CN113335911A - Annular workpiece taking manipulator - Google Patents
Annular workpiece taking manipulator Download PDFInfo
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- CN113335911A CN113335911A CN202110506478.1A CN202110506478A CN113335911A CN 113335911 A CN113335911 A CN 113335911A CN 202110506478 A CN202110506478 A CN 202110506478A CN 113335911 A CN113335911 A CN 113335911A
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- groove
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- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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Abstract
The invention belongs to the technical field of robots, and particularly relates to an annular workpiece taking manipulator which comprises a manipulator and a workpiece taking arm arranged on the manipulator, wherein the workpiece taking arm comprises a base part, a servo hydraulic rod, a first transmission part, a second transmission part and a clamp, the base part comprises an integrally formed mounting barrel, a driving base frame and a mounting frame, the mounting barrel is provided with a sliding chute and a spiral guide groove, the first transmission part is slidably sleeved on the mounting barrel, the first transmission part is provided with a guide ball, the second transmission part is arranged on the mounting frame, the first transmission part is in transmission connection with the second transmission part, the clamp comprises a mounting ring, the mounting ring is provided with a plurality of groove groups, clamping jaws are arranged in the groove groups, one end of each clamping jaw, which is positioned in the second mounting groove, is hinged with a third transmission part, the third transmission part is in transmission connection with the second transmission part, and is used for solving the problem that the traditional manipulator mostly adopts two arc-shaped clamping plates with fixed sizes to clamp an object at present, is difficult to be suitable for clamping workpieces with different sizes.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an annular workpiece taking manipulator.
Background
The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program.
At present traditional manipulator adopts two arc splint of fixed size to carry out the centre gripping to the object mostly, and this kind of centre gripping mode can not carry out effective clamp to the object when carrying out the centre gripping to less object, need change the manipulator that has small-size splint and carry out the centre gripping, and the operation is more complicated, and single manipulator is difficult to carry out the centre gripping to the object of equidimension not, and work efficiency is low.
Disclosure of Invention
Based on the problems mentioned in the background art, the invention provides an annular workpiece taking manipulator which is used for solving the problem that most of the existing traditional manipulators adopt two arc-shaped clamping plates with fixed sizes to clamp objects and are difficult to clamp workpieces with different sizes.
The technical scheme adopted by the invention is as follows:
an annular piece-taking manipulator comprises a mechanical arm and a piece-taking arm arranged on the mechanical arm, wherein the piece-taking arm comprises a base piece, a servo hydraulic rod, a first transmission piece, a second transmission piece and a clamp, the base piece comprises an integrally formed installation barrel, a driving base frame and a mounting frame, a chute and a spiral guide groove are formed in the installation barrel, the servo hydraulic rod is arranged on the driving base frame, a connecting seat is arranged on the driving base frame, a telescopic rod of the servo hydraulic rod penetrates through the installation barrel, a connecting piece is arranged in the chute and is fixedly connected with the telescopic rod of the servo hydraulic rod, the first transmission piece is sleeved on the installation barrel in a sliding mode, a guide ball is arranged on the first transmission piece and is positioned in the spiral guide groove, the second transmission piece is arranged on the mounting frame, and the first transmission piece is in transmission connection with the second transmission piece, the fixture is fixed on the mounting frame, the fixture comprises a mounting ring, a plurality of groove sets are formed in the mounting ring, clamping jaws are installed in the groove sets, each groove set comprises a first mounting groove and a second mounting groove, a limiting post is installed in each first mounting groove, notches are formed in the clamping jaws, the limiting posts are located in the notches, one end, located in each second mounting groove, of each clamping jaw is hinged to a third transmission piece, and the third transmission pieces are in transmission connection with the second transmission pieces.
On the basis of the technical scheme, the invention is further improved as follows:
further, first driving medium includes first sleeve and first driving ring, the draw-in groove has been seted up on the first driving ring, the guide ball is located on the telescopic inner wall of first, the second driving medium includes second sleeve and second driving ring, second sleeve and second driving ring fixed connection, be equipped with on the second sleeve with draw-in groove assorted transmission piece, the transmission piece slides and wears to locate in the draw-in groove, second transmission ring cover is located on the mounting bracket. When the first transmission ring rotates, the second transmission ring can be driven by the transmission block to rotate, and meanwhile, the first transmission ring can slide along the transmission block in the rotating process to avoid influencing the operation of the servo hydraulic rod.
Furthermore, two spiral guide grooves are formed in the mounting cylinder, the two spiral guide grooves are arranged oppositely, the number of the guide balls is two, and the two guide balls are located in the two spiral guide grooves respectively. The two spiral guide grooves are arranged to be matched with the two guide balls respectively to force the first transmission ring to rotate, so that the rotation sensitivity of the first transmission piece is improved.
Furthermore, the number of the groove groups is four, and the two groove groups are located at the same height. The clamping jaws arranged in the groove group are prevented from interfering with each other.
Further, the third driving medium include with the collar assorted arc, be equipped with the articulated seat of first articulated seat and second on the arc, the articulated seat of second is articulated with the clamping jaw, the through-hole has been seted up on the articulated seat of first, be equipped with the transmission post on the second transmission ring, the transmission post is worn to locate in the through-hole. When the second transmission ring rotates, the transmission column can drive the third transmission piece to slide along the circumference of the mounting ring so as to pull the clamping jaw to fold.
Further, first reservation groove and second reservation groove have been seted up on the clamping jaw, a third mounting groove has been seted up in the first reservation groove, splint are installed to the second reservation inslot, install pressure detector in the third mounting groove. The pressure detector can detect the pressure between the clamping plate and the clamping jaw, so that the pressure detector can be used for controlling the clamping force of the clamping jaw for clamping the workpiece.
Furthermore, install spacing hole between first preformed groove and the second preformed groove, be equipped with the reference column on the splint, the reference column is worn to locate in the spacing hole, the one end that the reference column wore out spacing hole is installed and is prevented the slip ring. The clamping plate is limited by the positioning column and the limiting hole, so that the detection result of the pressure detector caused by the deflection of the clamping plate is prevented from generating large errors.
The invention has the beneficial effects that:
the first transmission piece is pushed to move through the servo hydraulic rod, the first transmission piece rotates while moving under the matching of the spiral guide groove and the guide ball to drive the second transmission piece to rotate, and therefore the second transmission piece drives the clamping jaw to fold through the third transmission piece to be used for grabbing workpieces of different sizes.
Drawings
The invention is further illustrated by the non-limiting examples given in the accompanying drawings;
FIG. 1 is a schematic structural view of a pick-up arm according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of the pickup arm according to the embodiment of the present invention;
FIG. 3 is a schematic structural view of a base member in an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a first transmission member according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a second transmission member according to an embodiment of the present invention;
FIG. 6 is a schematic structural view of a jig according to an embodiment of the present invention;
FIG. 7 is a schematic view of a mounting ring according to an embodiment of the present invention;
FIG. 8 is a cross-sectional view of a clamp according to an embodiment of the present invention;
FIG. 9 is a schematic view of a longitudinal section of a jaw in an embodiment of the invention;
FIG. 10 is a schematic structural view of a third transmission member according to an embodiment of the present invention;
the main element symbols are as follows:
the base member 1, the installation cylinder 11, the chute 12, the connecting seat 13, the spiral guide groove 14, the installation frame 15, the servo hydraulic rod 2, the connecting piece 21, the first transmission piece 3, the first sleeve 31, the first transmission ring 32, the clamping groove 33, the guide ball 34, the second transmission piece 4, the second sleeve 41, the second transmission ring 42, the transmission column 43, the transmission block 44, the clamp 5, the installation ring 51, the first installation groove 52, the limiting column 521, the second installation groove 53, the clamping jaw 54, the notch 541, the second reserved groove 542, the limiting hole 543, the clamping plate 544, the positioning column 545, the pressure detector 546, the third transmission piece 55, the arc-shaped plate 551, the first hinged seat 552, the through hole 553, the second hinged seat 554.
Detailed Description
In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.
Examples
As shown in fig. 1 to 10, an annular piece-taking manipulator comprises a mechanical arm and a piece-taking arm installed on the mechanical arm, the piece-taking arm comprises a base piece 1, a servo hydraulic rod 2, a first transmission piece 3, a second transmission piece 4 and a clamp 5, the base piece 1 comprises an integrally formed installation barrel 11, a driving pedestal and an installation frame 15, the installation barrel 11 is provided with a chute 12 and a spiral guide groove 14, the servo hydraulic rod 2 is installed on the driving pedestal, the driving pedestal is provided with a connection seat 13, the base piece 1 is installed on the mechanical arm through the connection seat 13, a telescopic rod of the servo hydraulic rod 2 is arranged in the installation barrel 11 in a penetrating manner, the chute 12 is provided with a connection piece 21, the connection piece 21 is fixedly connected with the telescopic rod of the servo hydraulic rod 2, the first transmission piece 3 is sleeved on the installation barrel 11 in a sliding manner, the first transmission piece 3 is provided with a guide ball 34, the guide ball 34 is located in the spiral guide groove 14, the second transmission part 4 is installed on the installation frame 15, the first transmission part 3 is in transmission connection with the second transmission part 4, the fixture 5 is fixed on the installation frame 15, the fixture 5 comprises an installation ring 51, a plurality of groove sets are arranged on the installation ring 51, clamping jaws 54 are installed in the groove sets, each groove set comprises a first installation groove 52 and a second installation groove 53, a limiting column 521 is installed in each first installation groove 52, a notch 541 is formed in each clamping jaw 54, each limiting column 521 is located in each notch 541, one end, located in each second installation groove 53, of each clamping jaw 54 is hinged to a third transmission part 55, and the third transmission part 55 is in transmission connection with the second transmission part 4.
Specifically, the first transmission member 3 includes a first sleeve 31 and a first transmission ring 32, a clamping groove 33 is formed in the first transmission ring 32, the guide ball 34 is arranged on the inner wall of the first sleeve 31, the second transmission member 4 includes a second sleeve 41 and a second transmission ring 42, the second sleeve 41 and the second transmission ring 42 are fixedly connected, a transmission block 44 matched with the clamping groove 33 is arranged on the second sleeve 41, the transmission block 44 is slidably arranged in the clamping groove 33, and the second transmission ring 42 is sleeved on the mounting frame 15. When the first transmission ring 32 rotates, the second transmission ring 42 can be driven to rotate by the transmission block 44, and meanwhile, the first transmission ring 32 can slide along the transmission block 44 during the rotation process to avoid influencing the operation of the servo hydraulic rod 2.
Specifically, two spiral guide grooves 14 are formed in the mounting cylinder 11, the two spiral guide grooves 14 are arranged oppositely, the number of the guide balls 34 is two, and the two guide balls 34 are respectively located in the two spiral guide grooves 14. The two spiral guide grooves 14 are respectively matched with the two guide balls 34 to force the first transmission ring 32 to rotate, so that the rotation sensitivity of the first transmission piece 3 is improved.
Specifically, the number of groove groups is four, and two groove groups are located at the same height. The clamping jaws 54 arranged in the two groove groups with the same height are parallel to each other, so that the clamping jaws 54 arranged in the groove groups are prevented from interfering with each other.
Specifically, the third transmission part 55 includes an arc-shaped plate 551 matched with the mounting ring 51, a first hinged seat 552 and a second hinged seat 554 are arranged on the arc-shaped plate 551, the second hinged seat 554 is hinged to the clamping jaw 54, a through hole 553 is formed in the first hinged seat 552, a transmission column 43 is arranged on the second transmission ring 42, and the transmission column 43 is arranged in the through hole 553 in a penetrating manner. When the second transmission ring 42 rotates, the transmission post 43 can drive the third transmission piece 55 to slide along the circumference of the mounting ring 51, so as to pull the clamping jaws 54 to close.
Specifically, the clamping jaw 54 is provided with a first preformed groove and a second preformed groove 542, the first preformed groove is provided with a third installation groove, the second preformed groove 542 is provided with a clamping plate 544, the third installation groove is provided with a pressure detector 546, and the pressure detector 546 is connected with a control center of the mechanical arm. The pressure between the clamp plate 544 and the clamp jaw 54 is sensed by a pressure sensor 546 and can be used to control the force with which the clamp jaw 54 grips the workpiece.
Specifically, a limiting hole 543 is installed between the first preformed groove and the second preformed groove 542, a positioning column 545 is installed on the clamping plate 544, the positioning column 545 penetrates through the limiting hole 543, and an anti-drop ring is installed at one end of the positioning column 545 penetrating through the limiting hole 543. The positioning posts 545 and the limiting holes 543 limit the sliding of the clamping plate 544, so as to prevent the clamping plate 544 from deflecting to cause a large error in the detection result of the pressure detector 546.
When the clamping device is used, the clamping force is set according to the size of a workpiece to be clamped; when a workpiece is clamped, the servo hydraulic rod 2 pushes the first transmission piece 3 to slide along the mounting cylinder 11, the first transmission piece 3 slides and simultaneously rotates along the mounting cylinder 11 under the action of the spiral guide groove 14, the first transmission piece 3 drives the transmission block 44 penetrating the clamping groove 33 to rotate through the first transmission ring 32, the second transmission ring 42 drives the third transmission piece 55 to slide along the outer circumference of the mounting ring 51 through the transmission post 43, one end of a clamping jaw 54 hinged with the third transmission piece 55 moves along with the third transmission piece 55, and the other end of the clamping jaw 54 slides along the limiting post 521, so that the four clamping jaws 54 are folded to clamp the workpiece; when the clamping jaw 54 clamps the workpiece, the clamping plate 544 presses the pressure detector 546, when the pressure reaches a preset value, the servo hydraulic rod 2 stops working to enable the clamping jaw 54 to keep a clamping state, and then the mechanical arm works to drive the workpiece taking arm to remove the workpiece.
The annular workpiece taking manipulator provided by the invention is described in detail above. The description of the specific embodiments is only intended to facilitate an understanding of the method of the invention and its core ideas. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (7)
1. The utility model provides an annular manipulator of getting, includes the arm and installs the arm of getting on the arm, its characterized in that: the part taking arm comprises a base part (1), a servo hydraulic rod (2), a first transmission part (3), a second transmission part (4) and a clamp (5), wherein the base part (1) comprises an integrally formed installation barrel (11), a driving pedestal and an installation frame (15), a sliding groove (12) and a spiral guide groove (14) are formed in the installation barrel (11), the servo hydraulic rod (2) is installed on the driving pedestal, a connecting seat (13) is installed on the driving pedestal, a telescopic rod of the servo hydraulic rod (2) penetrates through the installation barrel (11), a connecting part (21) is installed in the sliding groove (12), the connecting part (21) is fixedly connected with the telescopic rod of the servo hydraulic rod (2), the first transmission part (3) is slidably sleeved on the installation barrel (11), a guide ball (34) is arranged on the first transmission part (3), and the guide ball (34) is located in the spiral guide groove (14), the utility model provides a spacing post (521) of installation in mounting bracket (15), second driving medium (4) are installed on mounting bracket (15), first driving medium (3) and second driving medium (4) transmission are connected, anchor clamps (5) are fixed in on mounting bracket (15), anchor clamps (5) are including collar (51), a plurality of banks have been seted up on collar (51), clamping jaw (54) are installed to the bank, the bank includes first mounting groove (52) and second mounting groove (53), spacing post (521) of installation in first mounting groove (52), notch (541) have been seted up on clamping jaw (54), spacing post (521) are located notch (541), clamping jaw (54) are located that one end in second mounting groove (53) articulates there is third driving medium (55), third driving medium (55) are connected with second driving medium (4) transmission.
2. The annular picking manipulator of claim 1, wherein: first driving part (3) include first sleeve (31) and first driving ring (32), draw-in groove (33) have been seted up on first driving ring (32), guide ball (34) are located on the inner wall of first sleeve (31), second driving part (4) include second sleeve (41) and second driving ring (42), second sleeve (41) and second driving ring (42) fixed connection, be equipped with on second sleeve (41) with draw-in groove (33) assorted transmission piece (44), in draw-in groove (33) are worn to locate in transmission piece (44) slide, mounting bracket (15) are located to second driving ring (42) cover.
3. The annular picking manipulator of claim 2, wherein: the mounting cylinder (11) is provided with two spiral guide grooves (14), the two spiral guide grooves (14) are arranged oppositely, the number of the guide balls (34) is two, and the two guide balls (34) are respectively positioned in the two spiral guide grooves (14).
4. The annular picking manipulator of claim 3, wherein: the number of the groove groups is four, and the two groove groups are located at the same height.
5. The annular picking manipulator of claim 4, wherein: the third transmission part (55) comprises an arc-shaped plate (551) matched with the mounting ring (51), a first hinged seat (552) and a second hinged seat (554) are arranged on the arc-shaped plate (551), the second hinged seat (554) is hinged to the clamping jaw (54), a through hole (553) is formed in the first hinged seat (552), a transmission column (43) is arranged on the second transmission ring (42), and the transmission column (43) penetrates through the through hole (553).
6. The annular picking manipulator of claim 5, wherein: a first preformed groove and a second preformed groove (542) are formed in the clamping jaw (54), a third mounting groove is formed in the first preformed groove, a clamping plate (544) is mounted in the second preformed groove (542), and a pressure detector (546) is mounted in the third mounting groove.
7. The annular picking manipulator of claim 6, wherein: install spacing hole (543) between first preformed groove and second preformed groove (542), be equipped with reference column (545) on splint (544), in spacing hole (543) was worn to locate by reference column (545), the anticreep ring is installed to the one end that spacing hole (543) was worn out in reference column (545).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110506478.1A CN113335911A (en) | 2021-05-10 | 2021-05-10 | Annular workpiece taking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110506478.1A CN113335911A (en) | 2021-05-10 | 2021-05-10 | Annular workpiece taking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113335911A true CN113335911A (en) | 2021-09-03 |
Family
ID=77470482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110506478.1A Withdrawn CN113335911A (en) | 2021-05-10 | 2021-05-10 | Annular workpiece taking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113335911A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114941831A (en) * | 2022-07-27 | 2022-08-26 | 扬州泰坦信息科技有限公司 | Closed-buckling quick-detachable intelligent street lamp pole with adjusting function |
-
2021
- 2021-05-10 CN CN202110506478.1A patent/CN113335911A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114941831A (en) * | 2022-07-27 | 2022-08-26 | 扬州泰坦信息科技有限公司 | Closed-buckling quick-detachable intelligent street lamp pole with adjusting function |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210903 |