CN213054885U

CN213054885U - Intelligent manipulator with adjustable gripping strength

Info

Publication number: CN213054885U
Application number: CN202021556219.7U
Authority: CN
Inventors: 王宏强
Original assignee: Wuxi Langqi Metal Technology Co ltd
Current assignee: Wuxi Langqi Metal Technology Co ltd
Priority date: 2020-07-31
Filing date: 2020-07-31
Publication date: 2021-04-27
Anticipated expiration: 2030-07-31

Abstract

The utility model relates to a mechanical automation technical field specifically is an intelligent mechanical hand with adjustable gripping strength, including the arm, the arm right-hand member is connected with robotic wrist, the last rack track that is equipped with of robotic wrist, be equipped with the slip track between rack track and the robotic wrist, be equipped with the slider on the slip track, the slider right-hand member is equipped with the one-level pivot, install the gear in the one-level pivot, install the one-level finger in the one-level pivot, the motor case is installed in the one-level finger outside. Be equipped with the rack track in mechanical finger and wrist junction, can be according to the article that snatchs, can adjust two fingers to the pressure of the centre gripping article, be equipped with the second grade motor in the joint department of finger and be used for adjusting the size of finger to snatching the article grip, this device can be according to the article parameter that will snatch in the production, and then automatically regulated gripping strength, convenience more, high efficiency.

Description

Intelligent manipulator with adjustable gripping strength

Technical Field

The utility model relates to a mechanical automation technical field specifically is an intelligent manipulator with adjustable gripping strength.

Background

The manipulator can replace the heavy labor of people to realize the mechanization and automation of production, thereby being widely applied to the departments of mechanical manufacture, metallurgy, electronics and the like. In production, the manipulator automatically grabs, carries and operates materials according to a given program; however, the conventional robot cannot adjust the gripping force, and the robot cannot firmly grip a small-sized object, while the robot may damage the object for a large-sized object, and therefore, the existing robot needs to be improved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an intelligent machine hand with adjustable gripping strength to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: an intelligent manipulator with adjustable gripping force comprises a mechanical arm, wherein the right end of the mechanical arm is connected with a mechanical wrist, the mechanical wrist is provided with a rack rail, a sliding rail is arranged between the rack rail and the mechanical wrist, a slide block is arranged on the sliding track, a primary rotating shaft is arranged at the right end of the slide block, a gear is arranged on the primary rotating shaft, a first-stage finger is arranged on the first-stage rotating shaft, a motor box is arranged outside the first-stage finger, the right end of the first-stage finger is connected with a second-stage finger, a second-stage rotating shaft is arranged inside the joint of the first-stage finger and the second-stage finger, a transmission gear is arranged on the second-stage rotating shaft, a bearing is arranged outside the joint, the finger-type hand-operated clamp is characterized in that a second-stage motor is arranged inside the first-stage finger, a chain is arranged between the second-stage motor and the transmission gear, and the first-stage finger and the second-stage finger are respectively provided with a pressure sensor.

Preferably, the mechanical wrist is of a cylindrical structure and is connected to the right side of the mechanical arm, and the rack rail is installed on one diameter of the circular surface at the right end of the mechanical wrist.

Preferably, the sliding rail is a groove at the joint of the rack rail and the mechanical wrist, the slider is of a plate-shaped structure, the left end of the slider is provided with a protrusion and is clamped in the sliding rail, the right end of the slider is fixed on the first-level rotating shaft, and the sliders are symmetrically arranged on two sides of the rack rail.

Preferably, the gear is fixed in the one-level pivot, and the gear is located between two sliders, and the one-level finger is cuboid tubular structure, and the upper and lower pipe wall of its left end is open structure, and the pipe wall is fixed in the one-level pivot and is located the outside of two sliders around the one-level finger left end.

Preferably, one end of the primary rotating shaft is located inside the motor box, a turbine is arranged at the end of the primary rotating shaft, the turbine is connected with a worm, and the worm is connected with a primary motor.

Preferably, the mechanical wrist is connected with two mechanical fingers, and the two fingers are symmetrically arranged and connected in the same way.

Compared with the prior art, the beneficial effects of the utility model are that: be equipped with the rack track in mechanical finger and wrist junction, can be according to the article that snatchs, can adjust two fingers to the pressure of the centre gripping article, be equipped with the second grade motor in the joint department of finger and be used for adjusting the size of finger to snatching the article grip, this device can be according to the article parameter that will snatch in the production, and then automatically regulated gripping strength, convenience more, high efficiency.

Drawings

FIG. 1 is a front view of the device of the present invention;

FIG. 2 is a top view of the device of the present invention;

FIG. 3 is a structural diagram of the inside of the motor case of the present invention;

FIG. 4 is a connection diagram of the finger joint structure of the present invention;

FIG. 5 is an enlarged view taken at A in FIG. 1;

fig. 6 is an enlarged view of fig. 2 at B.

In the figure: the mechanical arm comprises a mechanical arm 1, a mechanical wrist 2, a rack rail 3, a sliding rail 4, a sliding block 5, a primary rotating shaft 6, a turbine 61, a gear 7, a primary finger 8, a motor box 9, a worm 91, a primary motor 92, a secondary finger 10, a secondary rotating shaft 11, a transmission gear 111, a chain 112, a bearing 12, a secondary motor 13 and a pressure sensor 14.

Detailed Description

The technical solutions 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 the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 6, the present invention provides a technical solution: an intelligent manipulator with adjustable gripping force comprises a mechanical arm 1, wherein the right end of the mechanical arm 1 is connected with a mechanical wrist 2, a rack rail 3 is arranged on the mechanical wrist 2, a sliding rail 4 is arranged between the rack rail 3 and the mechanical wrist 2, a sliding block 5 is arranged on the sliding rail 4, a first-stage rotating shaft 6 is arranged at the right end of the sliding block 5, a gear 7 is arranged on the first-stage rotating shaft 6, a first-stage finger 8 is arranged on the first-stage rotating shaft 6, a motor box 9 is arranged on the outer side of the first-stage finger 8, a second-stage finger 10 is connected with the right end of the first-stage finger 8, a second-stage rotating shaft 11 is arranged inside a joint of the first-stage finger 8 and the second-stage finger 10, a transmission gear 111 is arranged on the second-stage rotating shaft 11, a bearing 12, the inside of the first-stage finger 8 is provided with a second-stage motor 13, a chain 112 is arranged between the second-stage motor 13 and a transmission gear 111, the first-stage finger 8 and the second-stage finger 10 are respectively provided with a pressure sensor 14 (L10C micro force sensors are suggested to be adopted), and the pressure sensors 14 are embedded on the inner side pipe walls of the first-stage finger 8 and the second-stage finger 10.

The mechanical wrist 2 is of a cylindrical structure and is connected to the right side of the mechanical arm 1, and the rack rail 3 is installed on one diameter of the circular surface at the right end of the mechanical wrist 2.

The sliding rail 4 is a groove at the joint of the rack rail 3 and the mechanical wrist 2, the slider 5 is of a plate-shaped structure, the left end of the slider is provided with a bulge and is clamped in the sliding rail 4, the right end of the slider 5 is fixed on the first-level rotating shaft 6, and the sliders 5 are symmetrically arranged on two sides of the rack rail 3 respectively.

The gear 7 is fixed on the first-level rotating shaft 6, the gear 7 is located between the two sliding blocks 5, the first-level finger 8 is of a cuboid tubular structure, the upper pipe wall and the lower pipe wall of the left end of the first-level finger are of an open structure, and the front pipe wall and the rear pipe wall of the left end of the first-level finger 8 are fixed on the first-level rotating shaft 6 and located on the outer sides of the two sliding blocks 5.

One end of the primary rotating shaft 6 is positioned in the motor box 9, a worm wheel 61 is arranged on the end, the worm wheel 61 is connected with a worm 92, and the worm 92 is connected with a primary motor 91.

The mechanical wrist 2 is connected with two mechanical fingers which are symmetrically arranged and have the same connecting mode.

The working principle is as follows: the device is characterized in that allowable pressure values between fingers and an object are set in a program for the object to be grabbed, the device is used for grabbing the object by adjusting a mechanical arm 1 and a mechanical wrist 2 through the set program, when the object is positioned between two fingers, a first-stage motor 92 is started, a gear 7 is driven to rotate through transmission of a worm 91 and a turbine 61, the gear 7 moves on a rack track 3 and drives the two fingers to move towards the middle to clamp the object, a second-stage motor 13 is started at the same time, a second-stage finger 10 is driven to rotate inwards through a chain 112, when the object is grabbed by the fingers, a pressure sensor 14 on the fingers is in contact with the object and uploads the pressure values between the fingers and the object, when the uploaded pressure value is smaller than the allowable pressure value, the two motors continue to rotate, the first-stage finger 8 and the second-stage finger 10 continue to rotate inwards, the two motors rotate reversely, so that fingers move outwards to reduce the gripping force of the manipulator.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an intelligent mechanical hand with adjustable gripping strength, includes arm (1), its characterized in that: the mechanical arm is characterized in that the right end of the mechanical arm (1) is connected with a mechanical wrist (2), a rack track (3) is arranged on the mechanical wrist (2), a sliding track (4) is arranged between the rack track (3) and the mechanical wrist (2), a sliding block (5) is arranged on the sliding track (4), a first-level rotating shaft (6) is arranged at the right end of the sliding block (5), a gear (7) is arranged on the first-level rotating shaft (6), a first-level finger (8) is arranged on the first-level rotating shaft (6), a motor box (9) is arranged on the outer side of the first-level finger (8), a second-level finger (10) is connected at the right end of the first-level finger (8), a second-level rotating shaft (11) is arranged inside a joint of the first-level finger (8) and the second-level finger (10), a transmission gear (111) is arranged on the second-level rotating, a chain (112) is arranged between the secondary motor (13) and the transmission gear (111), and the primary finger (8) and the secondary finger are respectively provided with a pressure sensor (14).

2. The intelligent manipulator with adjustable gripping power as claimed in claim 1, wherein: the mechanical wrist (2) is of a cylindrical structure and is connected to the right side of the mechanical arm (1), and the rack rail (3) is installed on one diameter of the circular face at the right end of the mechanical wrist (2).

3. The intelligent manipulator with adjustable gripping power as claimed in claim 1, wherein: the sliding rail (4) is a groove at the joint of the rack rail (3) and the mechanical wrist (2), the sliding block (5) is of a plate-shaped structure, the left end of the sliding block is provided with a protrusion and is clamped in the sliding rail (4), the right end of the sliding block (5) is fixed on the first-level rotating shaft (6), and the sliding block (5) is symmetrically arranged on two sides of the rack rail (3).

4. The intelligent manipulator with adjustable gripping power as claimed in claim 1, wherein: gear (7) are fixed in one-level pivot (6), and gear (7) are located between two slider (5), and one-level finger (8) are cuboid tubular structure, and the upper and lower pipe wall of its left end is open structure, and the pipe wall is fixed in the outside that just is located two slider (5) on one-level pivot (6) around the one-level finger (8) left end.

5. The intelligent manipulator with adjustable gripping power as claimed in claim 1, wherein: one end of the first-level rotating shaft (6) is located inside the motor box (9), a turbine (61) is arranged at one end of the first-level rotating shaft, the turbine (61) is connected with a worm (92), and the worm (92) is connected with a first-level motor (91).

6. The intelligent manipulator with adjustable gripping power as claimed in claim 1, wherein: the mechanical wrist (2) is connected with two mechanical fingers, and the two fingers are symmetrically arranged and are connected in the same way.