CN113211490A - Automatic multi-finger linkage type manipulator - Google Patents
Automatic multi-finger linkage type manipulator Download PDFInfo
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- CN113211490A CN113211490A CN202110514809.6A CN202110514809A CN113211490A CN 113211490 A CN113211490 A CN 113211490A CN 202110514809 A CN202110514809 A CN 202110514809A CN 113211490 A CN113211490 A CN 113211490A
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- rotate
- arm
- drives
- block
- driven
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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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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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
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of manipulators, and particularly relates to an automatic multi-finger linkage type manipulator which comprises a manipulator arm and a gripper, wherein the manipulator arm comprises a base, a rotating seat is fixedly mounted on the base, a fixed seat is fixedly mounted at the top of the rotating seat, a driving arm is rotatably mounted on the fixed seat, a driven arm is rotatably mounted on the driving arm, a rotating fixing piece is rotatably mounted on the driven arm, the rotating fixing piece and the gripper are fixedly connected together, the gripper comprises a round box, the top end of the round box and the rotating fixing piece are fixedly connected to the right, a fixed block is fixedly mounted at the bottom of the round box, three first fixing frames which are arranged in a round shape are fixedly mounted on the outer wall of the fixed block, and connecting frames are rotatably mounted on the three first fixing frames. The clamping device has high practicability, can tightly clamp the clamped articles, cannot loosen the clamped articles when the mechanical claw loses power, and has high safety.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an automatic multi-finger linkage type manipulator.
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 development and production of a robot become a new technology which is rapidly developed in the high-tech field, and the development of the mechanical arm is promoted, so that the mechanical arm can be organically combined with mechanization and automation better.
Through retrieval, application publication No. CN108908392A discloses a cooperative multi-finger manipulator and a robot system, including a base provided with a fixed driving mechanism, the periphery of the fixed driving mechanism is provided with at least a first driving mechanism, a second driving mechanism and a third driving mechanism, the fixed driving mechanism drives a first mechanical finger connected with the fixed driving mechanism, the first driving mechanism drives a first movable mechanical finger connected with the first driving mechanism, the second driving mechanism drives a second movable mechanical finger connected with the second driving mechanism; the third driving mechanism is connected with the first driving mechanism and the second driving mechanism through a transmission mechanism, the first movable mechanical finger and the second movable mechanical finger are driven to rotate along the axis of the driving mechanism, the mechanical fingers have multiple degrees of freedom in movement, and grabbing is achieved by means of multi-degree-of-freedom movement of each mechanical finger and adjustment of the direction of the movable mechanical finger.
However, most mechanical claws are powered by pneumatic or hydraulic pressure, and when the mechanical claws suddenly lose the power supplied by the pneumatic or hydraulic pressure, the mechanical claws will loosen the clamped object, so that the object can be damaged, and industrial accidents can also be caused.
Therefore, we propose an automated multi-finger linkage type manipulator to solve the above problems.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an automatic multi-finger linkage type manipulator.
In order to achieve the purpose, the invention adopts the following technical scheme: an automatic multi-finger linkage type manipulator comprises a mechanical arm and a mechanical claw, wherein the mechanical arm comprises a base, a rotating seat is fixedly mounted on the base, a fixed seat is fixedly mounted at the top of the rotating seat, a driving arm is rotatably mounted on the fixed seat, a driven arm is rotatably mounted on the driving arm, a rotating firmware is rotatably mounted on the driven arm, the rotating firmware and the mechanical claw are fixedly connected together, the mechanical claw comprises a round box, the top end of the round box and the rotating firmware are fixedly connected at the right, a fixed block is fixedly mounted at the bottom of the round box, three first fixing frames in circular arrangement are fixedly mounted on the outer wall of the fixed block, connecting frames are rotatably mounted on the three first fixing frames, clamping arms are rotatably mounted on the three connecting frames, a driven block is arranged below the fixed block, three second fixing frames in circular arrangement are fixedly mounted on the outer wall of the driven block, the ends of the three clamping arms close to each other are hinged with the corresponding second fixing frames respectively. First slide opening has been seted up on the bottom inner wall of circle case, the second slide opening has been seted up on the fixed block, slidable mounting has same push rod in first slide opening and the second slide opening, the bottom of push rod extends to outside the second slide opening and with driven piece fixed connection.
Preferably, all seted up on the both sides inner wall of circle case and rotated the hole, two rotate downthehole rotations and install same pivot, fixed mounting has worm wheel and gear in the pivot, fixed mounting has the rectangular block on the top inner wall of circle case, one side slidable mounting that the rectangular block is close to the gear has the rack, the top of push rod extend to outside the first slide opening and with the bottom fixed connection of rack, rack and gear mesh mutually, rotate on one side inner wall of circle case and install the worm, worm and worm wheel mesh mutually, one side fixed mounting of circle case has the motor, the output shaft of motor run through the circle case and with the one end fixed connection of worm together.
Preferably, the automatic multi-finger linkage type manipulator comprises the following steps in the grabbing process:
s1, firstly, the rotating seat is driven to rotate and the driving arm on the fixed seat is driven to rotate, and then the driving arm drives the mechanical claw on the driven arm to reach the position above the object to be grabbed;
s2, the driven arm rotates by taking the driving arm as the center of a circle and drives the mechanical claw to enable the object to be grabbed by the mechanical claw to be level;
s3, starting a motor to rotate the motor forward, wherein the motor rotates and drives a worm to rotate, the worm drives a meshed worm gear to rotate, the worm gear drives a rotating shaft to rotate, the rotating shaft drives a gear to rotate, the gear drives a meshed rack to slide and move upwards on a rectangular block, and the rack drives a push rod to move upwards, so that the push rod drives a driven block to be close to a fixed block, the driven block drives three clamping arms to rotate and mutually approach by taking corresponding connecting frames and a second fixed frame as circle centers, and the three clamping arms can tightly clamp an article to be grabbed;
s4, controlling the rotation seat to rotate again and driving the driving arm on the fixed seat to rotate, driving the driving arm to drive the object grabbed by the mechanical claw on the driven arm to move, and driving the object on the mechanical claw to turn over by the turnable rotating fastener;
s5, after the placement point is reached, the motor rotates reversely, the motor rotates and drives the worm to rotate, the worm drives the meshed worm wheel to rotate, the worm wheel drives the rotating shaft to rotate, the rotating shaft drives the gear to rotate, the gear drives the meshed rack to slide and move downwards on the rectangular block, the rack drives the push rod to move downwards, the push rod drives the driven block to be away from the fixed block, the driven block drives the three clamping arms to rotate and move away from each other by taking the corresponding connecting frames and the second fixing frame as circle centers, and therefore the three clamping arms can loosen and clamp the object to be grabbed and place the clamped object. Preferably, anti-skidding teeth are arranged on one side, close to each other, of each of the three clamping arms, sealing rings are fixedly mounted in the first sliding hole and the second sliding hole, and the push rod penetrates through the two sealing rings and is in sliding connection with the inner walls of the two sealing rings.
Preferably, the connecting frame is provided with two first guide holes, the two first guide holes are rotatably provided with the same first cross rod, the clamping arm is provided with a second guide hole, the first cross rod penetrates through the second guide hole and is rotatably connected with the inner wall of the second guide hole, the connecting frame is provided with a third guide hole, the third guide hole is rotatably provided with a second cross rod, two ends of the second cross rod penetrate through the third guide hole and is fixedly connected with the first fixing frame, the clamping arm is provided with a fourth guide hole, the fourth guide hole is rotatably provided with a third cross rod, and the third cross rod penetrates through the fourth guide hole and is fixedly connected with the second fixing frame.
Preferably, the bearings are arranged in the two rotating holes, the outer rings of the two bearings are respectively fixedly connected with the inner walls of the corresponding rotating holes, the inner rings of the two bearings are fixedly sleeved on the rotating shaft, the inner walls of the two sides of the round box are provided with round holes, one end of the worm far away from the motor is rotatably connected with the inner walls of the corresponding round holes, and the output shaft of the motor penetrates through the corresponding round holes and is rotatably connected with the inner walls of the corresponding round holes.
Preferably, a T-shaped groove is formed in one side, close to the rack, of the rectangular block, a T-shaped block is installed in the T-shaped groove in a sliding mode, and one side, close to the rectangular block, of the rack is fixedly connected with the T-shaped block.
Preferably, the assembly holes have been seted up on the fixed block, the push rod run through the assembly holes and with the inner wall fixed connection of assembly holes, fixed mounting has two bracing pieces on the one side inner wall that the circle case is close to the motor, the one end that the motor was kept away from to two bracing pieces all with rectangular block fixed connection. Compared with the prior art, the invention has the beneficial effects that:
1. through the matching of the worm wheel and the worm, the mechanical claw can not loosen clamped articles even when the power is lost, and the safety is high;
2. the clamping arms are provided with the anti-skidding teeth, so that the clamped object can be prevented from slipping in the moving process, the safety is high, the sealing rings arranged in the first sliding hole and the second sliding hole can ensure that the parts in the mechanical claw have a clean working environment, and the service life of the mechanical claw is prolonged;
3. the first cross rod and the second cross rod are arranged on the connecting frame, so that the rotating process of the clamping arm is smoother and more stable; the bearings are arranged in the two rotating holes, so that the friction between the rotating shaft and the two rotating holes can be effectively reduced, and the service life of the rotating shaft is prolonged;
4. the rack can move more stably and smoothly through the T-shaped block and the T-shaped sliding groove.
5. The invention has high practicability, is mutually linked and matched through the transmission of the set mechanical parts, has high integration degree, improves the grabbing efficiency and strengthens the grabbing effect.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of a gripper according to the present invention;
FIG. 3 is a front sectional view of the gripper of the present invention;
FIG. 4 is a side cross-sectional structural view of the gripper of the present invention;
FIG. 5 is an enlarged schematic view of portion A of FIG. 3;
FIG. 6 is an assembly view of a gear, a worm wheel, a worm, a rotating shaft and a rectangular block in the gripper according to the present invention;
fig. 7 is a schematic perspective view of a connecting frame in a gripper of an automated multi-finger linkage manipulator according to the present invention.
In the figure: 101. a base; 102. a rotating seat; 103. a fixed seat; 104. an active arm; 105. a driven arm; 106. rotating the fastener; 2. a gripper; 201. a round box; 20101. a first slide hole; 20102. rotating the hole; 202. a fixed block; 20201. a second slide hole; 203. a first fixing frame; 204. a connecting frame; 20401. a first cross bar; 20402. a second cross bar; 205. clamping arms; 206. a driven block; 207. a second fixing frame; 208. a push rod; 209. a rotating shaft; 210. a worm gear; 211. a gear; 212. a rectangular block; 213. a rack; 214. a worm; 215. an electric motor.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 1-7, the embodiment provides an automatic multi-finger linkage type manipulator, which includes a manipulator and a gripper 2, wherein the manipulator includes a base 101, a rotary seat 102 is fixedly mounted on the base 101, a fixed seat 103 is fixedly mounted on the top of the rotary seat 102, a driving arm 104 is rotatably mounted on the fixed seat 103, a driven arm 105 is rotatably mounted on the driving arm 104, a rotary fastener 106 is rotatably mounted on the driven arm 105, the rotary fastener 106 and the gripper 2 are fixedly connected together, the gripper 2 includes a round box 201, the top end of the round box 201 and the rotary fastener 106 are fixedly connected to the benefit, a fixed block 202 is fixedly mounted on the bottom of the round box 201, three first fixed frames 203 arranged in a circular manner are fixedly mounted on the outer wall of the fixed block 202, connecting frames 204 are rotatably mounted on the three first fixed frames 203, and clamping arms 205 are rotatably mounted on the three connecting frames 204, a driven block 206 is arranged below the fixed block 202, three second fixing frames 207 which are circularly arranged are fixedly arranged on the outer wall of the driven block 206, and the ends, close to each other, of the three clamping arms 205 are hinged with the corresponding second fixing frames 207 respectively. A first sliding hole 20101 is formed in the inner wall of the bottom of the round box 201, a second sliding hole 20201 is formed in the fixed block 202, the same push rod 208 is slidably mounted in the first sliding hole 20101 and the second sliding hole 20201, and the bottom end of the push rod 208 extends out of the second sliding hole 20201 and is fixedly connected with the driven block 206;
in this embodiment, as shown in fig. 1 to 7, rotation holes 20102 are formed in inner walls of two sides of a round box 201, the same rotating shaft 209 is rotatably installed in the two rotation holes 20102, a worm gear 210 and a gear 211 are fixedly installed on the rotating shaft 209, a rectangular block 212 is fixedly installed on an inner wall of the top of the round box 201, a rack 213 is slidably installed on one side, close to the gear 211, of the rectangular block 212, the top end of a push rod 208 extends out of the first sliding hole 20101 and is fixedly connected with the bottom end of the rack 213, the rack 213 is engaged with the gear 211, a worm 214 is rotatably installed on an inner wall of one side of the round box 201, the worm 214 is engaged with the worm gear 210, a motor 215 is fixedly installed on one side of the round box 201, and an output shaft of the motor 215 penetrates through.
Specifically, the worm wheel 210 and the worm 214 are matched, so that the mechanical claw 2 cannot loosen clamped articles even when power is lost, and high safety is achieved.
In this embodiment, the automated multi-finger linkage type manipulator includes the following steps when grabbing:
s1, firstly, the rotating seat 102 is driven to rotate and the driving arm 104 on the fixed seat 103 is driven to rotate, and the driving arm 104 drives the mechanical claw 2 on the driven arm 105 to reach the upper part of the object to be grabbed;
s2, the driven arm 105 rotates around the driving arm 104 and drives the mechanical claw 2 to make the object to be grabbed by the mechanical claw 2 level;
s3, starting the motor 215 to rotate the motor 215 forward, the motor 215 rotates and drives the worm 214 to rotate, the worm 214 drives the engaged worm wheel 210 to rotate, the worm wheel 210 drives the rotating shaft 209 to rotate, the rotating shaft 209 drives the gear 211 to rotate, the gear 211 drives the engaged rack 213 to slide on the rectangular block 212 and move up, the rack 213 drives the push rod 208 to move up, so that the push rod 208 drives the driven block 206 to be close to the fixed block 202, the driven block 206 drives the three clamping arms 205 to rotate around the corresponding connecting frame 204 and the second fixing frame 207 and to be close to each other, and the three clamping arms 205 can tightly clamp the object to be grabbed;
s4, the rotating base 102 is controlled to rotate again and the driving arm 104 on the fixed base 103 is driven to rotate, the driving arm 104 drives the article grabbed by the mechanical claw 2 on the driven arm 105 to move, and meanwhile, the reversible rotating fastener 106 can drive the article on the mechanical claw 2 to reverse;
s5, after the placement point is reached, the motor 215 rotates reversely, the motor 215 rotates and drives the worm 214 to rotate, the worm 214 drives the meshed worm wheel 210 to rotate, the worm wheel 210 drives the rotating shaft 209 to rotate, the rotating shaft 209 drives the gear 211 to rotate, the gear 211 drives the meshed rack 213 to slide and move downwards on the rectangular block 212, the rack 213 drives the push rod 208 to move downwards, the push rod 208 drives the driven block 206 to be far away from the fixed block 202, the driven block 206 drives the three clamping arms 205 to rotate around the corresponding connecting frame 204 and the second fixing frame 207 as the circle centers and to be far away from each other, and therefore the three clamping arms 205 can release clamped articles to be grabbed and place the clamped articles.
Specifically, through the transmission of the mechanical part who sets up, interconnect and cooperation each other integrate the degree height, strengthened when improving and snatch efficiency and snatch the effect. In this embodiment, anti-slip teeth are disposed on one side of each of the three clamping arms 205, sealing rings are fixedly mounted in the first sliding hole 20101 and the second sliding hole 20201, and the push rod 208 penetrates through the two sealing rings and is slidably connected with the inner walls of the two sealing rings.
Specifically, the anti-slip teeth are arranged on the clamping arms 205, so that the situation that articles clamped by the clamping arms slide off in the moving process can be avoided, the safety is high, the sealing rings are arranged in the first sliding holes 20101 and the second sliding holes 20201, the inner parts of the mechanical claw 2 can be guaranteed to have a clean working environment, and the service life of the mechanical claw 2 is prolonged.
In this embodiment, the connecting frame 204 has two first guiding holes, the same first cross rod 20401 is rotatably mounted on the two first guiding holes, the second guiding hole is formed in the clamping arm 205, the first cross rod 20401 penetrates through the second guiding hole and is rotatably connected with the inner wall of the second guiding hole, the third guiding hole is formed in the connecting frame 204, the second cross rod 20402 is rotatably mounted in the third guiding hole, two ends of the second cross rod 20402 penetrate through the third guiding hole and are fixedly connected with the first fixing frame 203, the fourth guiding hole is formed in the clamping arm 205, the third cross rod is rotatably mounted in the fourth guiding hole, and the third cross rod penetrates through the fourth guiding hole and is fixedly connected with the second fixing frame 207.
Specifically, the first cross bar 20401 and the second cross bar 20402 are arranged on the connecting frame 204, so that the rotation process of the clamping arm 205 can be more smooth and stable.
In this embodiment, all be equipped with the bearing in two rotation holes 20102, the outer lane of two bearings respectively with the inner wall fixed connection who rotates hole 20102 that corresponds, the inner circle of two bearings is all fixed the cover and is established on pivot 209, the round hole has all been seted up on the both sides inner wall of circle case 201, the one end that motor 215 was kept away from to worm 214 rotates with the inner wall of the round hole that corresponds to be connected, motor 215's output shaft runs through the round hole that corresponds and rotates with the inner wall of the round hole that corresponds to be connected.
Specifically, the bearings are arranged in the two rotating holes 20102, so that friction between the rotating shaft 209 and the two rotating holes 20102 can be effectively reduced, and the service life of the rotating shaft 209 is prolonged.
In this embodiment, a T-shaped groove is formed in one side of the rectangular block 212 close to the rack 213, a T-shaped block is slidably mounted in the T-shaped groove, and one side of the rack 213 close to the rectangular block 212 is fixedly connected with the T-shaped block.
Specifically, the movement of the rack 213 may be more stable and smooth by the T-shaped block and the T-shaped chute.
In this embodiment, the fixing block 202 is provided with an assembly hole, the push rod 208 penetrates through the assembly hole and is fixedly connected with the inner wall of the assembly hole, the inner wall of one side of the round box 201 close to the motor 215 is fixedly provided with two support rods, and one ends of the two support rods far away from the motor 215 are fixedly connected with the rectangular block 212.
Specifically, through the matching of the worm wheel 210 and the worm 214, the mechanical claw 2 can not loosen clamped articles even when power is lost, and the safety is high; the clamping arm 205 is provided with the anti-skidding teeth, so that the clamped object can be prevented from slipping off in the moving process, the safety is high, the sealing rings arranged in the first sliding hole 20101 and the second sliding hole 20201 can ensure that the parts in the mechanical claw 2 have a clean working environment, and the service life of the mechanical claw 2 is prolonged; the first cross bar 20401 and the second cross bar 20402 are arranged on the connecting frame 204, so that the rotation process of the clamping arm 205 can be smoother and more stable; the bearings are arranged in the two rotating holes 20102, so that the friction between the rotating shaft 209 and the two rotating holes 20102 can be effectively reduced, and the service life of the rotating shaft 209 is prolonged; the rack 213 can move more stably and smoothly through the T-shaped block and the T-shaped sliding groove; the clamping device has high practicability, can tightly clamp clamped articles, cannot loosen the clamped articles when the mechanical claw 2 loses power, and has high safety.
In this embodiment, when an article is grabbed, the rotating base 102 rotates and drives the driving arm 104 on the fixed base 103 to rotate, the driving arm 104 then drives the gripper 2 on the driven arm 105 to reach the position above the article to be grabbed, and then the driven arm 105 rotates around the driving arm 104 and drives the gripper 2 to be flush with the article to be grabbed;
in this embodiment, the motor 215 is then started to rotate the motor 215 forward, the motor 215 rotates and drives the worm 214 to rotate, the worm 214 drives the engaged worm wheel 210 to rotate, the worm wheel 210 drives the rotating shaft 209 to rotate, the rotating shaft 209 drives the gear 211 to rotate, the gear 211 drives the engaged rack 213 to slide on the rectangular block 212 and move up, the rack 213 drives the push rod 208 to move up, so that the push rod 208 drives the driven block 206 to approach the fixed block 202, and the driven block 206 drives the three clamping arms 205 to rotate around the corresponding connecting frame 204 and the second fixed frame 207 and approach each other, so that the three clamping arms 205 can tightly clamp the object to be grabbed, and then the rotating base 102 is controlled to rotate and the driving arm 104 on the fixed base 103 is driven to rotate, the driving arm 104 drives the object grabbed by the gripper 2 on the driven arm 105 to move, meanwhile, the turnable rotating fastener 106 can drive the articles on the mechanical claw 2 to turn over;
in this embodiment, when a clamped article is placed, the motor 215 is rotated reversely, the motor 215 rotates and drives the worm 214 to rotate, the worm 214 drives the meshed worm wheel 210 to rotate, the worm wheel 210 drives the rotating shaft 209 to rotate, the rotating shaft 209 drives the gear 211 to rotate, the gear 211 drives the meshed rack 213 to slide and move down on the rectangular block 212, the rack 213 drives the push rod 208 to move down, the push rod 208 drives the driven block 206 to move away from the fixed block 202, the driven block 206 drives the three clamping arms 205 to rotate around the corresponding connecting frame 204 and the second fixing frame 207 and move away from each other, so that the three clamping arms 205 can release the clamped article to be clamped, and the clamped article cannot be released even when the mechanical gripper 2 loses power through the matching of the worm wheel 210 and the worm 214, and the safety is high; the clamping arm 205 is provided with the anti-skidding teeth, so that the clamped object can be prevented from slipping off in the moving process, the safety is high, the sealing rings arranged in the first sliding hole 20101 and the second sliding hole 20201 can ensure that the parts in the mechanical claw 2 have a clean working environment, and the service life of the mechanical claw 2 is prolonged; the first cross bar 20401 and the second cross bar 20402 are arranged on the connecting frame 204, so that the rotation process of the clamping arm 205 can be smoother and more stable; the bearings are arranged in the two rotating holes 20102, so that the friction between the rotating shaft 209 and the two rotating holes 20102 can be effectively reduced, and the service life of the rotating shaft 209 is prolonged; the rack 213 can move more stably and smoothly through the T-shaped block and the T-shaped sliding groove; the clamping device has high practicability, can tightly clamp clamped articles, cannot loosen the clamped articles when the mechanical claw 2 loses power, and has high safety.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an automatic change multi-finger linkage type manipulator, includes arm and gripper (2), its characterized in that, the arm includes base (101), fixed mounting has on base (101) and rotates seat (102), top fixed mounting on rotating seat (102) has fixing base (103), it installs driving arm (104) to rotate on fixing base (103), it installs driven arm (105) to rotate on driving arm (104), it installs rotatory firmware (106) to rotate on driven arm (105), rotatory firmware (106) and gripper (2) fixed connection together, gripper (2) include round box (201), the top and the rotatory firmware (106) fixed connection of round box (201) are in the same place, the bottom fixed mounting of round box (201) has fixed block (202), the outer wall fixed mounting of fixed block (202) has three first mount (203) that are circular range, all rotate on three first mount (203) and install link (204), all rotate on three link (204) and install arm lock (205), the below of fixed block (202) is equipped with driven piece (206), fixed mounting has three second mount (207) that are circular arrangement on the outer wall of driven piece (206), and the one end that three arm lock (205) are close to each other is articulated together with corresponding second mount (207) respectively. A first sliding hole (20101) is formed in the inner wall of the bottom of the round box (201), a second sliding hole (20201) is formed in the fixing block (202), the first sliding hole (20101) and the second sliding hole (20201) are internally provided with the same push rod (208) in a sliding mode, and the bottom end of the push rod (208) extends out of the second sliding hole (20201) and is fixedly connected with the driven block (206).
2. The automatic multi-finger linkage type manipulator of claim 1, wherein two inner walls of two sides of the round box (201) are respectively provided with a rotating hole (20102), the two rotating holes (20102) are rotatably provided with the same rotating shaft (209), the rotating shaft (209) is fixedly provided with a worm gear (210) and a gear (211), the inner wall of the top of the round box (201) is fixedly provided with a rectangular block (212), one side of the rectangular block (212), which is close to the gear (211), is slidably provided with a rack (213), the top end of the push rod (208) extends out of the first sliding hole (20101) and is fixedly connected with the bottom end of the rack (213), the rack (213) is engaged with the gear (211), the inner wall of one side of the round box (201) is rotatably provided with a worm (214), the worm (214) is engaged with the worm gear (210), one side of the round box (201) is fixedly provided with a motor (215), an output shaft of the motor (215) penetrates through the round box (201) and is fixedly connected with one end of the worm (214).
3. An automated multi-finger linkage robot as claimed in any one of claims 1-2, having the following steps in grasping:
s1, firstly, the rotating seat (102) is driven to rotate and the driving arm (104) on the fixed seat (103) is driven to rotate, and the driving arm (104) drives the mechanical claw (2) on the driven arm (105) to reach the upper part of the object to be grabbed;
s2, the driven arm (105) rotates by taking the driving arm (104) as a circle center and drives the mechanical claw (2) to enable the articles to be grabbed by the mechanical claw (2) to be level;
s3, starting a motor (215), enabling the motor (215) to rotate positively, enabling the motor (215) to rotate and drive a worm (214) to rotate, enabling the worm (214) to drive a meshed worm wheel (210) to rotate, enabling the worm wheel (210) to drive a rotating shaft (209) to rotate, enabling the rotating shaft (209) to drive a gear (211) to rotate, enabling the gear (211) to drive a meshed rack (213) to slide and move upwards on a rectangular block (212), enabling the rack (213) to drive a push rod (208) to move upwards, enabling the push rod (208) to drive a driven block (206) to be close to a fixed block (202), enabling the driven block (206) to drive three clamping arms (205) to rotate and close to each other by taking corresponding connecting frames (204) and a second fixing frame (207) as circle centers, and enabling the three clamping arms (205) to clamp an object to be grabbed tightly;
s4, controlling the rotating seat (102) to rotate again and driving the driving arm (104) on the fixed seat (103) to rotate, driving the driving arm (104) to drive the article grabbed by the mechanical claw (2) on the driven arm (105) to move, and simultaneously driving the article on the mechanical claw (2) to turn over by the turnable rotating fastener (106);
s5, after the placement point is reached, the motor (215) rotates reversely, the motor (215) rotates and drives the worm (214) to rotate, the worm (214) drives the meshed worm wheel (210) to rotate, the worm wheel (210) drives the rotating shaft (209) to rotate, the rotating shaft (209) drives the gear (211) to rotate, the gear (211) drives the meshed rack (213) to slide and move downwards on the rectangular block (212), the rack (213) drives the push rod (208) to move downwards, the push rod (208) drives the driven block (206) to be far away from the fixed block (202), and the driven block (206) drives the three clamping arms (205) to rotate and be far away from each other by taking the corresponding connecting frame (204) and the second fixing frame (207) as circle centers, so that the three clamping arms (205) can release clamped articles to be clamped and place the clamped articles.
4. The automatic multi-finger linkage type manipulator according to claim 1, wherein anti-slip teeth are formed on the sides of the three clamping arms (205) close to each other, sealing rings are fixedly mounted in the first sliding hole (20101) and the second sliding hole (20201), and the push rod (208) penetrates through the two sealing rings and is connected with the inner walls of the two sealing rings in a sliding manner.
5. The automatic multi-finger linkage type manipulator as claimed in claim 1, wherein the connecting frame (204) has two first guiding holes, the two first guiding holes are rotatably mounted with a same first cross bar (20401), the clamping arm (205) has a second guiding hole, the first cross bar (20401) passes through the second guiding hole and is rotatably connected with an inner wall of the second guiding hole, the connecting frame (204) has a third guiding hole, the third guiding hole is rotatably mounted with a second cross bar (20402), two ends of the second cross bar (20402) pass through the third guiding hole and are fixedly connected with the first fixing frame (203), the clamping arm (205) has a fourth guiding hole, the fourth guiding hole is rotatably mounted with a third cross bar, and the third cross bar passes through the fourth guiding hole and is fixedly connected with the second fixing frame (207).
6. The automatic multi-finger linkage type manipulator as claimed in any one of claims 1-2, wherein bearings are arranged in the two rotating holes (20102), outer rings of the two bearings are fixedly connected with inner walls of the corresponding rotating holes (20102), inner rings of the two bearings are fixedly sleeved on the rotating shaft (209), round holes are formed in inner walls of two sides of the round box (201), one end, far away from the motor (215), of the worm (214) is rotatably connected with inner walls of the corresponding round holes, and an output shaft of the motor (215) penetrates through the corresponding round holes and is rotatably connected with inner walls of the corresponding round holes.
7. The automatic multi-finger linkage type manipulator according to claim 2, wherein a T-shaped groove is formed in one side, close to the rack (213), of the rectangular block (212), a T-shaped block is slidably mounted in the T-shaped groove, and one side, close to the rectangular block (212), of the rack (213) is fixedly connected with the T-shaped block.
8. The automatic multi-finger linkage type manipulator as claimed in claim 2, wherein the fixing block (202) is provided with an assembly hole, the push rod (208) penetrates through the assembly hole and is fixedly connected with the inner wall of the assembly hole, two support rods are fixedly mounted on the inner wall of one side of the round box (201) close to the motor (215), and one ends of the two support rods far away from the motor (215) are fixedly connected with the rectangular block (212).
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| CN202110514809.6A CN113211490A (en) | 2021-05-12 | 2021-05-12 | Automatic multi-finger linkage type manipulator |
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| CN202110514809.6A CN113211490A (en) | 2021-05-12 | 2021-05-12 | Automatic multi-finger linkage type manipulator |
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| CN114310996A (en) * | 2021-12-21 | 2022-04-12 | 河北易沃克机器人科技有限公司 | Opening and closing driving mechanism and manipulator assembly |
| CN114986483A (en) * | 2022-08-04 | 2022-09-02 | 杭州骏沃机电科技有限公司 | Fixing device for mechanical arm adsorption mechanism |
| CN116690279A (en) * | 2023-08-10 | 2023-09-05 | 深圳市盟科电子科技有限公司 | Manipulator device of power device chip for machine tool |
| CN118529444A (en) * | 2024-07-18 | 2024-08-23 | 江苏建筑职业技术学院 | Intelligent sorting equipment parcel center positioning structure and intelligent sorting equipment |
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