CN209999214U

CN209999214U - novel mechanical arm

Info

Publication number: CN209999214U
Application number: CN201920780827.7U
Authority: CN
Inventors: 龚晓光; 沈斌斌; 王世伟; 杨波; 常峥; 刘旺; 刘曦
Original assignee: Chongqing University of Post and Telecommunications
Current assignee: Chongqing University of Post and Telecommunications
Priority date: 2019-05-28
Filing date: 2019-05-28
Publication date: 2020-01-31
Anticipated expiration: 2029-05-28

Abstract

The utility model belongs to the technical field of mechanical tongs equipment, especially novel manipulators, including brace table, workstation, connecting device and mechanical finger, connecting device fixed connection is at the brace table lower extreme, workstation fixed connection is in the brace table upper end, mechanical finger sets up in the workstation upper end, the utility model discloses, through setting up connecting device, make people before using the device, can be connected the device with the arm through connecting device's effect, when people need overhaul or export relevant data to the device, make things convenient for people to overhaul the device or update data when perhaps, through the effect that sets up pressure sensor, second pressure sensor and third pressure sensor under for people control the in-process that the device snatched the article, people can judge whether the article was snatched by the device through the data that observation pressure sensor transmitted.

Description

novel mechanical arm

Technical Field

The utility model belongs to the technical field of mechanical tongs equipment, concretely relates to novel manipulators.

Background

The robot is kinds of automatic operation devices which can imitate some action functions of human hand and arm, and can be used for grabbing, carrying objects or operating tools according to fixed procedures, and since it can replace the heavy labor of human to realize mechanization and automation of production, and can operate under the harmful environment to protect personal safety, is widely applied to the technical field of automatic equipment.

The existing manipulator is low in speed for grabbing objects in actual use, the grabbing pressure detection feedback time delay is large, the manipulator is easy to drop in the moving process, particularly when the manipulator grabs a horizontal cylindrical object, the manipulator slides left and right easily, meanwhile, the flexible material in contact with the object is used for a long time, due to temperature change and mechanical fatigue, the grabbing strength of the flexible material is changed, the manipulator drops easily, the problems are not solved, and the device is pushed out.

SUMMERY OF THE UTILITY MODEL

The utility model provides an kinds of novel manipulators, have simple structure, the simple operation to have and reduce and detect the feedback time and avoid can not appearing the characteristics of article landing at the in-process that the device snatched the article.

In order to achieve the purpose, the utility model provides an novel manipulators, including brace table, workstation, connecting device and mechanical finger, connecting device fixed connection is at the brace table lower extreme, workstation fixed connection is in the brace table upper end, the mechanical finger sets up in the workstation upper end, the fixed total three groups of mechanical finger to arrange in the workstation upper end, the mechanical finger includes mechanical finger joint, mechanical finger joint lower extreme is through round pin axle and workstation upper end swing joint, mechanical finger joint upper end is provided with second mechanical finger joint, second mechanical finger joint and mechanical finger joint are through round pin axle swing joint.

Preferably, the lateral surface of the mechanical finger joint is movably connected with a electric push rod through a pin shaft, the other 1 end of the 0 electric push rod is fixedly connected with a 2 connecting rod, the other end of the 3 connecting rod is movably connected with the lateral surface of the second mechanical finger joint through a pin shaft, the end of the second electric push rod is movably connected with the mechanical finger joint through a pin shaft, the other end of the second electric push rod is fixedly connected with a second connecting rod, the other end of the second connecting rod is movably connected with the lateral surface of the second mechanical finger joint through a pin shaft, the other end of the second mechanical finger joint is movably connected with a third mechanical finger joint through a pin shaft, the lateral surface of the second mechanical finger joint is movably connected with a third electric push rod through a pin shaft, the other end of the third electric push rod is fixedly connected with a third connecting rod, and the other end of the third connecting rod is movably connected with the lateral surface of.

Preferably, a th pressure sensor is fixedly connected to the inner side of the th mechanical finger joint, a second pressure sensor is fixedly connected to the inner side of the second mechanical finger joint, and a third pressure sensor is fixedly connected to the inner side of the third mechanical finger joint.

Preferably, a control panel is arranged on the front face of the support table, and a microprocessor is arranged in the control panel.

Preferably, the input end of the control panel is electrically connected with the output end of an external power supply, the output end of the control panel is electrically connected with the output ends of the th electric push rod, the second electric push rod and the third electric push rod respectively, and the control panel is in bidirectional signal connection with the th pressure sensor, the second pressure sensor and the third pressure sensor respectively.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses, through setting up connecting device, make people before using the device, can be connected the device with the arm through connecting device's effect, when people need overhaul or export relevant data to the device, make things convenient for people to overhaul the device or time update data, through setting up pressure sensor, under the effect of second pressure sensor and third pressure sensor, make people control the in-process that the device snatched the article, people can judge whether stable that the article was snatched by the device through the data that observation pressure sensor transmitted out, the stability that the device snatched the article has been guaranteed, at electric putter, under second electric putter and third electric putter's effect, make pressure sensor, under second pressure sensor and third pressure sensor's effect, can indicate the pressure that the joint received with every machinery and transmit to control panel, control panel stretches out and draws back corresponding electric putter under the effect of micro processor, thereby make the pressure of relative machinery indicate the joint to adjust the article and guarantee that the mechanical action of this machinery can not take place the condition that the tongs also can not take place to the mechanical action of manipulator when the effect, the damage has been avoided the article to the micro processor.

Drawings

The accompanying drawings are included to provide a further understanding of the invention at , and are incorporated in and constitute a part of this specification at , which together with the description of embodiment serve to explain the invention and are not intended to limit the invention.

Fig. 1 is a front view of the present invention;

FIG. 2 is a schematic structural view of a mechanical finger according to the present invention;

FIG. 3 is a schematic diagram of the circuit system of the present invention;

in the figure, the device comprises a support table 1, a connecting device 2, a workbench 3, a mechanical finger 4, a mechanical finger joint 401, a mechanical finger joint , an electric push rod 402, an electric push rod , a mechanical finger joint 403, a mechanical finger joint , a mechanical push rod 405, an electric push rod 406, a mechanical finger joint 407, a mechanical finger joint , a mechanical push rod 407, a mechanical finger joint 3925, a pressure sensor 408, a pressure sensor 409, a mechanical finger joint 409, a pressure sensor , a pressure sensor 411, a pressure sensor 412, a pressure sensor 5 and a control panel.

Detailed Description

The technical solution in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of , but not all embodiments.

Examples

Please refer to fig. 1-3, the utility model provides a following technical scheme novel manipulators, including a support table 1, a workbench 3, a connecting device 2 and mechanical fingers 4, the connecting device 2 is fixedly connected at the lower end of the support table 1, through setting up the connecting device 2, make people before using the device, can be connected with the mechanical arm through the effect of the connecting device 2, when people need overhaul the device or output relevant data, make things convenient for people to overhaul the device or update data in the time, the workbench 3 is fixedly connected at the upper end of the support table 1, mechanical fingers 4 set up in the upper end of the workbench 3, mechanical fingers 4 fix total three groups, and arrange at the upper end of the workbench 3, mechanical fingers 4 include mechanical finger joint 401, mechanical finger joint lower extreme passes through round pin axle and workbench 3 upper end swing joint, mechanical finger joint 401 upper end is provided with second mechanical finger joint 403, second mechanical finger joint 403 and mechanical finger joint pass through round pin axle swing joint.

Specifically, a side surface of the mechanical finger joint 401 is movably connected with a first electric push rod 402 through a pin, another 1 end of the 0 electric push rod 402 is fixedly connected with a th connecting rod 404, another th connecting rod 404 is movably connected with another end of the 5393 th connecting rod 404 through a pin, another end of the second connecting rod 406 is movably connected with a side surface of the second mechanical finger joint 403 through a pin, another end of the second mechanical finger joint is movably connected with a third mechanical finger joint 409 through a pin, another side surface of the second mechanical finger joint 405 is movably connected with a second connecting rod 406 through a pin, another end of the second connecting rod 406 is movably connected with a side surface of the second mechanical finger joint 403 through a pin, another end of the third electric push rod 407 is fixedly connected with a third connecting rod 408, another end of the third connecting rod 408 is movably connected with a side surface of the third mechanical finger joint 409 through a pin, a third electric push rod 403 is movably connected with a third electric push rod 407 through a pin, a third electric push rod 402 and a corresponding electric push rod 410 is controlled to prevent pressure from being exerted on the corresponding mechanical finger joint, so that the mechanical finger joint is not damaged under the action of the electric push rod, and the mechanical finger pressure sensor, and the corresponding mechanical finger joint, thereby preventing the mechanical finger pressure of the mechanical finger joint from being exerted on the mechanical finger joint under the mechanical finger panel under the action of the mechanical finger grip panel 410, and the control panel under the action of the control panel under the action of the action.

Specifically, the pressure sensor 410 is fixedly connected to the inner side of the mechanical knuckle 401, the second pressure sensor 411 is fixedly connected to the inner side of the second mechanical knuckle 403, the third pressure sensor 412 is fixedly connected to the inner side of the third mechanical knuckle 409, and under the action of the pressure sensor 410, the second pressure sensor 411 and the third pressure sensor 412, people can control the device to grasp an object, so that people can judge whether the object is grasped stably by the device by observing data transmitted by the pressure sensors, and the stability of grasping the object by the device is ensured.

Specifically, the front surface of the support table 1 is provided with a control panel 5, and a microprocessor is arranged inside the control panel 5.

Specifically, the input end of the control panel 5 is electrically connected with the output end of an external power supply, the output end of the control panel 5 is electrically connected with the output ends of the th electric push rod 402, the second electric push rod 405 and the third electric push rod 407 respectively, and the control panel 5 is in bidirectional signal connection with the th pressure sensor 410, the second pressure sensor 411 and the third pressure sensor 412 respectively.

The utility model discloses a theory of operation and use flow, when using, at first be connected the device with the arm through connecting device 2, then control the device through the control end, make mechanical tongs snatch the article when snatching the article of different materials, people can input less pressure values to control panel 5 through the control inflator, thereby avoid the device to damaging the article, the device has been improved and has been snatched unknown attribute's article, if the article is sent out the life and falls at the in-process of snatching, can cause different pressure values to the pressure sensor who sets up at mechanical tongs 4 inside, when the pressure value of certain position is too big or when too little, pressure sensor can be with information transfer to control panel 5 in, after micro-processor's calculation, control panel 5 can send flexible instruction to corresponding electric putter, thereby make corresponding electric putter adjust corresponding mechanical finger joint, make the pressure value that all pressure sensors received can reach specific pressure difference within range, thereby accomplish snatching and shifting the article.

Finally, it should be noted that: 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 modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

The novel mechanical arm comprises a supporting table (1), a workbench (3), a connecting device (2) and mechanical fingers (4), and is characterized in that the connecting device (2) is fixedly connected to the lower end of the supporting table (1), the workbench (3) is fixedly connected to the upper end of the supporting table (1), the mechanical fingers (4) are arranged at the upper end of the workbench (3), three groups of the mechanical fingers (4) are fixed and arranged at the upper end of the workbench (3), the mechanical fingers (4) comprise -th mechanical finger joints (401), the lower end of the -th mechanical finger joint (401) is movably connected with the upper end of the workbench (3) through a pin shaft, a second mechanical finger joint (403) is arranged at the upper end of the -th mechanical finger joint (401), and the second mechanical finger joint (403) is movably connected with the -th mechanical finger joint (401) through a pin shaft.
2. The novel manipulator of types of the claim 1, characterized in that the side of the mechanical finger joint (401) is movably connected with a electric push rod (402) through a pin, the other end of the electric push rod (402) is fixedly connected with a connecting rod (404), the other end of the connecting rod (404) is movably connected to the side of the second mechanical finger joint (403) through a pin, the end of the second electric push rod (405) is movably connected with the mechanical finger joint (401) through a pin, the other end of the second electric push rod (405) is fixedly connected with a second connecting rod (406), the other end of the second connecting rod (406) is movably connected to the side of the second mechanical finger joint (403) through a pin, the other end of the second mechanical finger joint (403) is movably connected with a third mechanical finger joint (409) through a pin, the side of the second mechanical finger joint (403) is movably connected with a third electric push rod (407) through a pin, the other end of the third mechanical finger joint (409) is fixedly connected with the other side of the third mechanical finger joint (408) through a pin, and the third electric push rod (407) is movably connected with the side of the third mechanical finger joint (38.
3. The novel mechanical hand of claim 2, wherein a pressure sensor (410) is fixedly connected to the inner side of the mechanical finger joint (401), a second pressure sensor (411) is fixedly connected to the inner side of the second mechanical finger joint (403), and a third pressure sensor (412) is fixedly connected to the inner side of the third mechanical finger joint (409).
4. The novel mechanical arm of claim 3, wherein a control panel (5) is arranged on the front face of the support table (1), and a microprocessor is arranged inside the control panel (5).
5. The novel mechanical arm of claim 4, wherein the input end of the control panel (5) is electrically connected to the output end of an external power supply, the output end of the control panel (5) is electrically connected to the output ends of the electric push rod (402), the second electric push rod (405) and the third electric push rod (407), respectively, and the control panel (5) is in bidirectional signal connection with the pressure sensor (410), the second pressure sensor (411) and the third pressure sensor (412), respectively.