CN111516001A - Dual-purpose mechanical arm for intelligent manufacturing - Google Patents
Dual-purpose mechanical arm for intelligent manufacturing Download PDFInfo
- Publication number
- CN111516001A CN111516001A CN202010360703.0A CN202010360703A CN111516001A CN 111516001 A CN111516001 A CN 111516001A CN 202010360703 A CN202010360703 A CN 202010360703A CN 111516001 A CN111516001 A CN 111516001A
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- China
- Prior art keywords
- drive
- storehouse
- chassis
- dual
- fixed connection
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Classifications
-
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B15/00—Screwdrivers
- B25B15/02—Screwdrivers operated by rotating the handle
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a dual-purpose manipulator for intelligent manufacturing, and belongs to the field of intelligent manufacturing manipulators. The utility model provides a dual-purpose type manipulator for intelligence is made, drive the whole drive of device through the bi-motor mechanism that sets up among the actuating mechanism, it drives drive mechanism that admits air to rotate through starting one side servo motor antiport, and can not drive the link gear and rotate this moment because the inside ratchet that is provided with in link gear upper end, it removes the chassis to drive, it opens to drive the claw of snatching, later remove the manipulator to the assigned position after, it drives actuating mechanism that admits air and removes to start opposite side servo motor antiport, it removes to drive the chassis, it snatchs appointed article to drive the claw of snatching, and when snatching the claw and closing in the vacant state, cross screwdriver head is constituteed to the front end, can carry.
Description
Technical Field
The invention relates to the field of intelligent manufacturing manipulators, in particular to a dual-purpose manipulator for intelligent manufacturing.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate 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 manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
The existing dual-purpose manipulator for intelligent manufacturing cannot grab and install screws.
Disclosure of Invention
The invention aims to solve the problem that two operations of grabbing and installing screws cannot be carried out, and provides a dual-purpose manipulator for intelligent manufacturing.
In order to achieve the purpose, the invention adopts the following technical scheme:
a dual-purpose robot for smart manufacturing, comprising: main body cover, drive storehouse, linkage storehouse and rotation storehouse, main body cover is inside to have set gradually drive storehouse, linkage storehouse and rotation storehouse from a left side right side, the inside top fixed mounting in drive storehouse has actuating mechanism, actuating mechanism right side and linkage upside fixed connection, linkage fixed mounting is inside the linkage storehouse, the actuating mechanism middle part is leaned on down to be connected with the actuating mechanism meshing that admits air, admit air actuating mechanism fixed mounting inside the drive storehouse, admit air actuating mechanism right-hand member middle part and snatch mechanism fixed connection, it is inside rotating the storehouse to snatch mechanism movable mounting.
Preferably, the drive mechanism comprises: servo motor and rotation ratchet, drive the inside upper left side fixed mounting in storehouse and have two sets of servo motor, servo motor main shaft goes up from a left side to the right side and rotates ratchet axle center and link gear upside fixed connection, it is connected with the meshing of actuating mechanism that admits air to rotate the ratchet and lean on one side top in.
Preferably, the intake air driving mechanism includes: drive gear, transmission lead screw, removal circle, compression gasbag and telescopic connection pipe, it is connected with drive gear front and back both sides meshing to rotate ratchet one side by interior, drive gear axle center and transmission lead screw left end fixed connection, transmission lead screw right-hand member and drive storehouse right side inner wall swing joint, the screw thread has cup jointed the removal circle upper end on the transmission lead screw, remove circle right side and compression gasbag left side fixed connection, compression gasbag right side and drive storehouse inner wall fixed connection, compression gasbag right-hand member axle center and telescopic connection pipe left end fixed connection, telescopic connection pipe right-hand member with snatch mechanism fixed connection.
Preferably, the linkage mechanism includes: the servo motor comprises a rotating wheel, a limiting wheel, a driving wheel group, a limiting shaft, a driving shaft and a rotating ring, wherein the right side of a main shaft of a servo motor is fixedly connected with the upper end axis of the driving wheel group and the axis of the rotating wheel in sequence, the lower end axis of the driving wheel group is fixedly connected with the left side of the driving shaft, the middle part of the driving shaft is fixedly connected with the axis of the driving wheel, the left end and the right end of the driving shaft are movably connected with the inner wall of a linkage bin, the four corners of the upper side and the lower side of the rotating wheel and the driving wheel are movably connected with the four corners of the upper side and the lower side of the rotating ring, the front side and the rear side of the middle part of the rotating.
Preferably, the grasping mechanism includes: fixed chassis, removal chassis, dwang and snatch the claw, it encloses right side and fixed chassis left end fixed connection to rotate, fixed chassis activity cup joints inside rotating the storehouse, the inside activity of fixed chassis has cup jointed and has removed the chassis left end, it runs through fixed chassis and telescopic connection pipe right-hand member fixed connection to remove the chassis left end, fixed chassis outside movable mounting has four carriage release levers, the carriage release lever right-hand member with snatch claw left end middle part swing joint, it leans on interior one end and removes chassis outside edge swing joint to snatch the claw.
Preferably, the grabbing claw is combined with the rear front end to form a cross screwdriver head.
Compared with the prior art, the invention provides a dual-purpose manipulator for intelligent manufacturing, which has the following beneficial effects:
1. the device is driven to integrally drive by a double-motor mechanism arranged in a driving mechanism, the air inlet driving mechanism is driven by starting the reverse rotation of a servo motor on one side, and a ratchet wheel arranged in the upper end of the linkage mechanism can not drive the linkage mechanism to rotate at the moment, so that a movable chassis is driven to move, a grabbing claw is driven to open, then after a manipulator is moved to a specified position, the servo motor on the other side is started to reversely rotate, so that the air inlet driving mechanism is driven to move, the movable chassis is driven to move, the grabbing claw is driven to grab a specified article, and when the grabbing claw is closed in a vacant state, the front end of the grabbing claw forms a cross screw cutter head, so.
2. The invention is provided with a driving mechanism and an air inlet driving mechanism, wherein a left servo motor is started to reversely rotate to drive a rotating ratchet wheel to rotate, a transmission gear is driven to rotate to drive a transmission screw rod to rotate, a moving ring is driven to move forwards along the transmission screw rod, so that a compressed air bag is compressed to move a moving chassis, a grabbing claw is opened, after a specified position is reached, a right servo motor is started to reversely rotate to drive the rotating ratchet wheel to rotate, the transmission gear is driven to rotate, the transmission screw rod is driven to rotate, the moving ring is driven to move backwards along the transmission screw rod, so that the compressed air bag is stretched to move the moving chassis.
3. When the automatic grabbing device is used, the servo motor is started to drive the rotating wheel and the transmission wheel set to rotate, the transmission wheel is driven to synchronously rotate, and therefore the rotating ring is driven to rotate, the fixed chassis is driven to rotate, and the grabbing claws are driven to rotate.
Drawings
Fig. 1 is an overall schematic view of a dual-purpose robot for smart manufacturing according to the present invention;
fig. 2 is a schematic exploded view of a dual-purpose robot for smart manufacturing according to the present invention;
fig. 3 is a schematic exploded view of a dual-purpose robot for smart manufacturing according to the present invention;
fig. 4 is a schematic exploded view of a dual-purpose robot for smart manufacturing according to the present invention.
The reference numbers in the figures illustrate:
101 main body shell, 102 driving cabin, 103 linkage cabin, 104 rotating cabin, 201 servo motor, 202 rotating ratchet wheel, 301 transmission gear, 302 transmission screw rod, 303 moving ring, 304 compression air bag, 305 telescopic connecting pipe, 401 rotating wheel, 402 spacing wheel, 403 transmission wheel, 404 transmission wheel group, 405 spacing shaft, 406 transmission shaft, 407 rotating ring, 501 fixed chassis, 502 moving chassis, 503 rotating rod, 504 grabbing claw.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example 1:
a dual-purpose robot for smart manufacturing, comprising: main body cover 101, drive storehouse 102, linkage storehouse 103 and rotation storehouse 104, main body cover 101 is inside to have set gradually drive storehouse 102 from a left side to the right side, linkage storehouse 103 and rotation storehouse 104, the inside top fixed mounting in drive storehouse 102 has actuating mechanism, actuating mechanism right side and linkage upside fixed connection, linkage fixed mounting is inside linkage storehouse 103, the actuating mechanism middle part is leaned on down and is connected with the actuating mechanism meshing that admits air, the actuating mechanism fixed mounting that admits air is inside drive storehouse 102, admit air actuating mechanism right-hand member middle part and snatch mechanism fixed connection, it is inside rotating storehouse 104 to snatch mechanism movable mounting.
Snatch the mechanism and include: fixed chassis 501, remove chassis 502, dwang 503 and snatch claw 504, it encloses 407 right side and fixed chassis 501 left end fixed connection to rotate, fixed chassis 501 activity is cup jointed inside rotating storehouse 104, the inside activity of fixed chassis 501 has cup jointed and has removed chassis 502 left end, remove chassis 502 left end and run through fixed chassis 501 and telescopic connection pipe 305 right-hand member fixed connection, fixed chassis 501 outside movable mounting has four carriage release levers 504, carriage release lever 504 right-hand member and snatch claw 504 left end middle part swing joint, it leans on interior one end and removes chassis 502 outside edge swing joint to snatch claw 504.
The gripper jaws 504 are combined and then the front ends are combined to form a cross screwdriver bit.
The device is driven to integrally drive by a double-motor mechanism arranged in a driving mechanism, the air inlet driving mechanism is driven by starting the reverse rotation of the servo motor 201 on one side, and the ratchet wheel arranged in the upper end of the linkage mechanism can not drive the linkage mechanism to rotate at the moment, so that the movable chassis 502 is driven to move, the grabbing claw 504 is driven to open, then after the manipulator moves to a specified position, the servo motor 201 on the other side is started to reversely rotate to drive the air inlet driving mechanism to move, the movable chassis 502 is driven to move, the grabbing claw 504 is driven to grab a specified article, and when the grabbing claw 504 is closed in a vacant state, the front end forms a cross screwdriver head, so that the screw installation work can be carried out.
Example 2: based on example 1, but with the difference that:
the drive mechanism includes: servo motor 201 and rotation ratchet 202, drive the inside upper left side fixed mounting in storehouse 102 and have two sets of servo motor 201, servo motor 201 main shaft from left to right with rotation ratchet 202 axle center and linkage upside fixed connection, rotate ratchet 202 and lean on the inside one side top and intake air drive mechanism meshing connection.
The intake drive mechanism includes: the transmission gear 301, the transmission screw 302, the moving ring 303, the compression air bag 304 and the telescopic connecting pipe 305, one side of the rotating ratchet 202 close to the inside is meshed with the front side and the rear side of the transmission gear 301, the axle center of the transmission gear 301 is fixedly connected with the left side of the transmission screw 302, the right end of the transmission screw 302 is movably connected with the inner wall of the right side of the driving bin 102, the upper end of the moving ring 303 is sleeved on the transmission screw 302 in a threaded manner, the right side of the moving ring 303 is fixedly connected with the left side of the compression air bag 304, the right side of the compression air bag 304 is fixedly connected with the inner wall of the driving bin 102, the axle center.
The invention is provided with a driving mechanism and an air inlet driving mechanism, a left servo motor 201 is started to rotate reversely to drive a rotating ratchet wheel 201 to rotate, a transmission gear 301 is driven to rotate, a transmission screw rod 302 is driven to rotate, a moving ring 303 is driven to move forwards along the transmission screw rod 302, so that a compressed air bag 304 is compressed to move a moving chassis 502, a grabbing claw 504 is opened, after a specified position is reached, the right servo motor 201 is started to rotate reversely to drive the rotating ratchet wheel 201 to rotate, the transmission gear 301 is driven to rotate, the transmission screw rod 302 is driven to rotate, the moving ring 303 is driven to move backwards along the transmission screw rod 302, and the compressed air bag 304 is stretched to move the moving chassis 502, so that.
Example 3: based on examples 1 and 2, but with the difference that:
the link gear includes: the right side of a main shaft of the servo motor 201 is sequentially fixedly connected with the axle center of the upper end of the transmission wheel set 404 and the axle center of the rotation wheel 401, the axle center of the lower end of the transmission wheel set 404 is fixedly connected with the left side of the transmission shaft 406, the middle of the transmission shaft 406 is fixedly connected with the axle center of the transmission wheel 403, the left end and the right end of the transmission shaft 406 are movably connected with the inner wall of the linkage bin 103, the rotation wheel 401 and the transmission wheel 403 are movably connected with the four corners of the upper side and the lower side of the rotation ring 407, the front side and the rear side of the middle of the rotation ring 407 are movably connected with the limiting wheel 402, the axle center of the limiting wheel 402 is fixedly connected with the middle of the limiting shaft 405, the left end and the right end of the limiting shaft 405 are movably connected.
When the device is used, the servo motor 201 is started to drive the rotating wheel 401 and the transmission wheel set 403 to rotate, so that the transmission wheel 403 is driven to synchronously rotate, the rotating ring 407 is driven to rotate, the fixed chassis 501 is driven to rotate, and the grabbing claw 504 is driven to rotate.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. A dual-purpose robot for smart manufacturing, comprising: main body cover (101), drive storehouse (102), linkage storehouse (103) and rotation storehouse (104), its characterized in that, main body cover (101) is inside to have set gradually drive storehouse (102), linkage storehouse (103) and rotation storehouse (104) from a left side to the right side, the inside top fixed mounting in drive storehouse (102) has actuating mechanism, actuating mechanism right side and linkage upside fixed connection, linkage fixed mounting is inside linkage storehouse (103), the actuating mechanism middle part is leaned on down to be connected with the actuating mechanism meshing of admitting air, the actuating mechanism fixed mounting of admitting air is inside drive storehouse (102), admit air actuating mechanism right-hand member middle part and snatch mechanism fixed connection, it installs inside rotation storehouse (104) to snatch mechanism movable mounting.
2. A dual-purpose manipulator for smart manufacturing according to claim 1, characterized in that: the drive mechanism includes: servo motor (201) and rotation ratchet (202), drive the inside upper left side fixed mounting in storehouse (102) and have two sets of servo motor (201), servo motor (201) main shaft is gone up from a left side to the right side and is rotated ratchet (202) axle center and link gear upside fixed connection, rotation ratchet (202) lean on one side top in and are connected with the meshing of mechanism of admitting air.
3. A dual-purpose manipulator for smart manufacturing according to claim 2, characterized in that: the intake air drive mechanism includes: drive gear (301), transmission lead screw (302), removal circle (303), compression gasbag (304) and telescopic connection pipe (305), it is connected with drive gear (301) front and back both sides meshing to rotate ratchet (202) and lean on interior one side, drive gear (301) axle center and transmission lead screw (302) left end fixed connection, transmission lead screw (302) right-hand member and drive storehouse (102) right side inner wall swing joint, the screw has cup jointed removal circle (303) upper end on transmission lead screw (302), remove circle (303) right side and compression gasbag (304) left side fixed connection, compression gasbag (304) right side and drive storehouse (102) inner wall fixed connection, compression gasbag (304) right-hand member axle center and telescopic connection pipe (305) left end fixed connection, telescopic connection pipe (305) right-hand member with snatch mechanism fixed connection.
4. A dual-purpose manipulator for smart manufacturing according to claim 2, characterized in that: the link gear includes: the right side of a main shaft of the servo motor (201) is sequentially fixedly connected with the axle center of the upper end of the transmission wheel set (404) and the axle center of the transmission wheel set (401), the axle center of the lower end of the transmission wheel set (404) is fixedly connected with the left side of the transmission shaft (406), the middle part of the transmission shaft (406) is fixedly connected with the axle center of the transmission wheel (403), the left end and the right end of the transmission shaft (406) are movably connected with the inner wall of the linkage bin (103), the transmission wheel (401) and the transmission wheel (403) are movably connected with four corners of the upper side and the lower side of the rotation bin (407), the front side and the rear side of the middle part of the rotation bin (407) are movably connected with the limiting wheel (402), the axle center of the limiting wheel (402) is fixedly connected with the middle part of the limiting shaft (405), the left end and the right end of the limiting shaft (405) are movably connected with the inner wall of the linkage bin, the middle part of the right side of the rotating ring (407) is fixedly connected with the left side of the grabbing mechanism.
5. The dual-purpose manipulator for smart manufacturing of claim 4, wherein: the grabbing mechanism comprises: fixed chassis (501), remove chassis (502), dwang (503) and snatch claw (504), rotate circle (407) right side and fixed chassis (501) left end fixed connection, fixed chassis (501) activity is cup jointed and is rotating storehouse (104) inside, fixed chassis (501) inside activity has been cup jointed and has been removed chassis (502) left end, it runs through fixed chassis (501) and telescopic connection pipe (305) right-hand member fixed connection to remove chassis (502) left end, fixed chassis (501) outside movable mounting has four carriage release levers (504) of installing, carriage release lever (504) right-hand member and snatch claw (504) left end middle part swing joint, it leans on interior one end and removes chassis (502) outside edge swing joint to snatch claw (504).
6. The dual-purpose manipulator for smart manufacturing of claim 5, wherein: the grabbing claws (504) are combined, and the front ends of the combined grabbing claws form a cross screwdriver head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010360703.0A CN111516001A (en) | 2020-04-30 | 2020-04-30 | Dual-purpose mechanical arm for intelligent manufacturing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010360703.0A CN111516001A (en) | 2020-04-30 | 2020-04-30 | Dual-purpose mechanical arm for intelligent manufacturing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111516001A true CN111516001A (en) | 2020-08-11 |
Family
ID=71906153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010360703.0A Withdrawn CN111516001A (en) | 2020-04-30 | 2020-04-30 | Dual-purpose mechanical arm for intelligent manufacturing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111516001A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454403A (en) * | 2020-12-25 | 2021-03-09 | 淄博职业学院 | Manipulator with function of preventing pipe from rotating and sliding |
| CN113084854A (en) * | 2021-04-15 | 2021-07-09 | 浙江科技学院 | Variable-rigidity flexible driver |
| CN113172583A (en) * | 2021-05-31 | 2021-07-27 | 西南医科大学附属中医医院 | Heparin cap screwing device |
| CN114536391A (en) * | 2022-03-30 | 2022-05-27 | 安徽理工大学 | Mechanical gripper of motor-driven cam mechanism |
-
2020
- 2020-04-30 CN CN202010360703.0A patent/CN111516001A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454403A (en) * | 2020-12-25 | 2021-03-09 | 淄博职业学院 | Manipulator with function of preventing pipe from rotating and sliding |
| CN112454403B (en) * | 2020-12-25 | 2023-01-17 | 淄博职业学院 | Manipulator with function of preventing pipe from rotating and sliding |
| CN113084854A (en) * | 2021-04-15 | 2021-07-09 | 浙江科技学院 | Variable-rigidity flexible driver |
| CN113172583A (en) * | 2021-05-31 | 2021-07-27 | 西南医科大学附属中医医院 | Heparin cap screwing device |
| CN114536391A (en) * | 2022-03-30 | 2022-05-27 | 安徽理工大学 | Mechanical gripper of motor-driven cam mechanism |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication | ||
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Application publication date: 20200811 |