CN113427513A

CN113427513A - Mechanical arm

Info

Publication number: CN113427513A
Application number: CN202110857828.9A
Authority: CN
Inventors: 张彦峰
Original assignee: Beijing Boyan Shengke Technology Co ltd
Current assignee: Beijing Boyan Shengke Technology Co ltd
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2021-09-24
Anticipated expiration: 2041-07-28
Also published as: CN113427513B

Abstract

The invention discloses a manipulator which comprises a base, a driving motor, a lower clamping piece, an upper clamping piece and a dowel bar, wherein the base is provided with a plurality of clamping grooves; driving motor's casing is installed on the base, driving motor's pivot is connected with the lower extreme of dowel steel, the upper end of dowel steel and the middle part sliding connection of last clamping piece, clamping piece one end is fixed on the base down, the other end of lower clamping piece extends to the outside of base, the front end of going up the clamping piece is located the top of clamping piece down, the clearance between the front end of going up the clamping piece and the front end of lower clamping piece is used for the centre gripping to press from both sides and gets the thing, driving motor drives the dowel steel and rotates, thereby the front end of clamping piece removes under the front end orientation of clamping piece under the drive. The technical effects achieved are as follows: the manipulator provided by the invention has the advantages of simple structure, convenience in use, capability of effectively grabbing and conveying the clamped object, small occupied space and stable clamping force, and obviously reduces the processing cost compared with the manipulator in the prior art.

Description

Mechanical arm

Technical Field

The invention relates to the technical field of automatic medicine selling machine accessories, in particular to a manipulator.

Background

The manipulator is one of the key parts of the automatic medicine selling machine, the manipulator is used for clamping and conveying commodities to be sold, most of the manipulators in the prior art are of an articulated structure or a connecting rod structure, the structure is complex, the occupied space is large, the control program is complex, the use is extremely inconvenient, and the manipulator which is small in occupied space and remarkably reduces the manufacturing cost is lacked.

Disclosure of Invention

Therefore, the present invention provides a manipulator to solve the above problems in the prior art.

In order to achieve the above purpose, the invention provides the following technical scheme:

according to a first aspect of the present invention, a manipulator comprises a base, a driving motor, a lower jaw, an upper jaw, and a dowel bar; the casing of driving motor is installed on the base, driving motor's pivot with the lower extreme of dowel steel is connected, the upper end of dowel steel with the middle part sliding connection of last clamping piece, clamping piece one end is fixed down on the base, down the other end of clamping piece to the outside of base extends, the front end of going up the clamping piece is located the top of clamping piece down, the front end of going up the clamping piece with clearance between the front end of clamping piece is used for the centre gripping to press from both sides down and gets the thing, driving motor drives the dowel steel rotates, thereby drives the front end orientation of going up the clamping piece the front end of clamping piece removes down.

Further, still include the forced induction piece, the one end of forced induction piece is fixed on the base, the other end of forced induction piece with the extending direction of clamping piece is the same down, the forced induction piece is located the below of clamping piece down.

Furthermore, the upper clamping piece and the lower clamping piece are both arc-shaped plate-shaped structures, and the rear end of the lower clamping piece is inserted into the lower end of the upper clamping piece.

Further, still include the pin, the bar hole has been seted up at the middle part of going up the clamping piece, the upper end of dowel steel penetrates the bar hole, the pin is worn to establish the upper end of dowel steel will the upper end of dowel steel is spacing in the top in bar hole.

Furthermore, the upper clamping piece and the lower clamping piece are both made of elastic materials.

Furthermore, the upper clamping piece and the lower clamping piece are combined to form a U-shaped structure.

Further, the driving motor is a speed reduction motor.

Further, the driving motor is a steering engine.

Further, still include the motor fixing base, the motor fixing base is L font structure, the lower extreme of motor fixing base is fixed on the base, driving motor's casing passes through the screw connection and installs on the vertical board of motor fixing base.

Further, the device also comprises a controller, wherein the controller is electrically connected with the driving motor and is used for controlling the forward and reverse rotation of the driving motor.

The invention has the following advantages: the manipulator provided by the invention has the advantages of simple structure, convenience in use, capability of effectively grabbing and conveying the clamped object, small occupied space and stable clamping force, and obviously reduces the processing cost compared with the manipulator in the prior art.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

Figure 1 is a cross-sectional view of a robot according to some embodiments of the present invention.

Fig. 2 is a perspective view of a manipulator according to some embodiments of the present invention.

In the figure: 1. the base, 2, motor fixing base, 3, driving motor, 4, forced induction piece, 5, lower clamping piece, 6, last clamping piece, 7, dowel steel, 8, pin, 9, bar hole, 10, the clamp gets the thing.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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 2, a manipulator in an embodiment of a first aspect of the present invention includes a base 1, a driving motor 3, a lower jaw 5, an upper jaw 6, and a dowel bar 7; the casing of driving motor 3 is installed on base 1, driving motor 3's pivot is connected with the lower extreme of dowel steel 7, the upper end of dowel steel 7 and the middle part sliding connection of last clamping piece 6, lower clamping piece 5 one end is fixed on base 1, the other end of lower clamping piece 5 extends to base 1's outside, the front end of going up clamping piece 6 is located the top of clamping piece 5 down, the clearance between the front end of going up clamping piece 6 and the front end of lower clamping piece 5 is used for the centre gripping to press from both sides gets thing 10, driving motor 3 drives dowel steel 7 and rotates, thereby the front end of clamping piece 5 removes under the front end orientation of clamping piece 6 in the drive.

In the above embodiment, it should be noted that, the lower end of the dowel bar 7 is provided with a circular hole, and is mounted at the rotating shaft of the driving motor 3 through key connection or interference fit, the upper end of the dowel bar 7 is provided with a bending section, the bending section is inserted into the strip-shaped hole 9 of the upper clip 6, the length of the strip-shaped hole 9 of the upper clip 6 is greater than the width of the bending section of the dowel bar 7, in the working process, the driving motor 3 is controlled by the controller, when the clip 10 needs to be conveyed, the driving motor 3 rotates forward and drives the dowel bar 7 to rotate, the dowel bar 7 drives the front end of the upper clip 6 to approach the front end of the lower clip 5, the clip 10 is grabbed by reducing the gap between the two, when the clip 10 needs to be released, the driving motor 3 rotates in the reverse direction, under the action of the dowel bar 7, the front end of the upper clip 6 is far away from the front end of the lower clip 5, and the gap between the two is increased, thereby effecting release of the clip 10.

The technical effects achieved by the above embodiment are as follows: through a manipulator of this embodiment, simple structure, convenient to use, can effectual realization to pressing from both sides snatching and carrying of getting the thing, occupation space is little, adds the power of holding degree stability, compares in prior art's manipulator, the reduction that is showing the processing cost.

Optionally, as shown in fig. 1 to 2, in some embodiments, a pressure sensing piece 4 is further included, one end of the pressure sensing piece 4 is fixed on the base 1, the other end of the pressure sensing piece 4 extends in the same direction as the lower clamping piece 5, and the pressure sensing piece 4 is located below the lower clamping piece 5.

In the above optional embodiment, it should be noted that the pressure sensing piece 4 is electrically connected to the controller, the clamping force between the upper clamping piece 6 and the lower clamping piece 5 is controlled by sensing the force applied to the lower clamping piece 5 through the pressure sensing piece 4, and when the force exceeds a preset value, the pressure sensing piece 4 sends a signal to stop the rotation of the driving motor 6.

The beneficial effects of the above alternative embodiment are: through setting up forced induction piece 4, realized going up the steerable of the dynamics of getting of pressing from both sides between clamping piece 6 and the lower clamping piece 5, showing the intelligent control that has promoted the manipulator.

Alternatively, as shown in fig. 1 to 2, in some embodiments, the upper clip 6 and the lower clip 5 are both arc-shaped plate-shaped structures, and the rear end of the lower clip 5 is inserted into the lower end of the upper clip 6.

In the above alternative embodiment, it should be noted that the front end of the upper clip 6 is bent toward the front end of the lower clip 5, and the front end of the lower clip 5 is bent toward the front end of the upper clip 6.

The beneficial effects of the above alternative embodiment are: through all setting up upper jaw 6 and lower jaw 5 into arc platelike structure, utilized the radian of the two, strengthened reliability and stability of grabbing to the clamp thing 10, saved the power demand.

Optionally, as shown in fig. 1 to 2, in some embodiments, the clamping device further includes a pin 8, a strip-shaped hole 9 is formed in the middle of the upper clamping piece 6, the upper end of the dowel bar 7 penetrates through the strip-shaped hole 9, and the pin 8 penetrates through the upper end of the dowel bar 7 to limit the upper end of the dowel bar 7 above the strip-shaped hole 9.

In the above alternative embodiment, it should be noted that an open pin or an R pin is provided at the end of the pin 8 to limit the pin 8.

The beneficial effects of the above alternative embodiment are: the upper end of the dowel bar 7 is limited above the strip-shaped hole 9 by adopting the pin 8, so that the installation and maintenance are facilitated.

Alternatively, as shown in fig. 1 to 2, in some embodiments, the upper clip 6 and the lower clip 5 are both made of elastic material.

In the above alternative embodiment, it should be noted that, for example, the upper clip 6 and the lower clip 5 are both made of spring steel.

The beneficial effects of the above alternative embodiment are: through adopting the upper clamping piece 6 and the lower clamping piece 5 made of elastic materials, the grabbing strength between the upper clamping piece 6 and the lower clamping piece 5 is effectively guaranteed, and the object 10 is prevented from falling off during grabbing.

Alternatively, as shown in fig. 1 to 2, in some embodiments, the upper clip 6 and the lower clip 5 are combined to form a U-shaped structure.

In the above alternative embodiment, it should be noted that the front end of the U-shaped structure formed by the upper clip 6 and the lower clip 5 is smaller than the middle distance between the two.

The beneficial effects of the above alternative embodiment are: the upper clamping piece 6 and the lower clamping piece 5 are combined to form a U-shaped structure, so that the grabbing action of both hands is effectively simulated.

Alternatively, as shown in fig. 1 to 2, in some embodiments, the driving motor 3 is a reduction motor.

In the above alternative embodiment, it should be noted that a bevel gear reduction box is provided at the end of the driving motor 3.

The beneficial effects of the above alternative embodiment are: through setting up driving motor 3 as gear motor, effectual improved driving motor 3 and driven the rotation moment of torsion of clip 6 and lower clip 5.

Optionally, as shown in fig. 1 to 2, in some embodiments, the driving motor 3 is a steering engine.

In the above alternative embodiment, it should be noted that the driving motor 3 may also be a servo motor or a stepping motor.

The beneficial effects of the above alternative embodiment are: by adopting the steering engine as the driving motor 3, the stability of the forward and reverse rotation of the driving motor 3 is ensured.

Optionally, as shown in fig. 1 to 2, in some embodiments, the electric vehicle further includes a motor fixing seat 2, the motor fixing seat 2 is of an L-shaped structure, the lower end of the motor fixing seat 2 is fixed on the base 1, and the housing of the driving motor 3 is installed on the vertical plate of the motor fixing seat 2 through screw connection.

In the above optional embodiment, it should be noted that the lower end of the motor fixing seat 2 is welded on the base 1, and the base 1 is an inverted U-shaped bent structure.

The beneficial effects of the above alternative embodiment are: through the above-mentioned structure of motor fixing base 2, the simple installation is swift, and the stability of support is high.

Optionally, as shown in fig. 1 to 2, in some embodiments, the apparatus further includes a controller, the controller is electrically connected to the driving motor 3, and the controller is configured to control the forward and reverse rotation of the driving motor 3.

In the above optional embodiments, it should be noted that the controller is a PLC controller or a single chip microcomputer controller.

The beneficial effects of the above alternative embodiment are: through setting up the controller, realized the intelligent control to the manipulator.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

In the present specification, the terms "upper", "lower", "left", "right", "middle", and the like are used for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications in the relative relationship may be made without substantial changes in the technical content.

Claims

1. A manipulator is characterized by comprising a base (1), a driving motor (3), a lower clamping piece (5), an upper clamping piece (6) and a dowel bar (7); the casing of driving motor (3) is installed on base (1), the pivot of driving motor (3) with the lower extreme of dowel steel (7) is connected, the upper end of dowel steel (7) with the middle part sliding connection of last clamping piece (6), clamping piece (5) one end is fixed down on base (1), the other end of clamping piece (5) down to the outside of base (1) extends, the front end of going up clamping piece (6) is located the top of clamping piece (5) down, the front end of going up clamping piece (6) with clearance between the front end of clamping piece (5) down is used for the centre gripping to press from both sides and gets thing (10), driving motor (3) drive dowel steel (7) rotate, thereby drives the front end orientation of going up clamping piece (6) the front end of clamping piece (5) removes down.

2. A manipulator according to claim 1, further comprising a pressure sensing piece (4), wherein one end of the pressure sensing piece (4) is fixed on the base (1), the other end of the pressure sensing piece (4) extends in the same direction as the lower clamping piece (5), and the pressure sensing piece (4) is located below the lower clamping piece (5).

3. A manipulator according to claim 1, wherein the upper clamping piece (6) and the lower clamping piece (5) are both arc-shaped plate-shaped structures, and the rear end of the lower clamping piece (5) is inserted into the lower end of the upper clamping piece (6).

4. A manipulator according to claim 3, further comprising a pin (8), wherein a strip-shaped hole (9) is formed in the middle of the upper clamping piece (6), the upper end of the dowel bar (7) penetrates through the strip-shaped hole (9), and the pin (8) penetrates through the upper end of the dowel bar (7) to limit the upper end of the dowel bar (7) above the strip-shaped hole (9).

5. A manipulator according to claim 3, wherein the upper jaw (6) and the lower jaw (5) are both made of an elastic material.

6. A manipulator according to claim 3, wherein the upper jaw (6) and the lower jaw (5) are combined to form a U-shaped structure.

7. A manipulator according to claim 1, wherein the drive motor (3) is a reduction motor.

8. A manipulator according to claim 7, wherein the drive motor (3) is a steering engine.

9. A manipulator according to claim 1, further comprising a motor fixing seat (2), wherein the motor fixing seat (2) is of an L-shaped structure, the lower end of the motor fixing seat (2) is fixed on the base (1), and a housing of the driving motor (3) is mounted on a vertical plate of the motor fixing seat (2) through screw connection.

10. A manipulator according to claim 1, further comprising a controller electrically connected to the driving motor (3), the controller being configured to control the forward and reverse rotation of the driving motor (3).