CN215037584U

CN215037584U - Intelligent carrying manipulator

Info

Publication number: CN215037584U
Application number: CN202121575955.1U
Authority: CN
Inventors: 孙英瑞; 霍慧芝
Original assignee: Guizhou Education University
Current assignee: Guizhou Education University
Priority date: 2021-07-12
Filing date: 2021-07-12
Publication date: 2021-12-07
Anticipated expiration: 2031-07-12

Abstract

The utility model discloses an intelligent carrying manipulator which is a simulation hand and comprises an arm support, a support shaft, a palm frame, a paw, a universal joint, a motor and a first telescopic rod; the hand claws are arranged to be five consistent with the human hand and comprise fixed hand claws and movable hand claws, the movable hand claws are arranged into three sections, the movable hand claws and the fixed hand claws are connected in a switching mode through rotating shafts, the fixed hand claws are fixedly arranged on a palm frame, a ring sleeve is arranged on the hand claws, a steel wire is arranged on the movable hand claw at the topmost part, the steel wire penetrates through the ring sleeve to be connected to a motor or a telescopic device, a steel wire is arranged on the back of the hand claw and is connected to a spring; the problem of current transport manipulator be difficult to snatch globular object is solved.

Description

Intelligent carrying manipulator

Technical Field

The utility model relates to a manipulator equipment technical field, concretely relates to intelligence transport manipulator.

Background

Along with the continuous improvement of industrial automation, intelligent control equipment is also rapidly developed, a large number of mechanical arms are used for replacing manual work on a production line, the manual work is liberated from heavy and repetitive work, particularly for some high-risk complex and high-repetition-rate work, the application of the mechanical arms liberates manual labor force, and more importantly, the precision and the accuracy of the mechanical arms can reach the manual degree, even the precision of some special industries such as the microelectronic industry exceeds the manual work, and the speed and the efficiency of the work are greatly increased. However, the robot has another disadvantage that the robot is difficult to control due to its high degree of freedom, and in addition to the high-precision robot used in the high-precision industry, a robot used in many places is selected to be a relatively low robot due to its control cost, maintenance cost, and the like. For a manipulator with low precision requirement, the power output part is usually a servo motor, and the driving of the arm is performed pneumatically. To ordinary transport, the transport manipulator that adopts the area clip commonly used, this kind of manipulator have a very big defect exactly, to globular object, because the limitation that opens and shuts of clip, press from both sides and get and transport all very difficulty to globular object, all press from both sides the shakiness many times, this has just caused often object landing in the handling.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an intelligence transport manipulator solves the problem that current transport manipulator is difficult to snatch globular object.

In order to solve the technical problem, the utility model adopts the following technical scheme:

an intelligent carrying manipulator is a simulation hand and comprises an arm support, a support shaft, a palm frame, a paw, a universal joint, a motor and a first telescopic rod; the top of the supporting shaft is provided with a motor groove, and the motor is embedded in the motor groove; the palm frame is a square block, and the universal joint is arranged between the palm frame and the supporting shaft; the hand claw sets up to five consistent with the staff, including fixed hand claw and activity hand claw, the activity hand claw sets up to the three section, and activity hand claw and fixed hand claw pass through the pivot switching, and fixed hand claw is fixed to be set up on the palm frame, has the snare on the hand claw, is provided with the steel wire on the activity hand claw at top, and the steel wire passes the snare and is connected to motor or expansion bend, is provided with the steel wire at the back of hand claw, and the steel wire is connected to the spring.

Furthermore, the fixed paw is arched, and a first telescopic rod is arranged between the fixed paw and the middle lower part of the first movable paw at the upper part of the fixed paw; the steel wire on the back is provided with a fixed sleeve which is arranged on the side wall.

Furthermore, the loop on the topmost movable paw is arranged at the center of the movable paw, the loop on the middle movable paw is arranged at two ends, the loop on the bottommost movable paw is arranged at the middle part, the fixed paw is provided with a loop, and the supporting shaft is provided with a loop.

Furthermore, the snares on each paw are arranged into a group, and each group of snares is connected to a motor or a telescopic device.

Furthermore, the thumb paw is not provided with a fixed paw, and the movable paw is directly connected to the palm frame in a rotating mode.

Furthermore, the movable paw and the fixed paw are connected in a switching mode through the second universal rotating head.

Furthermore, the thumb paw is connected with the palm frame through the second universal rotating head in a switching mode, and the middle movable paw is connected with the lowermost movable paw through the second universal rotating head in a switching mode.

Furthermore, a second telescopic rod is arranged on the side surface of the middle movable paw and connected with the palm frame; the side surface of the movable paw at the lowest part is provided with a third telescopic rod connected with the arm support, and the joint of the third telescopic rod and the arm support is provided with a first universal rotating head.

Further, be provided with the auxiliary shaft between palm frame and arm support, the auxiliary shaft sets up to the quill, and both ends pass through first universal rotating head and articulate respectively on palm frame and arm support.

Furthermore, a bearing is arranged in the middle of the supporting shaft, a round hole is formed in the outer ring of the bearing, and the auxiliary shaft penetrates through the round hole.

Compared with the prior art, the beneficial effects of the utility model are that:

this device snatchs spherical article through setting up artificial hand, makes things convenient for snatching of spherical article, has solved the problem that current transport manipulator is difficult to snatch spherical object.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

In the figure, an arm support (1), a support shaft (2), a palm frame (3), a paw (4), an auxiliary shaft (5), a universal joint (6), a bearing (7), a motor (8), a first universal rotating head (9), a fixed paw (10), a second universal rotating head (11), a first telescopic rod (11), a snare (13), a movable paw (14), a second telescopic rod (15) and a third telescopic rod (16).

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1:

as shown in the figure, the intelligent carrying manipulator is arranged into a simulation hand in the design, and the simulation hand comprises an arm palm and five fingers. The device comprises an arm support 1, a support shaft 2, a palm frame 3, a paw 4, a universal joint 6, a motor 8 and a first telescopic rod 11. Specifically, in the device, the supporting shaft 2 is mainly used for supporting the whole palm and is also a main arm beam when grabbing an article. In order to facilitate the overturning of the palm, a motor groove is formed in the top of the supporting shaft 2, and the motor 8 is embedded in the motor groove. In order to facilitate the arrangement of the finger claws, the palm rest 3 of the device is arranged into a square block. For the purpose of facilitating the rotation, a universal joint 6 is provided between the palm rest 3 and the support shaft 2. In the device, the claws 4 are set to be five consistent with human hands, the claws 4 are set to be the fixed claws 10 and the movable claws 14, specifically, the movable claws 14 are set to be three sections, the three sections of the movable claws 14 are connected through a rotating shaft, the movable claws 14 can only rotate in one direction, the movable claws 14 are connected with the fixed claws 10 through rotating shafts, and the fixed claws 10 are fixedly arranged on the palm frame 3, so that the anti-true claws are formed. In order to control the paw to realize grabbing and putting down conveniently, the device is mainly used for grabbing spherical objects, only the folding and unfolding of fingers are realized, and complicated movement and control are not needed. Certainly, in order to prevent the paw 4 from being pulled backwards by an excessive spring when the paw is opened, a blocking piece can be arranged at the tail end of the front section of the movable paw 14 of the rotating shaft, and of course, the blocking piece can also be directly controlled by a telescopic device or a motor, and after all the components are connected, a layer of rubber leather sleeve is sleeved on the device to form a 'real hand'. Certainly, this device still needs corresponding supporting control, and this device can carry out unified control through multiple control mode, for example, simplest realization snatchs and releases, to need PLC programming control can, two action control convenience very, can also cooperate the sensor to adopt high-level computer language programming control certainly, for example, whether in order to detect and grab and hold the object, can set up pressure sensor on whole arm and be connected to the controller, if all set up pressure sensor on every section finger, some of high-level can set up touch sensor, if: a touch sensor, a force-moment sensor, a pressure sensor, a slip sensor, and the like may be used. This device snatchs spherical article through setting up artificial hand, makes things convenient for snatching of spherical article, has solved the problem that current transport manipulator is difficult to snatch spherical object.

Example 2:

in addition to the above embodiments, in the present embodiment, in order to control the movement of the gripper 4 more precisely, the fixed gripper 10 is configured to be arched, and the first telescopic rod 11 is disposed between the fixed gripper 10 and the middle lower portion of the first movable gripper 14 at the upper portion of the fixed gripper 10, so that the control of the movable gripper 14 at the lowest portion is controlled directly by the first telescopic rod 11, and the control is more precise. The steel wire on the back is provided with a fixed sleeve which is arranged on the side wall.

Example 3:

on the basis of the above embodiment, in the present embodiment, in order to control each finger, the snare 13 on the topmost movable gripper 14 of the present device is arranged at the center of the movable gripper 14, the snare 13 on the middle movable gripper 14 is arranged at both ends, the snare 13 on the bottommost movable gripper 14 is arranged at the middle, the snare 13 is arranged on the fixed gripper 10, the snare 13 is arranged on the support shaft 2, and the snare 13 of each finger is provided with a wire connection for control.

Example 4:

on the basis of the above embodiment, in the present embodiment, in order to control each paw separately, the snares 13 on each paw 4 are arranged as a group, and each group of snares 13 is connected to a motor or a retractor.

Example 5:

on the basis of the above embodiments, in the present embodiment, the thumb is a special finger, the actual thumb has one less joint than other fingers, the thumb paw 4 of the present device is not provided with the fixed paw 10, but the movable paw 14 is directly connected to the palm frame 3, so as to be closer to the actual paw.

Example 6:

on the basis of the above embodiment, in this embodiment, in order to realize the small-amplitude opening and closing between the claws 4, the device is adapted to connect the movable claw 14 and the fixed claw 10 through the second universal rotating head 11, and the two ends of the first telescopic rod 11 are also adapted through the rotating shaft, and one end of the movable claw 14 is further provided with a rotating rod to form a rocker, or two universal joints are directly adopted to replace the rocker. Meanwhile, the second universal rotating head 11 is set to be a universal rotating head with a return function, so that the arc-shaped object can be automatically adjusted according to the actual situation. Therefore, the steel wire at the back of the device is provided with a fixed sleeve which is arranged on the side wall. The control of the device is such that the side pull wire of the back will pull to one side to effect deflection and the extension of the first telescopic rod 12 will also effect deflection.

Example 7:

on the basis of the above embodiments, in this embodiment, in order to flexibly control the thumb, the thumb claw 4 is connected to the palm rest 3 through the second universal swivel 11, the middle movable claw 14 is connected to the lowest movable claw 14 through the second universal swivel 11, and the side surface of the middle movable claw 14 is provided with the second telescopic rod 15 connected to the palm rest 3; a third telescopic rod 16 is arranged on the side surface of the lowermost movable paw 14 and connected with the arm support 1, and a first universal rotating head 9 is arranged at the joint of the third telescopic rod and the arm support 1.

Example 8:

on the basis of the above embodiment, in this embodiment, a single universal joint cannot provide a large support, and in order to improve the strength of the support, the device is provided with the auxiliary shaft 5 between the palm frame 3 and the arm support 1, the auxiliary shaft 5 is set as a sleeve shaft, and two ends of the auxiliary shaft are respectively connected to the palm frame 3 and the arm support 1 through the first universal swivel 9, so that although the rotation angle of the palm frame 3 relative to the support shaft 2 is limited, the strength of the support is greatly improved.

Example 9:

on the basis of the above embodiments, in the present embodiment, in order to further improve the supporting strength, the bearing 7 is disposed in the middle of the supporting shaft 2, the outer ring of the bearing 7 is provided with a circular hole, and the auxiliary shaft 5 passes through the circular hole.

Reference throughout this specification to "one embodiment," "another embodiment," "an embodiment," "a preferred embodiment," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described generally in this application. The appearances of the same phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the scope of the invention to effect such feature, structure, or characteristic in connection with other embodiments.

Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this invention. More specifically, various variations and modifications are possible in the component parts and/or arrangements of the subject combination arrangement within the scope of the disclosure, the drawings and the appended claims. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.

Claims

1. The utility model provides an intelligence transport machinery hand which characterized in that: the manipulator is a simulation hand and comprises an arm support (1), a support shaft (2), a palm frame (3), a paw (4), a universal joint (6) and a motor (8); a motor groove is formed in the top of the supporting shaft (2), and the motor (8) is embedded in the motor groove; the palm frame (3) is arranged to be a square block, and the universal joint (6) is arranged between the palm frame (3) and the supporting shaft (2); the hand claw (4) sets up to five consistent with the people's hand, including fixed hand claw (10) and activity hand claw (14), activity hand claw (14) set up to the three section, activity hand claw (14) and fixed hand claw (10) are through the pivot switching, fixed hand claw (10) are fixed to be set up on palm frame (3), there is snare (13) on hand claw (4), be provided with the steel wire on activity hand claw (14) at top, the steel wire passes snare (13) and is connected to motor or expansion bend, be provided with the steel wire at the back of hand claw (4), the steel wire is connected to the spring.

2. An intelligent handling robot as recited in claim 1, wherein: the fixed paw (10) is arched, and a first telescopic rod (12) is arranged between the fixed paw (10) and the middle lower part of a first movable paw (14) at the upper part of the fixed paw (10); the steel wire on the back is provided with a fixed sleeve which is arranged on the side wall.

3. An intelligent handling robot as recited in claim 1, wherein: the snare (13) on the topmost movable paw (14) is arranged in the center of the movable paw (14), the snare (13) on the middle movable paw (14) is arranged at two ends, the snare (13) on the bottommost movable paw (14) is arranged in the middle, the snare (13) is arranged on the fixed paw (10), and the snare (13) is arranged on the support shaft (2).

4. An intelligent handling robot as recited in claim 3, wherein: the snares (13) on each paw (4) are arranged into a group, and each group of snares (13) is connected to a motor or a telescopic device.

5. An intelligent handling robot as recited in claim 1, wherein: the thumb paw (4) is not provided with a fixed paw (10), and the movable paw (14) is directly connected to the palm frame (3).

6. An intelligent handling robot as recited in claim 1, wherein: the movable paw (14) and the fixed paw (10) are connected in a switching mode through the second universal rotating head (11).

7. An intelligent handling robot as recited in claim 5, wherein: the thumb paw (4) is connected with the palm frame (3) in a switching mode through the second universal rotating head (11), and the middle movable paw (14) is connected with the lowermost movable paw (14) in a switching mode through the second universal rotating head (11).

8. An intelligent handling robot as recited in claim 7, wherein: a second telescopic rod (15) is arranged on the side surface of the middle movable paw (14) and connected with the palm frame (3); a third telescopic rod (16) is arranged on the side surface of the lowermost movable paw (14) and connected with the arm support (1), and a first universal rotating head (9) is arranged at the joint of the third telescopic rod and the arm support.

9. An intelligent handling robot as recited in claim 1, wherein: be provided with auxiliary shaft (5) between palm frame (3) and arm support (1), auxiliary shaft (5) set up to the quill, and both ends pass through first universal rotating head (9) and articulate respectively on palm frame (3) and arm support (1).

10. An intelligent handling robot as recited in claim 9, wherein: a bearing (7) is arranged in the middle of the supporting shaft (2), a round hole is formed in the outer ring of the bearing (7), and the auxiliary shaft (5) penetrates through the round hole.