CN114536378A - Transport manipulator stable in clamping - Google Patents
Transport manipulator stable in clamping Download PDFInfo
- Publication number
- CN114536378A CN114536378A CN202210322763.2A CN202210322763A CN114536378A CN 114536378 A CN114536378 A CN 114536378A CN 202210322763 A CN202210322763 A CN 202210322763A CN 114536378 A CN114536378 A CN 114536378A
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- CN
- China
- Prior art keywords
- centre gripping
- motor
- anchor clamps
- stable
- festival
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a stable-clamping transferring manipulator which comprises a base, wherein a telescopic cylinder is arranged at the top of the base, a clamping fixture is arranged on the left side of a driving part, a movable joint is rotatably arranged at the left end of the clamping fixture, the interior of the clamping fixture is connected with the movable joint through a spring, an inflatable bag is arranged inside the clamping fixture, the right end of the clamping fixture is inserted into the driving part, and an anti-skid bulge is arranged on the inner side of the clamping fixture. This stable transportation manipulator of centre gripping is provided with freely movable joint, anti-skidding arch, spring, dog and fixture block, and freely movable joint utilizes the spring to drive inside rolling, supports the restriction of realization to freely movable joint's position through the dog and fixture block each other, and the opening that centre gripping anchor clamps were realized to such structure is sealed, and the increasing means can further improve the centre gripping stability to the centre gripping effect of smooth object, the design of the anti-skidding arch in the centre gripping anchor clamps simultaneously.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a stable-clamping transfer manipulator.
Background
The manipulator is an automatic operation device which can imitate some action functions of human hands and arms and is used for grabbing and carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed through programming, and the advantages of human and manipulator machines are combined in structure and performance. The manipulator can repeatedly do the same action with the maximum advantage, and can never feel tired under the normal condition of the machine, the application of the manipulator can be more and more extensive, the manipulator is high-tech automatic production equipment developed in decades, the operation accuracy and the operation completing capability in the environment are an important branch of industrial manipulator robots.
In present manipulator for processing, fix the object mostly through the mode of mechanical centre gripping, transport again, but such mode is not convenient for press from both sides when getting some comparatively smooth object and is steady, when the comparatively fragile object of centre gripping, causes the damage easily simultaneously, so need improve current structure.
Disclosure of Invention
The invention aims to provide a transfer manipulator with stable clamping, which aims to solve the problems that in the existing processing manipulators proposed in the background art, most of objects are fixed and then transferred in a mechanical clamping mode, but the mode is inconvenient to clamp and stabilize when clamping certain smooth objects, and the fragile objects are easy to damage when clamping the fragile objects.
In order to achieve the purpose, the invention provides the following technical scheme: a grip-stabilized transfer robot comprising:
the lifting device comprises a base, wherein a telescopic cylinder is arranged at the top of the base, a lifting connecting block is arranged on an output shaft at the top of the telescopic cylinder, the left side of the lifting connecting block is rotatably connected with a first rotating joint, the left side of the first rotating joint is rotatably connected with a second rotating joint, and the left side of the second rotating joint is connected with a driving part through a third rotating joint;
the centre gripping anchor clamps, the centre gripping anchor clamps set up the left side at the drive division, the left end of centre gripping anchor clamps is rotated and is installed the freely movable joint, and the inside of centre gripping anchor clamps passes through the spring and is connected with the freely movable joint, the internally mounted of centre gripping anchor clamps has the gas cell, the right-hand member of centre gripping anchor clamps inserts in the drive division, and the right-hand member of centre gripping anchor clamps is equipped with the meshing tooth, the inboard of centre gripping anchor clamps is equipped with anti-skidding arch.
As a further scheme of the invention: the interior of base installs first motor, the output shaft of first motor drives the rotation of pivot through the intermeshing of two connection commentaries on classics teeth.
By adopting the technical scheme, the rotation of the whole part above the base is conveniently realized, and the transfer of objects is convenient to realize.
As a further scheme of the invention: the bottom of telescopic cylinder is equipped with the backup pad, and the bottom of backup pad is equipped with the round ball, the ball contacts with the top of base, telescopic cylinder's bottom and the top fixed connection of pivot.
Through adopting above-mentioned technical scheme, utilize the ball to improve the rotation efficiency of telescopic cylinder bottom.
As a further scheme of the invention: first rotation festival includes first drive festival, first connecting axle and first connecting block, first drive festival and lift connecting block left side fixed connection, and the left side of first drive festival is passed through first connecting axle and is connected with first connecting block rotation, the inside of first drive festival is equipped with miniature driving motor, and miniature driving motor's output shaft and first connecting axle connection.
Through adopting above-mentioned technical scheme, improve the nimble degree of whole arm.
As a further scheme of the invention: the second rotates the festival and includes second actuating section, second connecting axle and second connecting block, the second actuating section passes through connecting piece and first rotation festival left side fixed connection, and the left side of second actuating section passes through the second connecting axle and is connected with the rotation of second connecting block, the inside of second actuating section is equipped with miniature driving motor, and miniature driving motor's output shaft and second connecting axle are connected.
By adopting the technical scheme, the number of movable joints is further increased, so that the clamping clamp at the end part can move in a larger range.
As a further scheme of the invention: and a second motor is arranged in the third rotating joint, and an output shaft of the second motor is connected with the driving part.
Through adopting above-mentioned technical scheme, conveniently drive the rotation of drive division and holding head through the second motor.
As a further scheme of the invention: the drive division includes third motor, drive belt and camera, the internally mounted of drive division has the third motor, the third motor passes through the drive belt and is connected with the meshing tooth, the embedded camera that installs in left side of drive division.
By adopting the technical scheme, the third motor is conveniently utilized to drive the clamping fixture to contract and expand, and meanwhile, due to the design of the camera, the clamping fixture can actively position the clamped object.
As a further scheme of the invention: the inflatable bag is connected with an external air source through an air inlet pipe, is made of rubber and is rough in surface.
By adopting the technical scheme, the object which is easy to damage can be conveniently clamped by the expansion of the inflatable bag.
As a further scheme of the invention: the left side of the clamping fixture is provided with a stop block, and the right side of the movable joint is provided with a clamping block.
By adopting the technical scheme, the position of the movable joint is conveniently limited.
Compared with the prior art, the invention has the beneficial effects that: the transfer manipulator with stable clamping is characterized in that,
the clamping fixture is provided with a movable joint, an anti-skid bulge, a spring, a stop block and a clamping block, wherein the movable joint is driven by the spring to be rolled inwards, and the position of the movable joint is limited by mutual abutting of the stop block and the clamping block;
in addition, when a fragile object is clamped, the third motor is not started, the clamping fixture is prevented from being closed, the air source is used for inflating the inflatable bag, and after the air in the inflatable bag is increased, the inflatable bag expands inwards, so that the flexible clamping effect on the object in the clamping fixture is realized, and the clamped object is prevented from being damaged.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a cross-sectional view of the base of the present invention;
FIG. 3 is a schematic top view of the present invention;
fig. 4 is a schematic top sectional view of the driving part and the clamping fixture according to the present invention.
In the figure: 1. the device comprises a base, 101, a first motor, 102, a connecting rotating tooth, 103, a rotating shaft, 2, a telescopic cylinder, 201, a supporting plate, 202, a ball, 3, a lifting connecting block, 4, a first rotating joint, 401, a first driving joint, 402, a first connecting shaft, 403, a first connecting block, 5, a second rotating joint, 501, a second driving joint, 502, a second connecting shaft, 503, a second connecting block, 6, a third rotating joint, 601, a second motor, 7, a driving part, 701, a third motor, 702, a transmission belt, 703, a camera, 8, a clamping clamp, 801, a movable joint, 802, a meshing tooth, 803, an inflatable bag, 804, an air inlet pipe, 805, an anti-skid protrusion, 806, a spring, 807, a stop block, 808, a clamping block, 9 and a connecting piece.
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.
Referring to fig. 1, the present invention provides a technical solution: a transfer manipulator with stable clamping comprises
The lifting device comprises a base 1, wherein a telescopic cylinder 2 is arranged at the top of the base 1, a lifting connecting block 3 is arranged on an output shaft at the top of the telescopic cylinder 2, the left side of the lifting connecting block 3 is rotatably connected with a first rotating joint 4, the left side of the first rotating joint 4 is rotatably connected with a second rotating joint 5, and the left side of the second rotating joint 5 is connected with a driving part 7 through a third rotating joint 6;
the clamping fixture 8 is arranged on the left side of the driving part 7, a movable joint 801 is rotatably mounted at the left end of the clamping fixture 8, the inside of the clamping fixture 8 is connected with the movable joint 801 through a spring 806, an inflatable bag 803 is mounted inside the clamping fixture 8, the right end of the clamping fixture 8 is inserted into the driving part 7, meshing teeth 802 are arranged at the right end of the clamping fixture 8, and anti-skidding protrusions 805 are arranged on the inner side of the clamping fixture 8;
when using this stable transportation manipulator of centre gripping, the structure in the base 1 drives holistic rotation, the lift effect of top lift connecting block 3 and left structure is realized to telescopic cylinder 2's design, the effect of adjusting 8 angles of centre gripping anchor clamps and position is realized to first revolute joint 4 and second revolute joint 5, the drive division drives opening and shutting of centre gripping anchor clamps 8, freely movable joint 801 is closed completely with the tip of centre gripping anchor clamps 8 under the effect of spring 806, improve the centre gripping effect, simultaneously, the further increase friction of non-slip raised 805, improve centre gripping stability.
Referring to fig. 2, in an embodiment of the present invention, a first motor 101 is installed inside the base 1, and an output shaft of the first motor 101 drives a rotating shaft 103 to rotate through mutual engagement of two connecting rotating teeth 102;
in the embodiment of the invention, the first motor 101 in the base 1 drives the rotating shaft 103 to rotate through the two connecting rotating teeth 102, and then the lifting cylinder 2 at the top is driven to rotate through the rotating shaft 103, so that the angle of the transfer manipulator with stable clamping is convenient to adjust, and meanwhile, the first motor 101 can rotate reversely to drive the top structure to return, thereby reducing resource consumption and space occupation during the operation of the manipulator.
Referring to fig. 2, in an embodiment of the present invention, a supporting plate 201 is disposed at the bottom of the telescopic cylinder 2, a circle of balls 202 is disposed at the bottom of the supporting plate 201, the balls 202 contact with the top of the base 1, and the bottom of the telescopic cylinder 2 is fixedly connected to the top of the rotating shaft 103;
in the embodiment of the invention, when the telescopic cylinder 2 is driven by the first motor 101 to rotate, the supporting plate 201 at the bottom of the telescopic cylinder 2 plays a role in supporting the telescopic cylinder 2, so that the telescopic cylinder 2 is prevented from being sunk into the base 1, and meanwhile, the friction factor of the supporting plate 201 is reduced by the balls 202, so that the telescopic cylinder 2 can rotate more conveniently.
Referring to fig. 3, in an embodiment of the present invention, the first rotating joint 4 includes a first driving joint 401, a first connecting shaft 402 and a first connecting block 403, the first driving joint 401 is fixedly connected to the left side of the lifting connecting block 3, and the left side of the first driving section 401 is rotatably connected with the first connecting block 403 through the first connecting shaft 402, a micro driving motor is arranged inside the first driving section 401, and the output shaft of the micro-driving motor is connected with the first connecting shaft 402, the second rotating joint 5 comprises a second driving joint 501, a second connecting shaft 502 and a second connecting block 503, the second driving section 501 is fixedly connected with the left side of the first rotating section 4 through a connecting piece 9, and the left side of the second driving section 501 is rotatably connected with a second connecting block 503 through a second connecting shaft 502, a micro driving motor is arranged inside the second driving section 501, and an output shaft of the micro driving motor is connected with the second connecting shaft 502;
in the embodiment of the invention, the first rotating joint 4 and the second rotating joint 5 both have the effect of improving the clamping range of the transfer manipulator with stable clamping, and the flexibility of the manipulator is improved.
Referring to fig. 3, in an embodiment of the present invention, a second motor 601 is installed inside the third rotating joint 6, and an output shaft of the second motor 601 is connected to the driving portion 7;
in the embodiment of the invention, the second motor 601 drives the driving part 7 to rotate, so as to drive the clamping fixture 8 to rotate, which is convenient for the clamping fixture 8 to perform operations such as overturning on the clamped object, and increases the application of the device.
Referring to fig. 4, in an embodiment of the present invention, the driving portion 7 includes a third motor 701, a transmission belt 702, and a camera 703, the third motor 701 is installed inside the driving portion 7, the third motor 701 is connected to the engaging teeth 802 through the transmission belt 702, and the camera 703 is installed in the left side of the driving portion 7 in an embedded manner;
in the embodiment of the present invention, the third motor 701 drives the clamping fixtures 8 on both sides to close and open through the cooperation of the transmission belt 702 and the meshing teeth 802, and meanwhile, the design of the camera 703 enables the device to position the clamped object autonomously, thereby improving the practicability.
Referring to fig. 4, in an embodiment of the present invention, the air bag 803 is connected to an external air source through an air inlet pipe 804, the air bag 803 is made of rubber, the surface of the air bag 803 is rough, a stopper 807 is disposed on the left side of the clamping fixture 8, and a fixture block 808 is disposed on the right side of the movable joint 801;
in the embodiment of the invention, when a fragile object is clamped, the air inlet pipe 804 inflates the air bag 803, so that the air bag 803 expands, and the structure in the clamping fixture 8 is supported by the air bag 803, thereby realizing a protective clamping effect on the fragile object, and meanwhile, the design of the stop block 807 and the stop block 808 limits the movable joint 801 contracted by the spring 806, so that the movable joint 801 is prevented from being completely retracted into the clamping fixture 8.
The working principle is as follows: when the stable-clamping transfer manipulator is used, a first motor 101 in a base 1 drives a telescopic cylinder 2 to rotate through connecting a rotating tooth 102 and a rotating shaft 103, the telescopic cylinder 2 drives a lifting connecting block 3 to lift, then a micro driving motor in a first rotating joint 4 and a second rotating joint 5 drives a driving part 7 and a clamping fixture 8 to incline, so that the left end of the clamping fixture 8 faces downwards, after a camera 703 detects the position of a clamped object, the driving structure in the manipulator is matched with each other to drive two clamping fixtures 8 to clamp the object, a third motor 701 drives the clamping fixture 8 to close through a driving belt 702 and meshing teeth 802, a movable joint 801 limits the opening side of the clamping fixture 8 through a spring 806, an antiskid bulge 805 avoids shaking during clamping, when the fragile object is clamped, the clamping fixture 8 is not closed, an air inlet pipe 804 is used for inflating an air bag 803 to enable the air bag 803 to expand to finish the clamping effect, finally, the transport of the objects is driven by the drive structure, which is not described in detail in this description, and which is known to the person skilled in the art.
The terms "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for simplicity of description only and are not intended to indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operative in a particular orientation, and are not to be considered limiting of the claimed invention.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides a stable transportation manipulator of centre gripping which characterized in that, the stable transportation manipulator of centre gripping includes:
the lifting device comprises a base (1), wherein a telescopic cylinder (2) is arranged at the top of the base (1), a lifting connecting block (3) is arranged on an output shaft at the top of the telescopic cylinder (2), the left side of the lifting connecting block (3) is rotatably connected with a first rotating joint (4), the left side of the first rotating joint (4) is rotatably connected with a second rotating joint (5), and the left side of the second rotating joint (5) is connected with a driving part (7) through a third rotating joint (6);
centre gripping anchor clamps (8), centre gripping anchor clamps (8) set up the left side in drive division (7), the left end of centre gripping anchor clamps (8) is rotated and is installed freely movable joint (801), and the inside of centre gripping anchor clamps (8) is passed through spring (806) and is connected with freely movable joint (801), the internally mounted of centre gripping anchor clamps (8) has gas cell (803), the right-hand member of centre gripping anchor clamps (8) inserts in drive division (7), and the right-hand member of centre gripping anchor clamps (8) is equipped with meshing tooth (802), the inboard of centre gripping anchor clamps (8) is equipped with non-slip raised (805).
2. A transfer robot for stable gripping according to claim 1, wherein: the inner part of the base (1) is provided with a first motor (101), and an output shaft of the first motor (101) drives the rotating shaft (103) to rotate through the mutual meshing of two connecting rotating teeth (102).
3. A transfer robot for stable gripping according to claim 1, wherein: the bottom of telescopic cylinder (2) is equipped with backup pad (201), and the bottom of backup pad (201) is equipped with round ball (202), ball (202) and the top contact of base (1), the bottom of telescopic cylinder (2) and the top fixed connection of pivot (103).
4. A transfer robot for stable gripping according to claim 1, wherein: first rotation festival (4) include first drive festival (401), first connecting axle (402) and first connecting block (403), first drive festival (401) and lift connecting block (3) left side fixed connection, and the left side of first drive festival (401) is connected with first connecting block (403) rotation through first connecting axle (402), the inside of first drive festival (401) is equipped with miniature driving motor, and miniature driving motor's output shaft is connected with first connecting axle (402).
5. A transfer robot for stable gripping according to claim 1, wherein: the second rotates festival (5) and includes second drive festival (501), second connecting axle (502) and second connecting block (503), second drive festival (501) pass through connecting piece (9) and first rotation festival (4) left side fixed connection, and the left side of second drive festival (501) passes through second connecting axle (502) and is connected with second connecting block (503) rotation, the inside of second drive festival (501) is equipped with miniature driving motor, and miniature driving motor's output shaft and second connecting axle (502) are connected.
6. A transfer robot for stable gripping according to claim 1, wherein: and a second motor (601) is arranged in the third rotating joint (6), and an output shaft of the second motor (601) is connected with the driving part (7).
7. A transfer robot for stable gripping according to claim 1, wherein: the driving part (7) comprises a third motor (701), a transmission belt (702) and a camera (703), the third motor (701) is installed inside the driving part (7), the third motor (701) is connected with the meshing teeth (802) through the transmission belt (702), and the camera (703) is installed in the left side of the driving part (7) in an embedded mode.
8. A transfer robot for stable gripping according to claim 1, wherein: the inflatable bag (803) is connected with an external air source through an air inlet pipe (804), the inflatable bag (803) is made of rubber, and the surface of the inflatable bag (803) is rough.
9. A transfer robot for stable gripping according to claim 1, wherein: a stop block (807) is arranged on the left side of the clamping fixture (8), and a stop block (808) is arranged on the right side of the movable joint (801).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210322763.2A CN114536378A (en) | 2022-03-29 | 2022-03-29 | Transport manipulator stable in clamping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210322763.2A CN114536378A (en) | 2022-03-29 | 2022-03-29 | Transport manipulator stable in clamping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114536378A true CN114536378A (en) | 2022-05-27 |
Family
ID=81665348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210322763.2A Pending CN114536378A (en) | 2022-03-29 | 2022-03-29 | Transport manipulator stable in clamping |
Country Status (1)
| Country | Link |
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| CN (1) | CN114536378A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116079627A (en) * | 2023-03-23 | 2023-05-09 | 无锡瑞朗科技有限公司 | Positioning device for machining gear shaft |
-
2022
- 2022-03-29 CN CN202210322763.2A patent/CN114536378A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116079627A (en) * | 2023-03-23 | 2023-05-09 | 无锡瑞朗科技有限公司 | Positioning device for machining gear shaft |
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