CN112589827A - Manipulator for clamping workpiece - Google Patents
Manipulator for clamping workpiece Download PDFInfo
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- CN112589827A CN112589827A CN202011532012.0A CN202011532012A CN112589827A CN 112589827 A CN112589827 A CN 112589827A CN 202011532012 A CN202011532012 A CN 202011532012A CN 112589827 A CN112589827 A CN 112589827A
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- Prior art keywords
- arm
- small arm
- threaded
- clamping
- threaded shaft
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a manipulator for clamping a workpiece, which comprises a driving device, three mechanical arms and a shell, wherein the driving device comprises a rotating motor and a threaded shaft; the mechanical arm comprises a big arm and a small arm, one end of the big arm is hinged to the threaded base, the other end of the big arm is hinged to the small arm, the small arm is hinged to a fixed support on the shell, and a small arm fixed point is additionally arranged at the tail end of the small arm. The scheme adopts the rotating motor as a power input source, the provided power is stable, the power is improved into stable and enough clamping force through the torque action of the threaded shaft connected with the coupler, the energy loss is reduced, and the clamping force is improved; the used threaded shaft is connected with the threaded base, and after the working condition is reached, the rotating motor can not work any more, the automatic self-locking function of the equipment can save the structure of clamping protection of the clamping equipment.
Description
Technical Field
The invention relates to the technical field of modern machinery, in particular to a manipulator for clamping a workpiece.
Background
The mechanical arm is widely applied to the field of mechanical production, particularly to picking and clamping of workpieces, a power system of the mechanical arm generally used for clamping can be divided into hydraulic power, pneumatic power and electric power, but the power system has certain defects, for example, the hydraulic power has the defect that the occupied space is too large, the mechanical arm is difficult to apply to a flexible and small mechanical arm, and the pneumatic power has the defect of poor stability.
Patent No. CN109352640A discloses a telescopic bionic robot arm, including the base, be fixed with hexagonal pipe and actuating mechanism on the base, the intraductal cover of hexagon is equipped with screw nut mechanism, and actuating mechanism's output and screw nut mechanism are connected, and the one end that the base was kept away from to screw nut mechanism is connected with the fall way, and the other end of fall way is connected with the gripper. The invention provides a telescopic bionic robot arm capable of freely stretching according to conditions and guaranteeing accurate object clamping, and solves the problem that the existing robot arm cannot freely stretch.
The manipulator is an important component of a modern production factory, and is widely applied in various fields such as national economy, national defense industry and the like. When a workpiece needing to be clamped is large, a large power source is generally needed, and the mechanical arm is small, so that the market demand for increasing power is large. But current manipulator can not provide both stably and possess the shortcoming of enough clamping-force again, need last incessant output power to maintain at the centre gripping work piece in-process, is unfavorable for the saving of the energy, is unfavorable for simultaneously dismantling and maintaining, use cost height.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides the manipulator for clamping the workpiece, which is convenient to use, convenient to disassemble, small in occupied space, good in force increasing effect and high in clamping stability, adopts an electric spiral structure, has the advantages of increasing the force of a power source and being capable of realizing power-off self-locking, and solves the problem that the conventional manipulator cannot provide an anti-slip sleeve which is stable and has enough clamping force, is convenient to disassemble and maintain and is convenient to replace.
The technical scheme of the invention is as follows: a manipulator for clamping workpieces comprises a driving device, three mechanical arms and a shell, wherein the driving device comprises a rotating motor and a threaded shaft, the rotating motor is connected with one end of the threaded shaft through a coupler, and the other end of the threaded shaft is in threaded connection with a threaded base; the mechanical arm comprises a big arm and a small arm, one end of the big arm is hinged to the threaded base, the other end of the big arm is hinged to the small arm, the small arm is hinged to a fixed support on the shell, and a small arm fixed point is additionally arranged at the tail end of the small arm.
Furthermore, the small arm fixing point is provided with an anti-slip sleeve.
Furthermore, the small arm fixing point is tightly connected with the anti-slip sleeve through a buckle.
Furthermore, the big arm and the threaded base form an angle r, and the small arm and the vertical direction form an angle alpha.
Further, a connecting point of the small arm and the fixed support is set as b, one end far away from the shell is set as a, the other end of the small arm is set as c, a connecting point of the large arm and the threaded base is set as d, and the clamping force between the clamped object and a
In the horizontal direction
The angle between the two is beta, and the friction between the clamped object and a is
(ii) a The weight of the object to be clamped is m,
coefficient of friction μ = 0.6;
balanced by longitudinal forces on the CD bar:
setting different u, alpha, beta, gamma, l𝑎𝑏，l𝑏𝑐Different factors can be amplified.
Further, the
In the case of the above-described situation,
。
the invention has the following characteristics:
(1) the manipulator for clamping the workpiece adopts the rotating motor as a power input source, the provided power is stable, the threaded shaft connected through the coupler promotes the power into stable and large enough clamping force through the torque effect, the energy loss is reduced, and the clamping force is improved.
(2) This a manipulator for centre gripping work piece, the threaded spindle and the threaded base connection of use, after reaching operating condition, the rotating electrical machines can no longer carry out work, and the automatic self-locking function of equipment can save the structure of the centre gripping protection of centre gripping equipment.
(3) The connecting mode that this a manipulator for centre gripping work piece used is convenient for dismantle, and the structure is inseparable, and whole manipulator occupation space is little.
(4) According to the lever principle used by the small arm of the manipulator for clamping the workpiece, the threaded base is arranged at the root of the manipulator, so that the length of the power arm is increased, and the force increasing effect is further increased.
(5) The anti-skidding sleeve used for clamping the manipulator contact point of the workpiece can be installed to increase the stability of the anti-skidding sleeve and facilitate replacement.
(6) The rotary motor and the threaded shaft of the manipulator for clamping the workpiece are connected by using the coupler, and are easy to detach when a fault occurs.
The detailed structure of the present invention will be further described with reference to the accompanying drawings and the detailed description.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2-is a schematic view of the installation of the anti-slip cover;
FIG. 3 is a schematic diagram showing the distribution of force during the operation of the manipulator;
1-rotating motor, 2-coupler, 3-threaded shaft, 4-big arm, 5-small arm, 6-small arm fixing point, 7-antiskid sleeve, 8-fixing support, 9-threaded base, 10-buckle and 11-shell.
Detailed Description
As shown in the attached drawings: a manipulator for clamping workpieces comprises a driving device, three mechanical arms and a shell 11, wherein the driving device comprises a rotating motor 1 and a threaded shaft 3, the rotating motor 1 is connected with one end of the threaded shaft 3 through a coupler 2, and the other end of the threaded shaft 3 is in threaded connection with a threaded base 9; the arm includes big arm 4 and little arm 5, and big arm 4's one end is articulated with screw thread base 9, and its other end is articulated with little arm 5, and little arm 5 is articulated with fixing support 8 on the casing 11, and little arm 5 end adds little arm fixed point 6. Preferably, two or more than three mechanical arms can be arranged according to the use requirement, so that the object can be clamped conveniently.
In the embodiment, in order to improve the friction force between the mechanical arm and the clamped object, an anti-slip sleeve 7 is arranged at the small arm fixing point 6. The small arm fixing point 6 is tightly connected with the anti-slip sleeve 7 through a buckle 10.
The spiral force-increasing mechanism with the matched spiral motor and the threaded shaft 3 is adopted, the rotating motor 1 serves as a power output point and is connected with the threaded shaft 3 in a butt joint mode through the coupler 2, the torque on the rotating motor 1 can be applied to the threaded shaft 3 through matching connection, and the torque input by the rotating motor 1 is amplified through torque action. Because the adopted threaded shaft 3 is tightly connected with the threaded base 9, when a workpiece is clamped, the rotating motor 1 can stop inputting power, and the thread can ensure that the whole device keeps the current working condition and is self-locked.
In the embodiment, the threaded base 9 is located at the root of the manipulator and far away from the fixed support 8, the length of the power rod is increased through the lever effect of the small arm 5, and the clamping force of the small arm fixed point 6 on the workpiece can be further increased. The small arm fixing point 6 is tightly connected with the anti-slip sleeve 7 through the buckle 10, and the anti-slip sleeve 7 can be firmly fixed on the small arm fixing point 6 due to the buckle 10, and is convenient to replace.
The specific working process of the manipulator for clamping the workpiece is that the manipulator is electrified, the rotating motor 1 starts to work, the threaded shaft 3 is driven to rotate by the coupler 2, the threaded shaft 3 works in the threaded base 9, the whole threaded base 9 moves towards the root of the robot hand, the large arm 4 connected with the threaded base 9 in a hinged mode is driven, the large arm 4 performs slow angle change, so that the power rod of the small arm 5 is jacked outwards, the resistance rod of the small arm 5 gathers towards the interior of the manipulator, and is brought into contact with the workpiece, and after the workpiece is clamped, the rotating electric machine 1 can be subjected to a power-off process, because the existence of shaft coupling 2, threaded shaft 3 also can not continue to rotate, and threaded shaft 3 and screw thread base 9 zonulae occludens keep big arm 4 and little arm 5's operating condition stable and auto-lock, keep the stable clamping-force and the work of manipulator.
The working principle and the stress analysis of the scheme are as follows: the big arm 4 and the threaded base 9 form an angle r, and the small arm 5 and the vertical direction form an angle alpha; setting the connecting point of the small arm 5 and the fixed support 8 as b, the end far away from the shell 11 as a, the other end as c, the connecting point of the large arm 4 and the threaded base 9 as d, and the clamping force between the clamped object and a
In the horizontal direction
The angle between the two is beta, and the friction force between the clamped object and the a is Fay(ii) a The weight of the object to be clamped is m,
coefficient of friction μ = 0.6;
balanced by longitudinal forces on the CD bar:
different u, alpha, beta, gamma,
different factors can be amplified.
Preferably, the first and second electrodes are formed of a metal,
in the case of the above-described situation,
，
n value (dimensionless coefficient)
As can be seen from the figure, when
=60，
When the temperature of the water is higher than the set temperature,
the value is minimal, i.e. the weight can be lifted with minimal force.
To is directed at
When the object is
=60，
When the temperature of the water is higher than the set temperature,
has a minimum value of when
The values are shown in the figure (n: dimensionless coefficient)
According to the scheme, the rotary motor 1 is used as a power input source, the provided power is stable, the power is lifted to be stable and large enough clamping force through the torque effect of the threaded shaft 3 connected with the coupler 2, the energy loss is reduced, and the clamping force is improved; the used threaded shaft 3 is connected with the threaded base 9, and when the working condition is met, the rotating motor 1 can not work any more, the equipment has an automatic self-locking function, and a structure for clamping and protecting the clamping equipment can be omitted; the connecting mode that this a manipulator for centre gripping work piece used is convenient for dismantle, and the structure is inseparable, and whole manipulator occupation space is little.
The small arm 5 of the manipulator for clamping the workpiece adopts a lever principle, and the threaded base 9 is arranged at the root part of the manipulator, so that the length of the power arm is increased, and the force increasing effect is further increased; the anti-skid sleeve 7 used for the manipulator contact point for clamping the workpiece is arranged, so that the stability of the anti-skid sleeve 7 can be improved, and the replacement is convenient; the rotary motor 1 and the threaded shaft 3 of the manipulator for clamping workpieces are connected by the coupler 2, and are easy to detach when a fault occurs.
The above description is of the preferred embodiment of the present invention and the technical principles applied thereto, and it will be apparent to those skilled in the art that any changes and modifications based on the equivalent changes and simple substitutions of the technical solutions of the present invention are within the protection scope of the present invention without departing from the spirit and scope of the present invention.
Claims (6)
1. The utility model provides a manipulator for centre gripping work piece, includes drive arrangement, three arm and casing, its characterized in that: the driving device comprises a rotating motor and a threaded shaft, the rotating motor is connected with one end of the threaded shaft through a coupler, and the other end of the threaded shaft is in threaded connection with a threaded base; the mechanical arm comprises a big arm and a small arm, one end of the big arm is hinged to the threaded base, the other end of the big arm is hinged to the small arm, the small arm is hinged to a fixed support on the shell, and a small arm fixed point is additionally arranged at the tail end of the small arm.
2. The robot hand for holding a workpiece according to claim 1, wherein: and the small arm fixing point is provided with an anti-slip sleeve.
3. The robot hand for holding a workpiece according to claim 2, wherein: the small arm fixing point is tightly connected with the anti-slip sleeve through a buckle.
4. The robot hand for holding a workpiece according to claim 3, wherein: the big arm and the threaded base form an angle r, and the small arm and the vertical direction form an angle alpha.
5. The robot hand for holding a workpiece according to claim 4, wherein: setting the connecting point of the small arm and the fixed support as b, the end far away from the shell as a, the other end as c, the connecting point of the large arm and the threaded base as d, and the clamping force between the clamped object and a
And the horizontal direction FaxThe angle between the two is beta, and the friction between the clamped object and a is
The weight of the object to be clamped is m,
coefficient of friction μ;
balanced by longitudinal forces on the CD bar:
different u, alpha, beta, gamma,
different factors can be amplified.
6. The robot hand for holding a workpiece according to claim 5, wherein: the above-mentioned
In the case of the above-described situation,
。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011532012.0A CN112589827A (en) | 2020-12-23 | 2020-12-23 | Manipulator for clamping workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011532012.0A CN112589827A (en) | 2020-12-23 | 2020-12-23 | Manipulator for clamping workpiece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112589827A true CN112589827A (en) | 2021-04-02 |
Family
ID=75200536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011532012.0A Pending CN112589827A (en) | 2020-12-23 | 2020-12-23 | Manipulator for clamping workpiece |
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| Country | Link |
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| CN (1) | CN112589827A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043516A (en) * | 2021-11-27 | 2022-02-15 | 湖南坤鼎数控科技有限公司 | Hydraulic connecting rod type paw |
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|---|---|---|---|---|
| CN101085525A (en) * | 2007-06-29 | 2007-12-12 | 于复生 | Manipulator paw based on stepping motor |
| CN102615650A (en) * | 2012-04-17 | 2012-08-01 | 苏州经贸职业技术学院 | Manipulator clamping device for serial connection reinforcement mechanism |
| JP2016064446A (en) * | 2007-05-30 | 2016-04-28 | 津田 勝 | Electrically-driven robot hand |
| CN106078699A (en) * | 2016-08-15 | 2016-11-09 | 黄河科技学院 | Hand decompression machinery ESD |
| CN107553407A (en) * | 2017-08-31 | 2018-01-09 | 芜湖挺优机电技术有限公司 | A kind of machinery overhaul hammer |
| CN108393914A (en) * | 2018-04-25 | 2018-08-14 | 苏州鸣人金属制品有限公司 | A kind of electronic clamp structure |
| CN108555954A (en) * | 2018-07-04 | 2018-09-21 | 芜湖谱瑞电子科技有限公司 | A kind of electromechanical equipment of automatic snatch part |
| CN208629461U (en) * | 2018-07-17 | 2019-03-22 | 嘉兴立石智能科技有限公司 | Mechanical paw |
| CN210081768U (en) * | 2019-04-23 | 2020-02-18 | 江苏秦郡环保科技有限公司 | Mechanical arm for waste detection |
| CN211916883U (en) * | 2020-01-17 | 2020-11-13 | 张莹 | Intelligent grabbing device for machine manufacturing |
-
2020
- 2020-12-23 CN CN202011532012.0A patent/CN112589827A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016064446A (en) * | 2007-05-30 | 2016-04-28 | 津田 勝 | Electrically-driven robot hand |
| CN101085525A (en) * | 2007-06-29 | 2007-12-12 | 于复生 | Manipulator paw based on stepping motor |
| CN102615650A (en) * | 2012-04-17 | 2012-08-01 | 苏州经贸职业技术学院 | Manipulator clamping device for serial connection reinforcement mechanism |
| CN106078699A (en) * | 2016-08-15 | 2016-11-09 | 黄河科技学院 | Hand decompression machinery ESD |
| CN107553407A (en) * | 2017-08-31 | 2018-01-09 | 芜湖挺优机电技术有限公司 | A kind of machinery overhaul hammer |
| CN108393914A (en) * | 2018-04-25 | 2018-08-14 | 苏州鸣人金属制品有限公司 | A kind of electronic clamp structure |
| CN108555954A (en) * | 2018-07-04 | 2018-09-21 | 芜湖谱瑞电子科技有限公司 | A kind of electromechanical equipment of automatic snatch part |
| CN208629461U (en) * | 2018-07-17 | 2019-03-22 | 嘉兴立石智能科技有限公司 | Mechanical paw |
| CN210081768U (en) * | 2019-04-23 | 2020-02-18 | 江苏秦郡环保科技有限公司 | Mechanical arm for waste detection |
| CN211916883U (en) * | 2020-01-17 | 2020-11-13 | 张莹 | Intelligent grabbing device for machine manufacturing |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043516A (en) * | 2021-11-27 | 2022-02-15 | 湖南坤鼎数控科技有限公司 | Hydraulic connecting rod type paw |
| CN114043516B (en) * | 2021-11-27 | 2023-08-08 | 湖南坤鼎数控科技有限公司 | Hydraulic connecting rod type paw |
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| PB01 | Publication | ||
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Application publication date: 20210402 |