CN215358444U - A precise positioning and grabbing device for intelligent manufacturing - Google Patents
A precise positioning and grabbing device for intelligent manufacturing Download PDFInfo
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- CN215358444U CN215358444U CN202121476071.0U CN202121476071U CN215358444U CN 215358444 U CN215358444 U CN 215358444U CN 202121476071 U CN202121476071 U CN 202121476071U CN 215358444 U CN215358444 U CN 215358444U
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Abstract
本实用新型公开了一种智能制造用精准定位抓取设备，包括机械臂和抓取执行装置，所述抓取执行装置包括转动组件和抓取组件，所述转动组件包括固定盘、旋转壳体和转台，所述旋转壳体上端固定连接端盖，所述端盖上端中部固定连接固定盘，所述旋转壳体下端中部转动连接转轴；本实用新型在结构上设计合理，设置两组CCD相机传回图像控制机械臂和转动组件共同调节抓取组件的位置，实现精准定位，转动组件里的第二电机，通过其主轴上的主动锥齿轮和转轴上的从动锥齿轮使转轴转动，对抓取组件的抓取方向进行调节，提高抓取精准度和效率，夹板上具有防滑凸起的橡胶层，可以避免产品被夹伤，保证产品质量。
The utility model discloses a precise positioning and grabbing device for intelligent manufacturing, which comprises a mechanical arm and a grabbing execution device. The grabbing execution device includes a rotating assembly and a grabbing assembly, and the rotating assembly includes a fixed disk and a rotating casing. and turntable, the upper end of the rotating shell is fixedly connected to the end cover, the middle of the upper end of the end cover is fixedly connected to the fixed plate, and the middle of the lower end of the rotating shell is rotatably connected to the rotating shaft; the utility model is reasonably designed in structure, and two sets of CCD cameras are arranged The image is sent back to control the robotic arm and the rotating assembly to jointly adjust the position of the grasping assembly to achieve precise positioning. The second motor in the rotating assembly rotates the rotating shaft through the driving bevel gear on the main shaft and the driven bevel gear on the rotating shaft. The grasping direction of the grasping component is adjusted to improve the grasping accuracy and efficiency. The splint has a rubber layer with anti-skid protrusions, which can prevent the product from being pinched and ensure product quality.
Description
Technical Field
The utility model relates to mechanical grabbing equipment, in particular to accurate positioning grabbing equipment for intelligent manufacturing.
Background
The grabbing device is also called a manipulator, and the manipulator is an automatic operation device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.
The conventional manipulator has a limited grabbing working range, and the positioning and adjusting precision of a grabbing point is relatively low, so that the grabbing efficiency is relatively low, and the using requirement cannot be well met; therefore, those skilled in the art provide a precise positioning and grabbing device for smart manufacturing to solve the problems mentioned in the background art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide accurate positioning and grabbing equipment for intelligent manufacturing, and aims to solve the problems in the background technology.
In order to achieve the purpose, the utility model provides the following technical scheme:
the utility model provides an intelligent manufacturing snatchs equipment with accurate location, includes arm and snatchs actuating device, it includes runner assembly and snatchs the subassembly to snatch actuating device, runner assembly includes fixed disk, rotating housing and revolving stage, rotating housing upper end fixed connection end cover, end cover upper end middle part fixed connection fixed disk, rotating housing lower extreme middle part rotates the connection pivot, pivot upper end fixed mounting driven bevel gear, the inside fixed mounting second motor of rotating housing, fixed mounting initiative bevel gear on the main shaft of second motor, initiative bevel gear engagement connects driven bevel gear, pivot lower extreme fixed connection revolving stage, revolving stage lower extreme fixed connection snatchs the subassembly.
As a further scheme of the utility model: the grabbing component comprises a support frame and a sliding seat, wherein frame plates are fixedly connected to two sides of the upper end of the support frame, a fixed plate is fixedly connected to the upper end of each frame plate, a clamping plate is fixedly connected to one opposite end of each fixed plate, a first motor is fixedly connected to the middle of the clamping plate, a driving bevel gear is fixedly mounted on a main shaft of the first motor, fixed blocks are symmetrically arranged at the upper end of each fixed plate, mounting seats are fixedly connected to the upper ends of the fixed blocks, fixed seats are fixedly mounted on two sides of the upper end of the support frame on the inner side of the frame plates, the fixed seats are rotatably connected with lead screws, fixed frames are symmetrically mounted in the middle of the upper end of the support frame, the fixed frames are rotatably connected with the lead screws, threaded sliding sleeves are sleeved on the lead screws, sliding rods are fixedly connected to the lower sides of the threaded sliding sleeves, the sliding rods penetrate through sliding grooves in the middle of the support frame and are fixedly connected with clamping components, sliding rails are symmetrically arranged at the lower parts of the front side and the rear side of the support frame, the upper part of the clamping assembly is connected with a sliding rail in a sliding mode, driven bevel gears are installed at the opposite ends of the screw rods, and the driven bevel gears are connected with driving bevel gears in a meshed mode.
As a still further scheme of the utility model: clamping component includes slide and baffle, the assembly groove has been seted up at the slide middle part, and the interior fixed mounting electric jar of assembly is controlled, the flexible end fixed connection push rod of electric jar, the relative one end of slide is all fixed and is set up the baffle, push rod one end runs through baffle link plate, slide upper portion be provided with slide rail complex spout, the slide passes through spout sliding connection slide rail.
As a still further scheme of the utility model: the mounting seat is of an annular structure, and CCD cameras are symmetrically arranged on the front side and the rear side of the lower end of the mounting seat.
As a still further scheme of the utility model: the rubber layer is arranged on one side, opposite to the clamping plate, and the anti-skid protrusions are integrally formed on one side, opposite to the rubber layer.
Compared with the prior art, the utility model has the beneficial effects that:
the two sets of CCD cameras are arranged to transmit image control mechanical arms and the rotating assembly to jointly adjust the position of the grabbing assembly, so that accurate positioning is achieved, the second motor in the rotating assembly enables the rotating shaft to rotate through the driving bevel gear on the main shaft and the driven bevel gear on the rotating shaft, the grabbing direction of the grabbing assembly is adjusted, grabbing accuracy and grabbing efficiency are improved, the anti-skidding convex rubber layers are arranged on the clamping plates, products can be prevented from being pinched and damaged, and product quality is guaranteed.
Drawings
Fig. 1 is a structural diagram of an accurate positioning and grabbing device for intelligent manufacturing.
Fig. 2 is a structural diagram of a grabbing actuator in the precise positioning grabbing equipment for intelligent manufacturing.
Fig. 3 is a structural diagram of a grabbing component in the precise positioning grabbing equipment for intelligent manufacturing.
Fig. 4 is a schematic structural diagram of a grabbing component in the precise positioning grabbing equipment for intelligent manufacturing.
Fig. 5 is a top view of a grabbing component in the precise positioning grabbing device for intelligent manufacturing.
Fig. 6 is a schematic structural diagram of a clamping assembly in the precise positioning and grabbing device for intelligent manufacturing.
In the figure: the device comprises a mechanical arm 1, a rotary shell 2, a rotary table 3, a mounting seat 4, a frame plate 5, a supporting frame 6, a sliding seat 7, a protective plate 8, a fixed plate 9, a baffle plate 10, a sliding rail 11, a clamping plate 12, a first motor 13, a CCD industrial camera 14, a second camera 15, a rotating shaft 16, a fixed block 17, a fixed plate 18, a clamping plate 19, a screw 23, a threaded sliding sleeve 24, a sliding rod 25, an electric cylinder 26, a push rod 27 and a fixed seat 29.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the utility model.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other suitable relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The use of the phrase "comprising one.. said element does not exclude the presence of other like elements in the process, method, article or apparatus that comprises the element.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 6, in an embodiment of the present invention, an intelligent manufacturing precision positioning and grabbing device includes a mechanical arm 1 and a grabbing executing device, where the grabbing executing device includes a rotating component and a grabbing component, the rotating component includes a fixed disk 9, a rotating housing 2 and a rotary table 3, an end cover is fixedly connected to an upper end of the rotating housing 2, a fixed disk 9 is fixedly connected to a middle portion of an upper end of the end cover, a rotating shaft 16 is rotatably connected to a middle portion of a lower end of the rotating housing 2, a driven bevel gear is fixedly installed at an upper end of the rotating shaft 16, a second motor 15 is fixedly installed inside the rotating housing 2, a driving bevel gear is fixedly installed on a spindle of the second motor 15, the driving bevel gear is engaged with the driven bevel gear, a rotary table 3 is fixedly connected to a lower end of the rotating shaft 16, and the grabbing component is fixedly connected to a lower end of the rotary table 3.
The grabbing component comprises a supporting frame 6 and a sliding seat 7, wherein two sides of the upper end of the supporting frame 6 are fixedly connected with a frame plate 5, the upper end of the frame plate 5 is fixedly connected with a fixed plate 18, one opposite end of the fixed plate 18 is fixedly connected with a clamping plate 19, the middle part of the clamping plate 19 is fixedly connected with a first motor 13, a main shaft of the first motor 13 is fixedly provided with a driving bevel gear, the upper end of the fixed plate 18 is symmetrically provided with fixed blocks 17, the upper end of each fixed block 17 is fixedly connected with a mounting seat 4, two sides of the upper end of the supporting frame 6 are fixedly provided with fixed seats 29 on the inner side of the frame plate 5, the fixed seats 29 are rotatably connected with a lead screw 23, the middle part of the upper end of the supporting frame 6 is symmetrically provided with a fixed frame, the fixed frame is rotatably connected with the lead screw 23, a threaded sliding sleeve 24 is sleeved on the lead screw 23, a sliding rod 25 is fixedly connected with a clamping component through a sliding groove in the middle part of the supporting frame, slide rails are symmetrically arranged on the lower portions of the front side and the rear side of the support frame 6, the upper portion of the clamping assembly is in sliding connection with the slide rails, driven bevel gears are mounted at the opposite ends of the screw rods, and the driven bevel gears are in meshed connection with driving bevel gears.
Clamping component includes slide 7 and baffle 10, the assembly groove has been seted up at 7 middle parts of slide, and the assembly is controlled interior fixed mounting electric jar 26, the flexible end fixed connection push rod 25 of electric jar 26, the relative one end of slide 7 is all fixed and is set up baffle 10, baffle 10 joint splint are run through to push rod 25 one end, 7 upper portions of slide be provided with slide rail complex spout, slide 7 passes through spout sliding connection slide rail.
The mounting seat 4 is of an annular structure, and CCD cameras are symmetrically arranged on the front side and the rear side of the lower end of the mounting seat 4.
The opposite side of the clamping plate 19 is provided with a rubber layer, and the opposite side of the rubber layer is integrally formed with an antiskid lug.
The use method of the precise positioning and grabbing equipment for intelligent manufacturing is characterized by comprising the following steps of:
firstly, starting equipment and recording related programs;
secondly, the control device transmits an image control mechanical arm 1 back through the CCD camera and the rotating assembly to jointly adjust the position of the grabbing assembly, so that accurate positioning is realized;
thirdly, starting the first motor 13, enabling the two lead screws to rotate by a driving bevel gear on a main shaft of the first motor 13 through a driven bevel gear, enabling the threaded sliding sleeves 24 sleeved on the lead screws 23 to move oppositely or back to back due to the fact that threads of the two lead screws 23 are arranged in a reverse direction, and enabling the threaded sliding sleeves 24 to enable the clamping assemblies to move through the sliding rods 25;
fourthly, an electric cylinder in the clamping assembly pushes out the clamping plate 12 through the push rod 7, so that the product with smaller thickness can be grabbed, and the equipment is more widely used;
in the second step, the second motor 15 in the rotating assembly rotates the rotating shaft through the driving bevel gear on the main shaft and the driven bevel gear on the rotating shaft 16, so that the grabbing direction of the grabbing assembly is adjusted, and the grabbing precision and efficiency are improved.
The working principle of the utility model is as follows:
the utility model relates to an intelligent manufacturing precise positioning and grabbing device, which is started to input related programs when in work; the control device controls the position of the mechanical arm 1 and the rotating assembly to jointly adjust the grabbing assembly through the image transmitted back by the CCD camera, so that accurate positioning is realized; starting the first motor 13, enabling the two lead screws to rotate by a driving bevel gear on a main shaft of the first motor 13 through a driven bevel gear, enabling the threaded sliding sleeves 24 sleeved on the lead screws 23 to move oppositely or back to back due to the reverse arrangement of the threads of the two lead screws 23, and enabling the threaded sliding sleeves 24 to move the clamping assembly through the sliding rods 25; an electric cylinder in the clamping assembly pushes out the clamping plate 12 through the push rod 7, so that the product with smaller thickness can be grabbed, and the equipment is wider in usability; wherein the splint 12 is provided with the rubber layer with the anti-skid protrusions, so that the product can be prevented from being damaged by clamping, the second motor 15 in the rotating assembly rotates the rotating shaft through the driving bevel gear on the main shaft and the driven bevel gear on the rotating shaft 16, the grabbing direction of the grabbing assembly is adjusted, and the grabbing precision and the grabbing efficiency are improved.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121476071.0U CN215358444U (en) | 2021-06-30 | 2021-06-30 | A precise positioning and grabbing device for intelligent manufacturing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121476071.0U CN215358444U (en) | 2021-06-30 | 2021-06-30 | A precise positioning and grabbing device for intelligent manufacturing |
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| Publication Number | Publication Date |
|---|---|
| CN215358444U true CN215358444U (en) | 2021-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121476071.0U Active CN215358444U (en) | 2021-06-30 | 2021-06-30 | A precise positioning and grabbing device for intelligent manufacturing |
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| CN (1) | CN215358444U (en) |
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- 2021-06-30 CN CN202121476071.0U patent/CN215358444U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220906 Address after: 466000 Shabei Industrial Park, Management Committee of Industrial Agglomeration Area, Huaidian Hui Town, Shenqiu County, Zhoukou City, Henan Province 0 Patentee after: Henan State Grid Automatic Control Electric Co.,Ltd. Address before: 323000 No. 1 College Road, Liandu District, Lishui City, Zhejiang Province Patentee before: LISHUI University |
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| TR01 | Transfer of patent right |