CN116604592B - Interval adjustable detects and uses manipulator - Google Patents
Interval adjustable detects and uses manipulator Download PDFInfo
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- CN116604592B CN116604592B CN202310892366.3A CN202310892366A CN116604592B CN 116604592 B CN116604592 B CN 116604592B CN 202310892366 A CN202310892366 A CN 202310892366A CN 116604592 B CN116604592 B CN 116604592B
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- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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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 discloses a manipulator for detecting with adjustable space, which comprises a connecting seat, a space limiting mechanism, a first connecting rod, a second connecting rod, a first connecting block, a first clamping block, a second connecting block, a third connecting rod, a fourth connecting rod, a driving mechanism and a fixed sleeve body; the invention has the advantages of reasonable and simple structure, low production cost and convenient installation, and the two limiting blocks can be driven to move outwards or inwards together to limit the opening angle of the first connecting rod and the fourth connecting rod by driving the spline shaft to rotate through the adjusting head, so that the spacing between the first clamping block and the second clamping block after opening can be adjusted; the parallel four-bar mechanism consists of the first connecting bar, the second connecting bar and the like and the parallel four-bar mechanism consists of the third connecting bar, the fourth connecting bar and the like, so that the clamping blocks I and II are always in a parallel state in the clamping process, and the stability and the reliability of an object to be clamped are ensured.
Description
Technical Field
The invention relates to the technical field of food detection equipment, in particular to a detection manipulator with adjustable spacing.
Background
The food detection is an important link in food processing production, in order to improve the efficiency of food detection and ensure the food sanitation and safety, so that the automation equipment is required to replace the traditional manual operation, the clamping distance of a manipulator for food detection in the existing automation equipment is fixed, and the manipulator has limitation in use, can only be used for clamping and grabbing objects with fixed sizes, and the manipulator with corresponding specification and size is required to be replaced for objects with different sizes, so that the replacement time is wasted, and the production efficiency is reduced.
Disclosure of Invention
The invention aims to solve the problems that the manipulator for detecting the food is fixed in clamping space, so that the manipulator for detecting the food in the existing automatic equipment has limitation in use, can only be used for clamping and grabbing objects with fixed size, and the manipulator with corresponding specification and size is required to be replaced for objects with different sizes, so that the replacement time is wasted, and the production efficiency is reduced.
In order to solve the problems, the invention provides a technical scheme that: the utility model provides a distance adjustable detects and uses manipulator, includes the arm, and its innovation point lies in: the device also comprises a connecting seat, a spacing limiting mechanism, a first connecting rod, a second connecting rod, a first connecting block, a first clamping block, a second connecting block, a third connecting rod, a fourth connecting rod, a driving mechanism and a fixed sleeve body; the upper side of the connecting seat is fixedly connected to the tail end of the mechanical arm, and a fixed sleeve body is fixedly connected inside the center of the connecting seat; the center of the spacing limiting mechanism is arranged in the lower side of the connecting seat; the upper side of the connecting rod I is movably connected to the inside of the left lower side of the connecting seat; the connecting rod II is positioned on the right side of the connecting rod I, and the upper side of the connecting rod II is movably connected in the left lower side of the connecting seat; the left side of the first connecting block is movably connected with the lower side of the connecting rod, and the center of the first connecting block is movably connected with the lower side of the second connecting rod; the center of the left side of the clamping block is fixedly connected with the end part of the right side of the connecting block; the four upper sides of the connecting rods are movably connected in the right lower side of the connecting seat; the connecting rod III is positioned on the left side of the connecting rod IV, and the upper side of the connecting rod III is movably connected in the right lower side of the connecting seat; the right side of the second connecting block is movably connected with the lower side of the fourth connecting rod, and the center of the second connecting block is movably connected with the lower side of the third connecting rod; the center of the second right side of the clamping block is fixedly connected with the end part of the second left side of the connecting block; the upper side of the driving mechanism is arranged in the center of the connecting seat, and the lower side of the driving mechanism is movably connected with the centers of the second connecting rod and the third connecting rod respectively.
Preferably, the specific structure of the spacing limiting mechanism comprises a guide hole, a screw rod, a telescopic arm, a spline shaft, an adjusting head, a limiting block, a transmission gear and a connecting gear; the number of the guide holes is two, and the two guide holes are respectively arranged in the left side and the right side of the connecting seat; the two screws are respectively and movably connected to the centers of the corresponding guide holes, and the inner side ends of the two screws are fixedly connected with transmission gears; the two telescopic arms are respectively and movably connected with the interiors of the corresponding guide holes, and threaded holes arranged in the centers of the interiors of the two telescopic arms are respectively connected with the corresponding screw rods; the two spline shafts are respectively and movably connected to the inner centers of the corresponding telescopic arms, the outer side ends of the two spline shafts are fixedly connected with adjusting heads, and the two spline shafts are respectively connected with spline holes arranged in the outer centers of the corresponding screw rods; the two limiting blocks are respectively and fixedly connected to the bottoms of the outer sides of the corresponding telescopic arms; the connecting gear is movably connected to the outer part of the fixed sleeve body, and the left side and the right side of the connecting gear are respectively connected with the corresponding transmission gears.
Preferably, the guide hole is a rectangular hole and is matched with the outer part of the telescopic arm.
Preferably, an inner hexagonal groove is formed in the center of the outer side of the adjusting head.
Preferably, the inner lower side of the limiting block is in an arc shape.
Preferably, the specific structure of the driving mechanism comprises a first connecting rod, a connector, a second connecting rod, a sliding block, a spring, a sliding cavity, a piston block and an air cylinder; the cylinder is fixedly connected to the inside of the upper center of the connecting seat; the outer part of the upper side of the sliding block is vertically and movably connected with the inner part of the fixed sleeve body, and a sliding cavity is arranged in the center of the sliding block; the outer side of the piston block is movably connected with the upper side of the sliding cavity, the center of the upper side of the piston block is fixedly connected with the end part of a piston rod at the lower side of the cylinder, and a spring is arranged between the bottom surface of the piston block and the bottom surface of the sliding cavity; the top of the connector is fixedly connected with the bottom of the sliding block, and the lower side of the connector is movably connected with the upper sides of the first connecting rod and the second connecting rod; the lower side of the connecting rod is movably connected with the center of the second connecting rod; the lower side of the second connecting rod is movably connected with the center of the third connecting rod.
Preferably, the length of the first connecting rod is the same as the length of the second connecting rod.
Preferably, the first right side surface and the second left side surface of the clamping block are provided with anti-skid patterns.
The invention has the beneficial effects that:
(1) The invention has the advantages of reasonable and simple structure, low production cost and convenient installation, and the two limiting blocks can be driven to move outwards or inwards together to limit the opening angle of the first connecting rod and the fourth connecting rod by driving the spline shaft to rotate through the adjusting head, so that the spacing between the first clamping block and the second clamping block after opening can be adjusted.
(2) The spring arranged in the driving mechanism can ensure that the stretching angle of the first connecting rod and the fourth connecting rod is not influenced after the air cylinder stretches, thereby improving the reliability and stability of the use after the space is adjusted.
(3) The parallel four-bar mechanism consists of the first connecting bar, the second connecting bar and the like and the parallel four-bar mechanism consists of the third connecting bar, the fourth connecting bar and the like, so that the clamping blocks I and II are always in a parallel state in the clamping process, and the stability and the reliability of an object to be clamped are ensured.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic cross-sectional view of fig. 1.
Fig. 3 is a schematic structural view of the spacing mechanism.
Fig. 4 is a schematic structural view of the driving mechanism.
1-a mechanical arm; 2-connecting seats; 3-spacing limiting mechanisms; 4-a first connecting rod; 5-a second connecting rod; 6-connecting block I; 7-clamping block I; 8-a clamping block II; 9-connecting a second block; 10-a connecting rod III; 11-a connecting rod IV; 12-a driving mechanism; 13-fixing the sleeve body; 31-guide holes; 32-screw; 33-telescoping arms; 34-spline shaft; 35-an adjustment head; 36-limiting blocks; 37-a transmission gear; 38-connecting gears; 121-connecting rod one; 122-connecting heads; 123-connecting rod II; 124-a slider; 125-springs; 126-sliding chamber; 127-piston block; 128-cylinder.
Detailed Description
As shown in fig. 1 and 2, the following technical solutions are adopted in this embodiment: the manipulator for detecting the adjustable space comprises a manipulator 1, a connecting seat 2, a space limiting mechanism 3, a connecting rod I4, a connecting rod II 5, a connecting block I6, a clamping block I7, a clamping block II 8, a connecting block II 9, a connecting rod III 10, a connecting rod IV 11, a driving mechanism 12 and a fixed sleeve body 13; the upper side of the connecting seat 2 is fixedly connected to the tail end of the mechanical arm 1, and a fixed sleeve body 13 is fixedly connected to the inside of the center of the connecting seat 2; the center of the spacing limiting mechanism 3 is arranged in the lower side of the connecting seat 2; the upper side of the first connecting rod 4 is movably connected inside the left lower side of the connecting seat 2; the connecting rod II 5 is positioned on the right side of the connecting rod I4, and the upper side of the connecting rod II 5 is movably connected in the lower left side of the connecting seat 2; the left side of the first connecting block 6 is movably connected with the lower side of the first connecting rod 4, and the center of the first connecting block 6 is movably connected with the lower side of the second connecting rod 5; the left center of the clamping block I7 is fixedly connected with the right end part of the connecting block I6; the upper side of the fourth connecting rod 11 is movably connected inside the right lower side of the connecting seat 2; the connecting rod III 10 is positioned at the left side of the connecting rod IV 11, and the upper side of the connecting rod III 10 is movably connected in the right lower side of the connecting seat 2; the right side of the second connecting block 9 is movably connected with the lower side of the fourth connecting rod 11, and the center of the second connecting block 9 is movably connected with the lower side of the third connecting rod 10; the center of the right side of the second clamping block 8 is fixedly connected with the end part of the left side of the second connecting block 9; the upper side of the driving mechanism 12 is arranged in the center of the connecting seat 2, and the lower side of the driving mechanism 12 is movably connected with the centers of the second connecting rod 5 and the third connecting rod 10 respectively.
As shown in fig. 3, the specific structure of the spacing limiting mechanism 3 includes a guide hole 31, a screw 32, a telescopic arm 33, a spline shaft 34, an adjusting head 35, a limiting block 36, a transmission gear 37 and a connecting gear 38; the number of the guide holes 31 is two, and the two guide holes 31 are respectively arranged in the left side and the right side of the connecting seat 2; the two screws 32 are respectively and movably connected to the centers of the corresponding guide holes 31, and the inner side ends of the two screws 32 are fixedly connected with transmission gears 37; the two telescopic arms 33 are respectively and movably connected with the outside of the two telescopic arms 33 in the corresponding guide holes 31, and threaded holes arranged in the center of the inner sides of the two telescopic arms 33 are respectively connected with the corresponding screw rods 32; the two spline shafts 34 are respectively and movably connected to the inner centers of the corresponding telescopic arms 33, the outer side ends of the two spline shafts 34 are fixedly connected with adjusting heads 35, and the two spline shafts 34 are respectively connected with spline holes arranged in the outer centers of the corresponding screw rods 32; the two limiting blocks 36 are respectively and fixedly connected to the bottoms of the outer sides of the corresponding telescopic arms 33; the inside swing joint of connecting gear 38 is outside fixed cover body 13, connecting gear 38 left and right sides is connected with corresponding drive gear 37 respectively.
Wherein the guide hole 31 is a rectangular hole and is matched with the outer part of the telescopic arm 33; an inner hexagonal groove is formed in the center of the outer side of the adjusting head 35, so that the adjusting head 35 is conveniently driven to rotate by an inner hexagonal wrench; the inner lower side of the limiting block 36 is in an arc shape.
As shown in fig. 4, the specific structure of the driving mechanism 12 includes a first connecting rod 121, a connecting head 122, a second connecting rod 123, a slider 124, a spring 125, a sliding cavity 126, a piston block 127 and a cylinder 128; the cylinder 128 is fixedly connected to the upper central inside of the connecting seat 2; the upper outer part of the sliding block 124 is vertically and movably connected with the inner part of the fixed sleeve body 13, and a sliding cavity 126 is arranged in the center of the sliding block 124; the outer side of the piston block 127 is movably connected to the upper side of the sliding cavity 126, the center of the upper side of the piston block 127 is fixedly connected with the end part of the piston rod below the cylinder 128, and a spring 125 is arranged between the bottom surface of the piston block 127 and the bottom surface of the sliding cavity 126; the top of the connector 122 is fixedly connected with the bottom of the sliding block 124, and the lower side of the connector 122 is movably connected with the upper sides of the first connecting rod 121 and the second connecting rod 123; the lower side of the first connecting rod 121 is movably connected with the center of the second connecting rod 5; the lower side of the second connecting rod 123 is movably connected with the center of the third connecting rod 10.
The length of the first connecting rod 121 is the same as that of the second connecting rod 123, so that the centering and clamping of the object can be driven; and anti-skid patterns are arranged on the right side surface of the clamping block I7 and the left side surface of the clamping block II 8, so that the stability and reliability of clamping are ensured.
The use state of the invention is as follows: the invention has reasonable and simple structure, low production cost and convenient installation, when in use, the distance between the clamping block I7 and the clamping block II 8 is firstly adjusted according to the size of objects so as to meet the clamping requirement of objects with different sizes, when in specific adjustment, the spline shaft 34 is firstly driven to rotate by the adjusting head 35, the screw rod 32 is driven to rotate by the rotation of the spline shaft 34, the limit block 36 is driven to transversely move by the rotation of the screw rod 32, meanwhile, the two limit blocks 36 are driven to transversely move together by matching the transmission gear 37 and the connecting gear 38, namely, the two limit blocks 36 are driven to transversely move outwards or inwards to limit the opening angle of the connecting rod I4 and the connecting rod II 11, and then the spacing between the clamping block I7 and the clamping block II 8 after opening can be adjusted, then, the driving mechanism 12 is started to drive the connector 122 to move upwards, and the connector 122 moves upwards to enable the second connecting rod 5 and the third connecting rod 10 to be close to each other through the first connecting rod 121 and the second connecting rod 123, namely, objects are clamped through the first clamping block 7 and the second clamping block 8, the spring 125 arranged in the driving mechanism 12 can ensure that the stretching of the air cylinder 128 can not influence the opening angle of the first connecting rod 4 and the fourth connecting rod 11 after limiting, so that the reliability and the stability of the space after using are improved, in addition, the parallel four-connecting rod mechanism formed by the first connecting rod 4, the second connecting rod 5 and the like and the parallel four-connecting rod mechanism formed by the third connecting rod 10, the fourth connecting rod 11 and the like are ensured, so that the clamping process of the first clamping block 7 and the second clamping block 8 is always in a parallel state, and the stability and the reliability of the objects are ensured.
The control mode of the invention is controlled by manual starting or by the existing automation technology, the wiring diagram of the power element and the supply of the power source are common knowledge in the field, and the invention is mainly used for protecting the mechanical device, so the invention does not explain the control mode and the wiring arrangement in detail.
In the description of the invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "another end," "upper," "one side," "top," "inner," "front," "center," "two ends," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "configured," "connected," "secured," "screwed," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or be integrated; can be mechanically or electrically connected; either directly or indirectly through intermediaries, or in communication with each other or in interaction with each other, unless explicitly defined otherwise, the meaning of the terms in the invention will be understood by those of ordinary skill in the art.
While the basic principles and main features of the invention and advantages of the invention have been shown and described, it will be understood by those skilled in the art that the invention is not limited by the foregoing embodiments, which are described in the foregoing description merely illustrate the principles of the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a distance adjustable detects and uses manipulator, includes arm (1), its characterized in that: the device also comprises a connecting seat (2), a spacing limiting mechanism (3), a first connecting rod (4), a second connecting rod (5), a first connecting block (6), a first clamping block (7), a second clamping block (8), a second connecting block (9), a third connecting rod (10), a fourth connecting rod (11), a driving mechanism (12) and a fixed sleeve body (13);
the upper side of the connecting seat (2) is fixedly connected to the tail end of the mechanical arm (1), and a fixed sleeve body (13) is fixedly connected to the inside of the center of the connecting seat (2);
the center of the spacing limiting mechanism (3) is arranged in the lower side of the connecting seat (2);
the upper side of the first connecting rod (4) is movably connected in the left lower side of the connecting seat (2);
the connecting rod II (5) is positioned on the right side of the connecting rod I (4), and the upper side of the connecting rod II (5) is movably connected in the lower left side of the connecting seat (2);
the left side of the first connecting block (6) is movably connected with the lower side of the first connecting rod (4), and the center of the first connecting block (6) is movably connected with the lower side of the second connecting rod (5);
the left center of the clamping block I (7) is fixedly connected with the right end part of the connecting block I (6);
the upper side of the connecting rod IV (11) is movably connected in the right lower side of the connecting seat (2);
the connecting rod III (10) is positioned at the left side of the connecting rod IV (11), and the upper side of the connecting rod III (10) is movably connected in the right lower side of the connecting seat (2);
the right side of the second connecting block (9) is movably connected with the lower side of the fourth connecting rod (11), and the center of the second connecting block (9) is movably connected with the lower side of the third connecting rod (10);
the right center of the second clamping block (8) is fixedly connected with the left end part of the second connecting block (9);
the upper side of the driving mechanism (12) is arranged in the center of the connecting seat (2), and the lower side of the driving mechanism (12) is respectively and movably connected with the centers of the second connecting rod (5) and the third connecting rod (10);
the specific structure of the spacing limiting mechanism (3) comprises a guide hole (31), a screw (32), a telescopic arm (33), a spline shaft (34), an adjusting head (35), a limiting block (36), a transmission gear (37) and a connecting gear (38);
the number of the guide holes (31) is two, and the two guide holes (31) are respectively arranged in the left side and the right side of the connecting seat (2);
the two screws (32) are respectively and movably connected to the centers of the corresponding guide holes (31), and the inner side ends of the two screws (32) are fixedly connected with transmission gears (37);
the two telescopic arms (33) are respectively and movably connected with the interiors of the corresponding guide holes (31), and threaded holes arranged in the centers of the interiors of the two telescopic arms (33) are respectively connected with the corresponding screw rods (32);
the two spline shafts (34) are respectively and movably connected to the inner centers of the corresponding telescopic arms (33), the outer side ends of the two spline shafts (34) are fixedly connected with adjusting heads (35), and the two spline shafts (34) are respectively connected with spline holes arranged in the outer centers of the corresponding screw rods (32);
the two limiting blocks (36) are respectively fixedly connected to the bottoms of the outer sides of the corresponding telescopic arms (33);
the connecting gear (38) is movably connected to the outside of the fixed sleeve body (13), and the left side and the right side of the connecting gear (38) are respectively connected with the corresponding transmission gears (37).
2. The adjustable-pitch detection manipulator according to claim 1, wherein: the guide hole (31) is a rectangular hole and is matched with the outer part of the telescopic arm (33).
3. The adjustable-pitch detection manipulator according to claim 1, wherein: an inner hexagonal groove is formed in the center of the outer side of the adjusting head (35).
4. The adjustable-pitch detection manipulator according to claim 1, wherein: the inner lower side of the limiting block (36) is in an arc shape.
5. The adjustable-pitch detection manipulator according to claim 1, wherein: the specific structure of the driving mechanism (12) comprises a first connecting rod (121), a connector (122), a second connecting rod (123), a sliding block (124), a spring (125), a sliding cavity (126), a piston block (127) and a cylinder (128);
the cylinder (128) is fixedly connected to the inside of the upper center of the connecting seat (2);
the upper outer part of the sliding block (124) is vertically and movably connected inside the fixed sleeve body (13), and a sliding cavity (126) is arranged inside the center of the sliding block (124);
the outer side of the piston block (127) is movably connected to the upper side of the sliding cavity (126), the center of the upper side of the piston block (127) is fixedly connected with the end part of a piston rod at the lower side of the cylinder (128), and a spring (125) is arranged between the bottom surface of the piston block (127) and the bottom surface of the sliding cavity (126);
the top of the connector (122) is fixedly connected with the bottom of the sliding block (124), and the lower side of the connector (122) is movably connected with the upper sides of the first connecting rod (121) and the second connecting rod (123);
the lower side of the first connecting rod (121) is movably connected with the center of the second connecting rod (5);
the lower side of the second connecting rod (123) is movably connected with the center of the third connecting rod (10).
6. The adjustable-pitch detection manipulator according to claim 5, wherein: the length of the first connecting rod (121) is the same as that of the second connecting rod (123).
7. The adjustable-pitch detection manipulator according to claim 1, wherein: and anti-skid patterns are arranged on the right side surface of the clamping block I (7) and the left side surface of the clamping block II (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310892366.3A CN116604592B (en) | 2023-07-20 | 2023-07-20 | Interval adjustable detects and uses manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310892366.3A CN116604592B (en) | 2023-07-20 | 2023-07-20 | Interval adjustable detects and uses manipulator |
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| CN116604592A CN116604592A (en) | 2023-08-18 |
| CN116604592B true CN116604592B (en) | 2023-09-26 |
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| CN202310892366.3A Active CN116604592B (en) | 2023-07-20 | 2023-07-20 | Interval adjustable detects and uses manipulator |
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