CN213226247U

CN213226247U - A manipulator for intelligent manufacturing

Info

Publication number: CN213226247U
Application number: CN202021720142.2U
Authority: CN
Inventors: 彭雯; 肖潇
Original assignee: Hunan Industry Polytechnic
Current assignee: Hunan Industry Polytechnic
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2021-05-18
Anticipated expiration: 2030-08-18

Abstract

The utility model provides a manipulator for intelligent manufacturing, including the manipulator main part, the manipulator main part by with arm fixed connection's stand, fixed suit is in the ring at stand periphery middle part, rotate the several clamping jaw of being connected through articulated seat with the ring periphery, both ends are constituteed with the telescopic link that corresponds clamping jaw medial surface and stand periphery lower part articulated connection respectively, clamping jaw lower extreme inboard rotates through articulated seat respectively and installs the clamp plate, the clamp plate medial surface is equipped with soft clamping structure respectively, be equipped with the detection structure that is used for detecting the clamp plate angle on the clamping jaw respectively, clamp plate outside upper end and the difference fixedly connected with spring of corresponding clamping jaw medial surface. This device has realized every clamping jaw and the automatic judgement of object clamping point through a simple clamp plate and detection structure, compares some and has clamping jaw action detection or multi-angle video identification function, can realize the high-end manipulator cost of similar technological effect more cheap, and structural reliability is better, is fit for promoting in the intelligent manufacturing technical field.

Description

A manipulator for intelligent manufacturing

Technical Field

The utility model belongs to manipulator manufacturing field, specifically speaking are a manipulator for intelligent manufacturing.

Background

Present intelligent manufacturing is with manipulator cooperation video identification device and industrial computer, can carry out the centre gripping to all kinds of objects and take, to some spheres, oval, when ellipsoidal object carries out the centre gripping, firm in order to ensure the centre gripping of manipulator, need make the clamping jaw can hold more than half of the quilt clamp object, the clamping jaw can hold more than half of the object in its palm of the hand promptly, but present manipulator mostly can only guarantee can accurately clip the object, but can't judge by oneself whether the clamping point is in the latter half of object (whether hold in the palm of the hand with the object is great promptly), consequently take place the phenomenon such as object drops when the centre gripping fails or transports often, manipulator work efficiency has been restricted.

SUMMERY OF THE UTILITY MODEL

The utility model provides a manipulator for intelligence is made for solve the defect among the prior art.

The utility model discloses a following technical scheme realizes:

the utility model provides a manipulator for intelligent manufacturing, including the manipulator main part, the manipulator main part by with arm fixed connection's stand, fixed suit is in the ring at stand periphery middle part, rotate the several clamping jaw of being connected through articulated seat with the ring periphery, both ends are constituteed with the telescopic link that corresponds clamping jaw medial surface and stand periphery lower part articulated connection respectively, clamping jaw lower extreme inboard rotates through articulated seat respectively and installs the clamp plate, the clamp plate medial surface is equipped with soft clamping structure respectively, be equipped with the detection structure that is used for detecting the clamp plate angle on the clamping jaw respectively, clamp plate outside upper end and the difference fixedly connected with spring of corresponding clamping jaw medial surface.

According to the manipulator for intelligent manufacturing, the telescopic rod is an electric push rod with a force sensor, and is in circuit connection with an external manipulator control device.

According to the manipulator for intelligent manufacturing, the soft clamping structure comprises a rubber pad, and the upper end and the lower end of the inner side surface of the clamping plate are respectively and fixedly provided with the rubber pad.

The manipulator for intelligent manufacturing comprises a limit switch, wherein the limit switch is fixedly mounted on the inner side surface of the clamping jaw and is a pressing type limit switch, and the limit switch is also in circuit connection with an external manipulator control device.

The utility model has the advantages that: when the device is used, under the control of an external mechanical hand control device, the device is driven by a mechanical arm to move to the position above an object to be clamped, then the device descends, the object to be clamped enters the inner side of a clamping jaw, a telescopic rod contracts and pulls the clamping jaw to be folded inwards, the clamping jaw can clamp the object through the clamping plate to finish clamping work, after the clamping of the clamping jaw is finished, the external mechanical hand control device can detect the states of all the clamping plates through a detection structure, when the clamping points of all the clamping plates and the object are all located on the lower half part of the object, the detection structure can send signals to the external mechanical hand control device, the mechanical hand control device can determine that the object is successfully clamped after confirming that the signals of all the detection structures are received; if one or more clamping points of the clamping jaws and the object are positioned on the upper half part of the object, namely, some clamping jaws do not hold the object, the detection structures on the one or more clamping jaws do not send signals, and the manipulator control device drives the clamping jaws to firstly loosen the object and then clamp the object again when not receiving the signals of all the detection structures until all the clamping jaws are clamped on the lower half part of the object; this device has realized every clamping jaw and the automatic judgement of object clamping point through a simple clamp plate and detection structure, compares some and has clamping jaw action detection or multi-angle video identification function, can realize the high-end manipulator cost of similar technological effect more cheap, and structural reliability is better, is fit for promoting in the intelligent manufacturing technical field.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of the present invention; FIG. 2 is an enlarged view of section I of FIG. 1; fig. 3 is a schematic diagram of the clamping failure state of the present invention.

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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The utility model provides a manipulator for intelligent manufacturing, as shown in the figure, including the manipulator main part, the manipulator main part is by the stand 1 with arm fixed connection, fixed suit is in the ring 11 at stand 1 periphery middle part, rotate the several clamping jaw 12 of being connected through articulated seat with ring 11 periphery, both ends are constituteed with the telescopic link 13 that corresponds 12 medial surfaces of clamping jaw and stand 1 periphery lower part articulated connection respectively, clamping jaw 12 lower extreme inboard rotates through articulated seat respectively and installs clamp plate 2, clamp plate 2 is located its middle part with the pin joint that corresponds

clamping jaw

12, 2 medial surfaces of clamp plate are equipped with soft clamping structure respectively, be equipped with the detection structure that is used for detecting 2 angles of clamp plate on the clamping jaw 12 respectively, 2 outside upper ends of clamp plate and the corresponding 12 medial surfaces of clamping jaw are fixedly connected with spring 3 respectively, spring 3 can give 2 the power that keep vertical state. When the device is used, under the control of an external mechanical hand control device, the device is driven by a mechanical arm to move to the position above an object to be clamped, then the device descends, the object to be clamped enters the inner side of a clamping jaw 12, a telescopic rod 4 contracts and pulls the clamping jaw 12 to draw in towards the inner side, the clamping jaw 12 clamps the object through a clamping plate 2 to finish clamping work, after the clamping of the clamping jaw 12 is finished, the external mechanical hand control device can detect the states of all the clamping plates 2 through a detection structure, when all clamping points of all the clamping plates 2 and the object are located on the lower half part of the object, the detection structure can send signals to the external mechanical hand control device, the mechanical hand control device can determine that the object is successfully clamped after confirming that the signals of all the detection structures are; if one or more clamping points of the clamping jaws 12 and the object are positioned on the upper half part of the object, namely, some clamping jaws 12 do not hold the object, the detection structure on the one or more clamping jaws 12 does not send a signal, and the manipulator control device drives the clamping jaws 1 to firstly loosen the object and then clamp the object again when not receiving the signals of all the detection structures until all the clamping jaws 12 are clamped on the lower half part of the object; this device has realized every clamping jaw 12 and object clamping point's automatic judgement through a simple clamp plate 2 and detection structure, compares some and has clamping jaw action detection or multi-angle video identification function, can realize the high-end manipulator cost of similar technological effect more cheap, and structural reliability is better, is fit for promoting in the intelligent manufacturing technical field.

Specifically, as shown in fig. 1, the telescopic rod 13 according to the present embodiment is an electric push rod with a force sensor, and the telescopic rod 13 is electrically connected to an external manipulator control device. The telescopic rods 13 are independently arranged for each clamping jaw 12 to provide power, the clamping jaws can better clamp the surfaces of spherical and ovoid objects, and the external manipulator control device can adjust the contraction length of the telescopic rods 13 through the tension fed back by each telescopic rod 13, so that the clamping force of each clamping jaw 12 on the clamped objects is ensured to be the same.

Specifically, as shown in fig. 1, the soft clamping structure of the present embodiment includes rubber pads 21, and the upper and lower ends of the inner side surface of the clamping plate 2 are respectively and fixedly mounted with the rubber pads 21. Adopt rubber pad 21 on the one hand can be tightly pressed from both sides with the better laminating of the arc curved surface of by centre gripping article, increase frictional force between the two, the rubber pad can avoid the fish tail by the clamping object surface simultaneously.

Further, as shown in fig. 1, this embodiment the detection structure includes limit switch 4, there is limit switch 4 fixed mounting respectively on the clamping jaw 12 medial surface, limit switch 4 is located respectively between the articulated shaft of spring 3 on the corresponding clamping jaw 12 and pinch-off blades 2, limit switch 4 is the push type limit switch, the push type limit switch comprises stiff end and the activity end that can press flexible, limit switch 4's expansion end orientation corresponds in the aspect of pinch-off blades 2, push type limit switch is current mature technique, it is no longer repeated here, limit switch 4 is equally with outside manipulator controlling means circuit connection. When the clamping point of the clamping jaw 12 and the surface of the object is located at the lower half part of the object, taking fig. 1 as an example, as the object is in a spherical shape or an oval shape, the clamping plate 2 can be attached to the surface of the clamping point, so that the upper end of the clamping plate 2 can deflect towards the direction close to the corresponding clamping jaw 12, the clamping plate 2 can press the corresponding limit switch 4, the limit switch 4 can send a signal to an external manipulator control device, the external manipulator control device can continue the transferring action of the manipulator only after receiving the signals of all the limit switches 4, otherwise, the clamping action can be carried out again after the manipulator is controlled to be loosened; when the clamping point is located in the upper half of the object, as shown in fig. 3, the upper end of the clamping plate 2 will deflect away from the corresponding clamping jaw 12, and the clamping plate 2 will not press the limit switch 4.

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 it; 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 technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. The utility model provides a manipulator for intelligent manufacturing, includes the manipulator main part, the manipulator main part by with arm fixed connection's stand (1), fixed suit in ring (11) at stand (1) periphery middle part, rotate several clamping jaw (12) of being connected through articulated seat with ring (11) periphery, both ends respectively with correspond clamping jaw (12) medial surface and stand (1) periphery articulated telescopic link (13) of being connected in lower part and constitute its characterized in that: clamping plate (2) are installed through articulated seat rotation respectively to clamping jaw (12) lower extreme inboard, and clamping plate (2) medial surface is equipped with soft clamping structure respectively, is equipped with the detection structure that is used for detecting clamping plate (2) angle on clamping jaw (12) respectively, and clamping plate (2) outside upper end and corresponding clamping jaw (12) medial surface are fixedly connected with spring (3) respectively.

2. The robot hand for smart manufacturing of claim 1, wherein: the telescopic rod (13) is an electric push rod with a force sensor, and the telescopic rod (13) is in circuit connection with an external manipulator control device.

3. The robot hand for smart manufacturing of claim 1, wherein: the soft clamping structure comprises a rubber pad (21), and the upper end and the lower end of the inner side surface of the clamping plate (2) are respectively and fixedly provided with the rubber pad (21).

4. The robot hand for smart manufacturing of claim 1, wherein: the detection structure comprises a limit switch (4), the inner side faces of the clamping jaws (12) are respectively and fixedly provided with the limit switch (4), the limit switch (4) is a pressing type limit switch, and the limit switch (4) is also in circuit connection with an external manipulator control device.