CN210210451U - Driving and controlling integrated intelligent electric manipulator - Google Patents
Driving and controlling integrated intelligent electric manipulator Download PDFInfo
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- CN210210451U CN210210451U CN201920883794.9U CN201920883794U CN210210451U CN 210210451 U CN210210451 U CN 210210451U CN 201920883794 U CN201920883794 U CN 201920883794U CN 210210451 U CN210210451 U CN 210210451U
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Abstract
The utility model relates to a drive intelligent manipulator of accuse integration, including finger, palm, wrist and intelligent control module, the finger is installed in the palm, the palm is installed at the wrist top, intelligent control module installs in the wrist bottom. The mechanical arm of the utility model rotates through the motor driving gear, thereby controlling the opening and closing of the fingers, the finger moving precision is high, and the integration of electromechanical control is realized; the mechanical arm is in a modular design, low cost and high universality are realized, and the application of the mechanical arm can greatly expand the application potential of the mechanical arm in the fields of service industry, special environments and agricultural automation.
Description
Technical Field
The utility model relates to a manipulator field, concretely relates to drive intelligent electric manipulator of accuse integration.
Background
The function and performance of the manipulator, which is the executing part of the manipulator system and the external operation object, directly influence and even determine the performance of the whole robot system. With the rise of the mechanical arm industry in China, particularly after a cooperation robot represented by UR is rapidly popularized and applied, the demand for a smart mechanical arm capable of executing complex functions is increased. At present, the smart manipulator which can execute complex functions at home and abroad is mostly used in the fields of scientific research and national defense due to the fact that the cost is not high, and the application range of the manipulator is limited.
The utility model provides a two indicate manipulators of low-cost, high performance and commonality are strong still belongs to the equipment of shortage at present domestically, and two present indicate manipulators have following problem: poor control of the motion precision of the end finger; and external equipment is required for debugging.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a drive intelligent electric manipulator of accuse integration for dexterous manipulator among the solution prior art is with high costs, the poor problem of motion accuracy control.
The utility model provides a drive-control integrated intelligent electric manipulator, which comprises fingers, a palm, a wrist and an intelligent control module, wherein the fingers are arranged on the palm, the palm is arranged at the top of the wrist, and the intelligent control module is arranged at the bottom of the wrist;
the palm comprises a palm body and two sliding blocks, fingers are fixedly arranged on the two sliding blocks, two notches are symmetrically formed in the palm body in the center, the two sliding blocks are respectively embedded into the two notches in a sliding mode, and racks are arranged on the inner sides of the two sliding blocks;
the wrist comprises a wrist body, a speed reducer, a motor and a circuit board are mounted in the wrist body, the speed reducer is mounted above the motor and connected with a rotating shaft of the motor, an output end of the speed reducer is connected with a gear, the gear is arranged between two racks and meshed with the two racks, magnetic beads are mounted at the bottom of the rotating shaft of the motor, and the magnetic beads are located above the circuit board and are opposite to a magnetic induction area of the circuit board;
the intelligent control module comprises a control base, a control core body and a cable, wherein the control core body is installed inside the control base and connected with the cable, an elastic thimble male head is embedded in the control core body, an elastic thimble female head is embedded in the circuit board, and the control core body is connected with the circuit board through triggering of the elastic thimble male head and the elastic thimble female head.
Further, the bottom of the finger is fixedly installed on the sliding block through a bolt, the finger and the sliding block are provided with through holes, and a positioning pin is installed in the through holes and used for achieving accurate positioning of the finger.
Furthermore, a display screen and keys are arranged on the palm and connected with the circuit board.
Further, an LED lamp is mounted on the wrist and connected with the circuit board.
Furthermore, the output end of the speed reducer is connected with a gear through a flat key, the gear is sleeved on the flat key, a positioning groove is formed in the gear, and the flat key is clamped into the positioning groove.
Further, the motor brake device further comprises a brake connected with the motor, and the brake is installed at the bottom of the motor.
Furthermore, still include the spring sheath, the spring sheath cover is established on the cable and is set up in the contact position of cable and control base for the protection cable avoids bending the wearing and tearing because of external force.
Furthermore, a plurality of lightening holes are formed in the wrist body and used for lightening the weight.
Furthermore, a camera support is further installed on the wrist, a camera is installed on the camera support, and the camera is connected with the circuit board.
Adopt above-mentioned the utility model discloses technical scheme's beneficial effect is:
the mechanical arm of the utility model rotates through the motor driving gear, thereby controlling the opening and closing of the fingers, the finger moving precision is high, and the integration of electromechanical control is realized;
the mechanical arm is in a modular design, low cost and high universality are realized, and the application of the mechanical arm can greatly expand the application potential of the mechanical arm in the fields of service industry, special environment and agricultural automation;
the embedded display screen can directly set motion parameters in a key, a knob, a code disc and other modes;
the finger structure is diversified, and fingers with different structures can be selected according to the requirement of clamping products;
the shell is provided with lightening holes, so that the weight of the body is lightened.
Drawings
Fig. 1 is a schematic structural view of the driving and controlling integrated intelligent electric manipulator of the utility model;
FIG. 2 is a schematic view of the connection structure of the finger and the slider according to the present invention;
FIG. 3 is a schematic view of the connection structure of the fingers and the palm of the present invention;
FIG. 4 is a schematic view of the structure of the palm body of the present invention;
FIG. 5 is a schematic view of the wrist structure of the present invention;
FIG. 6 is a schematic view of the internal structure of the wrist of the present invention;
fig. 7 is a sectional view of the intelligent electric manipulator of the present invention;
FIG. 8 is a schematic view showing the connection relationship between the rack and the gear when the fingers are opened;
FIG. 9 is a schematic view showing the connection relationship between the rack and the gear when the fingers are closed;
FIG. 10 is a schematic diagram of the intelligent control module of the present invention;
fig. 11 is a schematic view of the bottom structure of the intelligent control module of the present invention;
FIG. 12 is a first schematic view of the finger structure of the present invention;
FIG. 13 is a schematic view of a finger structure of the present invention;
fig. 14 is a third schematic view of the finger structure of the present invention;
fig. 15 is a fourth schematic view of the finger structure of the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
10-the fingers of the hand are used,
20-palm, 2001-palm body, 2002-slider, 2003-key, 2004-display screen, 2005-locating pin, 2006-bolt, 200101-concave hole, 200102-groove, 200103-notch, 200201-rack,
30-a camera support, which is provided with a camera,
40-wrist, 4001-wrist body, 4002-gear, 4004-reducer, 4005-motor, 4006-brake, 4007 flat key, 4010-circuit board, 400102-lightening hole,
50-intelligent control module, 5001-control base, 5002-control core body, 5003-spring sheath, 5004-cable and 5005-elastic thimble male head.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1, the utility model provides a drive-control integrated intelligent electric manipulator, which comprises a finger 10, a palm 20, a wrist 40 and an intelligent control module 50, wherein the finger 10 is installed on the palm 20, the palm 20 is installed on the top of the wrist 40, and the intelligent control module 50 is installed on the bottom of the wrist 40;
2-4, the palm 20 comprises a palm body 2001 and two sliders 2002, the two sliders 2002 are fixedly provided with fingers 10 through bolts 2006, two notches 200103 are arranged in the palm body 2001 in a central symmetry manner, the two sliders 2002 are respectively inserted into the two notches 200103 in a sliding manner and can horizontally slide in the notches, and racks 200201 are arranged on the inner sides of the two sliders 2002;
as shown in fig. 5-7, the wrist 40 includes a wrist body 4001, a speed reducer 4004, a motor 4005 and a circuit board 4010 are installed in the wrist body 4001, the speed reducer 4004 is arranged above the motor 4005 and is connected with a rotating shaft of the motor 4005, the output end of the speed reducer 4004 is connected with a gear 4002 through a flat key 4007, the gear 4002 is sleeved on the flat key 4007, a positioning groove is arranged on the gear 4002, the flat key 4007 is clamped in the positioning groove, the output end of the speed reducer 4004 is connected with the gear 4002, the gear 4002 is arranged between the two racks 200201 and is meshed and connected with the two racks 200201, as shown in fig. 8-9, the gear 4002 rotates to drive the racks 200201 on both sides to move left and right, so as to open and close the fingers 10, magnetic beads are arranged at the bottom of a rotating shaft of the motor 4005, the magnetic beads are positioned above the circuit board 4010 and are opposite to a magnetic induction area of the circuit board 4010, and the circuit board 4010 controls the rotating speed and the rotating direction of the motor 4005;
as shown in fig. 10-11, the smart control module 50 includes a control base 5001, a control core 5002 and a cable 5004, the control core 5002 is installed inside the control base 5001, the control core 5002 is connected to the cable 5004, a male pin 5005 is embedded in the control core 5002, a female pin is embedded in the circuit board 4010, the control core 5002 is connected to the circuit board 4010 through the male pin 5005 and the female pin, and a display 2004 and a button 2003 are installed on the palm 20, wherein the display 2004 and the button 2003 are respectively embedded in a groove 200102 and a recess 200101 provided on the palm body 2001, the display 2004 and the button 2003 are connected to the circuit board 4010, and the motion parameters can be set directly through buttons, knobs, code disks and the like.
The working principle of the driving and controlling integrated intelligent electric manipulator of the embodiment is as follows: the cable 5004 supplies power to the control core 5002, the control core 5002 supplies power to the circuit board 4010 through the trigger connection circuit board 4010 of the elastic thimble male head 5005 and the elastic thimble female head, after the circuit board 4010 is electrified, a magnetic field is generated in a magnetic induction area on the circuit board 4010, magnetic beads sense the magnetic field, the motor 4005 is electrified, specific motion parameters are set through the display screen 2004 and the keys 2003 installed on the palm 20, and parameter information is transmitted to the circuit board 4010, the circuit board 4010 controls the electrification, the outage, the forward and reverse rotation and the rotating speed of the motor 4005, after the motor 4005 is electrified, the motor 4005 works, the increase of torque is realized through the speed reducer 4004, the torque is transmitted to the gear 4002, the gear 4002 is driven to rotate, the two racks 200201 are driven to move reversely, and then the closing and the opening of the fingers 10 are.
Specifically, through holes are arranged on the finger 10 and the slider 2002 in a facing manner, and a positioning pin 2005 is arranged in the through holes and used for realizing accurate positioning of the finger 10.
Specifically, install LED lamp 4008 on the wrist 40, LED lamp 4008 connecting circuit board 4010, LED lamp 4008 lights and indicates that the finger hand is circular telegram, and LED lamp 4008 does not light and indicates that the finger hand does not have the circular telegram, plays the warning effect, still install camera support 30 on the wrist 40, the installation camera on the camera support 30, camera connecting circuit board 4010 for catch the product position, the accurate clamp of the product of being convenient for is got.
The manipulator is characterized by further comprising a brake 4006 connected with the motor 4005, wherein the brake 4006 is installed at the bottom of the motor 4005, after the fingers 10 grab an object, the brake 4006 limits the rotation of the shaft of the motor 4005, so that the possibility that the motor 4005 rotates under the action of external force is prevented, the fingers 10 are opened, the grabbed object falls off accidentally, and the use safety of the manipulator is improved.
Specifically, still include spring sheath 5003, spring sheath 5003 cover is established on cable 5004 and is set up in the contact position of cable 5004 and control base 5001 for protect cable 5004, avoid bending the wearing and tearing because of external force.
Specifically, the wrist body 4001 is provided with a plurality of lightening holes 400102 for reducing weight.
The finger 10 is of a modular design, and the structure of the end of the finger can be set according to the actual product requirements, as shown in fig. 12-15, although fingers of other structures can be selected.
To sum up, the manipulator of the utility model drives the gear to rotate through the motor, so as to control the opening and closing of the fingers, the finger moving precision is high, and the electromechanical control integration is realized; the mechanical arm is in a modular design, low cost and high universality are realized, and the application of the mechanical arm can greatly expand the application potential of the mechanical arm in the fields of service industry, special environment and agricultural automation; the embedded display screen can directly set motion parameters in a key, a knob, a code disc and other modes; the finger structure is diversified, and fingers with different structures can be selected according to the requirement of clamping products; the shell is provided with lightening holes, so that the weight of the body is lightened.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (9)
1. A driving and controlling integrated intelligent electric manipulator is characterized by comprising fingers, a palm, a wrist and an intelligent control module, wherein the fingers are arranged on the palm, the palm is arranged at the top of the wrist, and the intelligent control module is arranged at the bottom of the wrist;
the palm comprises a palm body and two sliding blocks, fingers are fixedly arranged on the two sliding blocks, two notches are symmetrically formed in the palm body in the center, the two sliding blocks are respectively embedded into the two notches in a sliding mode, and racks are arranged on the inner sides of the two sliding blocks;
the wrist comprises a wrist body, a speed reducer, a motor and a circuit board are mounted in the wrist body, the speed reducer is mounted above the motor and connected with a rotating shaft of the motor, an output end of the speed reducer is connected with a gear, the gear is arranged between two racks and meshed with the two racks, magnetic beads are mounted at the bottom of the rotating shaft of the motor, and the magnetic beads are located above the circuit board and are opposite to a magnetic induction area of the circuit board;
the intelligent control module comprises a control base, a control core body and a cable, wherein the control core body is installed inside the control base and connected with the cable, an elastic thimble male head is embedded in the control core body, an elastic thimble female head is embedded in the circuit board, and the control core body is connected with the circuit board through triggering of the elastic thimble male head and the elastic thimble female head.
2. The drive-control integrated intelligent electric manipulator as claimed in claim 1, wherein the bottom of the finger is fixedly mounted on the sliding block through a bolt, the finger and the sliding block are provided with through holes in a right-to-right manner, and a positioning pin is mounted in the through holes and used for realizing accurate positioning of the finger.
3. The drive-control integrated intelligent electric manipulator of claim 1, wherein a display screen and keys are mounted on the palm, and the display screen and the keys are connected with a circuit board.
4. The drive-control integrated intelligent electric manipulator of claim 1, wherein an LED lamp is mounted on the wrist and connected with a circuit board.
5. The drive-control integrated intelligent electric manipulator of claim 1, wherein the output end of the speed reducer is connected with a gear through a flat key, the gear is sleeved on the flat key, a positioning groove is formed in the gear, and the flat key is clamped into the positioning groove.
6. The drive-control integrated intelligent electric manipulator of claim 1, further comprising a brake connected with the motor, wherein the brake is installed at the bottom of the motor.
7. The drive-control integrated intelligent electric manipulator of claim 1, further comprising a spring sheath, wherein the spring sheath is sleeved on the cable and arranged at a contact position of the cable and the control base, and is used for protecting the cable and avoiding bending abrasion due to external force.
8. The drive-control integrated intelligent electric manipulator as claimed in claim 1, wherein a plurality of lightening holes are formed in the wrist body for lightening weight.
9. The drive-control integrated intelligent electric manipulator of claim 1, wherein a camera support is further mounted on the wrist, a camera is mounted on the camera support, and the camera is connected with a circuit board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920883794.9U CN210210451U (en) | 2019-06-13 | 2019-06-13 | Driving and controlling integrated intelligent electric manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920883794.9U CN210210451U (en) | 2019-06-13 | 2019-06-13 | Driving and controlling integrated intelligent electric manipulator |
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| Publication Number | Publication Date |
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| CN210210451U true CN210210451U (en) | 2020-03-31 |
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| CN201920883794.9U Active CN210210451U (en) | 2019-06-13 | 2019-06-13 | Driving and controlling integrated intelligent electric manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253614A (en) * | 2019-06-13 | 2019-09-20 | 苏州钧舵机器人有限公司 | One kind controling integrated intelligent electric machinery hand |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253614A (en) * | 2019-06-13 | 2019-09-20 | 苏州钧舵机器人有限公司 | One kind controling integrated intelligent electric machinery hand |
| WO2020248587A1 (en) * | 2019-06-13 | 2020-12-17 | 苏州钧舵机器人有限公司 | Intelligent electric manipulator integrating drive and control functions |
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