CN206383138U - A kind of high-accuracy mechanical hand grabbing device - Google Patents
A kind of high-accuracy mechanical hand grabbing device Download PDFInfo
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- CN206383138U CN206383138U CN201720041561.5U CN201720041561U CN206383138U CN 206383138 U CN206383138 U CN 206383138U CN 201720041561 U CN201720041561 U CN 201720041561U CN 206383138 U CN206383138 U CN 206383138U
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- 210000000078 claw Anatomy 0.000 claims abstract description 13
- 238000009434 installation Methods 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 5
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 210000000245 forearm Anatomy 0.000 description 1
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Abstract
本实用新型公开了一种高精度机械手抓取装置，包括底座、升降气缸、横向推动装置和升降大臂，所述底座顶部固定连接支撑架，所述支撑架内部设有基座，所述基座两侧设有固定板，所述基座顶部设有升降气缸，所述升降气缸内部设有升降杆，所述升降气缸顶部连接横向推动装置。本实用新型通过控制盒对装置进行控制，电机工作，通过传动轴带动基座旋转，使升降杆可以上下移动，通过行程装置盒来控制横向推动装置，升降大臂和升降小臂可以调整安装头的高度，红外传感器可以感应物品位置，传递信号控制机械爪进行抓取，本实用新型性能稳定，精准度高，而且占地空间小，减少了空间资源的浪费，大大的提高了工作的效率。
The utility model discloses a high-precision manipulator grabbing device, which comprises a base, a lifting cylinder, a lateral pushing device and a lifting arm. Both sides of the seat are provided with fixing plates, the top of the base is provided with a lifting cylinder, the inside of the lifting cylinder is provided with a lifting rod, and the top of the lifting cylinder is connected with a horizontal pushing device. The utility model controls the device through the control box, the motor works, and the drive shaft drives the base to rotate, so that the lifting rod can move up and down, and the horizontal pushing device is controlled through the travel device box, and the lifting arm and the lifting arm can adjust the installation head The infrared sensor can sense the position of the item and transmit the signal to control the mechanical claw to grab. The utility model has stable performance, high precision, and small footprint, which reduces the waste of space resources and greatly improves the work efficiency.
Description
【技术领域】【Technical field】
本实用新型涉及一种机械自动化设备，特别涉及一种高精度机械手抓取装置。The utility model relates to mechanical automation equipment, in particular to a high-precision manipulator grabbing device.
【背景技术】【Background technique】
机械手是目前在机械人技术领域中得到最广泛实际应用的自动化机械装置，在工业制造、医学治疗、娱乐服务、军事以及太空探索等领域都能见到它的身影。现有技术中机械手主要是针对冲床自动上下料的应用，下半部结构为方形，机械臂从中间引申出去的，运用丝杆和导轨，性能不稳定；占地空间大，不利于节省空间资源；而且电气部分和机械部分在一起，可能会引起干扰，也不大方便模块化集成。但是目前很多机械手，自动化程度都相对较低，对准精度差。为此，我们提出一种高精度机械手抓取装置。The manipulator is currently the most widely used automatic mechanical device in the field of robot technology, and it can be seen in the fields of industrial manufacturing, medical treatment, entertainment services, military and space exploration. In the prior art, the manipulator is mainly aimed at the application of automatic loading and unloading of punch presses. The lower half of the structure is square, and the manipulator extends from the middle. It uses screw rods and guide rails, and its performance is unstable; it takes up a lot of space, which is not conducive to saving space resources. ; Moreover, the combination of the electrical part and the mechanical part may cause interference, and it is not convenient for modular integration. However, at present, many manipulators have a relatively low degree of automation and poor alignment accuracy. To this end, we propose a high-precision manipulator grabbing device.
【实用新型内容】【Content of utility model】
本实用新型的主要目的在于提供一种高精度机械手抓取装置，通过控制盒对装置进行控制，电机工作，通过传动轴带动基座旋转，使升降杆可以上下移动，通过行程装置盒来控制横向推动装置，升降大臂和升降小臂可以调整安装头的高度，红外传感器可以感应物品位置，传递信号控制机械爪进行抓取，本实用新型性能稳定，精准度高，可以有效解决背景技术中的问题。The main purpose of this utility model is to provide a high-precision manipulator grabbing device. The device is controlled through the control box, the motor works, and the base is driven to rotate through the transmission shaft, so that the lifting rod can move up and down, and the lateral direction is controlled through the travel device box. The pushing device, the lifting arm and the lifting arm can adjust the height of the installation head, the infrared sensor can sense the position of the item, and transmit the signal to control the mechanical claw to grab. The utility model has stable performance and high precision, and can effectively solve the problems in the background technology. question.
为实现上述目的，本实用新型采取的技术方案为：In order to achieve the above object, the technical scheme that the utility model takes is:
一种高精度机械手抓取装置，包括底座、升降气缸、横向推动装置和升降大臂，所述底座顶部固定连接支撑架，所述支撑架内部设有基座，所述基座两侧设有固定板，所述基座顶部设有升降气缸，所述升降气缸内部设有升降杆，所述升降气缸顶部连接横向推动装置，所述横向推动装置内部设有导轨以及设置在导轨顶部的推动气缸，所述导轨一侧设有行程装置盒，所述导轨另一侧连接连杆，所述推动气缸顶部设有伸缩杆，所述横向推动装置一侧设有挡板，所述横向推动装置和升降大臂通过固定螺母相连，所述升降大臂底部连接升降小臂。A high-precision manipulator grabbing device, including a base, a lifting cylinder, a lateral push device and a lifting arm, the top of the base is fixedly connected to a support frame, a base is provided inside the support frame, and two sides of the base are provided with The fixed plate, the top of the base is provided with a lifting cylinder, the inside of the lifting cylinder is provided with a lifting rod, the top of the lifting cylinder is connected to a horizontal push device, and the inside of the horizontal push device is provided with a guide rail and a push cylinder arranged on the top of the guide rail , one side of the guide rail is provided with a stroke device box, the other side of the guide rail is connected with a connecting rod, the top of the push cylinder is provided with a telescopic rod, one side of the lateral push device is provided with a baffle plate, and the lateral push device and The lifting arm is connected by a fixing nut, and the bottom of the lifting arm is connected with the lifting arm.
进一步地，所述支撑架顶部设有控制盒，所述控制盒设有控制按钮以及设置在控制按钮底部的操作面板。Further, a control box is provided on the top of the support frame, and the control box is provided with control buttons and an operation panel arranged at the bottom of the control buttons.
进一步地，所述底座设有电机，所述电机一侧连接传动轴。Further, the base is provided with a motor, and one side of the motor is connected to a transmission shaft.
进一步地，所述升降小臂底部连接安装头，所述安装头设有旋转装置以及设置在旋转装置底部的警报装置。Further, the bottom of the lifting arm is connected to the installation head, and the installation head is provided with a rotating device and an alarm device arranged at the bottom of the rotating device.
进一步地，所述安装头底部连接机械爪，所述机械爪内侧设有红外传感器。Further, the bottom of the installation head is connected with a mechanical claw, and an infrared sensor is arranged inside the mechanical claw.
与现有技术相比，本实用新型具有如下有益效果：通过控制盒对装置进行控制，电机工作，通过传动轴带动基座旋转，使升降杆可以上下移动，通过行程装置盒来控制横向推动装置，升降大臂和升降小臂可以调整安装头的高度，红外传感器可以感应物品位置，传递信号控制机械爪进行抓取，本实用新型性能稳定，精准度高，而且占地空间小，减少了空间资源的浪费，大大的提高了工作的效率。Compared with the prior art, the utility model has the following beneficial effects: the device is controlled by the control box, the motor works, the drive shaft drives the base to rotate, so that the lifting rod can move up and down, and the lateral push device is controlled by the stroke device box , the lifting arm and the lifting arm can adjust the height of the installation head, the infrared sensor can sense the position of the item, and transmit the signal to control the mechanical claw to grab. The utility model has stable performance, high precision, and occupies a small space, reducing the space The waste of resources greatly improves the efficiency of work.
【附图说明】【Description of drawings】
图1为本实用新型一种高精度机械手抓取装置的整体结构示意图。FIG. 1 is a schematic diagram of the overall structure of a high-precision manipulator grabbing device of the present invention.
图中：1、底座；2、支撑架；3、固定板；4、升降气缸；5、警报装置；6、旋转装置；7、连杆；8、红外传感器；9、机械爪；10、安装头；11、升降小臂；12、升降大臂；13、固定螺母；14、挡板；15、推动气缸；16、伸缩杆；17、导轨；18、行程装置盒；19、横向推动装置；20、升降杆；21、基座；22、控制盒；23、控制按钮；24、操作面板；25、电机；26、传动轴。In the figure: 1. Base; 2. Support frame; 3. Fixed plate; 4. Lifting cylinder; 5. Alarm device; 6. Rotating device; 7. Connecting rod; 8. Infrared sensor; 9. Mechanical claw; 10. Installation 11. Lifting arm; 12. Lifting arm; 13. Fixing nut; 14. Baffle; 15. Pushing cylinder; 16. Telescopic rod; 17. Guide rail; 18. Travel device box; 19. Lateral pushing device; 20. Lifting rod; 21. Base; 22. Control box; 23. Control button; 24. Operation panel; 25. Motor; 26. Transmission shaft.
【具体实施方式】【detailed description】
为使本实用新型实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施方式，进一步阐述本实用新型。In order to make the technical means, creative features, goals and effects achieved by the utility model easy to understand, the utility model will be further elaborated below in conjunction with specific embodiments.
如图1所示，一种高精度机械手抓取装置，包括底座1、升降气缸4、横向推动装置19和升降大臂12，所述底座1顶部固定连接支撑架2，所述支撑架2内部设有基座21，所述基座21两侧设有固定板3，所述基座21顶部设有升降气缸4，所述升降气缸4内部设有升降杆20，所述升降气缸4顶部连接横向推动装置19，所述横向推动装置19内部设有导轨17以及设置在导轨17顶部的推动气缸15，所述导轨17一侧设有行程装置盒18，所述导轨17另一侧连接连杆7，所述推动气缸15顶部设有伸缩杆16，所述横向推动装置19一侧设有挡板14，所述横向推动装置19和升降大臂12通过固定螺母13相连，所述升降大臂12底部连接升降小臂11。As shown in Figure 1, a high-precision manipulator grabbing device includes a base 1, a lifting cylinder 4, a lateral push device 19 and a lifting arm 12, the top of the base 1 is fixedly connected to the support frame 2, and the inside of the support frame 2 There is a base 21, the two sides of the base 21 are provided with fixed plates 3, the top of the base 21 is provided with a lifting cylinder 4, the inside of the lifting cylinder 4 is provided with a lifting rod 20, and the top of the lifting cylinder 4 is connected to Horizontal pushing device 19, the interior of the horizontal pushing device 19 is provided with a guide rail 17 and a push cylinder 15 arranged on the top of the guide rail 17, a stroke device box 18 is provided on one side of the guide rail 17, and a connecting rod is connected on the other side of the guide rail 17 7. The top of the push cylinder 15 is provided with a telescopic rod 16, and one side of the lateral push device 19 is provided with a baffle 14. The lateral push device 19 and the lifting arm 12 are connected by a fixing nut 13, and the lifting arm 12 Bottoms are connected to the lifting forearm 11.
本实用新型一种高精度机械手抓取装置，通过控制盒22对装置进行控制，电机25工作，通过传动轴26带动基座21旋转，使升降杆20可以上下移动，通过行程装置盒18来控制横向推动装置19，升降大臂12和升降小臂11可以调整安装头10的高度，红外传感器8可以感应物品位置，传递信号控制机械爪9进行抓取。The utility model is a high-precision manipulator grabbing device, the device is controlled by the control box 22, the motor 25 works, the drive shaft 26 drives the base 21 to rotate, so that the lifting rod 20 can move up and down, and is controlled by the stroke device box 18 The horizontal pushing device 19, the lifting arm 12 and the lifting arm 11 can adjust the height of the installation head 10, and the infrared sensor 8 can sense the position of the item, and transmit a signal to control the mechanical claw 9 to grab.
其中，所述支撑架2顶部设有控制盒22，所述控制盒22设有控制按钮23以及设置在控制按钮23底部的操作面板24，通过控制盒22对装置进行智能控制。Wherein, the top of the support frame 2 is provided with a control box 22, the control box 22 is provided with a control button 23 and an operation panel 24 arranged at the bottom of the control button 23, and the device is intelligently controlled through the control box 22.
其中，所述底座1设有电机25，所述电机25一侧连接传动轴26，通过电机25的工作带动装置运行。Wherein, the base 1 is provided with a motor 25, one side of the motor 25 is connected to a transmission shaft 26, and the operation of the motor 25 drives the device to run.
其中，所述升降小臂11底部连接安装头10，所述安装头10设有旋转装置6以及设置在旋转装置6底部的警报装置5，通过旋转装置6可以控制机械爪9的旋转，在发生故障时警报装置5可以发出报警信号。Wherein, the bottom of the lifting arm 11 is connected to the installation head 10, and the installation head 10 is provided with a rotation device 6 and an alarm device 5 arranged at the bottom of the rotation device 6, and the rotation of the mechanical claw 9 can be controlled by the rotation device 6. The alarm device 5 can send an alarm signal during failure.
其中，所述安装头10底部连接机械爪9，所述机械爪9内侧设有红外传感器8，通过红外传感器8可以感应物品的位置，机械爪9进行抓取。Wherein, the bottom of the installation head 10 is connected with the mechanical claw 9, and the inner side of the mechanical claw 9 is provided with an infrared sensor 8, and the position of the object can be sensed by the infrared sensor 8, and the mechanical claw 9 can grasp it.
以上显示和描述了本实用新型的基本原理和主要特征和本实用新型的优点。本行业的技术人员应该了解，本实用新型不受上述实施例的限制，上述实施例和说明书中描述的只是说明本实用新型的原理，在不脱离本实用新型精神和范围的前提下，本实用新型还会有各种变化和改进，这些变化和改进都落入要求保护的本实用新型范围内。本实用新型要求保护范围由所附的权利要求书及其等效物界定。The basic principles and main features of the present utility model and the advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the utility model is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model The new model also has various changes and improvements, and these changes and improvements all fall within the scope of the claimed utility model. The scope of protection required by the utility model is defined by the appended claims and their equivalents.
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| CN201720041561.5U CN206383138U (en) | 2017-01-14 | 2017-01-14 | A kind of high-accuracy mechanical hand grabbing device |
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| CN107336248A (en) * | 2017-08-31 | 2017-11-10 | 湖南匡楚科技有限公司 | Shared bicycle automatic collecting device |
| CN107363844A (en) * | 2017-08-31 | 2017-11-21 | 湖南匡楚科技有限公司 | The shared bicycle of municipal administration compiles device automatically |
| CN107486747A (en) * | 2017-09-07 | 2017-12-19 | 南京中高知识产权股份有限公司 | A kind of Digit Control Machine Tool puma manipulator |
| CN107520852A (en) * | 2017-08-31 | 2017-12-29 | 湖南匡楚科技有限公司 | Shared bicycle automatic collecting device and collection method |
| CN107538502A (en) * | 2017-08-31 | 2018-01-05 | 湖南匡楚科技有限公司 | The shared bicycle of municipal administration compiles device and compiles method automatically |
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| CN108672578A (en) * | 2018-06-13 | 2018-10-19 | 岳西县创奇电器有限责任公司 | A kind of not contour manipulator of intelligence |
| CN111776760A (en) * | 2020-06-28 | 2020-10-16 | 安徽省福宁米业有限公司 | Automatic grain bag stacking device for grain warehouse storage |
| CN112846031A (en) * | 2020-12-28 | 2021-05-28 | 芜湖万联新能源汽车零部件有限公司 | Knuckle hot forging forming die |
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| CN107363844B (en) * | 2017-08-31 | 2023-09-29 | 浙江恩泽车业有限公司 | Municipal administration sharing bicycle automatic collection finishing device |
| CN107336248B (en) * | 2017-08-31 | 2023-08-01 | 南京学而思网络科技有限公司 | Automatic collecting device for sharing single vehicle |
| CN107520852A (en) * | 2017-08-31 | 2017-12-29 | 湖南匡楚科技有限公司 | Shared bicycle automatic collecting device and collection method |
| CN107538502A (en) * | 2017-08-31 | 2018-01-05 | 湖南匡楚科技有限公司 | The shared bicycle of municipal administration compiles device and compiles method automatically |
| CN107538502B (en) * | 2017-08-31 | 2024-03-19 | 湖南匡楚科技有限公司 | Municipal sharing bicycle automatic collecting and sorting device and collecting and sorting method |
| CN107685669A (en) * | 2017-08-31 | 2018-02-13 | 湖南匡楚科技有限公司 | The collection method of shared bicycle |
| CN107520852B (en) * | 2017-08-31 | 2024-03-15 | 湖南匡楚科技有限公司 | Automatic collection device and collection method for sharing single vehicle |
| CN107363844A (en) * | 2017-08-31 | 2017-11-21 | 湖南匡楚科技有限公司 | The shared bicycle of municipal administration compiles device automatically |
| CN107685669B (en) * | 2017-08-31 | 2024-01-09 | 湖南匡楚科技有限公司 | Method for collecting shared bicycle |
| CN107336248A (en) * | 2017-08-31 | 2017-11-10 | 湖南匡楚科技有限公司 | Shared bicycle automatic collecting device |
| CN107486747A (en) * | 2017-09-07 | 2017-12-19 | 南京中高知识产权股份有限公司 | A kind of Digit Control Machine Tool puma manipulator |
| CN107552670B (en) * | 2017-10-25 | 2023-10-20 | 安徽工程大学 | Stamping feeding robot |
| CN107552670A (en) * | 2017-10-25 | 2018-01-09 | 安徽工程大学 | A stamping feeding robot |
| CN108672578A (en) * | 2018-06-13 | 2018-10-19 | 岳西县创奇电器有限责任公司 | A kind of not contour manipulator of intelligence |
| CN111776760A (en) * | 2020-06-28 | 2020-10-16 | 安徽省福宁米业有限公司 | Automatic grain bag stacking device for grain warehouse storage |
| CN112846031A (en) * | 2020-12-28 | 2021-05-28 | 芜湖万联新能源汽车零部件有限公司 | Knuckle hot forging forming die |
| CN114474093A (en) * | 2022-02-10 | 2022-05-13 | 贺贝佳 | Transfer manipulator |
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Granted publication date: 20170808 Termination date: 20190114 |