CN211193914U - Intelligent electric manipulator - Google Patents
Intelligent electric manipulator Download PDFInfo
- Publication number
- CN211193914U CN211193914U CN201921730245.4U CN201921730245U CN211193914U CN 211193914 U CN211193914 U CN 211193914U CN 201921730245 U CN201921730245 U CN 201921730245U CN 211193914 U CN211193914 U CN 211193914U
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- rotor motor
- circuit board
- outer rotor
- finger
- heat dissipation
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Abstract
The utility model relates to an intelligent electric manipulator, including the wrist body, this internal circuit board that sets up of wrist, reduction gear and external rotor electric machine, wrist body side fixed mounting connector, the input port of the inner connecting circuit board of connector, embedded hall sensor in the external rotor electric machine, hall sensor connecting circuit board, mounting panel and fixed connection gear are worn out to the output shaft of reduction gear, this internal central symmetry of palm sets up two slotted openings, equal slip embedding finger installation piece in two slotted openings, the mounting screw finger is passed through at every finger installation piece top, the inboard of finger installation piece all sets up the rack, the gear sets up between two racks and is connected with two rack toothing. The utility model discloses a two-way movement of two fingers of external rotor electric machine rotary drive realizes grabbing of article and puts, and the flexibility ratio is high, and through the state of hall sensor detection motor, the removal precision is further improved to the state simultaneously, realizes the accurate control of finger removal, improves manipulator work precision.
Description
Technical Field
The utility model relates to a manipulator field, concretely relates to intelligence electric manipulator.
Background
The manipulator is the earliest occurring industrial robot, which can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, and thus is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. However, the existing manipulator has relatively poor motion flexibility and poor working precision.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an intelligent electric manipulator for solve the relatively poor problem of the action flexibility ratio among the prior art.
The utility model provides an intelligent electric manipulator, which comprises a wrist body, wherein the wrist body is of a cuboid structure, a circuit board, a speed reducer and an external rotor motor are arranged in the wrist body, the speed reducer is connected with the external rotor motor and the speed reducer is arranged at the top of the external rotor motor, the circuit board is arranged on the inner wall of the wrist body and is arranged at one side of the speed reducer and the external rotor motor, the external rotor motor is connected with an output port of the circuit board, a connector is fixedly arranged at the side surface of the wrist body, the inner end of the connector is connected with an input port of the circuit board, a Hall sensor is embedded in the external rotor motor, the Hall sensor is connected with the circuit board, the speed reducer is fixed on a mounting plate, an output shaft of the, the palm is characterized in that two long groove openings are symmetrically formed in the palm body in the center, the finger mounting blocks are embedded into the two long groove openings in a sliding mode, fingers are mounted on the top of each finger mounting block through screws, racks are arranged on the inner sides of the finger mounting blocks, and the gears are arranged between the two racks and meshed with the two racks.
Further, the periphery of the outer rotor motor is provided with a heat dissipation plate, the heat dissipation plate is provided with a plurality of heat dissipation holes, and the top of the heat dissipation plate is installed on the installation plate.
Furthermore, a brake is installed at the bottom end of the heat dissipation plate and connected with the outer rotor motor for preventing the outer rotor motor from rotating accidentally.
Furthermore, two the outer end of long notch sets up the stopper, the stopper is installed on the palm body for it is spacing for the removal of finger.
Adopt above-mentioned the utility model discloses technical scheme's beneficial effect is:
the utility model discloses a two-way movement of two fingers of external rotor electric machine rotary drive realizes grabbing of article and puts, and the flexibility ratio is high, and through the state of hall sensor detection motor, the removal precision is further improved to the state simultaneously, realizes the accurate control of finger removal, improves manipulator work precision.
Drawings
Fig. 1 is a schematic structural view of the manipulator of the present invention;
fig. 2 is a sectional view of the manipulator of the present invention;
FIG. 3 is a diagram showing the connection state between the fingers and the palm of the utility model;
FIG. 4 is a schematic view of the module structure inside the wrist body of the present invention;
in the drawings, the components represented by the respective reference numerals are listed below:
1-wrist body, 2-circuit board, 3-reducer, 4-external rotor motor, 5-connector, 6-mounting plate, 7-gear, 8-palm body, 9-long notch, 10-finger, 11-heat dissipation plate, 12-brake, 13-limit block, 14-finger mounting block.
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 FIGS. 1-3, the utility model provides an intelligent electric manipulator, which comprises a wrist body 1, wherein the wrist body 1 is a cuboid structure, a circuit board 2, a speed reducer 3 and an external rotor motor 4 are arranged in the wrist body 1, the speed reducer 3 is connected with the external rotor motor 4, the speed reducer 3 is arranged at the top of the external rotor motor 4, the circuit board 2 is arranged on the inner wall of the wrist body 1, the circuit board 2 is arranged at one side of the speed reducer 3 and the external rotor motor 4, the external rotor motor 4 is connected with an output port of the circuit board 2, a connector 5 is fixedly arranged at the side surface of the wrist body 1, the inner end of the connector 5 is connected with an input port of the circuit board 2, a Hall sensor is embedded in the external rotor motor 4, the Hall sensor is connected with the circuit board 2, the speed reducer 3 is fixed on a, mounting panel 6 fixed mounting is on palm body 8, central symmetry sets up two long notch 9 in the palm body 8, equal slip embedding finger installation piece 14 in two long notch 9, the mounting screw 10 is passed through at 14 tops of every finger installation piece, the inboard of finger installation piece 14 all sets up the rack, gear 7 sets up between two racks and is connected with two rack toothing.
Preferably, as shown in fig. 4, the heat dissipation plate 11 is arranged on the periphery of the outer rotor motor 4 to protect motor wires and prevent the outer housing of the outer rotor motor 4 from being scratched by the outer rotor motor 4 to affect rotation, a plurality of heat dissipation holes are formed in the heat dissipation plate 11 to facilitate heat dissipation of the outer rotor motor 4, and the top of the heat dissipation plate 11 is installed on the installation plate 6.
Preferably, the brake 12 is installed at the bottom end of the heat dissipation plate 11, the brake 12 is connected with the outer rotor motor 4, and after the fingers 10 grasp an object, the brake 12 limits the rotation of the outer rotor motor 4, so that the outer rotor motor 4 is prevented from rotating under the action of external force, the fingers 10 are opened, the grasped object falls off accidentally, and the use safety of the manipulator is improved.
Preferably, two the outer end of long notch 9 sets up stopper 13, stopper 13 is installed on palm body 8 for it is spacing for the removal of pointing 10, avoid pointing 10 to remove and exceed the stroke, avoid the dust greasy dirt to get into simultaneously.
The working principle of the manipulator of the embodiment is as follows: the connector 5 is connected with electricity to directly supply power to the circuit board 2, the circuit board 2 supplies power to the outer rotor motor 4, the outer rotor motor 4 works after being electrified, the torque is increased through the speed reducer 3, the torque is transmitted to the gear 7 to drive the gear 7 to rotate, the two racks are driven to move in opposite directions, and then the fingers 10 are driven to close and open, so that grabbing and releasing actions are realized; the motion state of the outer rotor motor 4 is detected through the Hall sensor, the circuit board 2 reads signals fed back by the Hall sensor, the three-phase output is controlled to drive the outer rotor motor 4, the power-on, the power-off, the forward and reverse rotation and the rotating speed of the outer rotor motor 4 are controlled, the flexibility of the manipulator is high, and the moving precision is good.
To sum up, the utility model discloses a two-way movement of two fingers of external rotor electric machine rotary drive realizes grabbing of article and puts, and the flexibility ratio is high, and through the state of hall sensor detection motor, the removal precision is further improved to the state simultaneously, realizes the accurate control of finger removal, improves manipulator work precision.
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 (4)
1. An intelligent electric manipulator is characterized by comprising a wrist body, wherein the wrist body is of a cuboid structure, a circuit board, a speed reducer and an outer rotor motor are arranged in the wrist body, the speed reducer is connected with the outer rotor motor and is arranged at the top of the outer rotor motor, the circuit board is arranged on the inner wall of the wrist body and is arranged on one side of the speed reducer and the outer rotor motor, the outer rotor motor is connected with an output port of the circuit board, a connector is fixedly arranged on the side surface of the wrist body, the inner end of the connector is connected with an input port of the circuit board, a Hall sensor is embedded in the outer rotor motor and is connected with the circuit board, the speed reducer is fixed on a mounting plate, an output shaft of the speed reducer penetrates out of the mounting plate, the palm is characterized in that two long groove openings are symmetrically formed in the palm body in the center, the finger mounting blocks are embedded into the two long groove openings in a sliding mode, fingers are mounted on the tops of the finger mounting blocks through screws, racks are arranged on the inner sides of the finger mounting blocks, and the gears are arranged between the two racks and meshed with the two racks.
2. The intelligent electric manipulator as claimed in claim 1, wherein a heat dissipation plate is disposed around the outer rotor motor, a plurality of heat dissipation holes are disposed on the heat dissipation plate, and the top of the heat dissipation plate is mounted on the mounting plate.
3. The intelligent electric manipulator as claimed in claim 2, wherein a brake is mounted at the bottom end of the heat dissipation plate, and the brake is connected with the outer rotor motor for preventing the outer rotor motor from rotating accidentally.
4. The intelligent electric manipulator 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 and used for limiting the movement of the fingers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921730245.4U CN211193914U (en) | 2019-10-15 | 2019-10-15 | Intelligent electric manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921730245.4U CN211193914U (en) | 2019-10-15 | 2019-10-15 | Intelligent electric manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211193914U true CN211193914U (en) | 2020-08-07 |
Family
ID=71854736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921730245.4U Active CN211193914U (en) | 2019-10-15 | 2019-10-15 | Intelligent electric manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211193914U (en) |
-
2019
- 2019-10-15 CN CN201921730245.4U patent/CN211193914U/en active Active
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