CN114274174A - Intelligent manipulator for machining - Google Patents
Intelligent manipulator for machining Download PDFInfo
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- CN114274174A CN114274174A CN202210116312.3A CN202210116312A CN114274174A CN 114274174 A CN114274174 A CN 114274174A CN 202210116312 A CN202210116312 A CN 202210116312A CN 114274174 A CN114274174 A CN 114274174A
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Abstract
The invention relates to the technical field of machining and discloses an intelligent manipulator for machining, which comprises a mechanical arm body, wherein a first support is fixedly mounted at the upper end of the mechanical arm body, a disc is movably sleeved on the outer wall of the middle part of the first support, a plurality of movable devices are uniformly distributed on the inner wall of the disc, one end of each movable device is connected with a reinforcing block, the other end of each reinforcing block is fixedly provided with a supporting block, and one side of each supporting block is connected with a clamp. Through the cooperation use of head and anchor clamps, can replace corresponding anchor clamps to the material of different specifications to solved the manipulator when carrying out the centre gripping to the material of different specifications, the step of anchor clamps change is comparatively complicated, has increased staff's work load, thereby has reduced staff's work efficiency's problem.
Description
Technical Field
The invention relates to the technical field of machining, in particular to an intelligent mechanical arm for machining.
Background
The robot arm is different from the human arm in flexibility and strength, namely the greatest advantage of the robot can repeatedly do the same action without being tired under normal mechanical conditions, the application of the robot arm is more and more extensive, the robot arm is high-tech automatic production equipment, the operation accuracy and the operation capability in the environment are realized, an important branch of the industrial robot arm is an important branch of the industrial robot arm, the robot arm mainly comprises three parts, namely an execution mechanism, a driving mechanism and a control system, a hand part is a part for gripping a workpiece (or a tool), various structural forms are provided according to the shape, the size, the weight, the material and the operation requirements of the gripped object, the position and the posture of the gripped object are changed, independent motion modes of the motion mechanism, such as lifting, stretching, rotating and the like, are called as the freedom degree of the robot arm, in order to grip the object at any position and any direction in space, there are 6 degrees of freedom, which are key parameters for manipulator design. The more the degree of freedom is, the more the flexibility of manipulator is, the more the commonality is, its structure is also more complicated, general special purpose manipulator has 2 ~ 3 degrees of freedom, and control system accomplishes specific action through the control to the motor of every degree of freedom of manipulator, receives the information of sensor feedback simultaneously, forms stable closed-loop control, and control system's core is usually by microcontroller chip such as singlechip or dsp, realizes the function of wanting through programming to it.
However, the existing intelligent mechanical arm is easily limited by the appearance shape of the material when in use, when the mechanical arm clamps the materials with different specifications, the steps of replacing the clamp are complex, the workload of workers is increased, and the working efficiency of the workers is reduced, so that the intelligent mechanical arm for machining is needed to solve the problems.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an intelligent mechanical arm for machining, which has the advantages of being convenient for adjusting the distance for clamping materials, improving the utilization rate of the mechanical arm, strengthening the stability for clamping the materials when the mechanical arm works and expanding the application range of the mechanical arm, and solves the problems in the background art.
The invention provides the following technical scheme: the utility model provides an intelligent manipulator that machining used, includes the robotic arm body, the upper end fixed mounting of robotic arm body has a support, the disc has been cup jointed in the outer wall activity at a support middle part, a plurality of head of inner wall evenly distributed of disc, head's one end is connected with the reinforcement piece, reinforcement piece other end fixed mounting has the supporting shoe, one side of supporting shoe is connected with anchor clamps.
Preferably, anchor clamps include anchor clamps and No. two anchor clamps, an anchor clamps with No. two anchor clamps are adjacent to be set up, No. two supports of support column outer wall fixedly connected with, the lower extreme of robotic arm body with No. two support activity cup joints.
Preferably, the movable device comprises a threaded rod movably sleeved with the inner wall of the disc, the outer wall of the threaded rod is sleeved with a movable block in a threaded manner, and limit blocks are fixedly mounted on the upper side and the lower side of the movable block.
Preferably, one end of the threaded rod is fixedly connected with an output shaft of the motor, a speed reducer is arranged on the output shaft of the motor, the bottom of the motor is fixedly connected with the fixing plate, and the left side wall of the fixing plate is fixedly connected with the outer wall of the disc.
Preferably, a protective shell is mounted outside the motor, and the bottom of the protective shell is fixedly connected with the fixing plate.
Preferably, a protective shell is mounted outside the motor, and the back surface of the protective shell is fixedly connected with the front surface of the fixing plate.
Preferably, the top of the supporting block is fixedly connected with a clamping block, two sides of the clamping block are fixedly connected with one end of a spring, the other end of the spring is fixedly connected with a pressing key, the lower end of the clamp is fixedly connected with a clamping sleeve matched with the clamping block, the clamping sleeve is movably sleeved with the clamping block, and through holes used for containing the pressing key are formed in two sides of the clamping sleeve.
Preferably, still include the adjusting part, the adjusting part is located between support column and the base, the adjusting part includes: the device comprises an adjusting component shell, an installation block, a sliding chute, a threaded rod, a bearing seat, a first connecting rod, a driving motor I, a dustproof cavity, a supporting rod, a bevel gear I, a bevel gear II, a clamping block and a gear box;
the lower end of the outer wall of the adjusting component shell is fixedly connected with the base, the mounting block is fixedly connected with the lower end of the inner wall of the adjusting component shell, and the mounting block is provided with the chute and the dustproof cavity;
the first driving motor is arranged in the dustproof cavity, the output end of the first driving motor is fixedly sleeved with the center of the first bevel gear, and two sides of the first bevel gear are symmetrically meshed with the same second bevel gear in a meshing manner;
the inner walls of the left side and the right side of the adjusting component shell are fixedly connected with the bearing seats, one end of the threaded rod is rotatably connected with the bearing seats, and the other end of the threaded rod is fixedly sleeved with the centers of the bevel gears;
the clamping block is sleeved on the outer wall of the threaded rod and is in threaded connection with the outer wall of the threaded rod, the lower end of the clamping block is fixedly connected with the upper end of the supporting rod, the lower end of the supporting rod extends into the sliding groove and is in sliding connection with the sliding groove left and right, the upper end of the clamping block is hinged with one end of the first connecting rod, and the other end of the first connecting rod is hinged with the bottom of the outer wall of the gear box;
the gear box outer wall with sliding connection about the adjusting part shell inner wall, include in the gear box: the gear I, the rotating disc, the driving motor II, the gear II, the rotating shaft and the internal teeth;
the bottom of the inner wall of the gear box is embedded with a second driving motor, and an output shaft of the second driving motor is fixedly sleeved with the center of the second gear;
the inner wall of the gear box is provided with a circle of inner teeth, three groups of same first gears are arranged around the second gear, and the first gears are meshed with the second gears and the inner teeth of the inner wall of the gear box;
the rotating disc is arranged above the first gear and the second gear and is movably connected with the inner wall of the gear box, the upper surface of the rotating disc is fixedly connected with the lower end of the supporting column, the three groups of gears are fixedly arranged at the center of the rotating disc, the bottom of the rotating shaft is connected with the bottom of the inner wall of the gear box in a sliding mode, and the top of the rotating shaft penetrates through the rotating disc and is connected with the rotating disc in a rotating mode.
Preferably, the method further comprises the following steps:
the threaded rod strength detection device is used for detecting the strength coefficient of the threaded rod, and when the strength coefficient of the threaded rod is smaller than a preset strength coefficient, the controller controls the alarm to send an alarm prompt;
threaded rod intensity detection device includes:
a plurality of force sensors: the force sensors are arranged on the outer surface of the threaded rod and used for detecting the extrusion force of the movable block on the thread of the threaded rod when the movable block moves transversely under the driving of the threaded rod;
a rotation speed sensor: the rotating speed sensor is arranged at the output shaft of the motor and used for detecting the rotating speed of the motor;
a timer: the timer is arranged on the outer surface of the protective shell and used for detecting the service life of the motor;
an alarm device: the alarm is arranged on the outer surface of the protective shell;
a controller: the controller with force sensor, speed sensor, time-recorder and alarm electric connection, the controller is based on the detected value control of force sensor, speed sensor, time-recorder alarm work.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, through the cooperation between the mechanical arm body, the connecting device, the first clamp and the second clamp, the compression of the spring in the connecting device is utilized to realize the separation of the connecting block and the clamping block, the dismounting effect of the first clamp and the second clamp is achieved, meanwhile, the mounting effect of the first clamp and the second clamp is achieved by utilizing the resilience of the spring, the switching problem of the first clamp and the second clamp is effectively solved, the dismounting steps of the first clamp and the second clamp are simplified by adopting the adjusting mode of the connecting device, the workload of workers is reduced, and the utilization rate of the mechanical arm body is improved.
2. According to the invention, through the cooperation between the mechanical arm body, the movable device, the first clamp and the second clamp, the circumferential rotation of the threaded rod in the movable device is utilized, the limitation of the limiting block is combined, the horizontal movement of the movable block is realized, the adjusting effect of the first clamp and the second clamp is achieved, the problem that the mechanical arm body is limited by the specification of the material is effectively solved, the distance between the first clamp and the second clamp and the material is reduced by adopting the adjusting mode of the movable device to the distance between the clamps, the stability of the mechanical arm body when the material is moved is reinforced, and the damage caused by the falling of the material is avoided.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view of the bracket number two of the present invention;
FIG. 3 is a side view of the motor of the present invention;
FIG. 4 is a side view of the support block of the present invention;
FIG. 5 is a side view of the mobilization device of this invention;
FIG. 6 is an enlarged view taken at A of FIG. 4 in accordance with the present invention;
FIG. 7 is a schematic view of the adjustment assembly of the present invention in an installed position;
FIG. 8 is a schematic view of an adjustment assembly according to the present invention;
FIG. 9 is a top plan view of the gear case and rotating disk combination of the present invention;
FIG. 10 is a schematic top view of the gear box of the present invention.
In the figure: 1. a robot arm body; 2. a first bracket; 3. a disc; 4. a mobile device; 41. a threaded rod; 42. a movable block; 43. a limiting block; 5. a reinforcing block; 6. a support block; 7. a first clamp; 8. a second clamp; 9. a second bracket; 10. a support pillar; 11. a motor; 12. a fixing plate; 13. a clamping block; 14. a spring; 15. pressing a key; 16. an adjustment assembly; 17. a base; 18. a protective shell; 19, a clamp; 20. a clamping sleeve; 21. an adjustment assembly housing; 22. mounting blocks; 23. a chute; 24. a threaded rod; 25. a bearing seat; 26. a first link; 27. driving a motor I; 28. a dust-proof cavity; 29. a support bar; 30. a first bevel gear; 31. a second bevel gear; 32. a clamping block; 33. a gear case; 34. a first gear; 35. rotating the disc; 36. a second driving motor; 37. a second gear; 38. a rotating shaft; 39. internal teeth.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1 and 2, an intelligent manipulator for machining includes a manipulator body 1, a first support 2 is fixedly mounted at an upper end of the manipulator body 1, a disc 3 is movably sleeved on an outer wall of a middle portion of the first support 2, a plurality of movable devices 4 are uniformly distributed on an inner wall of the disc 3, one end of each movable device 4 is connected with a reinforcing block 5, the other end of each reinforcing block 5 is fixedly mounted with a supporting block 6, and one side of each supporting block 6 is connected with a clamp 19.
Anchor clamps 19 include anchor clamps 7 and No. two anchor clamps 8, anchor clamps 7 with No. two anchor clamps 8 are adjacent to be set up, No. two supports 9 of support column 10 outer wall fixedly connected with, the lower extreme of robotic arm body 1 with No. two support 9 activity cup joints.
Wherein. The motion of disc 3 of being convenient for of installation of a support 2, the adjustment effect of the interval between the anchor clamps has been realized in the installation of mobile device 4, make anchor clamps applicable in the clamp of the material of different specifications get, the utilization ratio of robotic arm body 1 has been enlarged, the one end fixedly connected with reinforcing block 5 of mobile device 4, one side fixed mounting that mobile device 4 was kept away from to reinforcing block 5 has supporting shoe 6, one side of supporting shoe 6 is connected with anchor clamps 7, one side of anchor clamps 7 is provided with anchor clamps 8 No. two, anchor clamps 7 play the clamping action to the material with anchor clamps 8 No. two.
No. two supports 9 have been cup jointed in the inner wall activity of robotic arm body 1's lower extreme, and the back fixed mounting of No. two supports 9 has support column 10, and the installation of support column 10 provides the effect of support for the installation of No. two supports 9.
The inner wall evenly distributed of support column 10 lower extreme has adjusting part 16, and adjusting part 16's outer wall and the inner wall screw thread of base 17 cup joint, and the stability of adjusting part 16 installation has been strengthened to the connected mode of screw thread cup joint.
Referring to fig. 3 and 5, the movable device 4 includes a threaded rod 41 movably sleeved on the inner wall of the disc 3, the threaded rod 41 rotates circumferentially to provide power for the horizontal movement of the movable block 42, the movable block 42 is sleeved on the outer wall of the threaded rod 41 in a threaded manner, the upper and lower sides of the movable block 42 are fixedly provided with limit blocks 43, and the movement direction of the movable block 42 is limited by the installation of the limit blocks 43.
One end fixed connection and the motor 11 of threaded rod 41, the installation of motor 11 provides power for the rotation of threaded rod 41, and is provided with the reduction gear on the output shaft of motor 11, and the setting of reduction gear plays the regulating action to the rotational speed of the output shaft of motor 11, and the back fixed mounting of motor 11 has fixed plate 12, and the left side of fixed plate 12 and the outer wall fixed connection of disc 3, and the installation of fixed plate 12 provides support and platform for the installation of motor 11.
Referring to fig. 4 and fig. 1, a protective shell 18 is installed outside the motor 11, and a back surface of the protective shell 18 is fixedly connected to a front surface of the fixing plate 12, and the protective shell 18 is installed to protect the motor 11, so that damage to the motor 11 is reduced, and a service life of the motor 11 is prolonged.
The outer wall activity of supporting shoe 6 has cup jointed fixture block 13, and the up end fixedly connected with locating piece 14 of fixture block 13, the inner wall of the corresponding both sides of supporting shoe 6 all is provided with connecting device 15, and the installation of connecting device 15 is convenient for the dismouting to anchor clamps 7 and No. two anchor clamps 8, has simplified the dismouting step of anchor clamps 7 and No. two anchor clamps 8, has alleviateed staff's work load to improve anchor clamps 7 and No. two anchor clamps 8's utilization ratio.
Referring to fig. 6, the connecting device 15 includes a spring 151 fixedly connected to the inner wall of the supporting block 6, the compression and rebound of the spring 151 provide power for the movement and the return of the connecting block 152, the connecting block 152 is installed at one end of the spring 151 far from the supporting block 6, the outer wall of the connecting block 152 is clamped with the inner wall of the clamping block 13, and the switching of the dismounting states of the first clamp 7 and the second clamp 8 can be realized by changing the position of the connecting block 152.
The working principle of the scheme is as follows: when in use, firstly, the corresponding clamp is changed according to the specification of the material, the pressing key 15 is pressed to compress the spring 14, the clamping sleeve 20 at the lower end of the clamp 16 is sleeved on the outer wall of the clamping block 13, then the pressing key 15 is ejected by the resilience of the spring 14, the clamping block 13 is fixed with the clamp 16 at the moment, the mounting effect of the first clamp 7 or the second clamp 8 can be realized, then, the distance between the clamps is adjusted according to the size of the material, the motor 11 is started, the rotating speed of the output shaft of the motor 11 is adjusted by the arranged speed reducer after the motor 11 is started, the motor 11 drives the rotation of the threaded rod 41 after being started, the threaded rod 41 is limited by the limiting block 43 while rotating circumferentially, so that the movable block 42 moves horizontally on the outer wall of the threaded rod 41 until the first clamp 7 or the second clamp 8 is tightly attached to the outer wall of the material, the motor 11 can be closed, and finally, after the power supply of the mechanical arm body 1 is started to move the material, the material is moved.
Example 2
On the basis of embodiment 1, please refer to fig. 7-10, further comprising an adjusting assembly 16, wherein the adjusting assembly 16 is disposed between the supporting column 10 and the base 17, and the adjusting assembly 16 includes: the device comprises an adjusting component shell 21, a mounting block 22, a sliding groove 23, a threaded rod 24, a bearing seat 25, a first connecting rod 26, a first driving motor 27, a dustproof cavity 28, a supporting rod 29, a first bevel gear 30, a second bevel gear 31, a clamping block 32 and a gear box 33;
the lower end of the outer wall of the adjusting component shell 21 is fixedly connected with the base 17, the mounting block 22 is fixedly connected with the lower end of the inner wall of the adjusting component shell 21, and the mounting block 22 is provided with the sliding groove 23 and the dustproof cavity 28;
the first driving motor 27 is arranged in the dust-proof cavity 28, the output end of the first driving motor 27 is fixedly sleeved with the center of the first bevel gear 30, and two sides of the first bevel gear 30 are symmetrically meshed with the same second bevel gear 31 in a meshing manner;
the bearing seats 25 are fixedly connected to the inner walls of the left side and the right side of the adjusting component shell 21, one end of the threaded rod 24 is rotatably connected with the bearing seats 25, and the other end of the threaded rod 24 is fixedly sleeved with the center of the bevel gear II 31;
the outer wall of the threaded rod 24 is sleeved with the clamping block 32, the clamping block 32 is in threaded connection with the outer wall of the threaded rod 24, the lower end of the clamping block 32 is fixedly connected with the upper end of the supporting rod 29, the lower end of the supporting rod 29 extends into the sliding groove 23 and is in sliding connection with the sliding groove, the upper end of the clamping block 32 is hinged to one end of the first connecting rod 26, and the other end of the first connecting rod 26 is hinged to the bottom of the outer wall of the gear box 33;
the second driving motor 36 is embedded in the bottom of the inner wall of the gear box 33, and an output shaft of the second driving motor 36 is fixedly sleeved with the center of the second gear 37;
a circle of internal teeth 39 is arranged on the inner wall of the gear box 33, three groups of the same first gears 34 are arranged around the second gears 37, and the first gears 34 are meshed with the second gears 37 and the internal teeth 39 on the inner wall of the gear box 33;
the rotating disc 35 is arranged above the first gear 34 and the second gear 37, and is movably connected with the inner wall of the gear box 33, the upper surface of the rotating disc 35 is fixedly connected with the lower end of the support column 10, the third group of the first gear 34 is fixedly arranged at the center of the rotating shaft 38, the bottom of the rotating shaft 38 is slidably connected with the bottom of the inner wall of the gear box 33, and the top of the rotating shaft 38 penetrates through the rotating disc 35 and is rotatably connected with the rotating disc.
The working principle and the beneficial effects of the scheme are as follows: when the device is used, a first driving motor 27 is started to drive a first bevel gear 30 to rotate, a second bevel gear 31 arranged on two sides of the first bevel gear synchronously rotates and drives a threaded rod 24 to rotate, two groups of clamping blocks 32 in threaded sleeve connection with the threaded rod 24 transversely move on the outer wall of the threaded rod 24 (when the first driving motor 27 rotates forwards, the two groups of clamping blocks 32 move towards the direction close to the inner wall of the adjusting component shell 21, when the first driving motor 27 rotates backwards, the two groups of clamping blocks 32 move towards the direction far away from the inner wall of the adjusting component shell 21), when the clamping blocks 32 move towards the direction close to the inner wall of the adjusting component shell 21, the first connecting rod 26 jacks up the gear box 33, at the moment, the supporting column 10 positioned at the top of the gear box 33 also moves upwards to adjust the height of the mechanical arm body 1, and when the height is adjusted properly, the second driving motor 36 is started to drive the second gear 37 to rotate, at this moment, the first three groups of gears 34 meshed with the second gears 37 do circular motion around the first three groups of gears 34, and the rotating disc 35 is movably connected with the center of the first gear 34 through the rotating shaft 38, so that the rotating disc 35 rotates in the gear box 33 at this moment, the mechanical arm body 1 positioned at the top of the rotating disc 35 rotates in the same direction at this moment, the orientation of the mechanical arm body 1 can be adjusted, the height and the direction of the mechanical arm can be conveniently adjusted through the arrangement of the device, and the practicability of the device is improved.
Example 3
On the basis of any one of embodiments 1-2, the method further comprises the following steps:
a plurality of force sensors: the force sensors are arranged on the outer surface of the threaded rod 41 and used for detecting the extrusion force of the movable block 42 on the thread of the threaded rod 41 when the movable block 42 is driven by the threaded rod 41 to move transversely;
a rotation speed sensor: the rotating speed sensor is arranged at the output shaft of the motor 11 and used for detecting the rotating speed of the motor 11;
the timer is arranged on the outer surface of the protective shell 18 and used for detecting the service life of the motor 11;
an alarm device: the alarm is arranged on the outer surface of the protective shell 18;
a controller: the controller is electrically connected with the force sensor, the rotating speed sensor, the timer and the alarm;
the controller controls the alarm to work based on the force sensor, the rotating speed sensor and the timer, and the method comprises the following steps:
step 1: the controller calculates the strength coefficient of the threaded rod 41 based on the detection values of the force sensor, the rotation speed sensor, and the timer, and formula (1):
wherein Y is the strength factor of the threaded rod 41, F1The movable block 42 is used for detecting the force sensor, when the movable block 42 is driven by the threaded rod 41 to move transversely, the extrusion force of the movable block 42 is applied to the thread of the threaded rod 41, h is the thread thickness of the threaded rod 41, X is the pitch of the threaded rod 41, and R is the distance between the movable block and the threaded rod1Is the inner diameter, R, of the threaded rod 412Is the outer diameter, R, of the threaded rod 413The radius of the output shaft of the motor 11, n is the detection value of the rotation speed sensor, L is the length of the threaded rod 41, θ is the poisson's ratio of the threaded rod 41, pi is the circumferential ratio, and takes a value of 3.14, E is the elastic modulus of the threaded rod 41, γ is the maximum allowable deformation coefficient preset for the threaded rod 41, s is the detection value of the timer, and K is the stability coefficient of the threaded rod 41 (the value is greater than 0 and less than 1, and is set for considering the stability factor of the internal structure installation of the threaded rod 41);
step 2: the controller will the intensity coefficient of threaded rod 41 with the intensity coefficient of predetermineeing of threaded rod 41 compares, works as the intensity coefficient of threaded rod 41 is less than when the intensity coefficient of predetermineeing of threaded rod 41, the controller control the alarm sends the suggestion of reporting to the police.
The working principle and the beneficial effects of the technical scheme are that when the movable block 42 is driven by the threaded rod 41 to move transversely, the thread contact surface of the movable block 42 and the threaded rod 41 is slowly worn, and the threaded rod 41 reaches the fatigue limit in a long-time working state, so that the strength coefficient of the threaded rod 41 is gradually reduced along with the increase of the using time, if the strength coefficient of the threaded rod 41 is lower than a preset strength coefficient, a safety problem occurs, and the threaded rod 41 is broken, in the scheme, when the movable block 42 is driven by the threaded rod 41 to move transversely through the detection of the force sensor, the thread of the threaded rod 41 is subjected to the extrusion force of the movable block 42, the rotating speed of the motor 11 (namely the rotating speed of the threaded rod 41) is detected through the rotating speed sensor, and the using time of the motor 11 (namely the using time of the threaded rod 41) is detected by the timer, then can calculate through formula (1) calculation the intensity coefficient of threaded rod 41, the controller can be based on the intensity coefficient control alarm work of threaded rod 41, as threaded rod 41 the intensity coefficient of threaded rod 41 is less than predetermineeing when the intensity coefficient of threaded rod 41, controller control alarm sends the warning suggestion, and the user of service in time changes threaded rod 41 according to reporting to the police to the security of having improved equipment, above-mentioned scheme can monitor the comprehensive wear effect of threaded rod 41, has improved degree of automation through automatic alarm, and in time change threaded rod 41, has avoided threaded rod 41 to the influence that equipment used to experience, has prolonged the life of equipment, has increased the intelligent of equipment.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Meanwhile, in the drawings of the invention, the filling pattern is only used for distinguishing the layers and is not limited at all.
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 (9)
1. The utility model provides an intelligent manipulator that machining used, includes robotic arm body (1), its characterized in that:
the mechanical arm is characterized in that a first support (2) is fixedly mounted at the upper end of the mechanical arm body (1), a disc (3) is movably sleeved on the outer wall of the middle of the first support (2), a plurality of movable devices (4) are uniformly distributed on the inner wall of the disc (3), one end of each movable device (4) is connected with a reinforcing block (5), a supporting block (6) is fixedly mounted at the other end of each reinforcing block (5), and a clamp (19) is connected to one side of each supporting block (6).
2. The intelligent mechanical arm for machining according to claim 1, wherein:
anchor clamps (19) include anchor clamps (7) and No. two anchor clamps (8), anchor clamps (7) with No. two anchor clamps (8) are adjacent to be set up, support column (10) outer wall fixedly connected with No. two supports (9), the lower extreme of robotic arm body (1) with No. two supports (9) activity cup joints.
3. The intelligent mechanical arm for machining according to claim 1, wherein:
the movable device (4) comprises a threaded rod (41) movably sleeved with the inner wall of the disc (3), a movable block (42) is sleeved on the outer wall of the threaded rod (41), and limit blocks (43) are fixedly mounted on the upper side and the lower side of the movable block (42).
4. The intelligent mechanical arm for machining according to claim 3, wherein:
one end of the threaded rod (41) is fixedly connected with an output shaft of the motor (11), a speed reducer is arranged on the output shaft of the motor (11), the bottom of the motor (11) is fixedly connected with the fixing plate (12), and the left side wall of the fixing plate (12) is fixedly connected with the outer wall of the disc (3).
5. The intelligent mechanical arm for machining according to claim 4, wherein:
the motor is characterized in that a protective shell (18) is arranged outside the motor (11), and the bottom of the protective shell (18) is fixedly connected with the fixed plate (12).
6. The intelligent mechanical arm for machining according to claim 4, wherein:
the motor is characterized in that a protective shell (18) is arranged outside the motor (11), and the back surface of the protective shell (18) is fixedly connected with the front surface of the fixing plate (12).
7. The intelligent mechanical arm for machining according to claim 1, wherein:
the top of the supporting block (6) is fixedly connected with a clamping block (13), two sides of the clamping block (13) are fixedly connected with one end of a spring (14), the other end of the spring (14) is fixedly connected with a pressing key (15), the lower end of a clamp (19) is fixedly connected with a clamping sleeve (20) matched with the clamping block (13), the clamping sleeve (20) is movably sleeved with the clamping block (13), and through holes used for accommodating the pressing key (15) are formed in two sides of the clamping sleeve (20).
8. The intelligent mechanical arm for machining according to claim 2, wherein: still include regulation subassembly (16), regulation subassembly (16) are located between support column (10) and base (17), regulation subassembly (16) include: the device comprises an adjusting component shell (21), a mounting block (22), a sliding groove (23), a threaded rod (24), a bearing seat (25), a first connecting rod (26), a first driving motor (27), a dustproof cavity (28), a supporting rod (29), a first bevel gear (30), a second bevel gear (31), a clamping block (32) and a gear box (33);
the lower end of the outer wall of the adjusting component shell (21) is fixedly connected with the base (17), the mounting block (22) is fixedly connected with the lower end of the inner wall of the adjusting component shell (21), and the mounting block (22) is provided with the sliding groove (23) and the dustproof cavity (28);
the first driving motor (27) is arranged in the dust-proof cavity (28), the output end of the first driving motor (27) is fixedly sleeved with the center of the first bevel gear (30), and two sides of the first bevel gear (30) are symmetrically meshed with the same second bevel gear (31);
the bearing seats (25) are fixedly connected to the inner walls of the left side and the right side of the adjusting component shell (21), one end of the threaded rod (24) is rotatably connected with the bearing seats (25), and the other end of the threaded rod (24) is fixedly sleeved with the center of the second bevel gear (31);
the outer wall of the threaded rod (24) is sleeved with the clamping block (32), the clamping block (32) is in threaded connection with the outer wall of the threaded rod (24), the lower end of the clamping block (32) is fixedly connected with the upper end of the supporting rod (29), the lower end of the supporting rod (29) extends into the sliding groove (23) and is in sliding connection with the sliding groove left and right, the upper end of the clamping block (32) is hinged to one end of the first connecting rod (26), and the other end of the first connecting rod (26) is hinged to the bottom of the outer wall of the gear box (33);
gearbox (33) outer wall with sliding connection about adjusting part shell (21) inner wall, include in gearbox (33): the gear I (34), the rotating disc (35), the driving motor II (36), the gear II (37), the rotating shaft (38) and the internal teeth (39);
the second driving motor (36) is embedded in the bottom of the inner wall of the gear box (33), an output shaft of the second driving motor (36) is fixedly sleeved with the center of the second gear (37),
a circle of internal teeth (39) are arranged on the inner wall of the gear box (33), three groups of identical first gears (34) are arranged around the second gear (37), and the first gears (34) are meshed with the second gear (37) and the internal teeth (39) on the inner wall of the gear box (33);
gear (34) and two (37) tops of gear are located to carousel (35), and with gear box (33) inner wall swing joint, carousel (35) upper surface with support column (10) lower extreme fixed connection, three groups gear (34) center is fixed to be provided with pivot (38), pivot (38) bottom with gear box (33) inner wall bottom sliding connection, pivot (38) top is run through carousel (35) and rotate rather than being connected.
9. The intelligent robot for machining according to claim 5, further comprising:
the strength detection device of the threaded rod (41), the strength detection device of the threaded rod (41) is used for detecting the strength coefficient of the threaded rod (41), and when the strength coefficient of the threaded rod (41) is smaller than a preset strength coefficient, the controller controls the alarm to send an alarm prompt;
the threaded rod (41) strength detection device includes:
a plurality of force sensors: the force sensors are arranged on the outer surface of the threaded rod (41) and used for detecting the extrusion force of the movable block (42) on the thread of the threaded rod (41) when the movable block (42) moves transversely under the driving of the threaded rod (41);
a rotation speed sensor: the rotating speed sensor is arranged at the output shaft of the motor (11) and is used for detecting the rotating speed of the motor (11);
a timer: the timer is arranged on the outer surface of the protective shell (18) and used for detecting the service life of the motor (11);
an alarm device: the alarm is arranged on the outer surface of the protective shell (18);
a controller: the controller with force sensor, speed sensor, time-recorder and alarm electric connection, the controller is based on the detected value control of force sensor, speed sensor, time-recorder alarm work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210116312.3A CN114274174A (en) | 2022-02-07 | 2022-02-07 | Intelligent manipulator for machining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210116312.3A CN114274174A (en) | 2022-02-07 | 2022-02-07 | Intelligent manipulator for machining |
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| Publication Number | Publication Date |
|---|---|
| CN114274174A true CN114274174A (en) | 2022-04-05 |
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ID=80881742
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210116312.3A Withdrawn CN114274174A (en) | 2022-02-07 | 2022-02-07 | Intelligent manipulator for machining |
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| Country | Link |
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| CN (1) | CN114274174A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750203A (en) * | 2022-04-21 | 2022-07-15 | 中山大学 | Rigid-driving mechanical arm with continuously adjustable diameter |
| CN114986488A (en) * | 2022-07-18 | 2022-09-02 | 佛山市科华智缝设备有限公司 | Fabric contact pin grabbing manipulator |
-
2022
- 2022-02-07 CN CN202210116312.3A patent/CN114274174A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750203A (en) * | 2022-04-21 | 2022-07-15 | 中山大学 | Rigid-driving mechanical arm with continuously adjustable diameter |
| CN114750203B (en) * | 2022-04-21 | 2023-05-23 | 中山大学 | Rigidity driven diameter continuously adjustable mechanical arm |
| CN114986488A (en) * | 2022-07-18 | 2022-09-02 | 佛山市科华智缝设备有限公司 | Fabric contact pin grabbing manipulator |
| CN114986488B (en) * | 2022-07-18 | 2023-05-05 | 佛山市科华智缝设备有限公司 | Manipulator is snatched to surface fabric contact pin |
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Application publication date: 20220405 |