CN111531571A - High-precision multi-dimensional manipulator grabbing mechanism - Google Patents
High-precision multi-dimensional manipulator grabbing mechanism Download PDFInfo
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- CN111531571A CN111531571A CN202010512975.8A CN202010512975A CN111531571A CN 111531571 A CN111531571 A CN 111531571A CN 202010512975 A CN202010512975 A CN 202010512975A CN 111531571 A CN111531571 A CN 111531571A
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- split
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- grabbing
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- 238000000034 method Methods 0.000 claims description 8
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- 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
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Abstract
The invention discloses a high-precision multi-dimensional manipulator grabbing mechanism, which adopts a motor to simultaneously realize the driving of a limiting device to open a manipulator and a sample disc or an article grabbing manipulator, and can ensure that the situation that the sample disc or the article is grabbed when the limiting device is not opened or is not completely opened can not occur, thereby ensuring that the sample disc or the article can not be damaged. The invention has simple structure, stable and accurate movement and small occupied space.
Description
Technical Field
The invention relates to the technical field of grabbing manipulators, in particular to a high-precision multi-dimensional manipulator grabbing mechanism.
Background
At fields widely used manipulator such as biology, chemistry, medical treatment, all need carry out accurate snatching to sample dish or article, at the in-process that snatchs, often need snatch sample dish or object in a dimension, carry out the action of opening to the stop device of sample dish or article in another dimension, traditional device utilizes two manipulators to carry out these two actions respectively, the mechanism is complicated, poor stability, the cooperation of two manipulators is inaccurate simultaneously, cause stop device to snatch sample dish or article under the state of not opening completely easily, thereby damage sample dish or article.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a high-precision multi-dimensional manipulator grabbing mechanism.
In order to achieve the purpose, the invention adopts the following technical scheme:
a high-precision multi-dimensional manipulator grabbing mechanism comprises a motor, an upper gear, a lower gear, a grabbing manipulator split I, a grabbing manipulator split II, an opening manipulator split I, an opening manipulator split II, an opening manipulator split I rack, an opening manipulator split II rack, a grabbing manipulator split I rack and a grabbing manipulator split II rack; the upper gear and the lower gear are coaxially fixed with an output shaft of the motor, and the upper gear is positioned above the lower gear; the grabbing manipulator split first rack and the grabbing manipulator split second rack are respectively meshed with the right side and the left side of the upper gear, and the grabbing manipulator split first rack and the grabbing manipulator split second rack are respectively and fixedly connected to the rear end of the grabbing manipulator split first rack and the front end of the grabbing manipulator split second rack; the first opening manipulator split rack and the second opening manipulator split rack are respectively meshed with the front side and the rear side of the lower gear, and the first opening manipulator split rack and the second opening manipulator split rack are respectively fixed on the right side of the first opening manipulator split rack and the left side of the second opening manipulator split rack.
The grabbing mechanism comprises an upper gear, a grabbing mechanical arm, a first split guide rail and a second split guide rail, wherein the grabbing mechanical arm, the first split guide rail and the second split guide rail are arranged on the right side and the left side of the upper gear respectively and extend along the front-back direction, and the grabbing mechanical arm, the first split rack and the grabbing mechanical arm, the second split rack and the grabbing mechanical arm are arranged on the grabbing mechanical arm, the first split guide rail and the grabbing mechanical arm, the.
Furthermore, the high-precision multi-dimensional manipulator grabbing mechanism further comprises a first opening manipulator split guide rail and a second opening manipulator split guide rail, the first opening manipulator split guide rail and the second opening manipulator split guide rail are respectively located on the front side and the rear side of the lower gear and extend in the left-right direction, and the first opening manipulator split rack and the second opening manipulator split rack are respectively slidably mounted on the first opening manipulator split guide rail and the second opening manipulator split guide rail.
Furthermore, the rear end of the grabbing manipulator split guide rail and the front end of the grabbing manipulator split guide rail are respectively provided with a limiting protrusion.
Furthermore, the right end of the first split guide rail of the opening manipulator and the left end of the second split guide rail of the opening manipulator are respectively provided with a limiting protrusion.
Further, the reference circle diameter of the lower gear is larger than that of the upper gear.
The invention also provides a working method of the high-precision multi-dimensional manipulator grabbing mechanism, which comprises the following specific processes:
when the output shaft of the motor rotates, the upper gear and the lower gear fixed on the output shaft of the motor are driven to rotate simultaneously;
when the upper gear rotates, the grabbing manipulator split rack which is meshed with the left side and the right side of the upper gear and the grabbing manipulator split rack which is meshed with the left side and the right side of the upper gear are driven to move backwards and forwards respectively in the direction close to the center, so that the grabbing manipulator split rack which is fixed at the front end of the grabbing manipulator split rack and the grabbing manipulator split rack which is fixed at the rear end of the grabbing manipulator split rack are driven to move backwards and forwards in the opposite direction respectively in the direction close to the center, and grabbing of a sample plate or an article is realized;
when the lower gear rotates, the first opening mechanical arm split rack and the second opening mechanical arm split rack which are meshed with the front side and the rear side of the lower gear are driven to move rightwards and leftwards respectively, so that the first mechanical arm split rack fixed on the right side of the first opening mechanical arm split rack and the second mechanical arm split rack fixed on the left side of the second opening mechanical arm split rack are driven to move backwards towards the direction far away from the center respectively, and the limiting device for opening the sample plate or the article is achieved.
The invention has the beneficial effects that: the invention adopts the motor to simultaneously realize the driving of the opening manipulator of the limiting device and the sample disc or object grabbing manipulator, thereby ensuring that the situation that the sample disc or object is grabbed when the limiting device is not opened or is not completely opened can not occur, and further ensuring that the sample disc or object can not be damaged. The invention has simple structure, stable and accurate movement and small occupied space.
Drawings
Fig. 1 is a schematic structural diagram of a high-precision multi-dimensional manipulator gripping mechanism according to embodiment 1 of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, and it should be noted that the present embodiment is based on the technical solution, and the detailed implementation and the specific operation process are provided, but the protection scope of the present invention is not limited to the present embodiment.
Example 1
The embodiment provides a high-precision multi-dimensional manipulator grabbing mechanism, which comprises a motor 1, an upper gear 9, a lower gear 3, a grabbing manipulator split I11, a grabbing manipulator split II 7, an opening manipulator split I13, an opening manipulator split II 2, an opening manipulator split I rack 15, an opening manipulator split II rack 5, a grabbing manipulator split I rack 10 and a grabbing manipulator split II rack 8, as shown in fig. 1; the upper gear 9 and the lower gear 3 are both coaxially fixed with an output shaft of the motor 1, and the upper gear 9 is positioned above the lower gear 3; the grabbing manipulator split first rack 10 and the grabbing manipulator split second rack 8 are respectively meshed with the right side and the left side of the upper gear 9, and the grabbing manipulator split first 11 and the grabbing manipulator split second 7 are respectively and fixedly connected to the rear end of the grabbing manipulator split first rack 10 and the front end of the grabbing manipulator split second rack 8; the opening manipulator split first rack 15 and the opening manipulator split second rack 5 are respectively meshed with the front side and the rear side of the lower gear 3, and the opening manipulator split first 13 and the opening manipulator split second 2 are respectively fixed on the right side of the opening manipulator split first rack 15 and the left side of the opening manipulator split second rack 5.
Further, the high-precision multi-dimensional manipulator grabbing mechanism further comprises a grabbing manipulator split first guide rail 12 and a grabbing manipulator split second guide rail 6, the grabbing manipulator split first guide rail 12 and the grabbing manipulator split second guide rail 6 are located on the right side and the left side of the upper gear 9 respectively and extend along the front-back direction, and the grabbing manipulator split first rack 10 and the grabbing manipulator split second rack 8 are slidably mounted on the grabbing manipulator split first guide rail 12 and the grabbing manipulator split second guide rail 6 respectively.
Further, the high-precision multi-dimensional manipulator grabbing mechanism further comprises an opening manipulator split first guide rail 14 and an opening manipulator split second guide rail 4, the opening manipulator split first guide rail 14 and the opening manipulator split second guide rail 4 are located on the front side and the rear side of the lower gear 3 respectively and extend in the left-right direction, and the opening manipulator split first rack 15 and the opening manipulator split second rack 5 are slidably mounted on the opening manipulator split first guide rail 14 and the opening manipulator split second guide rail 4 respectively.
The guide rail can guide the movement of the rack.
Furthermore, the rear end of the grabbing manipulator split guide rail 12 and the front end of the grabbing manipulator split guide rail 6 are respectively provided with a limiting protrusion.
Furthermore, the right end of the opening manipulator split-type guide rail 14 and the left end of the opening manipulator split-type guide rail 4 are respectively provided with a limiting protrusion.
Set up spacing protrusion on the one end of the direction of motion of keeping away from the center at each guide rail, can carry on spacingly to each rack, prevent that it from surpassing the limit when the direction motion of keeping away from the center, and the gear that corresponds breaks away from.
Further, in the present embodiment, the pitch circle diameter of the lower gear 3 is larger than the pitch circle diameter of the upper gear 9.
Example 2
The embodiment provides a working method of the high-precision multi-dimensional manipulator grabbing mechanism as described in embodiment 1, which includes the following specific processes:
when the output shaft of the motor 1 rotates, the upper gear 9 and the lower gear 3 fixed on the output shaft of the motor 1 are driven to rotate simultaneously;
when the upper gear 9 rotates, the grabbing manipulator split rack 8 meshed with the left side and the right side of the upper gear 9 and the grabbing manipulator split rack 10 are driven to move backwards and forwards respectively in the direction close to the center, so that the grabbing manipulator split rack 7 fixed at the front end of the grabbing manipulator split rack 8 and the grabbing manipulator split rack 11 fixed at the rear end of the grabbing manipulator split rack 10 are driven to move backwards and forwards in the direction close to the center respectively, and grabbing of a sample plate or an object is realized;
when the lower gear 3 rotates, the opening manipulator split first rack 15 and the opening manipulator split second rack 5 which are meshed with the front side and the rear side of the lower gear 3 are driven to move rightwards and leftwards respectively, so that the manipulator split first 13 fixed on the right side of the opening manipulator split first rack 15 and the manipulator split second 2 fixed on the left side of the opening manipulator split second rack 5 are driven to move backwards rightwards and leftwards respectively in the direction away from the center, and a limiting device for opening a sample disc or an article is realized;
when the motor is reset, the output shaft of the motor is enabled to rotate in the opposite direction.
Further, because the reference circle diameter of the lower gear 3 is larger than the reference circle diameter of the upper gear 9, the number of the rotating teeth of the lower gear 3 is larger than that of the rotating teeth of the upper gear 9, so that the arrangement can realize that the first split open manipulator and the second split open manipulator further open the limiting device before the first split grab manipulator and the second split grab manipulator grab the sample disc or the object, thereby further ensuring that the sample disc or the object can not be grabbed before the limiting device is not opened.
Various corresponding changes and modifications can be made by those skilled in the art based on the above technical solutions and concepts, and all such changes and modifications should be included in the protection scope of the present invention.
Claims (7)
1. A high-precision multi-dimensional manipulator grabbing mechanism is characterized by comprising a motor, an upper gear, a lower gear, a grabbing manipulator split I, a grabbing manipulator split II, an opening manipulator split I, an opening manipulator split II, an opening manipulator split I rack, an opening manipulator split II rack, a grabbing manipulator split I rack and a grabbing manipulator split II rack; the upper gear and the lower gear are coaxially fixed with an output shaft of the motor, and the upper gear is positioned above the lower gear; the grabbing manipulator split first rack and the grabbing manipulator split second rack are respectively meshed with the right side and the left side of the upper gear, and the grabbing manipulator split first rack and the grabbing manipulator split second rack are respectively and fixedly connected to the rear end of the grabbing manipulator split first rack and the front end of the grabbing manipulator split second rack; the first opening manipulator split rack and the second opening manipulator split rack are respectively meshed with the front side and the rear side of the lower gear, and the first opening manipulator split rack and the second opening manipulator split rack are respectively fixed on the right side of the first opening manipulator split rack and the left side of the second opening manipulator split rack.
2. The high-precision multi-dimensional manipulator grabbing mechanism of claim 1, further comprising a grabbing manipulator split first guide rail and a grabbing manipulator split second guide rail, wherein the grabbing manipulator split first guide rail and the grabbing manipulator split second guide rail are located on the right side and the left side of the upper gear respectively and extend in the front-back direction, and the grabbing manipulator split first rack and the grabbing manipulator split second rack are slidably mounted on the grabbing manipulator split first guide rail and the grabbing manipulator split second guide rail respectively.
3. The high-precision multi-dimensional manipulator grabbing mechanism of claim 1, further comprising an opening manipulator split first guide rail and an opening manipulator split second guide rail, wherein the opening manipulator split first guide rail and the opening manipulator split second guide rail are respectively located on the front side and the rear side of the lower gear and extend in the left-right direction, and the opening manipulator split first rack and the opening manipulator split second rack are respectively slidably mounted on the opening manipulator split first guide rail and the opening manipulator split second guide rail.
4. The high-precision multi-dimensional manipulator grabbing mechanism of claim 2, wherein the rear end of the grabbing manipulator split-type first guide rail and the front end of the grabbing manipulator split-type second guide rail are respectively provided with a limiting protrusion.
5. The high-precision multi-dimensional manipulator grabbing mechanism of claim 2, wherein the right end of the first opening manipulator split guide rail and the left end of the second opening manipulator split guide rail are respectively provided with a limiting protrusion.
6. The high-precision multi-dimensional manipulator grabbing mechanism of claim 1, wherein the reference circle diameter of the lower gear is larger than that of the upper gear.
7. The working method of the high-precision multi-dimensional mechanical arm grabbing mechanism according to any one of claims 1-6 is characterized by comprising the following specific processes:
when the output shaft of the motor rotates, the upper gear and the lower gear fixed on the output shaft of the motor are driven to rotate simultaneously;
when the upper gear rotates, the grabbing manipulator split rack which is meshed with the left side and the right side of the upper gear and the grabbing manipulator split rack which is meshed with the left side and the right side of the upper gear are driven to move backwards and forwards respectively in the direction close to the center, so that the grabbing manipulator split rack which is fixed at the front end of the grabbing manipulator split rack and the grabbing manipulator split rack which is fixed at the rear end of the grabbing manipulator split rack are driven to move backwards and forwards in the opposite direction respectively in the direction close to the center, and grabbing of a sample plate or an article is realized;
when the lower gear rotates, the first opening mechanical arm split rack and the second opening mechanical arm split rack which are meshed with the front side and the rear side of the lower gear are driven to move rightwards and leftwards respectively, so that the first mechanical arm split rack fixed on the right side of the first opening mechanical arm split rack and the second mechanical arm split rack fixed on the left side of the second opening mechanical arm split rack are driven to move backwards towards the direction far away from the center respectively, and the limiting device for opening the sample plate or the article is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010512975.8A CN111531571A (en) | 2020-06-08 | 2020-06-08 | High-precision multi-dimensional manipulator grabbing mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010512975.8A CN111531571A (en) | 2020-06-08 | 2020-06-08 | High-precision multi-dimensional manipulator grabbing mechanism |
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| CN202010512975.8A Pending CN111531571A (en) | 2020-06-08 | 2020-06-08 | High-precision multi-dimensional manipulator grabbing mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112361346A (en) * | 2020-11-12 | 2021-02-12 | 徐国军 | Environment-friendly incinerator |
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| CN106914912A (en) * | 2017-05-10 | 2017-07-04 | 江南大学 | A kind of robot pawl palm of variable configuration |
| CN108116899A (en) * | 2017-12-27 | 2018-06-05 | 高飞 | A kind of palletizing apparatus and its forming method |
| CN108687790A (en) * | 2018-08-14 | 2018-10-23 | 安徽工业大学 | A kind of gear-rack drive formula catching robot |
| CN110021780A (en) * | 2019-04-09 | 2019-07-16 | 山东海帝新能源科技有限公司 | Clamping device is used in a kind of processing of lithium battery |
| CN212241091U (en) * | 2020-06-08 | 2020-12-29 | 公安部第一研究所 | High-precision multi-dimensional manipulator grabbing mechanism |
-
2020
- 2020-06-08 CN CN202010512975.8A patent/CN111531571A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106914912A (en) * | 2017-05-10 | 2017-07-04 | 江南大学 | A kind of robot pawl palm of variable configuration |
| CN108116899A (en) * | 2017-12-27 | 2018-06-05 | 高飞 | A kind of palletizing apparatus and its forming method |
| CN108687790A (en) * | 2018-08-14 | 2018-10-23 | 安徽工业大学 | A kind of gear-rack drive formula catching robot |
| CN110021780A (en) * | 2019-04-09 | 2019-07-16 | 山东海帝新能源科技有限公司 | Clamping device is used in a kind of processing of lithium battery |
| CN212241091U (en) * | 2020-06-08 | 2020-12-29 | 公安部第一研究所 | High-precision multi-dimensional manipulator grabbing mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112361346A (en) * | 2020-11-12 | 2021-02-12 | 徐国军 | Environment-friendly incinerator |
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