CN210910056U - Intelligent electric manipulator based on outer rotor drive - Google Patents
Intelligent electric manipulator based on outer rotor drive Download PDFInfo
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- CN210910056U CN210910056U CN201921728433.3U CN201921728433U CN210910056U CN 210910056 U CN210910056 U CN 210910056U CN 201921728433 U CN201921728433 U CN 201921728433U CN 210910056 U CN210910056 U CN 210910056U
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Abstract
The utility model relates to an intelligence electric manipulator based on external rotor drive, including palm module and wrist module, the palm module is installed at wrist module top, the palm module includes the palm body, this internal central symmetry of palm sets up two slotted openings, equal embedding finger installation piece that slides in two slotted openings for install outside finger module. The manipulator of the utility model rotates through the external rotor motor driving gear, so as to control the opening and closing of the external finger module, the moving precision is high, the electromechanical control integration is realized, the heat dissipation sleeve is sleeved on the periphery of the external rotor motor, the motor wire is protected, and the motor wire is prevented from being cut and rubbed against the motor shell body to influence the rotation; through hall sensor control, sensitivity is high, and is small, realizes accurate control.
Description
Technical Field
The utility model relates to a manipulator technical field, concretely relates to intelligent electric manipulator based on external rotor drive.
Background
The manipulator is a novel device developed in the process of mechanization and automation production, and in the process of modern production, the manipulator is widely applied to an automatic production line, and the development and production of robots become a new technology rapidly developed in the high-tech field, so that the development of the manipulator is promoted, and the manipulator can be better organically combined with mechanization and automation. The manipulator has the characteristics of continuously and repeatedly working and working, not knowing fatigue, being not afraid of danger and having larger force for grabbing heavy objects than the manual force of people, but the existing two-finger manipulator has poor motion precision and needs external equipment for debugging, thereby influencing the working efficiency and the working quality.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an intelligent electric manipulator based on external rotor drive for solve the problem that the manipulator motion precision among the prior art is poor and debugging work efficiency is low.
The utility model provides an intelligent electric manipulator based on external rotor drive, including palm module and wrist module, the palm module is installed at wrist module top, the palm module includes the palm body, central symmetry sets up two slotted openings in the palm body, all slide embedding finger installation piece in two slotted openings for install outside finger module;
the wrist module comprises a wrist body, wherein a speed reducer, an outer rotor motor and a circuit board are arranged in the wrist body from top to bottom, the top of the speed reducer is fixed on a mounting plate, an output shaft of the speed reducer penetrates out of the mounting plate, a gear is arranged on the output shaft of the speed reducer, racks are arranged on the inner sides of two finger mounting blocks, the gear is arranged between the two racks and is meshed with the two racks, the speed reducer is connected with the outer rotor motor, a heat dissipation sleeve is sleeved on the periphery of the outer rotor motor, the top end of the heat dissipation sleeve is fixed on the mounting plate, the mounting plate is fixedly mounted on the wrist body through bolts, a Hall sensor is embedded in the outer rotor motor, the circuit board is provided with a control unit, an output port and an input port, the outer rotor motor is connected with, the input interface is connected with an external adapter.
Furthermore, two the outer end of long notch sets up the stopper, the stopper is installed on the palm body.
Furthermore, finger mounting holes are formed in the tops of the finger mounting blocks and used for positioning and mounting the finger modules.
Further, an LED lamp is installed on the wrist body and connected with the circuit board.
Furthermore, the brake is connected with the outer rotor motor, the brake is arranged at the bottom of the outer rotor motor, and the brake is arranged on the heat dissipation sleeve.
Furthermore, a visual mounting hole is further formed in the wrist body and used for mounting a visual module.
Furthermore, the bottom of the wrist body is provided with an adapter mounting hole for mounting an adapter.
Adopt above-mentioned the utility model discloses technical scheme's beneficial effect is:
the manipulator of the utility model rotates through the external rotor motor driving gear, so as to control the opening and closing of the external finger module, the moving precision is high, the electromechanical control integration is realized, the heat dissipation sleeve is sleeved on the periphery of the external rotor motor, the motor wire is protected, and the motor wire is prevented from being cut and rubbed against the motor shell body to influence the rotation;
through hall sensor control, sensitivity is high, and is small, realizes accurate control.
Drawings
Fig. 1 is a structural schematic diagram of an intelligent electric manipulator based on external rotor driving according to the present invention;
fig. 2 is a cross sectional view of the intelligent electric manipulator based on external rotor driving of the utility model;
fig. 3 is a schematic structural diagram of an internal driving assembly of the intelligent electric manipulator based on external rotor driving according to the present invention;
fig. 4 is a structural schematic diagram of an internal driving assembly of the intelligent electric manipulator based on external rotor driving of the utility model ii;
fig. 5 is a structural schematic diagram of an intelligent electric manipulator based on external rotor driving according to the present invention;
fig. 6 is a bottom view of the intelligent electric manipulator based on external rotor driving of the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1-palm body, 2-finger mounting block, 3-wrist body, 4-speed reducer, 5-external rotor motor, 6-circuit board, 7-mounting board, 8-gear, 9-heat dissipation sleeve, 10-input port, 11-limiting block, 12-finger mounting hole, 13-LED lamp, 14-brake, 15-visual mounting hole and 16-adapter mounting hole.
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 an intelligent electric manipulator based on external rotor drive, which comprises a palm module and a wrist module, wherein the palm module is arranged at the top of the wrist module, the palm module comprises a palm body 1, two long grooves are symmetrically arranged in the palm body 1, and finger mounting blocks 2 are respectively embedded in the two long grooves in a sliding manner and used for mounting external finger modules;
the wrist module comprises a wrist body 3, as shown in fig. 2-4, a speed reducer 4, an external rotor motor 5 and a circuit board 6 are arranged in the wrist body 3 from top to bottom, the top of the speed reducer 4 is fixed on a mounting plate 7, an output shaft of the speed reducer 4 penetrates out of the mounting plate 7, a gear 8 is mounted on the output shaft of the speed reducer 4, racks are arranged on the inner sides of the finger mounting blocks 2, the gear 8 is arranged between the two racks and meshed with the two racks, the speed reducer 4 is connected with the external rotor motor 5, a heat dissipation sleeve 9 is sleeved on the periphery of the external rotor motor 5, the top end of the heat dissipation sleeve 9 is fixed on the mounting plate 7, a plurality of heat dissipation holes are arranged on the heat dissipation sleeve 9, the mounting plate 7 is fixedly mounted on the wrist body 3 through embedded bolts, a hall sensor is arranged in the external rotor motor 5, The external rotor motor 5 is connected with an output interface, the Hall sensor is electrically connected with the control unit, and the input interface is connected with an external adapter.
Preferably, two the outer end of long notch sets up stopper 11 for machinery is spacing, surpasss the stroke when avoiding pointing installation piece 2 operation, also can avoid the dust greasy dirt to get into, stopper 11 is installed on palm body 1, 2 tops of finger installation piece set up finger mounting hole 12, are used for the location installation to point the module.
Preferably, the wrist body 3 is provided with an LED lamp 13, the LED lamp 13 is connected with the circuit board 6, the LED lamp 13 is bright blue to indicate normal work, and the LED lamp 13 is bright red to indicate failure, so that a warning effect is achieved.
Preferably, the manipulator further comprises a brake 14 connected with the outer rotor motor 5, the brake 14 is arranged at the bottom of the outer rotor motor 5, the brake 14 is installed on the heat dissipation sleeve 9, after the finger module grips an object, the brake 14 limits the rotation of the outer rotor motor 5, so that the possible autorotation of the outer rotor motor 5 under the action of external force is prevented, the finger module is opened, the gripped object falls off accidentally, and the use safety of the manipulator is improved.
Specifically, as shown in fig. 5 to 6, a visual mounting hole 15 is further formed in the wrist body 3 for mounting a visual module, and an adapter mounting hole 16 is formed in the bottom of the wrist body 3 for mounting an adapter.
The working principle of the manipulator of the embodiment is as follows: the external adapter supplies power to the circuit board 6, the circuit board 6 is electrified, the Hall sensor judges the current motion state of the outer rotor motor 5 by detecting a Hall signal of the motor, a control unit of the circuit board 6 reads a signal fed back by the Hall sensor and controls three-phase output to drive the outer rotor motor 5, the electrification, the outage, the forward and reverse rotation and the rotating speed of the outer rotor motor 5 are controlled, after the outer rotor motor 5 is electrified, the outer rotor motor 5 works, the increase of torque is realized through the speed reducer 4, the torque is transmitted to the gear 8, the gear 8 is driven to rotate, the two racks are driven to move in the reverse direction, and then the external finger module is driven to close and open, so that the grabbing and releasing.
To sum up, the manipulator of the utility model drives the gear to rotate through the external rotor motor, and then controls the opening and closing of the external finger module, has high moving precision, realizes the integration of electromechanical control, is sleeved with the heat dissipation sleeve outside the external rotor motor, protects the motor wire, and prevents the motor wire from rubbing the motor shell body to influence the rotation; through hall sensor control, sensitivity is high, and is small, realizes accurate control.
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 (7)
1. The intelligent electric manipulator is characterized by comprising a palm module and a wrist module, wherein the palm module is mounted at the top of the wrist module and comprises a palm body, two long notches are formed in the palm body in a central symmetry manner, and finger mounting blocks are embedded into the two long notches in a sliding manner and used for mounting an external finger module;
the wrist module comprises a wrist body, wherein a speed reducer, an outer rotor motor and a circuit board are arranged in the wrist body from top to bottom, the top of the speed reducer is fixed on a mounting plate, an output shaft of the speed reducer penetrates out of the mounting plate, a gear is arranged on the output shaft of the speed reducer, racks are arranged on the inner sides of two finger mounting blocks, the gear is arranged between the two racks and is meshed with the two racks, the speed reducer is connected with the outer rotor motor, a heat dissipation sleeve is sleeved on the periphery of the outer rotor motor, the top end of the heat dissipation sleeve is fixed on the mounting plate, the mounting plate is fixedly mounted on the wrist body through bolts, a Hall sensor is embedded in the outer rotor motor, the circuit board is provided with a control unit, an output port and an input port, the outer rotor motor is connected with, the input port is connected with an external adapter.
2. The intelligent electric manipulator based on external rotor drive of claim 1, wherein the outer ends of the two long notches are provided with limit blocks, and the limit blocks are installed on the palm body.
3. The intelligent electric manipulator based on external rotor drive of claim 1, wherein finger mounting holes are formed in the tops of the finger mounting blocks for positioning and mounting the finger modules.
4. The intelligent electric manipulator based on external rotor drive of claim 1, wherein the wrist body is provided with an LED lamp, and the LED lamp is connected with a circuit board.
5. The intelligent electric manipulator based on external rotor drive of claim 1, further comprising a brake connected with the external rotor motor, wherein the brake is arranged at the bottom of the external rotor motor, and the brake is mounted on the heat dissipation sleeve.
6. The intelligent electric manipulator based on external rotor drive of claim 1, wherein the wrist body is further provided with a vision mounting hole for mounting a vision module.
7. The intelligent electric manipulator based on external rotor drive of claim 1, wherein the bottom of the wrist body is provided with an adapter mounting hole for mounting an adapter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921728433.3U CN210910056U (en) | 2019-10-15 | 2019-10-15 | Intelligent electric manipulator based on outer rotor drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921728433.3U CN210910056U (en) | 2019-10-15 | 2019-10-15 | Intelligent electric manipulator based on outer rotor drive |
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| Publication Number | Publication Date |
|---|---|
| CN210910056U true CN210910056U (en) | 2020-07-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921728433.3U Active CN210910056U (en) | 2019-10-15 | 2019-10-15 | Intelligent electric manipulator based on outer rotor drive |
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| CN (1) | CN210910056U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022134598A1 (en) * | 2020-12-21 | 2022-06-30 | 珠海格力电器股份有限公司 | Heat dissipation device and robot having same |
-
2019
- 2019-10-15 CN CN201921728433.3U patent/CN210910056U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022134598A1 (en) * | 2020-12-21 | 2022-06-30 | 珠海格力电器股份有限公司 | Heat dissipation device and robot having same |
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