CN215093606U - Intelligent control manipulator - Google Patents
Intelligent control manipulator Download PDFInfo
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- CN215093606U CN215093606U CN202122681593.0U CN202122681593U CN215093606U CN 215093606 U CN215093606 U CN 215093606U CN 202122681593 U CN202122681593 U CN 202122681593U CN 215093606 U CN215093606 U CN 215093606U
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Abstract
The utility model relates to a manipulator technical field discloses an intelligent control manipulator, this intelligent control manipulator includes the base plate, and install the motor at the base plate upside, install the sliding part at the base plate downside, the transmission portion, first clamping part, the second clamping part, first spacing portion and the spacing portion of second, first clamping part and second clamping part are installed on the sliding part, the transmission portion is connected between clamping part and motor, first clamping part and second clamping part pass through the motor and drive and slide on the sliding part, be close to or keep away from each other, form to pick the space with this, first spacing portion sets up between two clamping parts, a nearest distance between the two is used for limiting, the second clamping part sets up the outside at two clamping parts, a farthest distance between the two is used for limiting. The utility model provides an intelligent control manipulator convenient operation, swift has improved industrial production efficiency, has reduced manufacturing cost.
Description
Technical Field
The utility model relates to a manipulator technical field especially relates to an intelligent control manipulator.
Background
The manipulator is an automatic carrying and grabbing operation device which has the most extensive application in industrial production, and can greatly replace heavy manual labor. However, the mechanical arms in different forms are frequently required to be replaced aiming at grabbed objects with different sizes and different hardness or limited by the operation space, so that the production efficiency is reduced, and the production cost is increased.
SUMMERY OF THE UTILITY MODEL
The invention of the utility model aims to: to the problem that above-mentioned exists, provide an intelligent machine hand compact structure, adaptable not unidimensional, the thing is grabbed to different hardness.
The utility model discloses a technical scheme be like:
an intelligently controlled manipulator comprising: the device comprises a substrate, a motor positioned on one side of the substrate, and a transmission part, a sliding part, a first clamping part, a second clamping part, a first limiting part and a second limiting part which are positioned on the other side of the substrate;
the motor is fixedly arranged on the base plate, and an output shaft of the motor penetrates through the center of the base plate to be connected with the transmission part;
the sliding part is fixedly arranged on the substrate;
the first clamping part and the second clamping part are fixedly arranged on the sliding part, the first clamping part and the second clamping part are oppositely arranged, and the first clamping part and the second clamping part can slide on the sliding part;
the transmission part comprises a first anti-parallel connecting rod and a second anti-parallel connecting rod, the first anti-parallel connecting rod is connected between the first clamping part and the motor, and the second anti-parallel connecting rod is connected between the second clamping part and the motor;
the first limiting part is arranged on the substrate, is positioned between the first clamping part and the second clamping part and is used for limiting the closest distance between the first clamping part and the second clamping part;
the second limiting part is arranged on the substrate, is positioned on the outer side of the first clamping part and the outer side of the second clamping part and is used for limiting the farthest distance between the first clamping part and the second clamping part;
the transmission part transmits the power output by the motor to the first clamping part and the second clamping part, the first clamping part and the second clamping part are close to or far away from each other on the sliding part through the power transmitted by the transmission part, so that a grabbing space is formed, and the range of the grabbing space is limited through the first limiting part and the second limiting part.
Further, an output shaft of the motor is connected with the first anti-parallel connecting rod and the second anti-parallel connecting rod through a driving rod, the output shaft of the motor is connected to the center of the driving rod, and two ends of the driving rod are connected with the first anti-parallel connecting rod and the second anti-parallel connecting rod respectively.
The center of the driving rod is provided with a connecting hole, an output shaft of the motor is provided with a motor connecting sleeve, and the motor connecting sleeve is inserted into the connecting hole in the center of the driving rod and positioned through a shaft end limiting structure.
And two ends of the driving rod are respectively connected with the first anti-parallel connecting rod and the second anti-parallel connecting rod through bearings.
Furthermore, the sliding part comprises at least two guide rails, each guide rail is arranged on the substrate in parallel, each guide rail is provided with at least two sliding blocks, and the first clamping part and the second clamping part are respectively connected with at least one sliding block on each guide rail.
Further, the first clamping part comprises a first gripper and a first gripper fixing plate, the first gripper is fixedly installed on the first gripper fixing plate, and the first gripper fixing plate is connected with at least one sliding block on each guide rail; the second clamping part comprises a second gripper and a second gripper fixing plate, the second gripper is fixedly installed on the second gripper fixing plate, and the second gripper fixing plate is at least connected with one sliding block on each guide rail.
Furthermore, the first gripper and the second gripper are made of polyurethane or nylon, and the first gripper and the second gripper are of a concave plate block structure.
Furthermore, the first limiting part comprises a first limiting block and a second limiting block, the first limiting block and the second limiting block are symmetrically arranged on the substrate and are positioned between the first clamping part and the second clamping part so as to ensure the closest distance between the first clamping part and the second clamping part.
The first limiting block and the second limiting block are made of polyurethane or nylon and are of block structures or arc structures.
Furthermore, the second limiting part comprises two sets of stroke adjusting modules, and the two sets of stroke adjusting modules are arranged on the edge of the substrate and are respectively positioned on the outer side of the first clamping part and the outer side of the second clamping part.
Furthermore, the stroke adjusting module comprises an installation block and a long rod screw, the installation block is fixedly installed on the base plate, a threaded hole convenient for assembling the long rod screw is formed in the installation block, and the long rod screw is assembled in the threaded hole. The farthest distance between the first clamping part and the second clamping part is controlled by adjusting the long rod screw.
To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:
the actuating lever that drives during the servo motor operation rotates, and the tongs fixed plate is driven by anti-parallel link mechanism and is done the removal that opens and shuts on the guide rail simultaneously, because of the concave structure of tongs, softer material, servo motor is to the accurate control and the stroke adjustment module of grabbing strength to the adjustment of the biggest stroke of tongs, and whole manipulator can be convenient, and swift object to different hardness and size realizes snatching, improves industrial production efficiency, reduction in production cost.
Drawings
Fig. 1 is a front view of an intelligent control manipulator according to an embodiment of the present invention.
Fig. 2 is an isometric view of an intelligent control robot according to an embodiment of the present invention.
Fig. 3 is a bottom view of an intelligent control manipulator according to an embodiment of the present invention.
Description of the drawings: the device comprises a base plate 1, a guide rail 2, a first gripper fixing plate 3, a second gripper fixing plate 4, a motor 5, a motor connecting sleeve 6, a shaft end limiting structure 7, a driving rod 8, a first anti-parallel connecting rod 9, a second anti-parallel connecting rod 10, a limiting block 11, a stroke adjusting module 12, a mounting block 12-1, a long rod screw 12-2, a first gripper 13 and a second gripper 14.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Example 1
As shown in fig. 1, 2, and 3, the present embodiment provides an intelligent control manipulator, which includes a motor 5 for providing power, a first clamping portion and a second clamping portion for realizing object grabbing, a transmission portion for realizing driving the first clamping portion and the second clamping portion to move, a sliding portion for assisting the first clamping portion and the second clamping portion to slide, a first limiting portion for limiting a closest distance between the first clamping portion and the second clamping portion, a second limiting portion for limiting a farthest distance between the first clamping portion and the second clamping portion, and a substrate 1 for mounting the motor 5, the first clamping portion, the second clamping portion, the transmission portion, the sliding portion, the first limiting portion, and the second limiting portion.
Specifically, in the present embodiment, the motor 5 is fixed at the central circular hole of the base plate 1 by a screw, the motor 5 is located above the base plate 1, and the output shaft of the motor 5 passes through the central circular hole of the base plate 1 to be connected with the transmission part below the base plate 1.
Wherein, the output shaft below of motor 5 is connected with actuating lever 8 through motor adapter sleeve 6, the key-type connection between motor 5's output shaft and the motor adapter sleeve 6, motor adapter sleeve 6 is cylindrical structure, the centre bore department of actuating lever 8 is inserted to 6 excircle lower parts of motor adapter sleeve to fix a position with axle head limit structure 7, the plane flushes under motor adapter sleeve 6 and the actuating lever 8, actuating lever 8 is located the below of base plate 1, and both ends end is opened there is the through-hole, be used for being connected with the transmission portion.
The driving rod 8 is preferably of a flat plate-shaped structure, and is selected to be of a circular or arc-shaped structure.
Specifically, in the embodiment, the transmission part comprises a first anti-parallel connecting rod 9 and a second anti-parallel connecting rod 10, one end of the first anti-parallel connecting rod 9 is connected with a through hole on the end head of one end of the driving rod 8 in a matching way through a bearing, and the other end of the first anti-parallel connecting rod is connected with the first clamping part; one end of the second anti-parallel connecting rod 10 is matched and connected with a through hole on the end head of the other end of the driving rod 8 through a bearing, and the other end of the second anti-parallel connecting rod is connected with the second clamping part.
The two sets of anti-parallel connecting rods are preferably flat plate-shaped structures, and are selected to be circular or arc-shaped structures.
Specifically, in the present embodiment, the sliding portion includes two guide rails, each of which is provided with two sliders that can slide on the guide rails, as shown in fig. 2, the two guide rails are installed in parallel on two sides of the substrate 1.
Specifically, in this embodiment, the first clamping portion includes a first gripper 13 and a first gripper fixing plate 3, the first gripper 13 is fixed on the first gripper fixing plate 3 through a screw, mounting holes connected with sliders are formed at both ends of the first gripper fixing plate 3, both ends of the first gripper fixing plate 3 are respectively connected with sliders on the guide rails 2 on both sides of the substrate 1, in addition, a first anti-parallel connecting rod 9 is connected to the first gripper fixing plate 3 in a manner of adopting a bearing and a shaft to connect, so as to transmit power of the motor 5 to the first gripper fixing plate 3, the first gripper fixing plate 3 connected with the sliders is driven by the first anti-parallel connecting rod 9 to slide on the two parallel guide rails 2 with the first gripper 13.
The second clamping part is the same as the first clamping part and comprises a second hand grip 14 and a second hand grip fixing plate 4, the second hand grip 14 is fixed on the second hand grip fixing plate 4 through screws, mounting holes connected with sliding blocks are formed in two ends of the second hand grip fixing plate 4, two ends of the second hand grip fixing plate 4 are respectively connected with the sliding blocks on the guide rails 2 on two sides of the base plate 1, in addition, a second anti-parallel connecting rod 10 is connected to the second hand grip fixing plate 4 in a bearing and shaft connection mode and used for transmitting power of the motor 5 to the second hand grip fixing plate 4, the second hand grip fixing plate 4 connected with the sliding blocks can drive the second hand grip 14 to slide on the two parallel guide rails 2 under the driving of the second anti-parallel connecting rod 10.
Through the power brought by the two sets of anti-parallel connecting rods, the two grippers can be close to or far away from each other on the guide rail 2, so that a gripping space is formed.
Specifically, in this embodiment, the first limiting portion includes two limiting blocks 11, the two limiting blocks 11 are respectively installed on two sides of the middle of the substrate 1 and located in the middle of the first clamping portion and the second clamping portion, and the two limiting blocks 11 are installed on the substrate 1 in a bolt manner and used for limiting the closest distance between the first clamping portion and the second clamping portion.
Specifically, in this embodiment, the second limiting portion includes two sets of stroke adjustment modules 12, and the two sets of stroke adjustment modules 12 are disposed on the edge of the substrate 1 and located on the outer side of the first clamping portion and the outer side of the second clamping portion respectively, so as to limit the farthest distance between the first clamping portion and the second clamping portion.
The control flow of the intelligent control manipulator provided by the embodiment is as follows:
the motor output shaft transmits the rotary motion to the driving rod 8 through the motor connecting sleeve 6, the rotary motion of the driving rod 8 pulls the anti-parallel connecting rod mechanism to do plane opening or closing motion, the gripper fixing plate connected with the anti-parallel connecting rod mechanism drives the two grippers to achieve opening and closing motion, grabbing and placing of grabbed objects are achieved, and opening and closing of the gripper fixing plate are achieved on the two groups of guide rail sliding blocks.
Example 2
The embodiment is further improved on the basis of embodiment 1, in this embodiment, the stroke adjustment module 12 includes mounting blocks 12-1 and long rod screws 12-2, the mounting blocks 12-1 are fixedly mounted on the edges of the two ends of the base plate 1, the mounting blocks 12-1 are provided with threaded holes for facilitating the assembly of the long rod screws 12-2, and the long rod screws 12-2 are assembled in the threaded holes. The farthest distance between the first clamping part and the second clamping part is controlled by adjusting the long rod screw 12-2.
Example 3
The present embodiment is substantially the same as embodiment 1 or embodiment 2, except that in this embodiment, the motor connecting sleeve 6 is a cylindrical disk structure with flanges, and the motor connecting sleeve 6 is connected with the driving rod 8 by flanges, and the flange surface is located above the driving rod 8.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An intelligent control manipulator, comprising: the device comprises a substrate, a motor positioned on one side of the substrate, and a transmission part, a sliding part, a first clamping part, a second clamping part, a first limiting part and a second limiting part which are positioned on the other side of the substrate;
the motor is fixedly arranged on the base plate, and an output shaft of the motor penetrates through the center of the base plate to be connected with the transmission part;
the sliding part is fixedly arranged on the substrate;
the first clamping part and the second clamping part are fixedly arranged on the sliding part, the first clamping part and the second clamping part are oppositely arranged, and the first clamping part and the second clamping part can slide on the sliding part;
the transmission part comprises a first anti-parallel connecting rod and a second anti-parallel connecting rod, the first anti-parallel connecting rod is connected between the first clamping part and the motor, and the second anti-parallel connecting rod is connected between the second clamping part and the motor;
the first limiting part is arranged on the substrate, is positioned between the first clamping part and the second clamping part and is used for limiting the closest distance between the first clamping part and the second clamping part;
the second limiting part is arranged on the substrate, is positioned on the outer side of the first clamping part and the outer side of the second clamping part and is used for limiting the farthest distance between the first clamping part and the second clamping part;
the transmission part transmits the power output by the motor to the first clamping part and the second clamping part, and the power transmitted by the transmission part from the first clamping part and the second clamping part is close to or far away from each other on the sliding part, so that a grabbing space is formed.
2. The intelligent control manipulator according to claim 1, wherein an output shaft of the motor is connected to the first anti-parallel link and the second anti-parallel link through a driving rod, the output shaft of the motor is connected to a center of the driving rod, and two ends of the driving rod are connected to the first anti-parallel link and the second anti-parallel link.
3. The intelligent control mechanical arm as claimed in claim 2, wherein a connecting hole is formed in the center of the driving rod, a motor connecting sleeve is assembled on an output shaft of the motor, and the motor connecting sleeve is inserted into the connecting hole in the center of the driving rod and is positioned through a shaft end limiting structure.
4. The intelligent control mechanical arm of claim 2, wherein two ends of the driving rod are respectively connected with the first anti-parallel connecting rod and the second anti-parallel connecting rod through bearings.
5. The intelligent control manipulator according to claim 1, wherein the sliding portion comprises at least two guide rails, each guide rail is mounted on the substrate in parallel, each guide rail is provided with at least two sliding blocks, and the first clamping portion and the second clamping portion are respectively connected with at least one sliding block on each guide rail.
6. The intelligent control mechanical arm of claim 5, wherein the first clamping portion comprises a first gripper and a first gripper fixing plate, the first gripper is fixedly mounted on the first gripper fixing plate, and the first gripper fixing plate is connected with at least one sliding block on each guide rail; the second clamping part comprises a second gripper and a second gripper fixing plate, the second gripper is fixedly installed on the second gripper fixing plate, and the second gripper fixing plate is at least connected with one sliding block on each guide rail.
7. The intelligent control mechanical arm of claim 6, wherein the first gripper and the second gripper are made of polyurethane or nylon, and the first gripper and the second gripper are of a concave plate block structure.
8. The intelligent control manipulator according to claim 1 or 5, wherein the first limiting part comprises a first limiting block and a second limiting block, and the first limiting block and the second limiting block are symmetrically arranged on the substrate and located between the first clamping part and the second clamping part.
9. The intelligent control mechanical arm as claimed in claim 1 or 5, wherein the second limiting portion comprises two sets of stroke adjusting modules, and the two sets of stroke adjusting modules are arranged on the edge of the substrate and are respectively positioned on the outer side of the first clamping portion and the outer side of the second clamping portion.
10. The intelligent control manipulator according to claim 9, wherein the stroke adjustment module comprises a mounting block and a long rod screw, the mounting block is fixedly mounted on the base plate, a threaded hole for facilitating assembly of the long rod screw is formed in the mounting block, and the long rod screw is assembled in the threaded hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122681593.0U CN215093606U (en) | 2021-11-04 | 2021-11-04 | Intelligent control manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122681593.0U CN215093606U (en) | 2021-11-04 | 2021-11-04 | Intelligent control manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN215093606U true CN215093606U (en) | 2021-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122681593.0U Active CN215093606U (en) | 2021-11-04 | 2021-11-04 | Intelligent control manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083544A (en) * | 2022-01-21 | 2022-02-25 | 成都市皓煊光电新材料科技研发中心有限公司 | Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium |
-
2021
- 2021-11-04 CN CN202122681593.0U patent/CN215093606U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114083544A (en) * | 2022-01-21 | 2022-02-25 | 成都市皓煊光电新材料科技研发中心有限公司 | Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium |
| CN114083544B (en) * | 2022-01-21 | 2022-04-12 | 成都市皓煊光电新材料科技研发中心有限公司 | Method and device for controlling movement of hand-shaped equipment, hand-shaped equipment and storage medium |
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