CN215881641U - Intelligent clamping jaw mechanism for automatically grabbing shell membrane by robot - Google Patents
Intelligent clamping jaw mechanism for automatically grabbing shell membrane by robot Download PDFInfo
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- CN215881641U CN215881641U CN202122320409.XU CN202122320409U CN215881641U CN 215881641 U CN215881641 U CN 215881641U CN 202122320409 U CN202122320409 U CN 202122320409U CN 215881641 U CN215881641 U CN 215881641U
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- shell membrane
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Abstract
The utility model discloses an intelligent clamping jaw mechanism for automatically grabbing a shell membrane by a robot, which comprises a base, wherein a manipulator support is fixedly arranged at the top of the base, and the utility model relates to the technical field of a robot arm. This automatic intelligent clamping jaw mechanism who snatchs shell membrane of robot, through starting first motor and second motor, make first motor drive rotatory when driving anchor clamps rotation, second motor drive spooler rotates carries out the rolling to the stay cord, thereby reach and can not carry out winding effect to hydraulic hose in anchor clamps are rotatory, and make second motor drive spooler antiport through the first motor of the shut down and the backdrive second motor, and resume hydraulic hose to the normal position through the spring, this structure not only can stretch hydraulic hose in rotary fixture, and can use and reset hydraulic hose at anchor clamps shut down, under the condition that does not hinder the normal work of arm.
Description
Technical Field
The utility model relates to the technical field of robot arms, in particular to an intelligent clamping jaw mechanism for a robot to automatically grab a shell membrane.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operating flexibility, the industry assembly has been, fields such as safe explosion-proof are widely used, current arm externally generally can be furnished with a hydraulic hose and be used for pressing from both sides and get and the telescoping device, but because hydraulic hose needs to cooperate the arm work, consequently also generally longer in the hose setting, generally need rotate the clearance to the article of pressing from both sides after the clamping jaw snatchs, the clamping jaw twines hydraulic hose easily when rotating this moment, thereby cause the inside medium of hose fracture messenger hose to flow, need change the new hose after the hose breaks, need carry out artifical clearance to the surface of arm simultaneously, staff's work load has been increased, and the work efficiency of clamping jaw has been reduced.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects of the prior art, the utility model provides an intelligent clamping jaw mechanism for automatically grabbing a shell membrane by a robot, which solves the problems that the hydraulic hose cannot be stretched by the existing mechanical arm in the rotation process of a clamping jaw, so that the hydraulic hose is easy to wind in the rotation process of the clamping jaw, the hose is broken, and the clamping jaw cannot work.
In order to achieve the purpose, the utility model is realized by the following technical scheme: an intelligent clamping jaw mechanism for automatically grabbing a shell membrane by a robot comprises a base, wherein a manipulator support is fixedly mounted at the top of the base, an electric telescopic rod is rotatably mounted above the inside of the manipulator support through a bearing piece, a rotary mechanical arm is fixedly mounted on the left side of the electric telescopic rod, a driving box is rotatably mounted at the left end of the rotary mechanical arm through the bearing piece, a hydraulic hose is fixedly mounted on the right side of the top of the base through an opening, the top end of the hydraulic hose is fixedly connected to the upper side of the left side of the driving box, a first motor is fixedly mounted at the top of an inner cavity of the driving box through a connecting plate, a first rotary rod is fixedly mounted on an output shaft of the first motor through a coupler, the bottom end of the first rotary rod penetrates through the driving box and extends to the outside of the driving box, and a clamp is fixedly mounted at one end of the first rotary rod extending to the outside of the driving box, the top fixed mounting who rotates the arm has the chute board, the inside slidable mounting of chute board has the slider, the top fixed mounting of slider has first fixed plate.
Preferably, the one end of hydraulic pressure hose runs through first fixed plate and extends to the outside of first fixed plate, electric telescopic handle's top fixed mounting has the fixing base, the rear side at fixing base top is passed through the support and is rotated and install the second dwang, the fixed surface of second dwang installs the spooler.
Preferably, the fixed surface of spooler is connected with, the one end fixed connection of stay cord is in the right side of first fixed plate, the front side fixed mounting at fixing base top has the second motor, the output shaft fixed connection of shaft coupling and second motor is passed through to the front end of second dwang.
Preferably, a second fixing plate is fixedly mounted on the left side of the top of the rotating mechanical arm, clamping grooves are formed in the tops of the second fixing plate and the first fixing plate, and clamping strips are movably inserted in the clamping grooves.
Preferably, one side of each of the two clamping strips penetrates through the second fixing plate and the first fixing plate respectively and extends to the outside of the second fixing plate and the first fixing plate.
Preferably, a spring is fixedly connected between the two clamping strips.
Advantageous effects
The utility model provides an intelligent clamping jaw mechanism for automatically grabbing a shell membrane by a robot. Compared with the prior art, the method has the following beneficial effects:
(1) this automatic intelligent clamping jaw mechanism who snatchs shell membrane of robot, through starting first motor and second motor, make first motor drive rotatory when driving anchor clamps rotatory, second motor drive spooler rotates carries out the rolling to the stay cord, thereby reach and can not carry out winding effect to hydraulic hose when anchor clamps are rotatory, and make second motor drive spooler antiport through the first motor of the shut down and the back drive second motor, and resume hydraulic hose to the normal position through the spring, this structure not only can stretch hydraulic hose in rotary fixture, and can bring the hydraulic hose back to the throne in anchor clamps stop operation, under the condition that does not obstruct the normal work of arm, the rotatory and hydraulic hose of anchor clamps emergence winding condition has been avoided and has appeared.
(2) This intelligent clamping jaw mechanism of shell membrane is snatched automatically to robot, sets up the draw-in groove through the top at first fixed plate and second fixed plate, through the card strip of pegging graft in the draw-in groove and install the spring between two card strips, has reached the effect that can change the spring fast, makes the staff spring can be quick after damaging carry out work to the spring, has saved the time of changing the spring, has increased the work efficiency of arm.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of the drive housing, first retaining plate and second retaining plate arrangement of the present invention;
FIG. 3 is an enlarged view of a portion of the utility model at A in FIG. 2;
FIG. 4 is a side view of a second rotating lever, take-up and second motor configuration of the present invention;
fig. 5 is a top view of the card slot, card strip and spring arrangement of the present invention.
In the figure: 1. a base; 2. a manipulator support; 3. a spring; 4. an electric telescopic rod; 5. rotating the mechanical arm; 6. a drive box; 7. a hydraulic hose; 8. a first motor; 9. a first rotating lever; 10. a clamp; 11. a chute plate; 12. a slider; 13. a first fixing plate; 14. a fixed seat; 15. a second rotating lever; 16. a wire rewinding device; 17. pulling a rope; 18. a second motor; 19. a second fixing plate; 20. a card slot; 21. and (6) clamping the strip.
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.
Referring to fig. 1-5, the present invention provides a technical solution: an intelligent clamping jaw mechanism for automatically grabbing a shell membrane by a robot comprises a base 1, a manipulator support 2 is fixedly mounted at the top of the base 1, an electric telescopic rod 4 is rotatably mounted above the inside of the manipulator support 2 through a bearing piece, a rotary mechanical arm 5 is fixedly mounted on the left side of the electric telescopic rod 4, a driving box 6 is rotatably mounted at the left end of the rotary mechanical arm 5 through the bearing piece, the top end of a hydraulic hose 7 fixedly mounted on the right side of the top of the base 1 through an opening and a hydraulic hose 7 is fixedly connected to the upper side of the left side of the driving box 6, a first motor 8 is fixedly mounted at the top of the inner cavity of the driving box 6 through a connecting plate, a first rotary rod 9 is fixedly mounted on an output shaft of the first motor 8 through a coupler, the bottom end of the first rotary rod 9 penetrates through the driving box 6 and extends to the outside of the driving box 6, a clamp 10 is fixedly mounted at one end of the first rotary rod 9 extending to the outside of the driving box 6, a chute plate 11 is fixedly installed at the top of the rotary mechanical arm 5, a slide block 12 is slidably installed inside the chute plate 11, a first fixing plate 13 is fixedly installed at the top of the slide block 12, the first fixing plate 13 is fixedly connected with the hydraulic hose 7, one end of the hydraulic hose 7 penetrates through the first fixing plate 13 and extends to the outside of the first fixing plate 13, a fixing seat 14 is fixedly installed at the top of the electric telescopic rod 4, an opening matched with the hydraulic hose 7 is formed in the left side of the fixing seat 14, a second rotating rod 15 is rotatably installed at the rear side of the top of the fixing seat 14 through a support, a wire rewinding device 16 is fixedly installed on the surface of the second rotating rod 15, a surface of the wire rewinding device 16 is fixedly connected with 17, one end of a pull rope 17 is fixedly connected to the right side of the first fixing plate 13, a second motor 18 is fixedly installed at the front side of the top of the fixing seat 14, the second motor 18 is a servo motor, the front end of the second rotating rod 15 is fixedly connected with an output shaft of the second motor 18 through a coupling, rotate the left side fixed mounting at 5 tops of arm and have second fixed plate 19, draw-in groove 20 has all been seted up at the top of second fixed plate 19 and first fixed plate 13, and the inside activity of draw-in groove 20 is pegged graft and is had card strip 21, and two card strips 21 relative one sides run through second fixed plate 19 and first fixed plate 13 respectively and extend to the outside of second fixed plate 19 and first fixed plate 13, fixedly connected with spring 3 between two card strips 21.
And those not described in detail in this specification are well within the skill of those in the art.
When the hydraulic hose clamp works, the first motor 8 and the second motor 18 are started simultaneously, the first motor 8 is started to drive the first rotating rod 9 to rotate, the first rotating rod 9 rotates to drive the clamp 10 to rotate, the second motor 18 drives the second rotating rod 15 to rotate while the clamp 10 rotates, the second rotating rod 15 rotates to drive the wire collector 16 to rotate, the wire collector 16 rotates to roll the pull rope 17, the pull rope 17 rolls to drive the first fixing plate 13 to move rightwards, the first fixing plate 13 moves rightwards to drive the hydraulic hose 7 to move rightwards, the effect that the hydraulic hose 7 cannot be wound while the clamp 10 rotates is achieved, the spring 3 stretches while the hydraulic hose 7 moves rightwards, the first motor 8 is closed when the clamp 10 does not need to rotate, the second motor 18 drives the second rotating rod 15 to rotate reversely, the spring 3 pulls the first fixing plate 13 leftwards through elastic force, the first fixing plate 13 pulls leftwards to drive the pull rope 17 to move leftwards, the second motor 18 is closed until the original position is returned, the clamping strips 21 are respectively drawn out from the clamping grooves 20 at the tops of the second fixing plate 19 and the first fixing plate 13 when the spring 3 needs to be replaced, and the new spring 3 is inserted into the clamping grooves 20 through the clamping strips 21, so that the effect of quickly replacing the spring 3 is achieved.
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.
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 utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides an automatic intelligent clamping jaw mechanism who snatchs shell membrane of robot, includes base (1), its characterized in that: the manipulator device is characterized in that a manipulator support (2) is fixedly mounted at the top of the base (1), an electric telescopic rod (4) is rotatably mounted above the interior of the manipulator support (2) through a bearing piece, a rotary mechanical arm (5) is fixedly mounted on the left side of the electric telescopic rod (4), a driving box (6) is rotatably mounted at the left end of the rotary mechanical arm (5) through the bearing piece, a hydraulic hose (7) is fixedly mounted at the right side of the top of the base (1) through an opening, the top end of the hydraulic hose (7) is fixedly connected above the left side of the driving box (6), a first motor (8) is fixedly mounted at the top of the inner cavity of the driving box (6) through a connecting plate, a first rotating rod (9) is fixedly mounted at the output shaft of the first motor (8) through a coupler, the bottom end of the first rotating rod (9) penetrates through the driving box (6) and extends to the outside of the driving box (6), first rotation pole (9) extend to the outside one end fixed mounting of drive case (6) have anchor clamps (10), the top fixed mounting who rotates arm (5) has chute board (11), the inside slidable mounting of chute board (11) has slider (12), the top fixed mounting of slider (12) has first fixed plate (13).
2. The intelligent clamping jaw mechanism for automatically grabbing the shell membrane by the robot according to claim 1 is characterized in that: the one end of hydraulic pressure hose (7) runs through first fixed plate (13) and extends to the outside of first fixed plate (13), the top fixed mounting of electric telescopic handle (4) has fixing base (14), the rear side at fixing base (14) top is passed through the support and is rotated and install second dwang (15), the fixed surface of second dwang (15) installs spooler (16).
3. The intelligent clamping jaw mechanism for automatically grabbing the shell membrane by the robot according to claim 2 is characterized in that: the fixed surface of spooler (16) is connected with stay cord (17), the one end fixed connection of stay cord (17) is in the right side of first fixed plate (13), the front side fixed mounting at fixing base (14) top has second motor (18), the output shaft fixed connection of shaft coupling and second motor (18) is passed through to the front end of second dwang (15).
4. The intelligent clamping jaw mechanism for automatically grabbing the shell membrane by the robot according to claim 1 is characterized in that: the left side fixed mounting at rotation arm (5) top has second fixed plate (19), draw-in groove (20) have all been seted up at the top of second fixed plate (19) and first fixed plate (13), the inside activity of draw-in groove (20) is pegged graft and is had card strip (21).
5. The intelligent clamping jaw mechanism for automatically grabbing the shell membrane by the robot is characterized in that: the opposite sides of the two clamping strips (21) respectively penetrate through the second fixing plate (19) and the first fixing plate (13) and extend to the outer parts of the second fixing plate (19) and the first fixing plate (13).
6. The intelligent clamping jaw mechanism for automatically grabbing the shell membrane by the robot is characterized in that: a spring (3) is fixedly connected between the two clamping strips (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122320409.XU CN215881641U (en) | 2021-09-25 | 2021-09-25 | Intelligent clamping jaw mechanism for automatically grabbing shell membrane by robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122320409.XU CN215881641U (en) | 2021-09-25 | 2021-09-25 | Intelligent clamping jaw mechanism for automatically grabbing shell membrane by robot |
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| Publication Number | Publication Date |
|---|---|
| CN215881641U true CN215881641U (en) | 2022-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122320409.XU Active CN215881641U (en) | 2021-09-25 | 2021-09-25 | Intelligent clamping jaw mechanism for automatically grabbing shell membrane by robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800471A (en) * | 2022-04-12 | 2022-07-29 | 苏州迅亚自动化控制技术有限公司 | Multi-degree-of-freedom industrial robot with small size and high flexibility |
-
2021
- 2021-09-25 CN CN202122320409.XU patent/CN215881641U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800471A (en) * | 2022-04-12 | 2022-07-29 | 苏州迅亚自动化控制技术有限公司 | Multi-degree-of-freedom industrial robot with small size and high flexibility |
| CN114800471B (en) * | 2022-04-12 | 2023-08-01 | 苏州迅亚自动化控制技术有限公司 | Multi-freedom-degree industrial robot with small volume and high flexibility |
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