CN110524567A - A kind of manipulator and robot - Google Patents
A kind of manipulator and robot Download PDFInfo
- Publication number
- CN110524567A CN110524567A CN201910595721.4A CN201910595721A CN110524567A CN 110524567 A CN110524567 A CN 110524567A CN 201910595721 A CN201910595721 A CN 201910595721A CN 110524567 A CN110524567 A CN 110524567A
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- claw
- sliding part
- sliding
- mounting base
- manipulator according
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- 210000000078 claw Anatomy 0.000 claims abstract description 88
- 238000001514 detection method Methods 0.000 claims 1
- 230000008859 change Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000006116 polymerization reaction Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to machinery equipment field, in particular to a kind of manipulator and robot, including；Mounting base；Claw, it is more than two；Sliding part, the corresponding claw is provided with two or more, and is slidably connected respectively with the mounting base, each described sliding part is rotatably connected to the claw, to adjust described two sizes for forming clamping space with upper clipping claw；Power device is separately connected each claw, and can drive each claw rotation crawl or put down object, improves the practicability of manipulator to adjust clamping space by the mobile claw of sliding part.
Description
Technical field
The present invention relates to machinery equipment field, in particular to a kind of manipulator and robot.
Background technique
Industrial robot is mechanical as a kind of intelligent operation, is the primary study neck of manufacturing power of marching toward from manufacture big country
Domain.Robot mechanical arm is a weight of industrial robot as the main execution link in industrial robot operation process
Branch is wanted, with the difference of operating environment and job task, manipulator design is also not quite similar.Although manipulator at present might as well
Manpower is flexible like that, but it has energy constantly repeated work and labour, does not know fatigue, is fearless of danger, the strength ratio of snatch weight
The big feature of manpower power, therefore, the manipulator attention by many departments, and applied more and more widely.It is mechanical
Hand during the work time, adjusts the opening and closing state clamping object of claw, clamping article size is limited, affects making for manipulator
With.
Summary of the invention
The purpose of the present invention is to provide a kind of manipulator and robots, by the mobile claw of sliding part, to adjust
Space is clamped, the practicability of manipulator is improved.
The embodiment of the present invention is achieved in that
A kind of manipulator, comprising:
Mounting base；
Claw, it is more than two；
Sliding part, the corresponding claw is provided with two or more, and is slidably connected respectively with the mounting base, each institute
It states sliding part and is connected with the claw, to adjust described two sizes for forming clamping space with upper clipping claw；
Power device is separately connected each claw, and can drive each claw rotation crawl or put down object.
Preferably, it includes more than two actuators that above-mentioned power device, which corresponds to the quantity of the claw,；
The actuator, the corresponding claw connection of each actuator and band are slidably connected described in each
Move the claw rotation.
Preferably, connecting rod is provided between above-mentioned claw and the power device, the connecting rod is moved with described respectively
Power device and claw are hinged.
Preferably, above-mentioned manipulator further include:
Pressure-detecting device, for detecting the stress of the claw；
Master control borad is electrically connected the power device and pressure-detecting device, and is detected based on the pressure-detecting device
The stress of the claw control the power device, to keep each described claw stress identical.
Preferably, above-mentioned pressure-detecting device is set to the side of the mounting base relative to the direction of the claw.
Preferably, above-mentioned mounting base is provided with the sliding slot for being slidably connected with the sliding part.
Preferably, above-mentioned mounting base is additionally provided with sliding driving device, each described sliding part respectively with the sliding
Driving device connection；
The sliding driving device can drive each described sliding part independent slide in the mounting base.
Preferably, finite place piece is arranged at the glide direction both ends of each sliding part in above-mentioned mounting base.
Preferably, above-mentioned sliding part includes sliding block and support frame interconnected；
The sliding block is slidably connected with the mounting base, and support frame as described above is used to be rotatablely connected with the claw.
Preferably, above-mentioned power device uses hydraulic for power.
Preferably, above-mentioned mounting base corresponds to the power device equipped with hydraulic valve.
It preferably, can be towards and away from sliding between two sliding parts there are two above-mentioned sliding part settings.
Preferably, above-mentioned sliding part is provided with multiple, and the sliding trace of the multiple sliding part is radial；
Or, it is that sliding part between two groups, two groups can be towards and away from sliding that the multiple sliding part, which is arranged,.
A kind of robot, including above-mentioned manipulator.
The beneficial effect of the embodiment of the present invention is:
Object is put down in more than two claw crawls, and each claw is connected with a sliding part, removable by sliding part
Dynamic claw, to adjust the size that more than two claws form clamping space, the magnitude range that can clamp object becomes larger, and improves
The practicability of manipulator can adjust the opening and closing degree of claw and the sliding mode of sliding part, according to article size to adjust clamping
Space.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram of the embodiment of the present invention；
Fig. 2 is another viewing angle constructions schematic diagram of the embodiment of the present invention.
Icon: 100- mounting base；200- claw；300- sliding part；400- power device；500- pressure detecting dress
It sets；600- sliding driving device；700- connecting rod；
110- sliding slot；120- locating part；
210- cross bar；220- vertical bar；
310- sliding block；320- support frame；320 ' 1- bottom parts；320 ' 2- supporting elements；
410- actuator；420- hydraulic valve；
610- hydraulic cylinder A；620- hydraulic cylinder B.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
In addition, the terms such as term "horizontal", "vertical" are not offered as requiring component abswolute level or pendency, but can be slightly
Low dip.It is not to indicate that the structure has been had to if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It is complete horizontal, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Embodiment 1:
Fig. 1-2 is please referred to, the present embodiment provides a kind of manipulators, including mounting base 100, claw 200,300 and of sliding part
Power device 400, claw 200 are provided with two or more, and sliding part 300 is arranged in a one-to-one correspondence with claw 200, each sliding part
300 it is rotatably mounted have a claw 200, power device 400 is separately connected the claw 200 on each sliding part 300, power
Device 400 drives claw 200 to rotate, and all claws 200 rotate realization simultaneously and open and close up, to grip or lay down object.
In conjunction with Fig. 1, manipulator includes two claws 200 and two sliding parts 300, and each sliding part 300 is rotatably connected
Have a claw 200, claw 200 towards right angle setting seat 100, power device 400 can drive two claws 200 to turn in opposite directions
Dynamic circuit connector is held together and is opened backwards to rotation；Two sliding parts 300 are slidably connected with mounting base 100 respectively, between two sliding parts 300
It can slide in opposition and dorsal glide, sliding part 300 slides the spacing between adjustable two claws 200, to change manipulator
The size in space is clamped, the magnitude range of manipulator clamping object becomes larger, and improves the practicability of manipulator.
In the present embodiment, power device 400 can be driving motor or hydraulic cylinder, and power device 400 can be passed by gear
Motivation structure or link mechanism drive claw 200 to rotate, while sliding part 300 can be slided by outer power drive.
When claw 200 is arranged multiple, corresponding sliding part 300 is also equipped with multiple, the sliding rail of multiple sliding parts 300
Mark can be radial, and multiple sliding parts 300 are scattered by sliding polymerization and sliding adjusts the size in clamping space；Alternatively, multiple
The arrangement of sliding part 300 is divided into two groups, and the sliding part 300 between two groups can slide in opposition or dorsal glide, the sliding between two groups
When 300 dorsal glide of portion, the distance between two groups of claws 200 are increased,
Embodiment 2
In conjunction with shown in Fig. 1-2, the present embodiment provides a kind of manipulators, including mounting base 100, claw 200, sliding part 300
With power device 400, mounting base 100 offers sliding slot 110, and finite place piece 120 is arranged at the both ends of sliding slot 110 in mounting base 100,
Be provided with sliding driving device 600 in sliding slot 110, sliding driving device 600 includes two drivers, two drivers relative to
Sliding slot 110 is horizontally disposed, and is defined as hydraulic cylinder A610 and hydraulic cylinder B620.There are two the settings of claw 200, and sliding part 300 is right
It answers there are two the settings of claw 200, respectively the first sliding part 300 and the second sliding part 300, sliding part 300 include 310 He of sliding block
Support frame 320, support frame 320 include bottom parts 320 ' 1 and supporting element 320 ' 2, the present embodiment insole component 320 ' 1 and supporting element
320 ' 2 be plate structure, and the 2 vertical base part 320 ' 1 of supporting element 320 ' is arranged.Power device 400 corresponds to 200 quantity of claw
There are two actuator 410, two actuators 410 to be fixedly connected respectively with the first sliding part 300 and the second sliding part 300 for setting.
Mounting base 100 is equipped with pressure-detecting device 500 and master control borad, and the quantity of the corresponding claw 200 of pressure-detecting device 500 is provided with
Two pressure sensors.
Hydraulic cylinder A610 and hydraulic cylinder B620 is towards opposite and be fixed in sliding slot 110 side by side, hydraulic cylinder A610 and hydraulic
The power direction of cylinder B620 is identical as the glide direction of sliding slot 110, the sliding block 310 of the first sliding part of hydraulic cylinder A610 connection 300,
The sliding block 310 of the second sliding part of hydraulic cylinder B620 connection 300, can realize the first sliding by hydraulic cylinder A610 and hydraulic cylinder B620
Portion 300 and the second sliding part 300 slides in opposition and dorsal glide, to adjust the size that two claws 200 form clamping space.
First sliding part 300 is identical as 300 structure of the second sliding part and is oppositely arranged, and the present embodiment is only said from structure
It is bright.Bottom parts 320 ' 1 are detachably connected sliding block 310, supporting element 320 ' 2 and 1 integrally connected of bottom parts 320 ' by hex nut
Or be detachably connected, bottom parts 320 ' 1 and supporting element 320 ' 2 are plate structure, the vertical bottom of the length direction of supporting element 320 ' 2
Component 320 ' 1.Claw 200 is rotatably set in the one side vertical with bottom parts 320 ' 1 of supporting element 320 ' 2.Claw is by cross bar
210 and 220 integrally connected of vertical bar formed, claw is approximately " fourth " character form structure, and one end of cross bar 210 and supporting element 320 ' 2 can
The other end of rotation connection, one end of the other end bar that is articulated and connected 700 of cross bar 210, connecting rod 700 connects actuator 410, this
Actuator 410 uses hydraulic-driven in embodiment, and hydraulic-driven stability is good, and object is not easily to fall off.
Actuator 410 drives connecting rod 700 mobile, and connecting rod 700 pushes cross bar 210 to surround itself and supporting element 320 ' 2
Rotating joint rotation, one end of vertical bar 220 are located at the intermediate position of cross bar 210, and the other end of vertical bar 220 is as claw 200
Grasping end.Vertical bar 220 is driven to rotate when cross bar 210 rotates.
By mounting base 100 open up it is reeded be defined as front on one side, mounting base 100 be internally provided with two it is independent
Fluid pressure line, each fluid pressure line connect an actuator 410.There are two liquid for corresponding two actuators 410 setting of mounting base 100
Pressure valve 420, controller, two pressure sensors and two hydraulic valves 420 are arranged at the side of mounting base 100, and side is peace
Fill the non-working surface of seat 100, convenient disassembly can prevent from colliding and scratch in the course of work pressure sensor, controller and hydraulic
Valve 420.Pressure sensor detects the pressure in hydraulic cylinder, to learn the stress of two claws 200, and feeds back to control
Device, controller control hydraulic valve 420 according to the electric signal of each 200 stress of claw, change flow, to control driving
The power of part 410, so that two 200 stress of claw are equal.When two 200 stress of claw are unequal, controller will with stress compared with
A small claw 200 is as adjusting benchmark.Meanwhile the clamping force upper limit of claw 200 can also be set by controller, it places
Object is damaged during clamping.
In the present solution, claw 200 is rotatably arranged, claw 200 is driven to rotate by way of hydraulic-driven, multiple claws
200 rotations are closed up or are opened, and realize crawl or put down object.Each claw 200 is to be independently arranged, and each claw 200 is distinguished
It is connected with the sliding part 300 being slidably connected with mounting base 100, control sliding part 300 slides, and sliding part 300 drives claw 200
It is mobile, it can further adjust the size that two claws 200 form clamping space.Pressure sensing is arranged in each corresponding claw 200
The stress of each claw 200 is sent to control by device as electronic signals, and controller is with the maximum electric signal of stress
On the basis of, the corresponding hydraulic valve 420 of other actuators 410 is adjusted, the aid power of corresponding claw 200 has been adjusted.Sliding part
300, the setting quantity of actuator 410, driver, fluid pressure line, hydraulic valve 420 and pressure sensor is set with claw 200 respectively
The quantity set is corresponding, and claw 200 can be set multiple there are two also can be set.Sliding part 300 includes 310 He of sliding block
Support frame 320, support frame 320 include bottom parts 320 ' 1 and supporting element 320 ' 2, sliding block 310, bottom parts 320 ' 1 and supporting element
320 ' 2 may be integral connecting structure.
The present embodiment also provides a kind of robot, and robot is equipped with above-mentioned manipulator.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (14)
1. a kind of manipulator characterized by comprising
Mounting base (100)；
Claw (200), it is more than two；
Sliding part (300), the corresponding claw (200) is provided with two or more, and slides connect with the mounting base (100) respectively
It connects, each described sliding part (300) is connected with the claw (200), described two with upper clipping claw (200) shape to adjust
At the size in clamping space；
Power device (400) is separately connected each claw (200), and can drive each claw (200) rotation crawl
Or put down object.
2. manipulator according to claim 1, which is characterized in that the corresponding claw (200) of the power device (400)
Quantity include more than two actuators (410)；
The actuator (410), the corresponding claw of each actuator (410) are slidably connected described in each
(200) it connects and the claw (200) is driven to rotate.
3. manipulator according to claim 1, which is characterized in that the claw (200) and the power device (400) it
Between be provided with connecting rod (700), the connecting rod (700) is hinged with the power device (400) and claw (200) respectively.
4. manipulator according to claim 1, which is characterized in that further include:
Pressure-detecting device (500), for detecting the stress of the claw (200)；
Master control borad is electrically connected the power device (400) and pressure-detecting device (500), and is filled based on the pressure detecting
The stress for setting the claw (200) of (500) detection controls the power device (400), to keep each described card
Pawl (200) stress is identical.
5. manipulator according to claim 4, which is characterized in that the pressure-detecting device (500) is relative to the card
The direction of pawl (200) is set to the side of the mounting base (100).
6. manipulator according to claim 1, which is characterized in that the mounting base (100) be provided with for the cunning
The sliding slot (110) that dynamic portion (300) are slidably connected.
7. manipulator according to claim 1, which is characterized in that the mounting base (100) is additionally provided with sliding driving dress
(600) are set, each described sliding part (300) connect with the sliding driving device (600) respectively；
The sliding driving device (600) can drive each described sliding part (300) independently to slide on the mounting base (100)
It is dynamic.
8. manipulator according to claim 1, which is characterized in that the mounting base (100) is in each sliding part
(300) finite place piece (120) are arranged in glide direction both ends.
9. manipulator according to claim 1, which is characterized in that the sliding part (300) includes sliding block interconnected
(310) and support frame (320)；
The sliding block (310) is slidably connected with the mounting base (100), and support frame as described above (320) is used for and the claw (200)
Rotation connection.
10. manipulator according to claim 1, which is characterized in that the power device (400) uses hydraulic for power.
11. manipulator according to claim 10, which is characterized in that the corresponding power device of the mounting base (100)
(400) hydraulic valve (420) are equipped with.
12. manipulator according to claim 1, which is characterized in that there are two sliding part (300) settings, two institutes
Stating can be towards and away from sliding between sliding part (300).
13. manipulator according to claim 1, which is characterized in that the sliding part (300) be provided with it is multiple, it is described more
The sliding trace of a sliding part (300) is radial；
Or, it is that sliding part (300) between two groups, two groups can be towards and away from cunning that the multiple sliding part (300), which is arranged,
It is dynamic.
14. a kind of robot, which is characterized in that including any manipulator of claim 1-13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910595721.4A CN110524567A (en) | 2019-07-03 | 2019-07-03 | A kind of manipulator and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910595721.4A CN110524567A (en) | 2019-07-03 | 2019-07-03 | A kind of manipulator and robot |
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| CN110524567A true CN110524567A (en) | 2019-12-03 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910595721.4A Pending CN110524567A (en) | 2019-07-03 | 2019-07-03 | A kind of manipulator and robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152245A (en) * | 2020-01-02 | 2020-05-15 | 金陵科技学院 | Robotized intelligent tool system |
| CN112318546A (en) * | 2020-10-22 | 2021-02-05 | 陈习 | Clamp arm fixing mechanism of robot |
| CN113369043A (en) * | 2021-05-25 | 2021-09-10 | 内蒙古伟之杰节能装备有限公司 | Hydraulic chuck device for spraying polyurethane thermal insulation pipe |
| CN114043448A (en) * | 2021-11-24 | 2022-02-15 | 湖南五子塑业有限责任公司 | Cargo lifting is with intelligent robot of taking anti-swing structure |
| CN115648265A (en) * | 2022-12-15 | 2023-01-31 | 日隆科技(深圳)有限公司 | Mechanical gripper and application |
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| CN109352673A (en) * | 2018-12-05 | 2019-02-19 | 华东交通大学 | A kind of fruit picking end effector |
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| CN112318546A (en) * | 2020-10-22 | 2021-02-05 | 陈习 | Clamp arm fixing mechanism of robot |
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