upper ends of the finger 1 rotatably connected to a lower end of a driving rod 2 through a rotating shaft, upper ends of the driving rod 2 rotatably connected to two sides of a middle portion of the lower housing 4 through a mounting shaft 8, the mounting shaft 8 penetrating through the lower housing 4, middle portions of the mounting shaft 8 fixedly connected to a middle portion of a turbine 11, inner sides of the finger 1 fixedly connected to an anti-slip rubber 10, when the manipulator is used to clamp and move precision parts, a worm 12 is driven by a second servo motor 14 to rotate, the driving rod 2 realizes inward movement of the finger 1, meanwhile, the anti-skid rubber 10 on the inner side of the finger 1 can be parallel all the time through the rotating rod 9, stable clamping of precise parts is realized, the middle part of the anti-skid rubber 10 close to one side of the finger 1 is provided with the pressure sensor 23, when the finger 1 is used for clamping the precise parts, the corresponding clamping force is adjusted according to the weight of the precise parts, monitoring of the clamping force can be realized through the pressure sensor 23, deformation of the precise parts caused by overlarge clamping force is avoided, the upper part and the lower part of the anti-skid rubber 10 close to one side of the finger 1 are both provided with one end of the sliding block 28 in a sliding manner, the other end of the sliding block 28 is both arranged in the finger 1 in a sliding manner, the other end of the sliding block 28 is both fixedly connected to one side of both ends of the pressing block 27, the pressing block 27 is both slidably, meanwhile, when the anti-skid rubber 10 contacts a precise part, the anti-skid rubber 10 deforms for a certain distance, after the anti-skid rubber moves for a certain distance, the sliding block 28 pushes the pressing block 27, the pressing block 27 presses the self-locking switch 24 to enable the second servo motor 14 to be self-locked, so that the finger 1 can only clamp the precise part within a certain range, and defective products caused by deformation of the precise part due to overlarge clamping displacement of the finger 1 on the precise part are avoided, the front end and the rear end of the upper shell 7 are fixedly connected with the limiting plates 13, the outer side of the limiting plate 13 is slidably provided with the sleeve 17, the inner wall of the rear end of the bottom of the sleeve 17 is fixedly connected with the safety net 20, the other end of the safety net 20 is fixedly connected with the fixed rod 21, the two ends of the fixed rod 21 are fixedly connected with the sliding rods 22, one end of each sliding rod 22 penetrates, the sleeve 17 is descended by the first hydraulic rod 16, the safety net 20 is opened at the lower part of the precise part by the second hydraulic rod 18 through the movable plate 19 and the slide bar 22, the precise part can not be damaged in the moving process, the production efficiency is improved, the production cost is saved, the video sensor 3 is fixedly connected to the middle part of the bottom of the lower shell 4, when the mechanical arm is used for machining the precise part, the hydraulic cylinder 6 realizes the stretching of the mechanical arm, the first servo motor 5 can flexibly adjust the clamping position when clamping the precise part through combining with the video sensor 3, and the situation that the precise part falls and is damaged when being clamped is avoided.
Go up the drive end of middle part fixed connection at first servo motor 5 lower extreme of casing 7 upper end, the piston rod of the upper end middle part fixed connection of first servo motor 5 lower extreme realizes through pneumatic cylinder 6 that accurate spare part reciprocates on the piston rod of pneumatic cylinder 6 lower extreme, and first servo motor 5 realizes that accurate spare part presss from both sides when can make 1 rotation adjustment position of finger, also can remove the position of placing of accurate spare part.
The equal fixedly connected with spring 26 in both ends that sliding block 28 one side was kept away from to briquetting 27, and the equal fixed connection of the other end of spring 26 is at the inner wall of mounting groove 25, and spring 26 makes finger 1 when pressing from both sides and get accurate spare part, and briquetting 27 just can press self-locking switch 24.
Equal fixed connection in both ends middle part is at the lower extreme of first hydraulic stem 16 around the limiting plate 13 upper surface, the equal fixed connection in the front and back both sides of roof in sleeve 17 in the upper end of first hydraulic stem 16, after 1 clamp of finger got precision parts, first hydraulic stem 16 made sleeve 17 fall, make sleeve 17 can entangle precision parts, second hydraulic stem 18 makes safety net 20 open bottom precision parts simultaneously, avoid precision parts to drop when removing and lead to damaging.
The sliding rods 22 are all connected inside the sliding grooves 15 in a sliding mode, the sliding grooves 15 are all arranged at the bottoms of the inner walls of the two sides of the sleeve 17, the sliding rods 22 slide inside the sliding grooves 15, and then the safety net 20 is opened through the fixing rods 21.
The middle part of the moving plate 19 is fixedly connected to the piston end of the second hydraulic rod 18, the second hydraulic rod 18 is fixedly connected to the middle part of the outer wall of the rear end of the sleeve 17, the moving plate 19 can drive the sliding rod 22 to slide in the sliding groove 15 through the second hydraulic rod 18, the safety net 20 is opened, and the falling precise parts are caught during moving.
The self-locking switch 24 is electrically connected with the second servo motor 14, the self-locking switch 24 is pressed down by the pressing block 27 to realize self-locking, and the precise parts cannot be loosened when the second servo motor 14 is self-locked, so that the precise parts can be well moved while not being deformed.
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 precision parts processing is with manipulator, includes upper housing (7), its characterized in that: the lower end of the upper shell (7) is fixedly connected with a lower shell (4), the middle parts of the two sides of the lower shell (4) are respectively connected with the upper end of a rotating rod (9) through a rotating shaft, the lower end of the rotating rod (9) is respectively connected with the outer side of the upper end of a finger (1) through a rotating shaft, the inner side of the upper end of the finger (1) is respectively connected with the lower end of a driving rod (2) through a rotating shaft, the upper end of the driving rod (2) is respectively connected with the two sides of the middle part of the lower shell (4) through an installation shaft (8), the installation shaft (8) is respectively penetrated through the lower shell (4), the middle part of the installation shaft (8) is respectively and fixedly connected with the middle part of a turbine (11), the inner side of the finger (1) is respectively and fixedly connected with anti-skid rubber (10), and the middle part of the anti, the upper portion and the lower portion of the antiskid rubber (10) close to one side of the finger (1) are provided with one end of a sliding block (28) in a sliding mode, the other end of the sliding block (28) is arranged in the finger (1) in a sliding mode, the other end of the sliding block (28) is fixedly connected to one side of the two ends of a pressing block (27), the pressing block (27) is connected in a mounting groove (25) in a sliding mode, a self-locking switch (24) is arranged in the middle of one side, far away from the pressing block (27), of the mounting groove (25), limiting plates (13) are fixedly connected to the front end and the rear end of an upper shell (7), a sleeve (17) is arranged on the outer side of each limiting plate (13) in a sliding mode, a safety net (20) is fixedly connected to the inner wall of the bottom of the sleeve (17), a fixing rod (21) is fixedly connected to, one end of the sliding rod (22) penetrates through the rear wall of the sleeve (17) and is fixedly connected to the lower ends of the two sides of the moving plate (19), and the middle of the bottom end of the lower shell (4) is fixedly connected with the video sensor (3).
2. The robot for machining a precision part according to claim 1, wherein: the middle part of the upper end of the upper shell (7) is fixedly connected to the driving end of the lower end of the first servo motor (5), and the middle part of the upper end of the first servo motor (5) is fixedly connected to the piston rod of the lower end of the hydraulic cylinder (6).
3. The robot for machining a precision part according to claim 1, wherein: turbine (11) all set up the interior middle part both sides of casing (4) down, the interior middle part of casing (4) is rotated and is connected with worm (12) down, turbine (11) all meshes the both sides of connecting at worm (12), the top of worm (12) runs through the roof of casing (4) down and extends and the upper end fixed connection of worm (12) is at the drive end of second servo motor (14) lower extreme, second servo motor (14) fixed connection is in the interior middle part of last casing (7).
4. The robot for machining a precision part according to claim 1, wherein: the equal fixedly connected with spring (26) in both ends that sliding block (28) one side was kept away from in briquetting (27), the equal fixed connection of the other end of spring (26) is at the inner wall of mounting groove (25).
5. The robot for machining a precision part according to claim 1, wherein: the middle parts of the front end and the rear end of the upper surface of the limiting plate (13) are fixedly connected to the lower end of the first hydraulic rod (16), and the upper end of the first hydraulic rod (16) is fixedly connected to the front side and the rear side of the inner top wall of the sleeve (17).
6. The robot for machining a precision part according to claim 1, wherein: the slide bars (22) are all connected inside the sliding grooves (15) in a sliding mode, and the sliding grooves (15) are all arranged at the bottoms of the inner walls of the two sides of the sleeve (17).
7. The robot for machining a precision part according to claim 1, wherein: the middle part of the moving plate (19) is fixedly connected to the piston end of the second hydraulic rod (18), and the second hydraulic rod (18) is fixedly connected to the middle part of the outer wall of the rear end of the sleeve (17).
8. The robot for machining a precision part according to claim 1, wherein: the self-locking switch (24) is electrically connected with the second servo motor (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110284219.9A CN112976037A (en) | 2021-03-17 | 2021-03-17 | Manipulator is used in processing of accurate spare part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110284219.9A CN112976037A (en) | 2021-03-17 | 2021-03-17 | Manipulator is used in processing of accurate spare part |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112976037A true CN112976037A (en) | 2021-06-18 |
Family
ID=76334240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110284219.9A Withdrawn CN112976037A (en) | 2021-03-17 | 2021-03-17 | Manipulator is used in processing of accurate spare part |
Country Status (1)
| Country | Link |
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| CN (1) | CN112976037A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246115A (en) * | 2021-06-28 | 2021-08-13 | 佛山冠博机械科技发展有限公司 | Industrial manipulator based on machine vision technology and control method thereof |
| CN114056865A (en) * | 2021-11-04 | 2022-02-18 | 巨朱安 | Liftable suspension conveyor capable of being clamped and using method thereof |
| CN114083222A (en) * | 2021-12-07 | 2022-02-25 | 贵州建隆新能源汽车有限责任公司 | Be used for new forms of energy frame welded turning device |
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| US20100095799A1 (en) * | 2008-10-21 | 2010-04-22 | Albin Scott R | End effector for mobile remotely controlled robot |
| CN107042522A (en) * | 2017-03-06 | 2017-08-15 | 广东工业大学 | A kind of robot end self-clamping module of servo driving |
| CN109465840A (en) * | 2018-11-26 | 2019-03-15 | 清华大学 | A kind of compound grabbing device of sucker-gripper |
| CN109895128A (en) * | 2019-04-12 | 2019-06-18 | 徐春凤 | A kind of new energy intelligent robot clamping device |
| CN110653838A (en) * | 2019-09-12 | 2020-01-07 | 西安航空职业技术学院 | Mechanical gripper for machine-building |
| CN210389242U (en) * | 2019-06-19 | 2020-04-24 | 武平县旺发电子商务有限公司 | Mechanical gripper for lime ore mining |
| CN112171699A (en) * | 2020-09-15 | 2021-01-05 | 南京凡白坤电子商务有限公司 | Novel energy robot clamping mechanism based on intelligent science and technology |
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2021
- 2021-03-17 CN CN202110284219.9A patent/CN112976037A/en not_active Withdrawn
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| US20100095799A1 (en) * | 2008-10-21 | 2010-04-22 | Albin Scott R | End effector for mobile remotely controlled robot |
| CN107042522A (en) * | 2017-03-06 | 2017-08-15 | 广东工业大学 | A kind of robot end self-clamping module of servo driving |
| CN109465840A (en) * | 2018-11-26 | 2019-03-15 | 清华大学 | A kind of compound grabbing device of sucker-gripper |
| CN109895128A (en) * | 2019-04-12 | 2019-06-18 | 徐春凤 | A kind of new energy intelligent robot clamping device |
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| CN110653838A (en) * | 2019-09-12 | 2020-01-07 | 西安航空职业技术学院 | Mechanical gripper for machine-building |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113246115A (en) * | 2021-06-28 | 2021-08-13 | 佛山冠博机械科技发展有限公司 | Industrial manipulator based on machine vision technology and control method thereof |
| CN113246115B (en) * | 2021-06-28 | 2021-09-21 | 佛山冠博机械科技发展有限公司 | Industrial manipulator based on machine vision technology and control method thereof |
| CN114056865A (en) * | 2021-11-04 | 2022-02-18 | 巨朱安 | Liftable suspension conveyor capable of being clamped and using method thereof |
| CN114056865B (en) * | 2021-11-04 | 2023-12-22 | 宿州市光明食品有限公司 | Lifting suspension conveyor capable of being clamped |
| CN114083222A (en) * | 2021-12-07 | 2022-02-25 | 贵州建隆新能源汽车有限责任公司 | Be used for new forms of energy frame welded turning device |
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Application publication date: 20210618 |