CN116038670A - Manipulator based on visual recognition - Google Patents
Manipulator based on visual recognition Download PDFInfo
- Publication number
- CN116038670A CN116038670A CN202310042467.1A CN202310042467A CN116038670A CN 116038670 A CN116038670 A CN 116038670A CN 202310042467 A CN202310042467 A CN 202310042467A CN 116038670 A CN116038670 A CN 116038670A
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- Prior art keywords
- pushing
- lever
- clamping
- fixed
- bidirectional screw
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
Abstract
The invention discloses a manipulator based on visual identification, which comprises a rotating base, wherein a supporting arm is movably connected to the rotating base, the manipulator further comprises a clamping mechanism, the clamping mechanism is movably connected to the supporting arm and internally provided with a pair of levers and a pair of clamping blocks which move linearly, one end of each lever resistance arm is used for pushing the clamping blocks to move horizontally, and each pushing component is used for pushing and supporting power arms of two levers.
Description
Technical Field
The invention relates to the manipulator technology, in particular to a manipulator based on visual identification.
Background
The manipulator is an automatic operation device which can simulate some action functions of a human hand and an arm 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, the structure and the performance of the manipulator have the advantages of a human body and a manipulator device, and the manipulator provided with a visual recognition system can recognize different objects and specific positions of the objects and regularly put the objects according to the advantages.
The invention discloses a clamping manipulator for developing visual identification software, which belongs to the technical field of robots and comprises a rotating base, wherein a supporting arm is movably arranged on the upper surface of the rotating base, and a connecting component is arranged at the other end of the supporting arm; according to the invention, the connecting assembly is arranged, the driving motor is started to drive the threaded rod to rotate, so that the moving plate drives the moving rod to move, the fixed support is further displaced, the electric telescopic rod enables the lifting block to move downwards, and the rack can drive the gear to rotate when the lifting block moves downwards, so that the bidirectional threaded rod rotates, and the movable plate can be moved through threads, so that the clamping assembly is driven to move in opposite directions to clamp a target object.
According to the scheme, the bidirectional screw is adopted to drive the movable plate to move in opposite directions in the clamping process, so that the clamping assembly at one end of the movable plate clamps a target object, the clamping force of the clamping assembly completely depends on the axial force provided by the screw to the movable plate, and the screw is excessively worn in the long-term use process.
Disclosure of Invention
The invention aims to provide a manipulator based on visual recognition, which solves the defects in the prior art.
In order to achieve the above object, the present invention provides the following technical solutions:
the manipulator based on visual recognition comprises a rotary base, wherein a supporting arm is movably connected to the rotary base, a driving piece is arranged on the supporting arm, the manipulator is characterized in that,
the device comprises a supporting arm, and is characterized by further comprising a clamping mechanism, wherein the clamping mechanism is movably connected to the supporting arm and can vertically reciprocate under the action of the driving piece, a pair of levers and a pair of linearly-moving clamping blocks are arranged in the clamping mechanism, one end of a lever resistance arm is used for pushing the clamping blocks to horizontally move, a pushing component which can relatively move in the horizontal direction and can vertically move is arranged between two power arms of the levers, and the pushing component is used for pushing and supporting the power arms of the two levers.
The manipulator based on visual identification, the fixture surface is fixed with the slide bar, the slide bar slides and runs through on the support arm, the cover has first spring on the slide bar, first spring one end is fixed fixture surface other end is fixed on the support arm, first spring is used for being connected fixture and base and plays the fixed effect and can produce the thrust when fixture moves.
The manipulator based on visual identification, the fixture surface is equipped with the supporting seat, logical groove and through-hole have been seted up to the supporting seat inside, logical groove with the through-hole intercommunication, grip block one end slip grafting is in the through-hole and stretch into in the logical groove, the one end of lever resistance arm also stretches into in the logical groove and support on the grip block.
The manipulator based on visual identification, the promotion subassembly is including removing seat, two-way lead screw, pushing block and electric putter, it is in to remove the seat and be equipped with two and symmetry sliding connection on the inner wall of fixture both sides, two-way lead screw both ends rotate and connect remove the seat surface, the pushing block also is equipped with two, two pushing block symmetry screw thread cup joints on the two-way lead screw, still the cover has the adapter sleeve on the two-way lead screw, the adapter sleeve sets up two between the pushing block, electric putter fixes on the support arm, thereby electric putter output is fixed be used for pulling the adapter sleeve and remove in vertical direction and make pushing block upwards remove and to both sides extrusion lever produce the impulse.
According to the manipulator based on visual identification, the limit groove is formed in one end of the lever power arm, and a gap is reserved between the limit groove and the bidirectional screw rod, so that the lever can move on two sides of the bidirectional screw rod to be pushed by the pushing block moving on the bidirectional screw rod, the contact area between the pushing block and the lever is increased, and the pushing force is improved.
Foretell manipulator based on visual identification, pushing block one end is fixed with lubricated subassembly, lubricated subassembly includes lubricating sleeve, storage cylinder and piston rod, the lubricating sleeve is fixed pushing block one end and inner wall with two-way lead screw leaves the clearance, the lubricating sleeve inner wall is equipped with hydrophilic cushion layer, the storage cylinder sets up both sides about the lubricating sleeve, two the storage cylinder passes through the hose intercommunication, two the storage cylinder with the lubricating cylinder intercommunication, piston rod sliding connection is in one of lubricating sleeve below the storage cylinder is interior, the cover has reset spring on the piston rod, the piston rod is in the lubricating sleeve below can be with the below when moving in the storage cylinder lubricant in the storage cylinder extrudees one in the storage cylinder of lubricating sleeve top.
According to the manipulator based on visual identification, the second spring is sleeved on the clamping block, one end of the second spring is fixed on the surface of the clamping block, and the other end of the second spring is fixed on the surface of the supporting seat.
According to the manipulator based on visual identification, the roller is arranged at one end, close to the lever, of the clamping block, the roller is located in the cavity inside the supporting seat and is in clearance with the cavity, and the roller is used for reducing friction force between the clamping block and the lever.
According to the manipulator based on visual identification, the ventilation window is formed in the surface of the clamping mechanism.
According to the manipulator based on visual identification, the access panel is arranged on the surface of the clamping mechanism.
The invention has the beneficial effects that: the clamping block is arranged at the resistance arm end of the lever, so that the pushing force of the pushing component at the power arm end of the lever is amplified to reduce the pressure born by the pushing component, the pushing component has a trend of moving towards the vertical direction in the working process, the horizontal force is additionally provided for the lever to increase the clamping force of the clamping block at the resistance arm end of the lever, the clamping force is large, the pressure and abrasion of the pushing component are reduced, and the service life is long.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
Fig. 1 is a schematic diagram of an overall structure of a manipulator based on visual recognition according to an embodiment of the present invention;
fig. 2 is a schematic view of a first view structure of a clamping mechanism according to an embodiment of the present invention;
fig. 3 is a schematic bottom view of a second view structure of a clamping mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic view of a first view of a lubrication sleeve according to another embodiment of the present invention;
fig. 5 is a schematic view of a second view structure of a lubricant sleeve according to another embodiment of the present invention.
Reference numerals illustrate:
1. a rotating base; 2. a support arm; 4. a clamping mechanism; 5. a lever; 6. a clamping block; 7. a pushing assembly; 8. a lubrication assembly; 81. a lubricating sleeve; 82. a storage cylinder; 83. a piston rod; 41. a slide bar; 42. a first spring; 43. a support base; 44. a baffle; 51. a limit groove; 71. a movable seat; 72. a two-way screw rod; 73. a pushing block; 74. an electric push rod; 75. connecting sleeves; 81. a lubricating sleeve; 82. a storage cylinder; 83. a piston rod; 9. hydrophilic soft cushion layer.
Detailed Description
In order to make the technical scheme of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings.
As shown in fig. 1-5, the mechanical arm based on visual recognition provided by the embodiment of the invention comprises a rotating base 1, wherein a supporting arm 2 is movably connected to the rotating base, the mechanical arm further comprises a clamping mechanism 4, the clamping mechanism 4 is movably connected to the supporting arm 2, the clamping mechanism 4 comprises a pair of levers 5 and a pair of clamping blocks 6 moving linearly, one ends of resistance arms of the levers 5 are used for pushing the clamping blocks 6 to move horizontally, a pushing component 7 which moves relatively in the horizontal direction and can move in the vertical direction is arranged between two power arms of the two levers 5, and the pushing component 7 is used for pushing and supporting the power arms of the two levers 5.
Specifically, the rotating base 1 is a fixed foundation of a manipulator, the supporting arm 2 is a mechanism with a power foundation and capable of stretching and rotating, one end of the supporting arm 2 is fixedly connected to the rotating base 1, the other end of the supporting arm 2 is connected with the clamping mechanism 4, so that the clamping mechanism 4 can clamp between different positions through the movement of the supporting arm 2, and the device is not described in detail in the prior art. The clamping mechanism 4 is matched with the pushing component 7 to realize the clamping function of the mechanical arm, the clamping mechanism 4 preferably comprises a box body, the pushing component 7 is a rod piece with two telescopic ends, the rod piece is driven to move by a driving piece in the vertical direction, the clamping mechanism 4 is movably connected to the end part of the supporting arm 2, the clamping mechanism 4 can do reciprocating motion in the vertical direction on the supporting arm 2, an elastic piece is arranged on the clamping mechanism 4, one end of the elastic piece is fixed on a base, the other end of the elastic piece is fixed on the clamping mechanism 4, two fixed supporting parts are symmetrically arranged on the clamping mechanism 4, each fixed supporting part is respectively connected with a lever 5, the two levers 5 are respectively connected to the two fixed supporting parts in a one-to-one correspondence manner by a pin roll at three-quarter positions in the axial direction, the two levers 5 are positioned on the same virtual plane, a power arm (longer end) and a resistance arm (shorter end) are formed by the different lengths of the two ends of a fulcrum of the lever 5, when the lever 5 rotates through a pin roll, the resistance arm end of the clamping block 6 is used for pushing the clamping block 6 to move in a straight line, namely, the two levers 7 are pushed to move towards the two ends of the two linear supporting components, namely, when the two levers 7 are pushed to move towards the two opposite ends of the two movable components, the two levers 7 are pushed to realize the clamping mechanism, the two opposite to realize the clamping component 7 are arranged at the two ends of the two opposite sides, when the two ends of the clamping component are pushed to move, and the two opposite to each side of the clamping component is pushed to move, and the two opposite to the two lever 7 are opposite to each other, and the end is opposite to move in a straight line, and the opposite to each side, and the end, and the opposite to move respectively, and the end is opposite to the end, and can move in opposite side, and to move to the opposite side, and to the opposite to move. When the pushing component 7 moves vertically upwards under the action of the driving component, the clamping mechanism 4 is driven to move upwards, and at the moment, the elastic component generates downward reaction force on the clamping mechanism 4, so that the power arms of the two levers 5 at the two movable ends on the pushing component 7 have a tendency to expand to two sides, and a supporting force is generated on the horizontal direction of the power arm ends of the levers 5.
The embodiment of the invention has the beneficial effects that: the supporting force of the pushing component 7 to the lever 5 is amplified by adding the lever 5 to reduce the pressure born by the movable end of the pushing component 7, and the pushing component 7 has a trend of moving towards the vertical direction in the working process to generate another horizontal force to the power arm end of the lever 5 to increase the pushing force on the power arm of the lever 5, so that the clamping force of the clamping block 6 at the resistance arm end of the lever 5 is improved, the clamping force is large, the pressure of the movable end of the pushing component 7 is reduced, and the service life is prolonged.
In still another embodiment of the present invention, a sliding rod 41 is fixed on the housing of the clamping mechanism 4, one end of the sliding rod 41 is slidably penetrating through the bottom plate of the supporting arm 2, a first spring 42 is sleeved on the sliding rod 41, one end of the first spring 42 is fixed on the surface of the housing of the clamping mechanism 4, the other end of the first spring 42 is fixed on the bottom plate, the first spring 42 and the sliding rod 41 are used for connecting the housing of the clamping mechanism 4 with the supporting arm 2, thus the fixing function is achieved, and an opposite movement resistance can be generated when the housing of the clamping mechanism 4 moves, the first spring 42 is used as an elastic member, and when the clamping mechanism 4 is pulled up by the pushing assembly 7, the first spring 42 can generate a reaction force on the housing of the clamping mechanism 4, so that a supporting force in the horizontal direction is generated between the pushing assembly 7 and the two levers 5 to increase the clamping force on the clamping block 6 at the other end of the lever 5.
In still another embodiment of the present invention, a supporting seat 43 is provided on the lower surface of the box body of the clamping mechanism 4, the supporting seat 43 is the fixed supporting portion, the supporting seat 43 includes a vertical section and a horizontal section that are connected, the vertical section is used for connecting the box body, a through groove and a through hole are provided on the horizontal section, the through groove is vertically disposed, the through hole is horizontally disposed, the through groove is communicated with the through hole, one end of the clamping block 6 is slidingly inserted into the through hole and extends into the through groove, one end of the resistance arm of the lever 5 also extends into the through groove and abuts against the end of the clamping block 6 extending into the through groove, a movable gap is reserved between the resistance arm end of the lever 5 and the inner wall of the through groove, so that the resistance arm end of the lever 5 and the clamping block 6 can not touch the inner wall of the through groove when moving in the through groove, and the resistance arm end of the lever 5 just extrudes the clamping block 6 to clamp the target object from the supporting seat 43 in the rotation process.
In still another embodiment of the present invention, the pushing assembly 7 includes a moving seat 71, a bidirectional screw rod 72, a pushing block 73 and an electric push rod 74, where the moving seat 71 is provided with two symmetrical vertical sliding connection on inner walls of two sides of the box body of the clamping mechanism 4, two ends of the bidirectional screw rod 72 are respectively connected to a surface of the moving seat 71 in a rotating manner, the pushing block 73 is also provided with two pushing blocks 73, symmetrical threads of the two pushing blocks 73 are sleeved on the bidirectional screw rod, the bidirectional screw rod refers to opposite directions of threads of two ends of the screw rod, when the bidirectional screw rod rotates, the two pushing blocks 73 at two ends of the bidirectional screw rod move oppositely or reversely, the bidirectional screw rod 72 is further sleeved with a connecting sleeve 75, the connecting sleeve 75 is disposed between the two pushing blocks 73, and the electric push rod 74 is fixed on a bottom plate of the supporting arm 2, the output end of the electric push rod 74 is fixed on the connecting sleeve 75 for pulling the connecting sleeve 75 to move in the vertical direction so as to enable the pushing block 73 to move upwards and push the lever 5 to two sides to generate pushing force, the bidirectional screw rod 72 can be driven by a motor (not shown in the figure) to rotate, the motor is installed on the moving seat 71, a transmission belt mechanism or a gear mechanism is adopted between the output end of the motor and the bidirectional screw rod 72 to realize transmission of rotary motion, the pushing block 73 is the movable end of the pushing assembly 7, when the bidirectional screw rod 72 rotates under the driving of the motor, the two pushing blocks 73 start to move to two sides on the bidirectional screw rod 72, meanwhile, in order to prevent the pushing block 73 from rotating along with the bidirectional screw rod 72, a limiting rod is fixed on the pushing block 73, a sliding groove is arranged on the inner surface of the box body of the clamping mechanism 4 and is positioned on the same plane with the bidirectional screw rod 72, the limiting rod is far away from one end of the pushing block 73 and is located in the sliding groove, the pushing block 73 starts to squeeze one end of a power arm of the pushing lever 5 in the moving process so that one end of a resistance arm of the lever 5 pushes the clamping block 6 to move for clamping, a smooth part is arranged in the middle of the bidirectional screw rod 72, a connecting sleeve 75 is sleeved on the smooth part in a sleeved mode, the connecting sleeve 75 is rotatably sleeved on the smooth part, when the bidirectional screw rod 72 rotates, the connecting sleeve 75 is kept motionless, the output end of the electric push rod 74 is fixed on the connecting sleeve 75 and used for pulling the connecting sleeve 75 to move in the vertical direction so that the pushing block 73 moves upwards and extrudes the lever 5 to two sides to generate pushing force so as to strengthen power on the power arm of the lever 5, and the electric push rod 74 can be directly used for replacing the driving piece.
Preferably, the manipulator based on visual recognition provided in this embodiment has at least two working states, the first state, when grabbing a heavy object, the supporting arm 2 pushes the clamping mechanism 4 to move downwards so that the object is located between the two clamping blocks 6, when the bidirectional screw 72 is driven by the motor to rotate, the two pushing blocks 73 start to move towards two sides on the bidirectional screw 72, at this time, the pushing blocks 73 start to push one ends of the power arms of the two levers 5, one ends of the resistance arms of the levers 5 simultaneously push the clamping blocks 6 to stretch out to clamp the object, the pushing force of the pushing blocks 73 is amplified under the action of the levers 5, the clamping force of the clamping blocks 6 is increased, meanwhile, the connecting sleeve 75 moves upwards under the action of the electric push rod 74 and further presses the two levers 5, so that the whole clamping mechanism 4 rises to compress the elastic pieces on the clamping mechanism 4 upwards, the elastic member has downward reaction force to downwardly squeeze the clamping mechanism 4, so that the pushing block 73 generates a transverse pushing force to the power arm end of the lever 5, the clamping force of the clamping block 6 at the resistance arm end of the lever 5 to the target object is increased, namely, the motor and the electric push rod 74 apply force to improve the clamping force to the target object at the moment, in the second state, when the target object with smaller weight is grabbed, the supporting arm 2 starts to drive the clamping mechanism 4 to rise after the target object is clamped, when the target object is lifted, the pushing component 7 does not actively pull the connecting sleeve 75 upwards, but the sum of the gravity of the clamping mechanism 4 and the clamping object overcomes the trend of downward movement of the tensile force of the elastic member on the clamping mechanism 4 under the action of the gravity of the clamping object, so that the connecting sleeve 75 has a trend of upward movement relatively, thereby to the power arm of lever 5 produce horizontal holding power and thereby increase the clamping force of grip block 6, the beneficial effect that this embodiment provided is that, promote two grip blocks 6 through a pair of lever 5 and carry out the centre gripping to the target thing and enlarge the thrust of pushing block 73 on the bi-directional lead screw 72 to can utilize the gravity of the vertical direction that the thing produced of being gripped to provide the clamping force, produce a horizontal thrust to the power arm end of lever 5, reduce the axial pressure of pushing block 73 on bi-directional lead screw 72 and reduce wearing and tearing improvement life.
In still another embodiment provided by the invention, one end of the power arm of the lever 5 is provided with the limit groove 51, the power arm is clamped on the bidirectional screw rod 72 through the limit groove 51, a gap is reserved between the limit groove 51 and the bidirectional screw rod 72, so that the lever 5 can move on two sides of the bidirectional screw rod 72 to be pushed by the pushing block 73 moving on the bidirectional screw rod 72, and the contact area between the pushing block 73 and the lever 5 is increased to improve the pushing force.
In still another embodiment of the present invention, as shown in fig. 4-5, a lubrication assembly 8 is fixed at one end of the pushing block 73, the lubrication assembly 8 includes a lubrication sleeve 81, a storage cylinder 82 and a piston rod 83, the lubrication sleeve 81 is fixed at one end of the pushing block 73, and a gap is left between the inner wall and the bidirectional screw rod 72, the inner wall of the lubrication sleeve 81 is provided with a hydrophilic cushion layer 9, two storage cylinders 82 are respectively disposed at the upper and lower sides of the lubrication sleeve 81, the two storage cylinders 82 are communicated with each other through hoses, the two storage cylinders 82 are communicated with the lubrication sleeve 81, the piston rod 83 is slidably connected in one storage cylinder 82 below the lubrication sleeve 81, a reset spring is sleeved on the piston rod, when the piston rod moves in the storage cylinder 82 below the lubrication sleeve, the lubricant in the lower storage cylinder 82 can be extruded into one storage cylinder 82 above the lubrication sleeve, the hydrophilic cushion layer 9 can be made of a porous material with a strong adsorption capacity, such as a cotton sleeve, the cotton sleeve is fixed on the inner wall of the lubrication sleeve 81, and the two storage cylinders 82 are always contacted with the inner wall of the storage cylinder 82 through the two storage cylinders 82, and the piston rod 83 is directly connected with the piston rod 82 through the storage cylinder 82, the piston rod 82 is prevented from contacting the other end of the storage cylinder 82, which is directly through the piston rod 82, and is in contact with the storage cylinder 82, which is directly through the storage cylinder 82, and is located at one end of the storage cylinder 82, and is far from the storage cylinder 82, the sealing push plate is used for squeezing the lubricant in the storage cylinder 82 to enable the lubricant to flow between the storage cylinder 82 and the lubricating sleeve 81 so as to infiltrate the cotton sleeve in the lubricating sleeve 81.
Specifically, two baffles 44 may be disposed on the inner wall of the housing of the clamping mechanism 4, the baffles 44 are located at one end of the piston rod 83, the piston rod 83 has two states in the storage barrel 82, in the first state, when the bidirectional screw rod 72 does not move, the piston rod 83 is pressed into the storage barrel 82 by the baffles 44, the lubricant is located in one storage barrel 82 below the lubrication sleeve 81, meanwhile, the lubricant is located on the right side of the piston rod 83 (taking the storage barrel 82 on the left of the connection sleeve 75 as an example), in the second state, when the bidirectional screw rod 72 starts to rotate, the pushing block 73 on the bidirectional screw rod 72 starts to move and drives the lubrication sleeve 81 to move, so that the lubrication sleeve 81 is separated from the baffles 44, the piston rod 83 starts to move under the action of the return spring to compress the lubricant in the storage barrel 82 to one side, the lubricant enters the storage barrel 82 above the lubrication sleeve 81 through the hose under the extrusion of the piston rod 83, when the lubricant enters the upper storage cylinder 82, the lubricant starts to flow into the lubricant sleeve 81 and infiltrates the hydrophilic cushion layer 9 in the lubricant sleeve 81, the redundant lubricant flows back into the lower storage cylinder 82 again, the lubricant is uniformly smeared on the bidirectional screw 72 by the hydrophilic cushion layer 9 attached with the lubricant in the moving process of the lubricant sleeve 81, so that the pushing block 73 moves on the bidirectional screw 72 to smoothly reduce friction, after working is finished, the storage cylinder 82 returns to the initial position again to jack the piston rod 83 into the storage cylinder 82, the lubricant in the storage cylinder 82 is completely collected in the storage cylinder 82 under the action of gravity after the circulation is finished again, the lubricant is saved by adopting a cotton sleeve for lubrication, the lubrication is uniform, and each time the bidirectional screw 72 works, the bidirectional screw 72 can be automatically lubricated, wear of the bi-directional screw 72 is reduced.
In still another embodiment of the present invention, the clamping block 6 is sleeved with a second spring, one end of the second spring is fixed on the surface of the clamping block 6, the other end of the second spring is fixed on the surface of the supporting seat 43, and the second spring is used for resetting the clamping block 6.
In still another embodiment of the present invention, a roller is disposed at an end of the clamping block 6 near the lever 5, the roller is disposed in a cavity inside the supporting seat 43 and has a gap with the cavity, and the roller is used for reducing friction between the clamping block 6 and the lever 5 to improve the transmission effect of the lever 5.
In still another embodiment of the present invention, a ventilation window is provided on the box body of the clamping mechanism 4, the ventilation window is provided on the clamping mechanism 4, and the ventilation window is used for heat dissipation of internal parts of the clamping mechanism 4.
In still another embodiment of the present invention, the clamping mechanism 4 is provided with an access board, and the access board can be detached, and after the detachment, the internal parts of the clamping mechanism 4 are overhauled and maintained.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the invention, which is defined by the appended claims.
Claims (10)
1. The manipulator based on visual recognition comprises a rotary base, wherein a supporting arm is movably connected to the rotary base,
the clamping mechanism is movably connected to the supporting arm, the clamping mechanism comprises a pair of levers and a pair of clamping blocks which move linearly, one end of a resistance arm of each lever is used for pushing the clamping blocks to move horizontally so as to clamp and loosen, a pushing component which moves relatively in the horizontal direction and can move in the vertical direction is arranged between two power arms of each lever, and the pushing component is used for pushing and supporting the power arms of each lever.
2. The manipulator based on visual recognition according to claim 1, wherein a sliding rod is fixed on the surface of the clamping mechanism, the sliding rod is slidably penetrated through the supporting arm, a first spring is sleeved on the sliding rod, one end of the first spring is fixed on the surface of the clamping mechanism, the other end of the first spring is fixed on the supporting arm, and the first spring is used for connecting the clamping mechanism with the supporting arm to achieve a fixing effect and can generate opposite movement resistance when the clamping mechanism moves.
3. The manipulator based on visual recognition according to claim 1, wherein the pushing assembly comprises a moving seat, two bidirectional screw rods, pushing blocks and an electric push rod, the moving seat is provided with two symmetrical sliding connection parts, two ends of the bidirectional screw rods are rotatably connected to the surfaces of the moving seat, the pushing blocks are also provided with two symmetrical screw threads, the bidirectional screw rods are further sleeved with connecting sleeves, the connecting sleeves are arranged between the two pushing blocks, the electric push rod is fixed on the supporting arm, and the output end of the electric push rod is fixed on the connecting sleeves and used for pulling the connecting sleeves to move in the vertical direction so that the pushing blocks move upwards and squeeze the levers to two sides to generate pushing force.
4. The manipulator based on visual recognition according to claim 1, wherein the pushing assembly comprises a moving seat, two bidirectional screw rods, pushing blocks and an electric push rod, the moving seat is provided with two symmetrical sliding connection parts, two ends of the bidirectional screw rods are rotatably connected to the surfaces of the moving seat, the pushing blocks are also provided with two symmetrical screw threads, the bidirectional screw rods are further sleeved with connecting sleeves, the connecting sleeves are arranged between the two pushing blocks, the electric push rod is fixed on the supporting arm, and the output end of the electric push rod is fixed on the connecting sleeves and used for pulling the connecting sleeves to move in the vertical direction so that the pushing blocks move upwards and squeeze the levers to two sides to generate pushing force.
5. The manipulator based on visual recognition according to claim 4, wherein a limit groove is formed in one end of a power arm of the lever, a gap is reserved between the limit groove and the bidirectional screw rod, so that the lever can move on two sides of the bidirectional screw rod to be pushed by a pushing block moving on the bidirectional screw rod, and the contact area between the pushing block and the lever is increased to improve the pushing force.
6. The manipulator based on visual recognition according to claim 5, wherein a lubrication assembly is fixed at one end of the pushing block, the lubrication assembly comprises a lubrication sleeve, a storage cylinder and a piston rod, the lubrication sleeve is fixed at one end of the pushing block, a gap is reserved between the inner wall of the lubrication sleeve and the bidirectional screw rod, hydrophilic cushion layers are arranged on the inner wall of the lubrication sleeve, the storage cylinders are arranged on the upper side and the lower side of the lubrication sleeve, the two storage cylinders are communicated through hoses, the two storage cylinders are communicated with the lubrication cylinder, the piston rod is slidably connected in one storage cylinder below the lubrication sleeve, a return spring is sleeved on the piston rod, and the piston rod can squeeze lubricant in the storage cylinder below into one storage cylinder above the lubrication sleeve when moving in the storage cylinder below the lubrication sleeve.
7. The manipulator based on visual recognition according to claim 1, wherein the clamping block is sleeved with a second spring, and one end of the second spring is fixed on the surface of the clamping block, and the other end of the second spring is fixed on the surface of the supporting seat.
8. The manipulator based on visual recognition according to claim 1, wherein a roller is arranged at one end of the clamping block, which is close to the lever, and the roller is positioned in a cavity in the supporting seat and has a gap with the cavity, and the roller is used for reducing friction between the clamping block and the lever.
9. The manipulator according to claim 1, wherein the gripping mechanism has a vent opening in a surface thereof.
10. The vision-based robotic arm of claim 1, wherein the gripping mechanism is surface mounted with an access panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310042467.1A CN116038670B (en) | 2023-01-28 | 2023-01-28 | Manipulator based on visual recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116512226A (en) * | 2023-07-05 | 2023-08-01 | 苏州安田丰科技有限公司 | Clamping mechanism for clamping type manipulator |
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| FR2816232A1 (en) * | 2000-11-08 | 2002-05-10 | Serge Grygorowicz | Electrically controlled pliers, for manipulating or clamping work pieces, uses screw and nut mechanism to operate jaws with electromagnetic coil in nut to magnetize jaws |
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| CN106002952A (en) * | 2016-07-06 | 2016-10-12 | 徐子桐 | Hydraulic grabbing mechanical arm for anti-collapsing rock-soil retaining wall |
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| CN116512226A (en) * | 2023-07-05 | 2023-08-01 | 苏州安田丰科技有限公司 | Clamping mechanism for clamping type manipulator |
| CN116512226B (en) * | 2023-07-05 | 2023-08-25 | 苏州安田丰科技有限公司 | Clamping mechanism for clamping type manipulator |
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| CN116038670B (en) | 2023-06-16 |
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