CN115959471A - Intelligent carrying manipulator - Google Patents
Intelligent carrying manipulator Download PDFInfo
- Publication number
- CN115959471A CN115959471A CN202310018931.3A CN202310018931A CN115959471A CN 115959471 A CN115959471 A CN 115959471A CN 202310018931 A CN202310018931 A CN 202310018931A CN 115959471 A CN115959471 A CN 115959471A
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- Prior art keywords
- chain
- supporting
- unit
- screw rod
- supporting disk
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- 238000010030 laminating Methods 0.000 claims description 9
- 230000005389 magnetism Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000035515 penetration Effects 0.000 claims description 2
- 230000001788 irregular Effects 0.000 abstract description 4
- 230000000149 penetrating effect Effects 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention discloses an intelligent carrying manipulator which comprises a machine table, a first rotating structure, a lifting structure, a swinging structure, a second rotating structure, a supporting disk and four mechanical fingers, and further comprises a plurality of supporting arms, a driving locking unit and a chain attaching unit, wherein a plurality of sliding grooves vertically penetrating through the supporting disk are arranged at the top of the supporting disk along the radial direction of the supporting disk, the upper ends of the supporting arms are slidably arranged in the sliding grooves, the driving locking unit is arranged on the supporting disk, the driving locking end of the driving locking unit is connected with the supporting arms, the chain attaching unit comprises a chain support, an attaching chain and a magnetic attraction unit, the chain support is arranged on the supporting arms, the attaching chain is transversely arranged on the chain support, the magnetic attraction unit is arranged on the attaching chain, and the magnetic directions of the attaching chain relative to the two magnetic attraction units are opposite. The invention ensures that the whole manipulator can grab objects with irregular surface shapes, and has wide grabbing range and high firmness.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an intelligent carrying manipulator.
Background
A robot is an automatic operating device that simulates some of the motion functions of a human hand and arm to grab, carry objects or operate tools according to a fixed program. The current intelligent carrying manipulator mostly comprises a machine table, a first rotating structure, a lifting structure, a swinging structure, a second rotating structure, a supporting disc and four mechanical fingers, wherein the first rotating structure is installed on the machine table, the lifting structure is installed at the rotating end of the first rotating structure, the swinging structure is installed at the lifting end of the lifting structure, the second rotating structure is installed at the output end of the swinging structure, the supporting disc is installed at the rotating end of the second rotating structure and four mechanical fingers are installed on the supporting disc. During operation, first revolution mechanic drives elevation structure rotatory on the platform, and elevation structure drives swing structure and reciprocates, and swing structure drives the swing of second revolution mechanic, and the second revolution mechanic drives the supporting disk and rotates, and four mechanical fingers installed on the supporting disk snatch the article. Although this kind of intelligence transport manipulator can satisfy the use needs to a certain extent, its shortcoming is: in the face of the object with the irregular surface shape, the intelligent carrying manipulator can only grasp four points of the object by four mechanical fingers, and the whole stress surface is small and is not firm in grasping.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an intelligent carrying manipulator.
The technical scheme of the invention is as follows:
the utility model provides an intelligence transport manipulator, includes board, first revolution mechanic, elevation structure, swing structure, second revolution mechanic, supporting disk and four robotic fingers, first revolution mechanic is installed on the board, elevation structure installs first revolution mechanic's rotatory end, swing structure installs elevation structure's lift end, second revolution mechanic is installed on swing structure's the output, the supporting disk is installed second revolution mechanic's rotatory end, four robotic fingers install on the supporting disk, intelligence transport manipulator still includes a plurality of support arms, drive locking unit and chain laminating unit, the top of supporting disk is equipped with a plurality of vertical penetrations along it radially the spout of supporting disk, the upper end slidable mounting of support arm is in the spout, drive locking unit installs on the supporting disk, its drive locking end with the support arm is connected, chain laminating unit includes chain support, laminating chain and magnetism unit of inhaling, chain support installs on the support arm, magnetism is inhaled the unit and is installed on the laminating chain, magnetism is inhaled the magnetism of unit and is inhaled the magnetism in the opposite direction of unit relatively.
Preferably, the driving locking unit comprises a motor and a screw rod, two sides of the upper end of the supporting arm are provided with sliding blocks, one end of each sliding groove is provided with a screw rod seat, the two sliding blocks are arranged in the sliding grooves in a sliding manner, one end of the screw rod is arranged in the screw rod seat, the other end of the screw rod penetrates through the upper end of the supporting arm and is in threaded connection with the upper end of the supporting arm, the motor is installed on the supporting plate, and the output shaft of the motor is in transmission connection with the screw rod.
Preferably, the motor is mounted on the screw base and is in transmission connection with the screw through a pair of meshing gears.
Preferably, a plurality of the supporting arms are distributed at intervals among four mechanical fingers.
Preferably, the inner side of the attaching chain is provided with a suction cup.
Preferably, the sliding grooves are distributed on the supporting seat at equal intervals.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the chain attaching unit is arranged on the supporting disc in a sliding manner through the supporting arm and is driven to be locked by the driving locking structure, so that mechanical fingers grasp the surface of an object, the driving locking unit drives the supporting arm to drive the chain attaching unit to press the chain attaching unit onto the surface of the object, the attaching chain of the chain attaching unit is attached onto the surface of the object through the magnetic attracting unit to clamp and grab the object, and the whole manipulator can grab the object with an irregular surface shape by matching with the four mechanical fingers, so that the grabbing range is wide, and the firmness is high.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of an intelligent handling robot according to the present invention;
FIG. 2 is a schematic structural view of a support tray according to the present invention;
FIG. 3 is a top view of a support tray of the present invention;
fig. 4 is a schematic structural view of the chain attaching unit of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to illustrate the technical means of the present invention, the following description is given by way of specific examples.
Example 1
As shown in fig. 1 to 4, the intelligent carrying manipulator of this embodiment includes a machine table 1, a first rotating structure 2, a lifting structure 3, a swing structure 4, a second rotating structure 5, a supporting disc 6 and four mechanical fingers 7, the first rotating structure 2 is installed on the machine table 1, the lifting structure 3 is installed at the rotating end of the first rotating structure 2, the swing structure 4 is installed at the lifting end of the lifting structure 3, the second rotating structure 5 is installed at the output end of the swing structure 4, the supporting disc 6 is installed at the rotating end of the second rotating structure 5, four mechanical fingers 7 are installed on the supporting disc 6, the intelligent carrying manipulator further includes a plurality of supporting arms 8, a driving locking unit 9 and a chain attaching unit 10, the top of the supporting disc 6 is provided with a plurality of vertical through chutes 61 of the supporting disc 6 along the radial direction, the upper end of the supporting arm 8 is slidably installed in the chutes 61, the driving locking unit 9 is installed on the supporting disc 6, the driving locking end of the driving locking unit is connected with the supporting arm 6, the chain attaching unit 10 includes a magnetic attraction support 11, a magnetic attraction support 12 and a magnetic attraction support 13 is installed on the chain support 13, and a magnetic attraction support 13 is installed on the supporting disc 13, and a magnetic attraction support 13 is installed on the chain attachment unit 13, and a magnetic attraction support 13 is opposite to the supporting arm 13. The first rotating structure 2 drives the lifting structure 3 to rotate, the lifting structure 3 drives the swinging structure 4 to move up and down, the swinging structure 4 can enable the second rotating structure 5 to swing for a certain angle around one end of the swinging structure 4, and the second rotating structure 5 drives the supporting disk 6 to rotate; the mechanical finger 7 is a mechanical finger with a driving structure and can grasp the surface of an object; the magnetic unit 13 is a commonly used electromagnetic unit or magnetic block. When the device works, four mechanical fingers 7 on the supporting disk 6 grab four positions on the surface of an object, meanwhile, the locking structure 9 is driven to drive the supporting arm 8 to slide inwards in the sliding groove 61 and tightly press the surface of the object, the magnetic attraction units 13 of the chain attachment units 10 on the supporting arm 8 are attached to the surface of the object to clamp and grab the object, and due to the fact that the magnetic directions of the two opposite magnetic attraction units 13 are opposite, the attachment chain 12 can be attracted to the surface of the object on one hand, and on the other hand, attraction is formed between the two magnetic attraction units 13 with opposite magnetic directions, so that the attachment chain 12 is attached more tightly; the four mechanical fingers are matched, so that the whole mechanical arm can grab objects with irregular surface shapes, the grabbing range is wide, and the firmness is high.
In this embodiment, the driving locking unit 9 includes a motor 91 and a screw rod 92, two sides of the upper end of the supporting arm 8 are provided with a sliding block 81, one end of the sliding groove 61 is provided with a screw rod seat 62, the two sliding blocks 81 are slidably disposed in the sliding groove 61, one end of the screw rod 92 is disposed in the screw rod seat 62, the other end of the screw rod 92 penetrates through the upper end of the supporting arm 8 and is in threaded connection with the upper end of the supporting arm 8, the motor 91 is mounted on the supporting plate 6, and an output shaft of the motor 91 is in transmission connection with the screw rod 92; meanwhile, the motor 91 has a certain locking function, so that the support arm 8 cannot easily slide.
In this embodiment, the motor 91 is mounted on the screw base 62 and is in transmission connection with the screw 92 through a pair of meshing gears, so as to facilitate the mounting of the motor 91 and the power transmission with the screw 92. The supporting arms 8 are distributed among the four mechanical fingers 7 at intervals, so that the chain attaching units 10 are distributed more uniformly, and the stress is more uniform when an object is grabbed. The inner side of the attaching chain 12 is provided with a sucker, which is beneficial to attaching the attaching chain 12 on the surface of an object. A plurality of the sliding grooves 61 are distributed on the supporting seat 6 at equal intervals, so that the whole structure is distributed more uniformly.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides an intelligence transport manipulator, includes board, first revolution mechanic, elevation structure, swing structure, second revolution mechanic, supporting disk and four mechanical fingers, first revolution mechanic is installed on the board, elevation structure installs first revolution mechanic's rotatory end, swing structure installs elevation structure's lift end, second revolution mechanic is installed on swing structure's the output, the supporting disk is installed second revolution mechanic's rotatory end, four mechanical fingers install on the supporting disk, its characterized in that: the manipulator is still including a plurality of support arms, drive locking unit and chain laminating unit, the top of supporting disk is equipped with a plurality of vertical penetrations along its footpath the spout of supporting disk, the upper end slidable mounting of support arm is in the spout, drive locking unit installs on the supporting disk, its drive locking end with support arm connection, chain laminating unit includes chain support, laminating chain and magnetism and inhales the unit, chain support installs on the support arm, the laminating chain is transversely installed chain support is last, magnetism is inhaled the unit and is installed on the laminating chain, the magnetism opposite direction of unit is inhaled to two relative magnetism.
2. The intelligent handling robot of claim 1, wherein: the driving locking unit comprises a motor and a screw rod, sliding blocks are arranged on two sides of the upper end of the supporting arm, a screw rod seat is arranged at one end of the sliding groove, the sliding blocks are arranged in the sliding groove in a sliding mode, one end of the screw rod is arranged in the screw rod seat, the other end of the screw rod penetrates through the upper end of the supporting arm and is in threaded connection with the upper end of the supporting arm, the motor is installed on the supporting plate, and an output shaft of the motor is in transmission connection with the screw rod.
3. The intelligent handling robot of claim 1 or 2, wherein: the motor is arranged on the screw rod seat and is in transmission connection with the screw rod through a pair of meshing gears.
4. The intelligent handling robot of claim 1 or 2, wherein: the supporting arms are distributed among the four mechanical fingers at intervals.
5. The intelligent handling robot of claim 1 or 2, wherein: and a sucker is arranged on the inner side of the attaching chain.
6. The intelligent handling robot of claim 1 or 2, wherein: the sliding grooves are distributed on the supporting seat at equal intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310018931.3A CN115959471A (en) | 2023-01-06 | 2023-01-06 | Intelligent carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310018931.3A CN115959471A (en) | 2023-01-06 | 2023-01-06 | Intelligent carrying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115959471A true CN115959471A (en) | 2023-04-14 |
Family
ID=87363227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310018931.3A Withdrawn CN115959471A (en) | 2023-01-06 | 2023-01-06 | Intelligent carrying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115959471A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118163997A (en) * | 2024-04-25 | 2024-06-11 | 中山市东润智能装备有限公司 | Automatic manipulator and automatic boxing device |
-
2023
- 2023-01-06 CN CN202310018931.3A patent/CN115959471A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118163997A (en) * | 2024-04-25 | 2024-06-11 | 中山市东润智能装备有限公司 | Automatic manipulator and automatic boxing device |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20230414 |