CN110900585A - A snatch intelligent machine hand for production, processing field - Google Patents
A snatch intelligent machine hand for production, processing field Download PDFInfo
- Publication number
- CN110900585A CN110900585A CN201811070772.7A CN201811070772A CN110900585A CN 110900585 A CN110900585 A CN 110900585A CN 201811070772 A CN201811070772 A CN 201811070772A CN 110900585 A CN110900585 A CN 110900585A
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- linking arm
- connecting piece
- rotating mechanism
- rotating
- motor
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 102
- 210000000078 claw Anatomy 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 5
- 239000011435 rock Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a grabbing intelligent manipulator used in the production and processing fields, which comprises a supporting plate, wherein a controller is arranged on one side of the upper end of the supporting plate, a first rotating mechanism, a connecting mechanism, a second rotating mechanism and a clamping mechanism are sequentially arranged on the upper end of the middle part of the supporting plate, the first rotating mechanism is positioned in the middle of the upper end of the supporting plate, the connecting mechanism comprises a first connecting arm, a second connecting arm and a third connecting arm, the first connecting arm is connected with the first rotating mechanism through a first connecting piece, the second connecting arm is connected with the first connecting arm through a second connecting piece, the third connecting arm is connected with the second connecting arm through a third connecting piece, the third connecting arm is connected with the second rotating mechanism through a fourth connecting piece. Has the advantages that: reach the effect of automatic intelligent transport, equipment function, and the component structure is firm, is difficult to take place to rock convenient to use, and the practicality is strong.
Description
Technical Field
The invention relates to the field of robot arms, in particular to a grabbing intelligent manipulator used in the fields of production and processing.
Background
The robot arm is an automated machine device which is most widely used in the field of robotics, and its figure is seen in all fields such as industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although they have different forms, they all have a common feature of being able to receive commands to precisely locate a point in three-dimensional or two-dimensional space for work.
According to patent No. 201710933822.9, when a workpiece is clamped, the robot arm can not carry out automatic intelligent carrying and assembling functions only by simple clamping, and the gravity action of the workpiece, the structure of the robot arm is too simple, the bearing weight is small, the robot arm is easy to shake, and the position of the robot arm can deviate.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
Aiming at the problems in the related art, the invention provides a grabbing intelligent manipulator used in the fields of production and processing, and aims to overcome the technical problems in the prior related art.
Therefore, the invention adopts the following specific technical scheme:
a grabbing intelligent manipulator used in the production and processing fields comprises a supporting plate, wherein a controller is arranged on one side of the upper end of the supporting plate, a first rotating mechanism, a connecting mechanism, a second rotating mechanism and a clamping mechanism are sequentially arranged on the upper end of the middle of the supporting plate respectively, the first rotating mechanism is located in the middle of the upper end of the supporting plate, the connecting mechanism is located at the upper end of the first rotating mechanism, the clamping mechanism is arranged at the upper end of the connecting mechanism far away from the first rotating mechanism, the second rotating mechanism is arranged between the clamping mechanism and the connecting mechanism, the clamping mechanism is arranged at one end of the connecting mechanism far away from the first rotating mechanism, the connecting mechanism comprises a first connecting arm, a second connecting arm and a third connecting arm, the first connecting arm is connected with the first rotating mechanism through a first connecting piece, the connecting arm I, the connecting arm II and the connecting arm III are connected in a matched mode through a telescopic driving device.
Furthermore, one side of the controller, which is far away from the first rotating mechanism, is provided with a display screen, and a plurality of control buttons are arranged below the display screen.
Furthermore, the first rotating mechanism comprises a first motor located in the middle of the upper end of the supporting plate, and a rotating seat is arranged at the upper end of a rotating shaft of the first motor.
Furthermore, the telescopic driving device comprises a first connecting piece and a second connecting piece, a first hydraulic push rod is arranged between the first connecting piece and the second connecting piece, a second hydraulic push rod is arranged between the middle position of the second connecting arm and the first connecting piece, the second connecting arm is close to the middle position of the second hydraulic push rod and a third hydraulic push rod is arranged between the third connecting piece, and a fourth hydraulic push rod is arranged between the third connecting piece and the fourth connecting piece.
Furthermore, the second rotating mechanism comprises a second motor located at one end of the fourth connecting piece, and a second rotating seat is arranged at one end of an output shaft of the second motor.
Further, fixture including be located with the connecting plate that rotates two one ends of seat, the one end of connecting plate is provided with motor three, be provided with the interlude in the three drive shafts of motor the drive gear of the recess of middle part one side of connecting plate, the connecting plate is kept away from the one end both sides of motor three are provided with driven gear one and driven gear two respectively, the gripper jaw one that the one end of driven gear one cooperateed and is provided with, gripper jaw two that the one end of driven gear two cooperateed and is provided with, the middle part of connecting plate is provided with the infrared camera device of range finding.
The invention has the beneficial effects that: relevant parameters are set through a control system inside the controller, and then the distance measuring infrared camera device on the clamping mechanism can be well positioned and transported, and the accuracy of parts is guaranteed, so that the first rotating mechanism, the connecting mechanism, the second rotating mechanism and the clamping mechanism are mutually matched to transport and assemble the robot arm formed by the first rotating mechanism, the connecting mechanism, the second rotating mechanism and the clamping mechanism, the effect of automatic intelligent transportation and assembly is achieved, the structure is stable, the rocking is not easy to occur, the use is convenient, and the practicability is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a grabbing intelligent manipulator used in the production and processing field according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a controller for a gripping intelligent robot for use in the manufacturing and processing field according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a clamping mechanism of a grabbing intelligent manipulator used in the production and processing field according to an embodiment of the invention.
In the figure:
1. a support plate; 2. a controller; 3. a first rotating mechanism; 4. a connecting mechanism; 5. a second rotating mechanism; 6. a clamping mechanism; 7. a first connecting arm; 8. a second connecting arm; 9. a third connecting arm; 10. a first connecting piece; 11. a second connecting piece; 12. a third connecting piece; 13. a connecting piece IV; 14. a telescopic driving device; 15. a first motor; 16. a rotating seat; 17. a first hydraulic push rod; 18. a second hydraulic push rod; 19. a third hydraulic push rod; 20. a second motor; 21. a second rotating seat; 22. a connecting plate; 23. a third motor; 24. a drive gear; 25. a first driven gear; 26. a driven gear II; 27. a first clamping claw; 28. a second clamping jaw; 29. a distance-measuring infrared camera device; 30. and a fourth hydraulic push rod.
Detailed Description
For further explanation of the various embodiments, the drawings which form a part of the disclosure and which are incorporated in and constitute a part of this specification, illustrate embodiments and, together with the description, serve to explain the principles of operation of the embodiments, and to enable others of ordinary skill in the art to understand the various embodiments and advantages of the invention, and, by reference to these figures, reference is made to the accompanying drawings, which are not to scale and wherein like reference numerals generally refer to like elements.
According to the embodiment of the invention, the intelligent grabbing manipulator is used for the production and processing field.
Referring to the drawings and the detailed description, the invention is further described, as shown in fig. 1-3, a robot arm with automatic intelligent carrying and assembling functions according to an embodiment of the invention includes a support plate 1, a controller 2 is disposed on one side of an upper end of the support plate 1, a first rotating mechanism 3, a connecting mechanism 4, a second rotating mechanism 5 and a clamping mechanism 6 are sequentially disposed on an upper end of a middle portion of the support plate 1, the first rotating mechanism 3 is located in a middle portion of an upper end of the support plate 1, the connecting mechanism 4 is located at an upper end of the first rotating mechanism 3, the upper end of the connecting mechanism 4 far away from the first rotating mechanism 3 is provided with the clamping mechanism 6, the second rotating mechanism 5 is disposed between the clamping mechanism 6 and the connecting mechanism 4, and one end of the connecting mechanism 4 far away from the first rotating mechanism 3, coupling mechanism 4 includes linking arm one 7, two 8 and three 9 of linking arm, linking arm one 7 with connect through connecting piece one 10 between the rotary mechanism 3, linking arm two 8 with linking arm one 7 is connected through two 11 of connecting pieces, linking arm three 9 with linking arm two 8 are connected through three 12 of connecting pieces, linking arm three 9 with connect through four 13 of connecting pieces between the rotary mechanism two 5, linking arm one 7 linking arm two 8 with linking arm three 9 all cooperate through flexible drive arrangement 14 and connect.
With the aid of the above technical scheme, set up out relevant parameter through the control system of 2 inside controllers, and then the location that range finding infrared camera device on fixture 6 can be fine with guarantee the transport, precision during the equipment part, thereby make rotary mechanism 3, coupling mechanism 4, the robotic arm of constituteing under rotary mechanism two 5 and the 6 mutual cooperations of fixture carries, the equipment, thereby reach and form automatic intelligent transport, the effect of equipment, and the component structure is firm, be difficult to take place to rock, high durability and convenient use, therefore, the clothes hanger is strong in practicability.
In one embodiment, a display screen is arranged on one side of the controller 2 away from the first rotating mechanism 3, and a plurality of control buttons are arranged below the display screen.
In one embodiment, the rotating mechanism one 3 comprises a motor one 15 positioned at the middle position of the upper end of the supporting plate 1, and a rotating seat 16 is arranged at the upper end of the rotating shaft of the motor one 15.
In one embodiment, the telescopic driving device 14 includes a first hydraulic push rod 17 disposed between the first connecting member 10 and the second connecting member 11, a second hydraulic push rod 18 disposed between the middle position of the second connecting arm 8 and the first connecting member 10, a third hydraulic push rod 19 disposed between the middle position of the second connecting arm 8 close to the second hydraulic push rod 18 and the third connecting member 12, and a fourth hydraulic push rod 30 disposed between the third connecting member 12 and the fourth connecting member 13.
In one embodiment, the second rotating mechanism 5 includes a second motor 20 located at one end of the fourth connecting member 13, and a second rotating seat 21 is disposed at one end of an output shaft of the second motor 20.
In one embodiment, the clamping mechanism 6 comprises a connecting plate 22 located at one end of the rotating seat two 21, a motor three 23 is arranged at one end of the connecting plate 22, a driving gear 24 penetrating through a hollow portion at one side of the middle of the connecting plate 22 is arranged on a driving shaft of the motor three 23, a driven gear one 25 and a driven gear two 26 are respectively arranged on two sides of one end, away from the motor three 23, of the connecting plate 22, a first clamping claw 27 is arranged at one end of the driven gear one 25 in a matched mode, a second clamping claw 28 is arranged at one end of the driven gear two 26 in a matched mode, and a distance measuring infrared camera 29 is arranged at the middle of the connecting plate 22.
The working principle is as follows: when the robot arm is used, when the robot arm needs to be transported and assembled, relevant parameters are set through a control system in the controller 2, so that the robot arm can be automatically and intelligently transported and assembled, the distance measuring infrared camera device arranged on the clamping mechanism 6 can well position and ensure the accuracy in transporting and assembling parts, the connecting arms I7, II 8 and III 9 in the connecting mechanism 4 are connected with the connecting pieces I10, II 11, III 12 and IV 13, the telescopic motion of the arm is further carried out through the hydraulic push rods I17, II 18, III 19 and IV 30 in the telescopic driving device 14, the parts are automatically and intelligently transported and assembled under the matching of the clamping claws I27 and II 28 through the clamping mechanism 6, and the connecting mechanism 4 and the clamping mechanism 6 are rotated through the rotating mechanism I3 and II 5, and then improve the adjustability of equidirectional not to reach the effect of automatic intelligent transport, equipment of constitution.
In summary, according to the above technical scheme of the present invention, the control system inside the controller 2 sets the relevant parameters, and the distance measuring infrared camera device on the clamping mechanism 6 can position and ensure the precision of the parts during transportation and assembly, so that the robot arm composed of the rotating mechanism one 3, the connecting mechanism 4, the rotating mechanism two 5 and the clamping mechanism 6 in cooperation with each other can transport and assemble, thereby achieving the effects of automatic intelligent transportation and assembly.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be machine connection or electric connection; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. The intelligent grabbing manipulator is characterized by comprising a supporting plate (1), a controller (2) is arranged on one side of the upper end of the supporting plate (1), a first rotating mechanism (3), a connecting mechanism (4), a second rotating mechanism (5) and a clamping mechanism (6) are sequentially arranged at the upper end of the middle of the supporting plate (1), the first rotating mechanism (3) is located in the middle of the upper end of the supporting plate (1), the connecting mechanism (4) is located at the upper end of the first rotating mechanism (3), the clamping mechanism (6) is arranged at the upper end, away from the first rotating mechanism (3), of the connecting mechanism (4), the second rotating mechanism (5) is arranged between the clamping mechanism (6) and the connecting mechanism (4), and the clamping mechanism (6) is arranged at the end, away from the first rotating mechanism (3), of the connecting mechanism (4), coupling mechanism (4) include linking arm one (7), linking arm two (8) and linking arm three (9), linking arm one (7) with connect through connecting piece one (10) between rotary mechanism (3), linking arm two (8) with linking arm one (7) are connected through connecting piece two (11), linking arm three (9) with linking arm two (8) are connected through connecting piece three (12), linking arm three (9) with connect through connecting piece four (13) between rotary mechanism two (5), linking arm one (7) linking arm two (8) with linking arm three (9) all cooperate through flexible drive arrangement (14) and connect.
2. The intelligent grabbing manipulator used in the production and processing field is characterized in that a display screen is arranged on one side, away from the first rotating mechanism (3), of the controller (2), and a plurality of control buttons are arranged below the display screen.
3. The intelligent grabbing manipulator used in the production and processing field is characterized in that the first rotating mechanism (3) comprises a first motor (15) located in the middle of the upper end of the support plate (1), and a rotating seat (16) is arranged at the upper end of a rotating shaft of the first motor (15).
4. The intelligent grabbing manipulator used in the production and processing field is characterized in that the telescopic driving device (14) comprises a first hydraulic push rod (17) arranged between the first connecting piece (10) and the second connecting piece (11), a second hydraulic push rod (18) arranged between the middle position of the second connecting arm (8) and the first connecting piece (10), a third hydraulic push rod (19) arranged between the middle position of the second connecting arm (8) close to the second hydraulic push rod (18) and the third connecting piece (12), and a fourth hydraulic push rod (30) arranged between the third connecting piece (12) and the fourth connecting piece (13).
5. The grabbing intelligent manipulator used in the production and processing field is characterized in that the second rotating mechanism (5) comprises a second motor (20) located at one end of the fourth connecting piece (13), and a second rotating seat (21) is arranged at one end of an output shaft of the second motor (20).
6. The intelligent grabbing manipulator used in the production and processing field as claimed in claim 1, characterized in that the clamping mechanism (6) comprises a connecting plate (22) positioned at one end of the second rotating seat (21), a third motor (23) is arranged at one end of the connecting plate (22), a driving shaft of the third motor (23) is provided with a driving gear (24) which is inserted into a hollow part at one side of the middle part of the connecting plate (22), two sides of one end of the connecting plate (22) far away from the motor III (23) are respectively provided with a driven gear I (25) and a driven gear II (26), one end of the driven gear I (25) is provided with a first clamping claw (27) in a matching way, a second clamping claw (28) is arranged at one end of the second driven gear (26) in a matching way, and a distance measuring infrared camera device (29) is arranged in the middle of the connecting plate (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811070772.7A CN110900585A (en) | 2018-09-14 | 2018-09-14 | A snatch intelligent machine hand for production, processing field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811070772.7A CN110900585A (en) | 2018-09-14 | 2018-09-14 | A snatch intelligent machine hand for production, processing field |
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| Publication Number | Publication Date |
|---|---|
| CN110900585A true CN110900585A (en) | 2020-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811070772.7A Pending CN110900585A (en) | 2018-09-14 | 2018-09-14 | A snatch intelligent machine hand for production, processing field |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111812301A (en) * | 2020-07-27 | 2020-10-23 | 林惠明 | Detection equipment for detecting deep soil |
| CN112297236A (en) * | 2020-10-15 | 2021-02-02 | 吉林大学 | Fiber concrete mixer based on machine vision and monitoring method |
| CN112318721A (en) * | 2020-10-15 | 2021-02-05 | 吉林大学 | Self-stress concrete mixer and visual detection method |
| CN112757251A (en) * | 2020-12-31 | 2021-05-07 | 南京昱晟机器人科技有限公司 | Intelligent manufacturing industrial robot convenient to operate |
-
2018
- 2018-09-14 CN CN201811070772.7A patent/CN110900585A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111812301A (en) * | 2020-07-27 | 2020-10-23 | 林惠明 | Detection equipment for detecting deep soil |
| CN112297236A (en) * | 2020-10-15 | 2021-02-02 | 吉林大学 | Fiber concrete mixer based on machine vision and monitoring method |
| CN112318721A (en) * | 2020-10-15 | 2021-02-05 | 吉林大学 | Self-stress concrete mixer and visual detection method |
| CN112757251A (en) * | 2020-12-31 | 2021-05-07 | 南京昱晟机器人科技有限公司 | Intelligent manufacturing industrial robot convenient to operate |
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Application publication date: 20200324 |