CN113799160A - Control device for intelligent driving of mechanical arm - Google Patents
Control device for intelligent driving of mechanical arm Download PDFInfo
- Publication number
- CN113799160A CN113799160A CN202111179828.4A CN202111179828A CN113799160A CN 113799160 A CN113799160 A CN 113799160A CN 202111179828 A CN202111179828 A CN 202111179828A CN 113799160 A CN113799160 A CN 113799160A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- plate
- wall
- gear
- sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
-
- 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
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
- B25J15/0633—Air-flow-actuated valves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control device for intelligent driving of a mechanical arm, which comprises an installation bottom plate, wherein a supporting plate is fixedly connected to the upper surface of the installation bottom plate, the back of the supporting plate is fixedly connected with a fixed plate, the top of the fixed plate is fixedly provided with a driving motor, the output shaft of the driving motor is fixedly connected with a half gear disc, the back of the supporting plate is provided with a through hole and is rotationally connected with a connecting shaft through the through hole fixed shaft, gas in the inner cavity of the gas storage shell is led out to the outside of the gas storage shell through the one-way valve, at the moment, the inner cavity of the gas storage shell is in a negative pressure state, at the moment, the piston plate is pushed downwards under the action of three elastic potential energies of the spring, so that the negative pressure in the inner cavity of the gas storage shell is increased, and the gas can not be guided into the inner cavity of the gas storage shell from the position of the one-way valve, so that the bottom of the sucker tightly adsorbs the upper surface of the transported materials, and the adsorption and grabbing functions of the transported materials are completed.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a control device for intelligent driving of a mechanical arm.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Due to the unique operation flexibility, the method is widely applied to the fields of industrial assembly, safety explosion prevention, aerospace and the like.
Compressed air is commonly used as a power source for the existing mechanical arm, the mechanical arm is controlled by a transmission mechanism to carry out a carrying function, and when materials are clamped and transferred by the pneumatic clamping mechanical arm, the phenomenon that the materials fall off due to unstable air pressure easily occurs, so that certain potential safety hazards exist.
Disclosure of Invention
The invention aims to provide a control device for intelligent driving of a mechanical arm, which has the functions of continuously clamping, transferring and releasing transported materials, has the advantages of improving the clamping strength and the transferring efficiency of the transported materials, and solves the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a control device for intelligent driving of an mechanical arm comprises a mounting base plate, wherein a supporting plate is fixedly connected to the upper surface of the mounting base plate, a fixing plate is fixedly connected to the back surface of the supporting plate, a driving motor is fixedly mounted at the top of the fixing plate, a half gear disc is fixedly connected to an output shaft of the driving motor, a through hole is formed in the back surface of the supporting plate, a connecting shaft is rotatably connected to the back surface of the supporting plate through the through hole in a fixed shaft mode, a second gear meshed with the half gear disc is fixedly connected to the outer wall of the connecting shaft, a first gear meshed with the half gear disc is fixedly connected to the end portion of the back surface of the connecting shaft, the front end portion of the connecting shaft extends to the front side of the supporting plate and is fixedly connected with a first sleeve, a first sliding rod is interactively connected to the inner wall of the first sleeve, an L-shaped plate is fixedly connected to the top end of the first sliding rod, and a first spring is arranged between the L-shaped plate and the first sleeve, and the front fixed shaft of the L-shaped plate is rotatably connected with a second sleeve.
Preferably, the diameter of the half gear disc is twice the diameter of the first gear and the second gear, and the number of teeth on the upper surface of the half gear disc is half of the number of teeth on the surfaces of the first gear and the second gear.
Preferably, the top fixedly connected with mounting bracket of backup pad, fixedly connected with slide bar three between the inner wall opposite face of mounting bracket, the outer wall sliding connection of slide bar three has sleeve three, the top fixedly connected with slide bar two of sleeve three, slide bar two slides at the inner wall of sleeve two.
Preferably, the front surface of the second sleeve is fixedly connected with a connecting block, the bottom of the connecting block is fixedly connected with a connecting rod, the bottom of the connecting rod is fixedly connected with a gas storage shell, and the upper surface of the gas storage shell is provided with two sets of one-way valves communicated from inside to outside.
Preferably, the inner wall bottom fixedly connected with locating plate of gas storage casing, the through-hole has been seted up to the lower surface of locating plate and has the air duct through this through-hole axial sliding connection, the outer wall fixedly connected with piston plate of air duct, the inner wall sliding connection of piston plate and gas storage casing, be provided with spring three between the top of piston plate and the inner wall of gas storage casing, the two-sided rack of bottom fixedly connected with of air duct, the bottom fixedly connected with of two-sided rack is used for adsorbing the sucking disc of transportation goods and materials, air duct and two-sided rack are hollow structure, the upper surface of sucking disc is run through to the bottom of two-sided rack.
Preferably, the gas supplementing holes are formed in the outer walls of the left side and the right side of the gas storage shell, the inner wall of each gas supplementing hole is provided with a baffle, the upper side and the lower side of the outer wall of the gas storage shell, opposite to the baffle, are of a hollow structure and form a sliding cavity, the bottom of each baffle is fixedly connected with a pressing rod, the bottom end of each pressing rod penetrates through the lower side wall of the gas storage shell, and a second spring is arranged between the top of each baffle and the corresponding sliding cavity.
Preferably, the right side of the upper surface of the mounting bottom plate is fixedly connected with an inclined plate used for carrying and transporting materials, and the left side and the right side of the top of the mounting bottom plate, which are opposite to the inclined plate, are fixedly connected with ejector rods used for jacking the pressure rods.
Preferably, the equal fixedly connected with installation pole in both sides around the bottom of locating plate, the right side wall dead axle of installation pole rotates and is connected with the sector gear who is connected with two-sided rack toothing, sector gear's axle center fixedly connected with movable rod one, the one end that sector gear was kept away from to movable rod one is provided with the push rod, sector gear's one end and the left side wall central point of push rod are kept away from to movable rod one and are put the dead axle and rotate and be connected, the push rod is close to the grip block that one side fixedly connected with of two-sided rack is used for centre gripping transportation goods and materials, swing joint has movable rod two between the one end that the grip block was kept away from to the push rod and the right side wall of installation pole.
Compared with the prior art, the invention has the following beneficial effects:
1. when the piston plate moves upwards, the air in the inner cavity of the air storage shell can be compressed, the air pressure in the inner cavity of the air storage shell is increased, the upper surface of transported materials is attached to the bottom of the sucker, the sucker is blocked, at the moment, the air in the inner cavity of the air storage shell cannot be led out from the air guide tube, the air in the inner cavity of the air storage shell is led out to the outside of the air storage shell through the one-way valve, at the moment, the inner cavity of the air storage shell is in a negative pressure state, the piston plate is pushed back downwards under the action of the three elastic potential energy of the spring, the negative pressure in the inner cavity of the air storage shell is increased, the air cannot be led into the inner cavity of the air storage shell from the position of the one-way valve, the bottom of the sucker tightly adsorbs the upper surface of the transported materials, and the function of adsorbing and grabbing the transported materials is completed.
2. When the sucker moves downwards, the gas storage shell and the pressure rod can synchronously move downwards, when the lower surface of the transported material moves to the top of the inclined plate, the bottom end of the pressure rod starts to contact with the top end of the ejector rod, the ejector rod can push the pressure rod to slide upwards in the sliding cavity of the gas storage shell along with the continuous downward movement of the pressure rod, thereby driving the baffle plate to move upwards synchronously and compressing the second spring, at the same time, the baffle plate does not block the air supply hole any more, because the inner cavity of the air storage shell is in a negative pressure state, the outside air starts to flow into the inner cavity of the air storage shell from the position of the air replenishing hole, so that the pressure intensity of the inner cavity of the air storage shell keeps constant with the outside, at the moment, the piston plate and the air duct start to slide downwards, and the sucking disc also can not adsorb the upper surface of transportation goods and materials this moment, and transportation goods and materials begin to fall to the upper surface of hang plate this moment to the landing is to appointed place, realizes the centre gripping transfer function to transportation goods and materials.
3. In adsorbing the centre gripping in-process to transporting goods and materials, can drive left side sector gear anticlockwise deflection during two-sided rack rebound, right side sector gear clockwise deflection, and then drive two sets of movable rod one and keep away from sector gear's one end motion in opposite directions, and then drive two sets of push rod and the synchronous motion in opposite directions of grip block, through setting up the stationarity that two movable rod improve push rod and grip block motion, can grasp the outer wall of transporting goods and materials when two sets of grip block motion in opposite directions, prevent the phenomenon that the in-process transporting goods and materials of transporting goods and materials falls because sucking disc adsorption strength is not enough at the transfer.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the backside structure of the present invention;
FIG. 3 is a schematic structural view of a sleeve III and a slide rod III according to the present invention;
FIG. 4 is a schematic diagram of a gas storage housing according to the present invention;
FIG. 5 is a schematic view of a piston plate construction of the present invention;
FIG. 6 is a schematic view of a sucker structure according to the present invention;
fig. 7 is a schematic view of a sector gear structure of the present invention.
In the figure: 1. mounting a bottom plate; 2. a support plate; 3. a fixing plate; 4. a drive motor; 5. a half-gear plate; 6. a first gear; 7. a connecting shaft; 8. a second gear; 9. a first sleeve; 10. a first sliding rod; 11. an L-shaped plate; 12. a first spring; 13. a second sleeve; 14. a second sliding rod; 15. a sleeve III; 16. a mounting frame; 17. a third sliding rod; 18. connecting blocks; 19. a connecting rod; 20. a gas storage housing; 21. a one-way valve; 22. air hole supplement; 23. a second spring; 24. a baffle plate; 25. a pressure lever; 26. a piston plate; 27. positioning a plate; 28. an air duct; 29. a double-sided rack; 30. a suction cup; 31. mounting a rod; 32. a sector gear; 33. a first movable rod; 34. a push rod; 35. a clamping plate; 36. a second movable rod; 37. transporting materials; 38. an inclined plate; 39. a top rod; 40. and a third spring.
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.
The first embodiment is as follows:
as shown in fig. 1-3, a control device for intelligent driving of a mechanical arm comprises a mounting base plate 1, a supporting plate 2 is fixedly connected to the upper surface of the mounting base plate 1, a fixing plate 3 is fixedly connected to the back surface of the supporting plate 2, a driving motor 4 is fixedly mounted at the top of the fixing plate 3, a half gear disc 5 is fixedly connected to an output shaft of the driving motor 4, a through hole is formed in the back surface of the supporting plate 2, a connecting shaft 7 is fixedly and rotatably connected to the back surface of the supporting plate 2 through the through hole, a second gear 8 engaged with the half gear disc 5 is fixedly connected to the outer wall of the connecting shaft 7, a first gear 6 engaged with the half gear disc 5 is fixedly connected to the end portion of the back surface of the connecting shaft 7, the front end portion of the connecting shaft 7 extends to the front side of the supporting plate 2 and is fixedly connected with a first sleeve 9, a first slide bar 10 is interactively connected to the inner wall of the first sleeve 9, and an L-shaped plate 11 is fixedly connected to the top end of the first slide bar 10, a first spring 12 is arranged on the outer wall of the first sliding rod 10 between the L-shaped plate 11 and the first sleeve 9, and a second sleeve 13 is connected to the front face of the L-shaped plate 11 in a fixed-axis rotating mode.
The transportation materials 37 are placed on the upper surface of the mounting bottom plate 1, when the transportation materials 37 need to be transported, the driving motor 4 is started, the driving motor 4 rotates to drive the half gear disc 5 to synchronously rotate, and further drive the first gear 6 meshed and connected with the half gear disc 5 to rotate, as the diameter of the half gear disc 5 is twice of the diameter of the first gear 6 and the second gear 8, the number of teeth on the upper surface of the half gear disc 5 is half of the number of teeth on the surfaces of the first gear 6 and the second gear 8, when the half gear disc 5 drives the first gear 6 to rotate, the teeth on the surface of the half gear disc 5 are not meshed with the second gear 8, so that the rotation directions of the first gear 6, the connecting shaft 7 and the second gear 8 are the same, and meanwhile, the connecting shaft 7 drives the first sleeve 9 to rotate in the same direction;
the motion state of the first sleeve 9 is clockwise and anticlockwise rotation half cycle alternately, in the initial state, the third sleeve 15 is located in the middle of the third sliding rod 17, the first spring 12 is in the compression state at the moment, the distance between the first L-shaped plate 11 and the first sleeve 9 is shortest, when the transportation materials 37 need to be clamped, the first sleeve 9 starts anticlockwise rotation, the first sliding rod 10 and the first L-shaped plate 11 are driven to synchronously anticlockwise rotate, and the second sleeve 13 is pushed leftwards by the first L-shaped plate 11 at the moment.
As shown in fig. 3, the diameter of the half gear plate 5 is twice the diameter of the first gear 6 and the second gear 8, and the number of teeth on the upper surface of the half gear plate 5 is half of the number of teeth on the surfaces of the first gear 6 and the second gear 8.
Because the number of teeth on the upper surface of the half gear plate 5 is half of the number of teeth on the surfaces of the first gear 6 and the second gear 8, the first gear 6 can be driven to rotate for one half period during the meshing period of the teeth on the surface of the half gear plate 5 and the teeth on the surface of the first gear 6.
As shown in fig. 3, a mounting frame 16 is fixedly connected to the top end of the supporting plate 2, a third sliding rod 17 is fixedly connected between the opposite surfaces of the inner wall of the mounting frame 16, a third sleeve 15 is slidably connected to the outer wall of the third sliding rod 17, a second sliding rod 14 is fixedly connected to the top of the third sleeve 15, and the second sliding rod 14 slides on the inner wall of the second sleeve 13.
When the transport material clamping device is in an initial state, the sleeve III 15 is located in the middle of the sliding rod III 17, the spring I12 is in a compression state at the moment, the distance between the L-shaped plate 11 and the sleeve I9 is shortest, when the transport material clamping device needs to clamp the transport material 37, the sleeve I9 starts to rotate anticlockwise, the sliding rod I10 and the L-shaped plate 11 are further driven to rotate anticlockwise synchronously, and the L-shaped plate 11 starts to push the sleeve II 13 leftwards at the moment.
As shown in fig. 4, the front surface of the second sleeve 13 is fixedly connected with a connecting block 18, the bottom of the connecting block 18 is fixedly connected with a connecting rod 19, the bottom of the connecting rod 19 is fixedly connected with a gas storage shell 20, and the upper surface of the gas storage shell 20 is provided with two sets of check valves 21 which are communicated from inside to outside.
When the piston plate 26 moves upward, the air in the inner cavity of the air storage housing 20 is compressed, at this time, the air pressure in the inner cavity of the air storage housing 20 is increased, the upper surface of the transportation material 37 is attached to the bottom of the suction cup 30, the suction cup 30 is blocked, at this time, the air in the inner cavity of the air storage housing 20 cannot be led out from the inside of the air duct 28, and the air in the inner cavity of the air storage housing 20 is led out to the outside of the air storage housing 20 through the one-way valve 21.
As shown in fig. 6, a positioning plate 27 is fixedly connected to the bottom of the inner wall of the gas storage casing 20, a through hole is formed in the lower surface of the positioning plate 27, and a gas guide tube 28 is connected to the lower surface of the through hole in an axial sliding manner, a piston plate 26 is fixedly connected to the outer wall of the gas guide tube 28, the piston plate 26 is connected to the inner wall of the gas storage casing 20 in a sliding manner, a spring iii 40 is arranged between the top of the piston plate 26 and the inner wall of the gas storage casing 20, a double-sided rack 29 is fixedly connected to the bottom of the gas guide tube 28, a suction cup 30 for adsorbing transported materials 37 is fixedly connected to the bottom of the double-sided rack 29, the gas guide tube 28 and the double-sided rack 29 are both of a hollow structure, and the bottom end of the double-sided rack 29 penetrates through the upper surface of the suction cup 30.
The piston plate 26 is pushed back and down under the action of the elastic potential energy of the third spring 40, so that the negative pressure in the inner cavity of the air storage shell 20 is increased, and air cannot be guided into the inner cavity of the air storage shell 20 from the position of the one-way valve 21, so that the upper surface of the transported material 37 is tightly adsorbed at the bottom of the suction cup 30, and the adsorption and grabbing functions of the transported material 37 are completed.
As shown in fig. 4-6, the air supply holes 22 are formed in the outer walls of the left and right sides of the air storage casing 20, the baffles 24 are disposed on the inner walls of the air supply holes 22, the upper and lower sides of the outer wall of the air storage casing 20, which are opposite to the baffles 24, are hollow structures and form sliding cavities, the bottoms of the baffles 24 are fixedly connected with the pressure rods 25, the bottom ends of the pressure rods 25 penetrate through the lower side wall of the air storage casing 20, and the springs 23 are disposed between the tops of the baffles 24 and the sliding cavities.
Because the inner cavity of the air storage shell 20 is in a negative pressure state, at this time, the outside air starts to flow into the inner cavity of the air storage shell 20 from the position of the air replenishing hole 22, so that the pressure intensity of the inner cavity of the air storage shell 20 is kept constant with the outside, at this time, the piston plate 26 and the air duct 28 start to slide downwards, and at this time, the suction cup 30 does not adsorb the upper surface of the transported material 37 any more, at this time, the transported material 37 starts to fall to the upper surface of the inclined plate 38 and slides to a designated place, and the function of clamping and transferring the transported material 37 is realized.
As shown in fig. 1, an inclined plate 38 for receiving a transported material 37 is fixedly connected to the right side of the upper surface of the installation base plate 1, and a top rod 39 for jacking the pressure rod 25 is fixedly connected to both the left side and the right side of the top of the installation base plate 1 relative to the inclined plate 38.
When the suction cup 30 moves downwards, the air storage shell 20 and the pressure rod 25 move downwards synchronously, when the lower surface of the transported material 37 moves to the top of the inclined plate 38, the bottom end of the pressure rod 25 contacts with the top end of the push rod 39, the push rod 39 pushes the pressure rod 25 to slide upwards in the sliding cavity of the air storage shell 20 along with the continuous downward movement of the pressure rod 25, so that the baffle 24 is driven to move upwards synchronously, meanwhile, the second spring 23 is compressed, and the baffle 24 does not block the air replenishing hole 22 any more at this moment.
Example two:
as shown in fig. 7, on the basis of the first embodiment, further expansion is performed: equal fixedly connected with installation pole 31 in both sides around the bottom of locating plate 27, the right side wall dead axle of installation pole 31 rotates and is connected with the sector gear 32 of being connected with the meshing of two-sided rack 29, the axle center position fixedly connected with movable rod 33 of sector gear 32, the one end that sector gear 32 was kept away from to movable rod 33 is provided with push rod 34, the one end that sector gear 32 was kept away from to movable rod 33 is connected with the left side wall central point of push rod 34 to put the dead axle rotation, push rod 34 is close to the grip block 35 that one side fixedly connected with of two-sided rack 29 was used for centre gripping transportation goods and materials 37, swing joint has movable rod two 36 between the one end that grip block 35 was kept away from to push rod 34 and the right side wall of installation pole 31.
In the process of adsorbing and clamping the transported goods and materials 37, the double-sided rack 29 can drive the left-side sector gear 32 to deflect anticlockwise when moving upwards, the right-side sector gear 32 deflects clockwise, and then drives one ends, far away from the sector gear 32, of the two groups of movable rods I33 to move oppositely, so as to drive the two groups of pushing rods 34 and the clamping plates 35 to synchronously move oppositely, the moving stability of the pushing rods 34 and the clamping plates 35 is improved by arranging the movable rods II 36, the outer walls of the transported goods and materials 37 can be clamped when the two groups of clamping plates 35 move oppositely, and the phenomenon that the transported goods and materials 37 fall due to insufficient adsorption strength of the suckers 30 in the process of transferring the transported goods and materials 37 is prevented;
in the process of lowering the transported materials 37, when the piston plate 26 and the air duct 28 move downwards, the double-sided rack 29 is driven to move downwards synchronously, and in the same way, the two groups of clamping plates 35 start to move backwards, and the transported materials 37 are not clamped, so that the transported materials 37 fall smoothly.
The working principle of the first embodiment of the scheme is as follows: when the control device for intelligent driving of the mechanical arm is used, transported materials 37 are placed on the upper surface of the mounting base plate 1, when the transported materials 37 need to be transported, the driving motor 4 is started, the driving motor 4 rotates to drive the half gear disc 5 to synchronously rotate, and further drives the first gear 6 meshed and connected with the half gear disc 5 to rotate, because the diameter of the half gear disc 5 is twice of the diameter of the first gear 6 and the second gear 8, the number of teeth on the upper surface of the half gear disc 5 is half of the number of teeth on the surfaces of the first gear 6 and the second gear 8, when the half gear disc 5 drives the first gear 6 to rotate, the teeth on the surface of the half gear disc 5 are not meshed with the second gear 8, the rotating directions of the first gear 6, the connecting shaft 7 and the second gear 8 are the same, and meanwhile, the connecting shaft 7 drives the first sleeve 9 to rotate in the same direction;
because the number of teeth on the upper surface of the half gear plate 5 is one half of the number of teeth on the surfaces of the first gear 6 and the second gear 8, the first gear 6 can be driven to rotate for one half period during the meshing period of the teeth on the surface of the half gear plate 5 and the teeth on the surface of the first gear 6;
with the continuous rotation of the half gear disc 5, the teeth on the surface of the half gear disc 5 are separated from the teeth on the surface of the first gear 6 and are meshed with the teeth on the surface of the second gear 8, and similarly, the second gear 8 starts to rotate reversely for a half period, so that the connecting shaft 7 and the first gear 6 are driven to rotate reversely, and the first sleeve 9 simultaneously rotates reversely;
therefore, the movement state of the first sleeve 9 is clockwise and anticlockwise alternate rotation for a half cycle, in the initial state, the third sleeve 15 is located at the middle position of the third sliding rod 17, the first spring 12 is in a compression state at the moment, the distance between the first L-shaped plate 11 and the first sleeve 9 is shortest, when the first sleeve 9 needs to clamp and transport materials 37, the first sleeve 9 starts anticlockwise rotation, the first sliding rod 10 and the first L-shaped plate 11 are driven to synchronously anticlockwise rotate, and the second sleeve 13 is pushed leftwards by the first L-shaped plate 11;
when the L-shaped plate 11 rotates anticlockwise, the L-shaped plate 11 starts to slide on the inner wall of the first sleeve 9 under the action of elastic potential energy of the first spring 12, so that the distance between the L-shaped plate 11 and the first sleeve 9 is gradually increased, the second sleeve 13 pushes the second sliding rod 14 to synchronously move leftwards when moving leftwards, the third sleeve 15 is driven to slide leftwards on the outer wall of the third sliding rod 17, and meanwhile, the second sleeve 13 slides downwards relative to the outer wall of the second sliding rod 14;
when the sleeve III 15 moves to the left end of the sliding rod III 17, the sleeve II 13 simultaneously moves to the position right above the transported material 37, when the sleeve II 13 slides downwards on the outer wall of the sliding rod II 14, the connecting block 18 and the connecting rod 19 are driven to synchronously slide downwards, the air storage shell 20 and the positioning plate 27 are driven to move downwards, the air guide pipe 28 and the double-sided rack 29 are driven to move downwards by the downward movement of the positioning plate 27, and the sucker 30 is driven to synchronously move downwards;
after the lower surface of the suction cup 30 is attached to the upper surface of the transported material 37, the air storage housing 20 and the positioning plate 27 continue to move downwards, and the transported material 37 is located on the upper surface of the installation base plate 1 and cannot move downwards, at this time, the upper surface of the transported material 37 pushes the suction cup 30 upwards, the suction cup 30 pushes the double-sided rack 29 and the air duct 28 to slide upwards, and then the piston plate 26 is driven to slide upwards on the inner wall of the air storage housing 20, and meanwhile, the third spring 40 is compressed;
when the piston plate 26 moves upwards, the air in the inner cavity of the air storage shell 20 is compressed, at the moment, the air pressure in the inner cavity of the air storage shell 20 is increased, because the upper surface of the transported materials 37 is attached to the bottom of the sucker 30, the sucker 30 is blocked, at the moment, the air in the inner cavity of the air storage shell 20 cannot be led out from the air guide tube 28, the air in the inner cavity of the air storage shell 20 is led out to the outside of the air storage shell 20 through the one-way valve 21, at the moment, the inner cavity of the air storage shell 20 is in a negative pressure state, at the moment, the piston plate 26 is pushed backwards under the action of the elastic potential energy of the spring III 40, so that the negative pressure in the inner cavity of the air storage shell 20 is increased, and the air cannot be led into the inner cavity of the air storage shell 20 from the position of the one-way valve 21, so that the bottom of the sucker 30 tightly adsorbs the upper surface of the transported materials 37, and the adsorption and grabbing function of the transported materials 37 is completed;
at the moment, the first sleeve 9 starts to rotate clockwise, and similarly, when the first sleeve 9 rotates clockwise, the first sliding rod 10 and the L-shaped plate 11 are driven to synchronously rotate clockwise, the second sleeve 13 is driven to slide upwards on the outer wall of the second sliding rod 14, the third sleeve 15 is driven to slide rightwards on the outer wall of the third sliding rod 17, when the first sleeve 9 rotates clockwise for a quarter period, the third sleeve 15 is displaced to the middle position of the outer wall of the third sliding rod 17, the second sleeve 13 is displaced to the uppermost position of the outer wall of the second sliding rod 14, and the sucker 30 is driven to adsorb the transported materials 37 to move upwards;
with the sleeve I9 continuing to rotate clockwise for a quarter of a period, similarly, the suction cup 30 adsorbs the transported materials 37 to move to the rightmost end position of the slide rod III 17 and starts to move downwards slowly, and the process of lowering the transported materials 37 is performed at the moment;
when the suction cup 30 moves downwards, the air storage shell 20 and the pressure rod 25 move downwards simultaneously, when the lower surface of the transported material 37 moves to the top of the inclined plate 38, the bottom end of the pressure rod 25 starts to contact with the top end of the push rod 39, the push rod 39 pushes the pressure rod 25 to slide upwards in the sliding cavity of the air storage shell 20 along with the continuous downward movement of the pressure rod 25, so as to drive the baffle plate 24 to move upwards synchronously, the spring II 23 is compressed, the baffle plate 24 does not block the air replenishing hole 22, because the inner cavity of the air storage shell 20 is in a negative pressure state, the outside air starts to flow into the inner cavity of the air storage shell 20 from the position of the air replenishing hole 22, so that the pressure intensity of the inner cavity of the air storage shell 20 is kept constant with the outside, the piston plate 26 and the air duct 28 start to slide downwards, the suction cup 30 does not adsorb the upper surface of the transported material 37, and the transported material 37 starts to fall to the upper surface of the inclined plate 38, and slide down to the designated place, realize the grip transfer function to transporting the supplies 37;
the continuous clamping, transferring and releasing functions of the transported materials 37 are realized through the circulation, and the clamping strength and the transferring efficiency of the transported materials are improved.
The working principle of the second embodiment is as follows: in the process of adsorbing and clamping the transported goods and materials 37, the double-sided rack 29 can drive the left-side sector gear 32 to deflect anticlockwise when moving upwards, the right-side sector gear 32 deflects clockwise, and then drives one ends, far away from the sector gear 32, of the two groups of movable rods I33 to move oppositely, so as to drive the two groups of pushing rods 34 and the clamping plates 35 to synchronously move oppositely, the moving stability of the pushing rods 34 and the clamping plates 35 is improved by arranging the movable rods II 36, the outer walls of the transported goods and materials 37 can be clamped when the two groups of clamping plates 35 move oppositely, and the phenomenon that the transported goods and materials 37 fall due to insufficient adsorption strength of the suckers 30 in the process of transferring the transported goods and materials 37 is prevented;
in the process of lowering the transported materials 37, when the piston plate 26 and the air duct 28 move downwards, the double-sided rack 29 is driven to move downwards synchronously, and in the same way, the two groups of clamping plates 35 start to move backwards, and the transported materials 37 are not clamped, so that the transported materials 37 fall smoothly.
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 controlling means for arm intelligence drive which characterized in that: the device comprises a mounting base plate (1), wherein a support plate (2) is fixedly connected to the upper surface of the mounting base plate (1), a fixed plate (3) is fixedly connected to the back surface of the support plate (2), a driving motor (4) is fixedly mounted at the top of the fixed plate (3), a half gear disc (5) is fixedly connected to an output shaft of the driving motor (4), a through hole is formed in the back surface of the support plate (2) and is rotatably connected with a connecting shaft (7) through the through hole in a fixed shaft mode, a second gear (8) meshed with the half gear disc (5) is fixedly connected to the outer wall of the connecting shaft (7), a first gear (6) meshed with the half gear disc (5) is fixedly connected to the end portion of the back surface of the connecting shaft (7), the front end portion of the connecting shaft (7) extends to the front side of the support plate (2) and is fixedly connected with a first sleeve (9), and a first slide rod (10) is interactively connected to the inner wall of the first sleeve (9), the top end fixedly connected with L shaped plate (11) of slide bar (10), the position is provided with spring (12) between relative L shaped plate (11) of outer wall of slide bar (10) and sleeve (9), the front dead axle of L shaped plate (11) is rotated and is connected with sleeve two (13).
2. The control device for the intelligent driving of the mechanical arm according to claim 1, wherein: the diameter of the half gear disc (5) is twice of the diameter of the first gear (6) and the second gear (8), and the number of teeth on the upper surface of the half gear disc (5) is one half of the number of teeth on the surfaces of the first gear (6) and the second gear (8).
3. The control device for the intelligent driving of the mechanical arm according to claim 1, wherein: the top fixedly connected with mounting bracket (16) of backup pad (2), fixedly connected with slide bar three (17) between the inner wall opposite face of mounting bracket (16), the outer wall sliding connection of slide bar three (17) has sleeve three (15), the top fixedly connected with slide bar two (14) of sleeve three (15), slide bar two (14) slide at the inner wall of sleeve two (13).
4. The control device for the intelligent driving of the mechanical arm according to claim 1, wherein: the front side of the second sleeve (13) is fixedly connected with a connecting block (18), the bottom of the connecting block (18) is fixedly connected with a connecting rod (19), the bottom of the connecting rod (19) is fixedly connected with a gas storage shell (20), and the upper surface of the gas storage shell (20) is provided with two sets of one-way valves (21) which are communicated from inside to outside.
5. The control device for the intelligent driving of the mechanical arm according to claim 4, wherein: the inner wall bottom fixedly connected with locating plate (27) of gas storage casing (20), the through-hole has been seted up to the lower surface of locating plate (27) and has air duct (28) through this through-hole axial sliding connection, the outer wall fixedly connected with piston plate (26) of air duct (28), the inner wall sliding connection of piston plate (26) and gas storage casing (20), be provided with spring three (40) between the top of piston plate (26) and the inner wall of gas storage casing (20), the two-sided rack of bottom fixedly connected with (29) of air duct (28), the bottom fixedly connected with of two-sided rack (29) is used for adsorbing sucking disc (30) of transportation goods and materials (37), air duct (28) and two-sided rack (29) are hollow structure, the upper surface of sucking disc (30) is run through to the bottom of two-sided rack (29).
6. The control device for the intelligent driving of the mechanical arm according to claim 4, wherein: air supplement hole (22) have all been seted up to gas storage casing (20) left and right sides outer wall, the inner wall in air supplement hole (22) is provided with baffle (24), the upper and lower both sides of the relative baffle of outer wall (24) of gas storage casing (20) are hollow structure and form the slip cavity, the bottom fixedly connected with depression bar (25) of baffle (24), the lower lateral wall of gas storage casing (20) is run through to the bottom of depression bar (25), be provided with spring two (23) between the top of baffle (24) and the slip cavity.
7. The control device for the intelligent driving of the mechanical arm according to claim 6, wherein: the upper surface right side fixedly connected with of mounting plate (1) is used for accepting hang plate (38) of transportation goods and materials (37), the equal fixedly connected with in the left and right sides of the relative hang plate (38) in top of mounting plate (1) is used for jacking ejector pin (39) of depression bar (25).
8. The control device for the intelligent driving of the mechanical arm according to claim 5, wherein: the front side and the rear side of the bottom of the positioning plate (27) are fixedly connected with mounting rods (31), the right side wall of the mounting rod (31) is fixedly connected with a sector gear (32) in a rotating way and meshed with the double-sided rack (29), the axial center of the sector gear (32) is fixedly connected with a first movable rod (33), a pushing rod (34) is arranged at one end of the first movable rod (33) far away from the sector gear (32), one end of the first movable rod (33) far away from the sector gear (32) is in fixed-axis rotating connection with the center position of the left side wall of the pushing rod (34), one surface of the push rod (34) close to the double-sided rack (29) is fixedly connected with a clamping plate (35) used for clamping and transporting materials (37), a second movable rod (36) is movably connected between one end, far away from the clamping plate (35), of the push rod (34) and the right side wall of the mounting rod (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111179828.4A CN113799160A (en) | 2021-10-09 | 2021-10-09 | Control device for intelligent driving of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111179828.4A CN113799160A (en) | 2021-10-09 | 2021-10-09 | Control device for intelligent driving of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113799160A true CN113799160A (en) | 2021-12-17 |
Family
ID=78939403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111179828.4A Withdrawn CN113799160A (en) | 2021-10-09 | 2021-10-09 | Control device for intelligent driving of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113799160A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114193441A (en) * | 2022-01-07 | 2022-03-18 | 韩京洲 | Delta parallel four-shaft type manipulator |
| CN115285665A (en) * | 2022-07-08 | 2022-11-04 | 海宁诚欣塑业股份有限公司 | Mechanical part taking device for LED plastic-coated aluminum machining |
| CN117773902A (en) * | 2024-01-24 | 2024-03-29 | 博科数联(青岛)智能科技有限公司 | Mechanical arm for intelligent industrial robot |
| CN117945144A (en) * | 2024-03-26 | 2024-04-30 | 宁德思客琦智能装备有限公司 | A transport tongs for electric core transport |
-
2021
- 2021-10-09 CN CN202111179828.4A patent/CN113799160A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114193441A (en) * | 2022-01-07 | 2022-03-18 | 韩京洲 | Delta parallel four-shaft type manipulator |
| CN115285665A (en) * | 2022-07-08 | 2022-11-04 | 海宁诚欣塑业股份有限公司 | Mechanical part taking device for LED plastic-coated aluminum machining |
| CN117773902A (en) * | 2024-01-24 | 2024-03-29 | 博科数联(青岛)智能科技有限公司 | Mechanical arm for intelligent industrial robot |
| CN117945144A (en) * | 2024-03-26 | 2024-04-30 | 宁德思客琦智能装备有限公司 | A transport tongs for electric core transport |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113799160A (en) | Control device for intelligent driving of mechanical arm | |
| CN109334801B (en) | Wall-climbing robot for large-radian curved wall surface and control method | |
| CN111071361A (en) | Single-degree-of-freedom scissor-fork-driven wall-climbing robot | |
| CN106956800B (en) | External vacuumizing and double-side heat sealing device for pure electric shaping packaging machine | |
| CN111204380A (en) | Wall-climbing robot | |
| CN104868153A (en) | Suction disc separation mechanism for lead storage battery plate | |
| CN215046880U (en) | A pick up base device for production of motor arc magnetic shoe | |
| CN109015721A (en) | Miniature gripping finger cylinder and its driving method | |
| CN116692729B (en) | Fork convenient to transportation goods | |
| CN109872920B (en) | Relay handling device | |
| CN208906512U (en) | The power device and operation robot of miniature gripping finger cylinder and the application cylinder | |
| CN116984477A (en) | Full-automatic door plank punching machine | |
| CN102070109A (en) | Automatic loading and unloading truck for refrigerators | |
| CN110757492A (en) | A sucking disc manipulator for material transportation | |
| CN215626099U (en) | Sucking disc mechanism of air pipe type vacuum suction crane | |
| CN214191639U (en) | One-key type magnetic control pressure regulating vacuum adsorption placing equipment | |
| CN114378207A (en) | High-efficient manipulator material feeding unit and manipulator | |
| CN112239084B (en) | Suspension reversing type high-precision glass panel conveying manipulator | |
| CN215919855U (en) | Discharging manipulator | |
| CN212372044U (en) | Connecting rod jig with changeable angle | |
| CN113843784A (en) | Multi-gripper six-axis robot | |
| CN110911319A (en) | Automatic installation equipment for wafer | |
| CN221215981U (en) | Sponge suction tool with overturning function | |
| CN111252524A (en) | Transfer robot with clamping function | |
| CN117227677B (en) | Auxiliary braking device for sightseeing train |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20211217 |
|
| WW01 | Invention patent application withdrawn after publication |