CN211594186U

CN211594186U - A manipulator for intelligent manufacturing

Info

Publication number: CN211594186U
Application number: CN201921844766.2U
Authority: CN
Inventors: 朱高兴; 胡长胜
Original assignee: Jiangxi Normal University
Current assignee: Jiangxi Normal University
Priority date: 2019-10-30
Filing date: 2019-10-30
Publication date: 2020-09-29
Anticipated expiration: 2029-10-30

Abstract

The utility model discloses a manipulator for intelligence is made relates to the intelligent manufacturing technology field, specifically is a manipulator for intelligence is made, including horizontal guide groove pole, the middle part fixed mounting of horizontal guide groove pole has left side xarm and right side xarm, the equal fixedly connected with of removal end of left side xarm and right side xarm moves the arm down, the main centre gripping of lower extreme fixedly connected with that moves the arm down indicates, logical groove has been seted up at the middle part of main centre gripping below indicating. This a manipulator for intelligent manufacturing, through utilizing supplementary xarm to indicate the below that promotes to the object with supplementary centre gripping, when supplementary perpendicular arm will assist the one end of centre gripping to push down the removal, the middle part that supplementary centre gripping indicates rotates around the slider to make supplementary centre gripping indicate the part that is located the object below to upwards hold the object, avoid the condition of object landing, the main centre gripping in cooperation both sides indicates the extrusion force to the object, improves the stability when this manipulator snatchs the object greatly.

Description

A manipulator for intelligent manufacturing

Technical Field

The utility model relates to an intelligence manufacturing technology field specifically is a manipulator for intelligence is made.

Background

The intelligent manufacturing is from the research of artificial intelligence, generally, the intelligence is considered to be the sum of knowledge and intelligence, the former is the basis of the intelligence, the latter is the capability of acquiring and applying knowledge to solve, the intelligent manufacturing comprises an intelligent manufacturing technology and an intelligent manufacturing system, and the intelligent manufacturing system not only can continuously enrich a knowledge base in practice, has a self-learning function, but also has the capability of collecting and understanding environmental information and self information, analyzing, judging and planning self behaviors.

The intelligent manufacturing is a man-machine integrated intelligent system which is composed of an intelligent machine and human experts, intelligent activities such as analysis, reasoning, judgment, conception and decision and the like can be carried out in the manufacturing process, the mechanical arm is widely applied to the field of intelligent manufacturing, the clamping jaw of the existing mechanical arm only forms extrusion force on objects from two sides of the objects, so that the objects are lifted, but the objects slide down from the middle of the clamping jaw, the damage to the objects is caused, and the application range of the mechanical arm is influenced.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a manipulator for intelligent manufacturing has solved the problem of proposing in the above-mentioned background art.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a manipulator for intelligent manufacturing comprises a transverse guide groove rod, wherein a left transverse arm and a right transverse arm are fixedly mounted in the middle of the transverse guide groove rod, moving ends of the left transverse arm and the right transverse arm are fixedly connected with a downward moving arm, a main clamping finger is fixedly connected to the lower end of the downward moving arm, a through groove is formed in the middle of the lower portion of the main clamping finger, an auxiliary clamping finger is arranged in the middle of the through groove, sliding grooves are formed in the outer walls of two sides of the auxiliary clamping finger, sliding blocks are arranged on the side wall of the through groove and are connected in the sliding grooves in a sliding mode, a rotating groove is formed in the middle of one end of the auxiliary clamping finger, a rotating rod is movably sleeved in the rotating groove, connecting blocks are fixedly connected to two ends of the rotating rod, an auxiliary vertical arm is fixedly mounted at the top of each connecting block, and an auxiliary transverse, the auxiliary cross arm is fixedly arranged in the transverse guide groove rod.

Optionally, the left cross arm and the right cross arm have opposite moving directions, and an electromagnetic valve is arranged between the left cross arm and the right cross arm.

Optionally, the number of the auxiliary cross arms is two, the auxiliary cross arms are respectively located on two sides of the left cross arm and the right cross arm, a moving groove is formed in the bottom of the transverse guide groove rod, and the downward moving arm and the auxiliary vertical arm are movably sleeved inside the moving groove.

Optionally, the middle part of horizontal guide slot pole top is provided with vertical guide slot pole, vertical guide slot pole's inside fixed mounting has vertical arm, the quantity of horizontal guide slot pole and vertical arm is two and the removal end of vertical arm and the outer wall fixed connection at horizontal guide slot pole top.

Optionally, a rotating seat is fixedly mounted above the longitudinal guide groove rod, and a mounting rod is fixedly connected to the top of the rotating seat.

Optionally, the main clamping finger and the auxiliary clamping finger are provided with anti-slip teeth on side surfaces, the sliding block is a cylinder, and the sliding block is rotatably connected with the auxiliary clamping finger.

The utility model provides a manipulator for intelligence is made possesses following beneficial effect:

1. this a manipulator for intelligent manufacturing, through utilizing supplementary xarm to indicate the below that promotes to the object with supplementary centre gripping, when supplementary perpendicular arm will assist the one end of centre gripping to push down the removal, the middle part that supplementary centre gripping indicates rotates around the slider to make supplementary centre gripping indicate the part that is located the object below to upwards hold the object, avoid the condition of object landing, the main centre gripping in cooperation both sides indicates the extrusion force to the object, improves the stability when this manipulator snatchs the object greatly.

2. This a manipulator for intelligent manufacturing sets up vertical arm through the inside at vertical guide slot pole to connect the middle part at horizontal guide slot pole with the removal end of vertical arm, thereby make this manipulator can longitudinal movement, two horizontal guide slot poles can snatch the both ends of object respectively, have guaranteed the balance of object, avoid because the manipulator only snatchs a department of object, lead the condition of object slope landing, thereby keep the degree of balance when this manipulator snatchs the object.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a side view of the present invention;

FIG. 3 is a schematic view of the connection structure of the connection block of the present invention;

fig. 4 is a schematic view of the connection structure at the slide block of the present invention.

In the figure: 1. a transverse guide groove rod; 2. a left cross arm; 3. a right cross arm; 4. an electromagnetic valve; 5. moving the arm downwards; 6. a main clamping finger; 7. a through groove; 8. a slider; 9. an auxiliary clamping finger; 10. a chute; 11. a rotating groove; 12. a rotating rod; 13. connecting blocks; 14. an auxiliary cross arm; 15. an auxiliary vertical arm; 16. a longitudinal guide groove rod; 17. a rotating seat; 18. mounting a rod; 19. a longitudinal arm.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Referring to fig. 1 to 4, the present invention provides a technical solution: a manipulator for intelligent manufacturing comprises transverse guide groove rods 1, wherein the number of the transverse guide groove rods 1 is two, the transverse guide groove rods are positioned below a longitudinal guide groove rod 16 and fixedly connected with longitudinal arms 19 inside the longitudinal guide groove rod 16, so that two ends of an object can be grabbed by main clamping fingers 6 and auxiliary clamping fingers 9 below the two transverse guide groove rods 1, balance of the object is guaranteed, a left cross arm 2 and a right cross arm 3 are fixedly installed in the middle of each transverse guide groove rod 1, moving ends of the left cross arm 2 and the right cross arm 3 are fixedly connected with a downward moving arm 5, the main clamping fingers 6 are pushed downwards by the downward moving arm 5, the main clamping fingers 6 are positioned below the object, the auxiliary clamping fingers 9 rotatably connected with the lower portions of the main clamping fingers 6 can be attached to the edge of the bottom of the object tightly, when the main clamping fingers 6 grab the object slowly, the auxiliary clamping fingers 9 move towards the bottom of the object, the bottom of an object is supported, so that the stability of the manipulator when grabbing the object is improved, the lower end of a downward moving arm 5 is fixedly connected with a main clamping finger 6, the middle part below the main clamping finger 6 is provided with a through groove 7, the middle part of the through groove 7 is provided with an auxiliary clamping finger 9, the outer walls of two sides of the auxiliary clamping finger 9 are respectively provided with a sliding groove 10, the side wall of the through groove 7 is provided with a sliding block 8, the sliding block 8 is connected inside the sliding groove 10 in a sliding manner, the sliding block 8 plays roles of rotating, guiding and connecting the auxiliary clamping finger 9, the middle part of one end of the auxiliary clamping finger 9 is provided with a rotating groove 11, a rotating rod 12 is movably sleeved inside the rotating groove 11, two ends of the rotating rod 12 are fixedly connected with connecting blocks 13, the rotating groove 11, the rotating rod 12 and the connecting blocks 13 are matched for use, so that when the auxiliary vertical arm 15 pushes the connecting, so that the part of the auxiliary clamping finger 9 positioned below the object is horizontal to hold the object, an auxiliary vertical arm 15 is fixedly installed at the top of the connecting block 13, an auxiliary cross arm 14 is fixedly connected to one end of the auxiliary vertical arm 15 far away from the connecting block 13, and the auxiliary cross arm 14 is fixedly installed inside the transverse guide groove rod 1.

The moving directions of the left cross arm 2 and the right cross arm 3 are opposite, an electromagnetic valve 4 is arranged between the left cross arm 2 and the right cross arm 3, when the left cross arm 2 is started, the electromagnetic valve 4 is closed by receiving a signal, and at the moment, the right cross arm 3 is started, so that the synchronism of the left cross arm 2 and the right cross arm 3 is ensured.

Wherein, the quantity of supplementary xarm 14 is two and is located the both sides of left side xarm 2 and right side xarm 3 respectively, the distance between supplementary xarm 14 and the left side xarm is set for, can set up according to the size of object, the maximum distance is the length value of supplementary centre gripping finger 9, guarantee that left side xarm 2 and supplementary xarm 14 have sufficient flexible space, the shifting chute has been seted up to the bottom of horizontal guide slot pole 1, the equal activity of arm 5 that descends and supplementary perpendicular arm 15 cup joints inside the shifting chute, supplementary perpendicular arm 15 and the arm 5 that descends all run through the inside of horizontal guide slot pole 1 and be connected with the removal end of supplementary xarm 14 and left side xarm 2 respectively.

Wherein, the middle part of horizontal guide slot pole 1 top is provided with vertical guide slot pole 16, and two horizontal guide slot poles 1 on the vertical guide slot pole 16 can longitudinal movement, guarantee the balance of the object of rectangular shape, and the inside fixed mounting of vertical guide slot pole 16 has vertical arm 19, and the quantity of horizontal guide slot pole 1 and vertical arm 19 is two and vertical arm 19's removal end and the outer wall fixed connection at horizontal guide slot pole 1 top.

Wherein, the top fixed mounting of vertical guide slot pole 16 has the seat 17 of rotating, rotates seat 17 and connects installation pole 18 and vertical guide slot pole 16 for the position of connecting below vertical guide slot pole 16 can rotate, finds the position that better snatchs the object, has improved the flexibility that this manipulator snatched, rotates the top fixedly connected with installation pole 18 of seat 17, and installation pole 18 is used for being connected with other positions of machinery, makes this manipulator can install on other machinery of vapour.

Wherein, the side of main centre gripping finger 6 and supplementary centre gripping finger 9 all is provided with anti-skidding tooth, guarantee the stability when main centre gripping finger 6 and supplementary centre gripping finger 9 snatch the object, slider 8 sets up to the cylinder, slider 8 rotates with supplementary centre gripping finger 9 to be connected, slider 8 slides and cup joints in the inside of spout 10 on the one hand, guarantee that supplementary centre gripping finger 9 can slide along the rotation groove 11 of main centre gripping finger 6 bottom, on the other hand, it is downward to promote the one end of supplementary centre gripping finger 9 at supplementary perpendicular arm 15, when making supplementary centre gripping finger 9 keep the level, supplementary centre gripping finger 9 rotates around slider 8, thereby guarantee main centre gripping finger 6 and supplementary centre gripping finger 9 can not misplace, guarantee the function that this manipulator snatchs the object.

To sum up, when the manipulator for intelligent manufacturing is used, firstly, the moving ends of the left cross arm 2 and the right cross arm 3 are controlled to extend towards two sides respectively, so that the main clamping fingers 6 at two sides move towards the left side and the right side respectively to two sides of an object, the downward moving arm 5 is controlled to move downwards, the main clamping fingers 6 are positioned at the bottom of the object, secondly, the auxiliary cross arm 14 is controlled to extend, the auxiliary vertical arm 15 pushes the auxiliary clamping fingers 9 to move forwards, the front ends of the auxiliary clamping fingers 9 are buckled into the bottom edges of two sides of the object, after the object is clamped by the main clamping fingers 6, the auxiliary cross arm 14 extends to push the auxiliary clamping fingers 9 to the lower part of the object, the auxiliary vertical arm 15 moves downwards, the auxiliary clamping fingers 9 are pushed to be positioned at the partial level below the object, so as to support the object, and finally, the longitudinal arms 19 at two sides in the longitudinal guide groove rod 16 are driven to extend, and two rotating grooves 11 are, and ensuring the balance when the object is grabbed.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A manipulator for intelligent manufacturing, includes horizontal guide slot pole (1), its characterized in that: the middle part of the transverse guide groove rod (1) is fixedly provided with a left transverse arm (2) and a right transverse arm (3), the moving ends of the left transverse arm (2) and the right transverse arm (3) are fixedly connected with a downward moving arm (5), the lower end of the downward moving arm (5) is fixedly connected with a main clamping finger (6), the middle part below the main clamping finger (6) is provided with a through groove (7), the middle part of the through groove (7) is provided with an auxiliary clamping finger (9), the outer walls of the two sides of the auxiliary clamping finger (9) are both provided with sliding grooves (10), the side wall of the through groove (7) is provided with a sliding block (8), the sliding block (8) is slidably connected inside the sliding groove (10), the middle part of one end of the auxiliary clamping finger (9) is provided with a rotating groove (11), the rotating rod (12) is movably sleeved inside the rotating groove (11), and the two ends of the rotating rod (12, the top fixed mounting of connecting block (13) has supplementary perpendicular arm (15), supplementary perpendicular arm (15) keep away from one end fixed connection of connecting block (13) has supplementary xarm (14), supplementary xarm (14) fixed mounting is in the inside of horizontal guide groove pole (1).

2. The robot hand for smart manufacturing of claim 1, wherein: the left cross arm (2) and the right cross arm (3) are opposite in moving direction, and an electromagnetic valve (4) is arranged between the left cross arm (2) and the right cross arm (3).

3. The robot hand for smart manufacturing of claim 1, wherein: the number of the auxiliary cross arms (14) is two, the auxiliary cross arms are respectively positioned on two sides of the left side cross arm (2) and the right side cross arm (3), a moving groove is formed in the bottom of the transverse guide groove rod (1), and the downward moving arm (5) and the auxiliary vertical arm (15) are movably sleeved inside the moving groove.

4. The robot hand for smart manufacturing of claim 1, wherein: the middle part of horizontal guide grooved bar (1) top is provided with vertical guide grooved bar (16), the inside fixed mounting of vertical guide grooved bar (16) has vertical arm (19), the quantity of horizontal guide grooved bar (1) and vertical arm (19) is two and the removal end of vertical arm (19) and the outer wall fixed connection at horizontal guide grooved bar (1) top.

5. The robot hand for smart manufacturing of claim 4, wherein: a rotating seat (17) is fixedly installed above the longitudinal guide groove rod (16), and a mounting rod (18) is fixedly connected to the top of the rotating seat (17).

6. The robot hand for smart manufacturing of claim 1, wherein: the side surfaces of the main clamping finger (6) and the auxiliary clamping finger (9) are provided with anti-skidding teeth, the sliding block (8) is a cylinder, and the sliding block (8) is rotatably connected with the auxiliary clamping finger (9).