CN215471234U - Automatic clamping manipulator - Google Patents
Automatic clamping manipulator Download PDFInfo
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- CN215471234U CN215471234U CN202022309427.3U CN202022309427U CN215471234U CN 215471234 U CN215471234 U CN 215471234U CN 202022309427 U CN202022309427 U CN 202022309427U CN 215471234 U CN215471234 U CN 215471234U
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- gripper
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- cylinder
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Abstract
The utility model discloses an automatic clamping manipulator which comprises a controller, two mechanical claws, a clamping protection device, a fixed shell and a cylinder, wherein the two mechanical claws are arranged on the fixed shell; the cylinder is installed in fixed shell, two gripper pass through power conversion device and link to each other with the cylinder, press from both sides and get protection device and install on fixed shell, infrared sensor installs on gripper, range finding sensor installs on fixed shell, detects infrared sensor and range finding sensor signal through the controller, carries out automated control to the manipulator.
Description
Technical Field
The utility model belongs to the technical field of electricity, and relates to an automatic clamping manipulator.
Background
The manipulator is the device commonly used among the mechanical automation system, a moving object is used for carrying, perhaps add for the work frame of required processing and hold fixedly, and convenient to use has, moreover, the steam generator is simple in structure, advantages such as suitability is good, the gripper can divide into double-jaw, three-jaw and many claws according to the quantity of claw, can divide into motor drive according to the drive mode, cylinder drive, general gripper part is more, the structure is comparatively complicated, and can't judge at the during operation the volume of object whether can press from both sides and get, for this reason, we propose a manipulator that automatic clamp got.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems, the manipulator capable of automatically clamping can detect the position between the manipulator and an object, and an infrared sensor is used for detecting whether the object to be clamped completely enters the manipulator or not, so that the manipulator is accurately controlled and has high automation requirement.
The utility model particularly relates to an automatic clamping manipulator which comprises a controller, two mechanical claws, a clamping protection device, a fixed shell and a cylinder, wherein the two mechanical claws are arranged on the fixed shell; the cylinder is installed in fixed shell, two gripper pass through power conversion device and link to each other with the cylinder, press from both sides and get protection device and install on fixed shell, infrared sensor installs on gripper, and distance measuring sensor installs on fixed shell.
The controller is further connected with an alternating current power supply of 220V, the front side of the controller is a touch screen control interface, and the back side of the controller comprises a power supply output end, a pulse output end, a digital input end and an analog input end; the power supply output end can output 220V alternating current power supply, and the analog quantity input end can receive a current signal of 4-20 mA.
The mechanical claw is further arranged on a power conversion device, and the power conversion device can convert acting force in the stretching direction of the cylinder into acting force in the rotating direction.
Further range finding sensor installs on the fixed shell between the gripper, range finding sensor can detect and the distance between the object of clamp, range finding sensor includes the signal reception end to analog quantity input electrical property through connecting wire and controller meets.
Further infrared sensor installs on the claw point of gripper, infrared sensor passes through the numerical value input electrical property of connecting wire and controller and meets.
Furthermore, a reversing valve is installed at the bottom of the air cylinder and is connected with compressed air, the reversing valve comprises an electromagnetic coil, and the electromagnetic coil is electrically connected with a digital quantity output end of the controller through a connecting wire.
Further it includes servo motor and rotary rod to press from both sides protection device, servo motor includes power input end and pulse input end, the power input end meets through the alternating current power supply 220V electrical property of connecting wire and controller, pulse output end electrical property meets in pulse input end passes through connecting wire and the controller, rotary rod one end is installed in servo motor's pivot, and the catch wheel has been installed to the rotary rod other end, contacts with the side of gripper.
Drawings
Fig. 1 is a schematic view of the overall structure of an automatic clamping manipulator of the utility model;
fig. 2 is an internal schematic view of a manipulator for automatic clamping.
In the figure: 1. a controller; 2. a gripper; 3. a ranging sensor; 4. an infrared sensor; 5. a gripping protection device; 6. a diverter valve; 7. fixing the housing; 8. and a cylinder.
Detailed Description
The following explains in detail a specific embodiment of an automatic gripping manipulator of the present invention with reference to the drawings.
As shown in fig. 1-2, the present invention is specifically an automatic gripping manipulator, which comprises a controller 1, two mechanical claws 2, a gripping protection device 5, a fixed housing 7 and a cylinder 8; the cylinder 8 is installed in the fixed shell 7, the two mechanical claws 2 are connected with the cylinder 8 through the power conversion device, the clamping protection device 5 is installed on the fixed shell 7, the infrared sensor 4 is installed on the mechanical claws 2, and the distance measuring sensor 3 is installed on the fixed shell 7.
The working principle of the automatic clamping manipulator is as follows: setting the distance between the clamped object and the manipulator on a touch screen of the controller 1, detecting whether the object completely enters a clamping range of the manipulator through an infrared sensor when the object reaches the set distance, and marking that the volume of the object exceeds a bearing range grabbed by the mechanical claw 2 and the mechanical claw 2 abandons grabbing if the infrared sensor detects the object; if the infrared sensor does not detect the object, the volume of the object does not exceed the bearing range grabbed by the mechanical claw 2, and the object can be grabbed. The controller 1 controls the parameters of the clamping protection device 5, so that the phenomenon that the object falls off due to unstable pressure in the cylinder 8 when the object is grabbed by the manipulator is prevented.
Further, the controller 1 is connected with an alternating current power supply 220V, the front side of the controller 1 is a touch screen control interface, and the back side of the controller 1 comprises a power supply output end, a pulse output end, a digital input end and an analog input end; the power supply output end can output 220V alternating current power supply, and the analog quantity input end can receive a current signal of 4-20 mA.
Further, the gripper 2 is mounted on a power conversion device, and the power conversion device can convert the acting force in the stretching direction of the cylinder 8 into the acting force in the rotating direction.
Further range sensor 3 installs on the fixed shell 7 between gripper 2, range sensor 3 can detect and the distance between the object of clamp, range sensor 3 includes the signal reception end to analog quantity input electrical property through connecting wire and controller 1 meets.
Further infrared sensor 4 installs on the claw point of gripper 2, infrared sensor 4 passes through the numerical value input electrical connection of connecting wire and controller 1.
Furthermore, a reversing valve 6 is installed at the bottom of the air cylinder 8, the reversing valve 6 is connected with compressed air, the reversing valve 6 comprises an electromagnetic coil, and the electromagnetic coil is electrically connected with a digital output end of the controller 1 through a connecting wire.
Further it includes servo motor and rotary rod to press from both sides protection device 5, servo motor includes power input end and pulse input end, power input end meets through connecting wire and controller 1's alternating current power supply 220V electrical property, pulse input end meets through connecting wire and controller 1 well pulse output electrical property, rotary rod one end is installed in servo motor's pivot, and the catch wheel has been installed to the rotary rod other end, contacts with the side of gripper 2.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.
Claims (7)
1. The automatic clamping manipulator is characterized by comprising a controller, two mechanical claws, a clamping protection device, a fixed shell and a cylinder; the cylinder is installed in fixed shell, two gripper pass through power conversion device and link to each other with the cylinder, press from both sides and get protection device and install on fixed shell, infrared sensor installs on gripper, and distance measuring sensor installs on fixed shell.
2. The automatic clamping manipulator as claimed in claim 1, wherein the controller is connected to an alternating current power supply of 220V, the front surface of the controller is a touch screen control interface, and the back surface of the controller comprises a power supply output end, a pulse output end, a digital input end and an analog input end; the power output end can output 220V alternating current power.
3. The robot as recited in claim 1, wherein said gripper is mounted on a power conversion device.
4. The automatic clamping manipulator as claimed in claim 1, wherein the distance measuring sensor is mounted on the fixed housing between the gripper, the distance measuring sensor can detect the distance between the gripper and the object to be clamped, the distance measuring sensor comprises a signal receiving end, and the distance measuring sensor is electrically connected with the analog input end of the controller through a connecting wire.
5. The robot as claimed in claim 1, wherein the infrared sensor is mounted on a jaw tip of the robot gripper, and the infrared sensor is electrically connected to a numerical input terminal of the controller through a connection line.
6. The automatic clamping manipulator as claimed in claim 1, wherein a reversing valve is installed at the bottom of the cylinder, the reversing valve is connected with compressed gas, the reversing valve comprises an electromagnetic coil, and the electromagnetic coil is electrically connected with a digital output end of the controller through a connecting wire.
7. The automatic clamping manipulator as claimed in claim 1, wherein the clamping protection device comprises a servo motor and a rotary rod, the servo motor comprises a power input end and a pulse input end, the power input end is electrically connected with an alternating current power supply 220V of the controller through a connecting wire, the pulse input end is electrically connected with a pulse output end of the controller through a connecting wire, one end of the rotary rod is mounted on a rotating shaft of the servo motor, and a catch wheel is mounted at the other end of the rotary rod and is in contact with a side face of the gripper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022309427.3U CN215471234U (en) | 2020-10-16 | 2020-10-16 | Automatic clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022309427.3U CN215471234U (en) | 2020-10-16 | 2020-10-16 | Automatic clamping manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215471234U true CN215471234U (en) | 2022-01-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022309427.3U Active CN215471234U (en) | 2020-10-16 | 2020-10-16 | Automatic clamping manipulator |
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| CN (1) | CN215471234U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223339A (en) * | 2020-10-16 | 2021-01-15 | 国网江苏省电力有限公司盐城供电分公司 | Automatic clamping manipulator and control method thereof |
-
2020
- 2020-10-16 CN CN202022309427.3U patent/CN215471234U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223339A (en) * | 2020-10-16 | 2021-01-15 | 国网江苏省电力有限公司盐城供电分公司 | Automatic clamping manipulator and control method thereof |
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