CN214686639U

CN214686639U - Intelligent mechanical arm for precisely grabbing and transferring multiple objects

Info

Publication number: CN214686639U
Application number: CN202120723743.7U
Authority: CN
Inventors: 黄勇
Original assignee: Suzhou Juxin Robot Co ltd
Current assignee: Suzhou Juxin Robot Co ltd
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2021-11-12
Anticipated expiration: 2031-04-09

Abstract

The utility model discloses an intelligent mechanical hand for accurately snatching and move multiple object, including the host computer arm, the electromagnetism ware is step-by-step rotation swing joint with the support arm through step motor with snatch the head, and snatch the overhead flexible groove that is equipped with, flexible inslot is equipped with electric putter, and electric putter one end is equipped with snatchs the piece, snatch the piece and be flexible swing joint through electric putter and flexible groove with snatch the head, and snatch the piece and be cruciform structure distribution on snatching overhead, it is rubber construction to snatch a inner wall. This an electromagnetic device for accurately snatch and move intelligent machine hand who carries multiple object is step-by-step rotatory swing joint with the support arm through step motor with snatch the head, and snatch the piece and be flexible swing joint through electric putter and flexible groove with snatch the head, and snatch the piece and be the cruciform structure and distribute on snatching the head, snatch an inner wall and be the rubber construction, make the device conveniently carry out the bull and use like this, snatch more stably.

Description

Intelligent mechanical arm for precisely grabbing and transferring multiple objects

Technical Field

The utility model relates to an intelligent mechanical hand technical field specifically is an intelligent mechanical hand that is used for accurate snatching and moves multiple object of carrying.

Background

The manipulator is a novel device developed in the process of mechanization and automation production. In the modern production process, the mechanical arm is widely applied to an automatic production line, the research and the production of a robot become a new technology which is rapidly developed in the high technical field, the development of the mechanical arm is promoted, the mechanical arm can be organically combined with mechanization and automation better, but the intelligent mechanical arm has a protection defect, and the intelligent mechanical arm is seriously damaged in operation and clamping.

Current patent number is CN202020536865.0 adjustable intelligent robot for machining, and the device can not carry out multiple material and transplant when using, uses inconveniently to make an intelligent robot that is used for accurately snatching and moves multiple object reach and carry out the purpose that multiple material was transplanted.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an intelligent mechanical hand for accurately snatching and move multiple object of carrying to solve the intelligent mechanical hand who mentions in the above-mentioned background art when using, can not carry out multiple material and transplant, use inconvenient problem.

In order to achieve the above object, the utility model provides a following technical scheme: an intelligent mechanical arm for accurately grabbing and transferring various objects comprises a main mechanical arm, wherein one end of the main mechanical arm is provided with a supporting arm, the other end of the supporting arm is provided with a connecting head, one end of the main mechanical arm is provided with a supporting table, the supporting table is provided with a pneumatic motor, one side of the pneumatic motor is provided with a control motor, one side of the connecting head is provided with an electromagnetic device, the other end of the connecting head is provided with a grabbing head, the connecting head is provided with a stepping motor, the other end of the stepping motor is connected with the supporting arm, the electromagnetic device and the grabbing head are movably connected with the supporting arm in a stepping rotation mode through the stepping motor, a telescopic groove is formed in the grabbing head, an electric push rod is arranged in the telescopic groove, one end of the electric push rod is provided with a grabbing block, the grabbing block is movably connected with the grabbing head in a telescopic mode through the electric push rod and the telescopic groove, and the grabbing blocks are distributed on the grabbing head in a cross structure, the inner wall of the grabbing block is of a rubber structure.

Preferably, a first servo motor is arranged at one end of the main mechanical arm, the other side of the first servo motor is connected with the supporting arm, a second servo motor is arranged at the other end of the main mechanical arm, the other side of the second servo motor is connected with the supporting table, and the supporting arm is movably connected with the main mechanical arm and the supporting table in a two-stage overturning manner through the first servo motor and the second servo motor.

Preferably, the supporting table lower extreme is equipped with the rotary disk, and its rotary disk lower extreme is equipped with the rotating electrical machines, and the rotating electrical machines outer wall is connected with the support frame, the rotary disk outer wall is equipped with the guide block, and the guide block outer wall is equipped with the guide slot, the guide slot outer wall is connected with the support frame, and the support frame is sliding swivelling joint through guide block, guide slot and rotating electrical machines and supporting table.

Preferably, the support frame inner wall is equipped with drive gear, and drive gear one side is equipped with third servo motor, the support frame lower extreme is equipped with the ball, and the ball lower extreme is equipped with the slide rail, the slide rail outer wall is equipped with the mobile station, and is equipped with the drive tooth's socket on the mobile station, the support frame is meshing sliding connection through drive gear, third servo motor, ball and slide rail and mobile station.

Preferably, the thread groove has been seted up to the electromagnetism ware inner wall, and the thread groove inner wall is equipped with the screw thread piece, the screw thread piece other end is equipped with the installation piece, and the installation piece passes through the screw thread piece and is spiral electric connection with the electromagnetism ware through the thread groove.

Preferably, connector one side is equipped with fourth servo motor, and its fourth servo motor one end is equipped with the swivel mount, and swivel mount one side is connected with the electromagnetism ware, the connector opposite side is equipped with fifth servo motor, and its fifth servo motor one end is equipped with the rotation axis, and rotation axis one side with snatch the head and be connected, the swivel mount is connected with the rotation axis registrate, the electromagnetism ware is independent rotatory swing joint with the connector through swivel mount and rotation axis with snatching the head.

Compared with the prior art, the beneficial effects of the utility model are that: this an electromagnetic device for accurately snatch and move intelligent machine hand who carries multiple object is step-by-step rotatory swing joint with the support arm through step motor with snatch the head, and snatch the piece and be flexible swing joint through electric putter and flexible groove with snatch the head, and snatch the piece and be the cruciform structure and distribute on snatching the head, snatch an inner wall and be the rubber construction, make the device conveniently carry out the bull and use like this, snatch more stably.

Drawings

Fig. 1 is a front view of an intelligent manipulator for precisely grabbing and transferring various objects according to the present invention;

fig. 2 is a cross-sectional view of an intelligent manipulator for precisely grabbing and transferring various objects according to the present invention;

fig. 3 is a cross-sectional view of an intelligent manipulator connector for precisely grabbing and transferring various objects according to the present invention;

fig. 4 is an enlarged view of a position a in fig. 2 of the intelligent manipulator for precisely grabbing and transferring various objects according to the present invention;

fig. 5 is an enlarged view of the position B in fig. 2 of the intelligent manipulator for precisely grabbing and transferring various objects according to the present invention;

figure 6 is the utility model relates to a C department's enlarger in the intelligent robot picture 2 for accurately snatch and move multiple object.

In the figure: 1. the robot comprises a main mechanical arm, 2, a first servo motor, 3, a supporting arm, 4, a supporting table, 5, a moving table, 6, a supporting frame, 7, a pneumatic motor, 8, a control motor, 9, a stepping motor, 10, an electromagnetic device, 11, a mounting block, 12, a connecting head, 13, a grabbing head, 14, a second servo motor, 15, a ball, 16, a sliding rail, 17, a driving tooth groove, 18, a driving gear, 19, a third servo motor, 20, a rotating motor, 21, a rotating disc, 22, a rotating frame, 23, a fourth servo motor, 24, a rotating shaft, 25, a fifth servo motor, 26, a thread groove, 27, a thread block, 28, an electric push rod, 29, a telescopic groove, 30, a grabbing block, 31, a guide block, 32 and a guide groove.

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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: an intelligent manipulator for precisely grabbing and transferring multiple objects comprises a main manipulator arm 1, a first servo motor 2, a supporting arm 3, a supporting table 4, a moving table 5, a supporting frame 6, a pneumatic motor 7, a control motor 8, a stepping motor 9, an electromagnetic device 10, a mounting block 11, a connector 12, a grabbing head 13, a second servo motor 14, balls 15, a sliding rail 16, a driving tooth groove 17, a driving gear 18, a third servo motor 19, a rotating motor 20, a rotating disc 21, a rotating frame 22, a fourth servo motor 23, a rotating shaft 24, a fifth servo motor 25, a thread groove 26, a thread block 27, an electric push rod 28, a telescopic groove 29, a grabbing block 30, a guide block 31 and a guide groove 32, wherein the supporting arm 3 is arranged at one end of the main manipulator arm 1, the connector 12 is arranged at the other end of the supporting arm 3, the first servo motor 2 is arranged at one end of the main manipulator arm 1, and the supporting arm 3 is connected with the other side of the first servo motor 2, the other end of the main mechanical arm 1 is provided with a second servo motor 14, the other side of the second servo motor 14 is connected with the supporting table 4, the supporting arm 3 is movably connected with the main mechanical arm 1 and the supporting table 4 in a two-stage overturning manner through a first servo motor 2 and a second servo motor 14, so that the device is more convenient to bend for use, one side of the connector 12 is provided with a fourth servo motor 23, one end of the fourth servo motor 23 is provided with a rotating frame 22, one side of the rotating frame 22 is connected with the electromagnetic device 10, the other side of the connector 12 is provided with a fifth servo motor 25, one end of the fifth servo motor 25 is provided with a rotating shaft 24, one side of the rotating shaft 24 is connected with the grabbing head 13, the rotating frame 22 is sleeved with the rotating shaft 24, the electromagnetic device 10 and the grabbing head 13 are independently and movably connected with the rotating shaft 24 and the connector 12 through the rotating frame 22, so that the electromagnetic device 10 and the grabbing head 13 of the device can conveniently independently overturn and operate, the main mechanical arm 1 is provided with a support platform 4 at one end, a pneumatic motor 7 is arranged on the support platform 4, a rotary disk 21 is arranged at the lower end of the support platform 4, a rotary motor 20 is arranged at the lower end of the rotary disk 21, the outer wall of the rotary motor 20 is connected with a support frame 6, a guide block 31 is arranged on the outer wall of the rotary disk 21, a guide groove 32 is arranged on the outer wall of the guide block 31, the outer wall of the guide groove 32 is connected with the support frame 6, and the support frame 6 is connected with the support platform 4 in a sliding and rotating manner through the guide block 31, the guide groove 32 and the rotary motor 20, so that the device is more stable in rotating use, a control motor 8 is arranged on one side of the pneumatic motor 7, an electromagnetic device 10 is arranged on one side of a connector 12, a grabbing head 13 is arranged on the other end of the connector 12, a thread groove 26 is arranged on the inner wall of the electromagnetic device 10, a thread block 27 is arranged on the inner wall of the thread groove 26, a mounting block 11 is electrically connected with the electromagnetic device 10 in a spiral manner through the thread block 27, thus, the mounting block 11 of the device is convenient to disassemble, assemble and replace, and is more convenient to use, the connecting head 12 is provided with the stepping motor 9, the other end of the stepping motor 9 is connected with the supporting arm 3, the electromagnetic device 10 and the grabbing head 13 are movably connected with the supporting arm 3 in a stepping rotation mode through the stepping motor 9, the grabbing head 13 is internally provided with the telescopic slot 29, the telescopic slot 29 is internally provided with the electric push rod 28, one end of the electric push rod 28 is provided with the grabbing block 30, the grabbing block 30 is movably connected with the grabbing head 13 in a telescopic mode through the electric push rod 28 and the telescopic slot 29, the grabbing blocks 30 are distributed on the grabbing head 13 in a cross structure, the inner wall of the grabbing block 30 is of a rubber structure, the inner wall of the supporting frame 6 is provided with the driving gear 18, one side of the driving gear 18 is provided with the third servo motor 19, the lower end of the supporting frame 6 is provided with the ball 15, the lower end of the ball 15 is provided with the sliding rail 16, the outer wall of the sliding rail 16 is provided with the moving platform 5, and the mobile station 5 is provided with a driving tooth socket 17, and the support frame 6 is in meshed sliding connection with the mobile station 5 through a driving gear 18, a third servo motor 19, a ball 15 and a sliding rail 16, so that the support frame 6 of the device is more stable in movement and convenient to use.

The working principle is as follows: when the intelligent manipulator for accurately grabbing and transferring various objects is used, the device is taken out firstly, then the device is placed on the ground, then the device and the mobile station 5 are installed, when grabbing is needed, the first servo motor 2 and the second servo motor 14 of the device can be started through the control motor 8 to drive the main mechanical arm 1 and the supporting arm 3 to move at different positions, then the grabbing head 13 is driven through the rotating shaft 24 and the fifth servo motor 25 to adjust the direction, then the electric push rod 28 of the device is started, the grabbing block 30 is driven to extend through the telescopic groove 29 to grab, when grabbing of other materials is needed, the stepping motor 9 of the device can be started to drive the connecting head 12 to rotate, the electromagnetic device 10 is aligned to the materials to carry out adsorption grabbing, and when the installation block 11 needs to be replaced, the installation block can be replaced through the threaded groove 26 and the threaded block 27, and can overturn through swivel mount 22 and fourth servo motor 23, when needs move the transportation, can start the third servo motor 19 of the device, then drive support frame 6 through drive tooth's socket 17 and drive gear 18 and slide on mobile station 5, when needs rotatory removal, can start the rotating electrical machines 20 of the device, make it slide rotatory through guide block 31 and guide slot 32, it is more convenient to use, this is the use that is used for the accurate intelligent manipulator who snatchs and move a variety of objects.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides an intelligent mechanical hand for accurately snatching and move multiple object, includes main mechanical arm (1), main mechanical arm (1) one end is equipped with support arm (3), and support arm (3) other end is equipped with connector (12), main mechanical arm (1) one end is equipped with brace table (4), and is equipped with pneumatic motor (7) on brace table (4), pneumatic motor (7) one side is equipped with control motor (8), its characterized in that: connector (12) one side is equipped with electromagnetism ware (10), and connector (12) other end is equipped with and snatchs head (13), be equipped with step motor (9) on connector (12), and step motor (9) other end is connected with support arm (3), electromagnetism ware (10) with snatch head (13) and be step-by-step rotatory swing joint through step motor (9) and support arm (3), and snatch and be equipped with flexible groove (29) in head (13), be equipped with electric putter (28) in flexible groove (29), and electric putter (28) one end is equipped with and snatchs piece (30), it is flexible swing joint with snatching head (13) through electric putter (28) and flexible groove (29) to snatch piece (30), and snatch piece (30) and be the cruciform structure and distribute on snatching head (13), it is rubber construction to snatch piece (30) inner wall.

2. The intelligent manipulator for precisely grabbing and transferring multiple objects according to claim 1, wherein: host computer arm (1) one end is equipped with first servo motor (2), and first servo motor (2) opposite side is connected with support arm (3), host computer arm (1) other end is equipped with second servo motor (14), and second servo motor (14) opposite side is connected with brace table (4), support arm (3) are two-stage section upset swing joint through first servo motor (2) and second servo motor (14) with host computer arm (1) and brace table (4).

3. The intelligent manipulator for precisely grabbing and transferring multiple objects according to claim 2, wherein: supporting bench (4) lower extreme is equipped with rotary disk (21), and its rotary disk (21) lower extreme is equipped with rotating electrical machines (20), and rotating electrical machines (20) outer wall is connected with support frame (6), rotary disk (21) outer wall is equipped with guide block (31), and guide block (31) outer wall is equipped with guide slot (32), guide slot (32) outer wall is connected with support frame (6), and support frame (6) are sliding swivelling joint through guide block (31), guide slot (32) and rotating electrical machines (20) and supporting bench (4).

4. The intelligent manipulator for precisely grabbing and transferring multiple objects according to claim 3, wherein: support frame (6) inner wall is equipped with drive gear (18), and is equipped with third servo motor (19) on one side of drive gear (18), support frame (6) lower extreme is equipped with ball (15), and ball (15) lower extreme is equipped with slide rail (16), slide rail (16) outer wall is equipped with mobile station (5), and is equipped with on mobile station (5) and drives tooth's socket (17), support frame (6) are meshing sliding connection through drive gear (18), third servo motor (19), ball (15) and slide rail (16) and mobile station (5).

5. The intelligent manipulator for precisely grabbing and transferring multiple objects according to claim 4, wherein: thread groove (26) have been seted up to electromagnetism ware (10) inner wall, and thread groove (26) inner wall is equipped with screw block (27), the screw block (27) other end is equipped with installation piece (11), and installation piece (11) are spiral electric connection through screw block (27) through thread groove (26) and electromagnetism ware (10).

6. The intelligent manipulator for precisely grabbing and transferring multiple objects according to claim 5, wherein: connector (12) one side is equipped with fourth servo motor (23), and its fourth servo motor (23) one end is equipped with swivel mount (22), and swivel mount (22) one side is connected with electromagnetism ware (10), connector (12) opposite side is equipped with fifth servo motor (25), and its fifth servo motor (25) one end is equipped with rotation axis (24), and rotation axis (24) one side with snatch head (13) and be connected, swivel mount (22) and rotation axis (24) registrate and be connected, electromagnetism ware (10) and snatch head (13) are independent rotatory swing joint through swivel mount (22) and rotation axis (24) and connector (12).