An intelligent electric manipulator with integrated drive and control

Abstract

The present invention relates to an intelligent electric manipulator with integrated drive and control, comprising fingers, a palm, a wrist and an intelligent control module, wherein the fingers are mounted on the palm, the palm is mounted on the top of the wrist, and the intelligent control module is mounted on the bottom of the wrist. The manipulator of the present invention drives the gears to rotate through a motor, thereby controlling the opening and closing of the fingers, and the finger movement has high precision, realizing the integration of electromechanical control; the manipulator is modularly designed, achieving low cost and high versatility, and its application will greatly expand the application potential of the manipulator in the service industry, special environment and agricultural automation fields.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and in particular to an intelligent electric manipulator with integrated drive and control. Background Art

[0002] As the executive component of the robot system and the external operation object, the function and performance of the manipulator directly affect or even determine the performance of the entire robot system. With the rise of my country's robot industry, especially the rapid promotion and application of collaborative robots represented by UR, the demand for dexterous manipulators that can perform complex functions has increased. At present, dexterous manipulators that can perform complex functions at home and abroad are mostly used in scientific research and national defense fields due to their high prices, which limits the scope of application of manipulators.

[0003] A low-cost, high-performance and highly versatile two-finger manipulator is currently in short supply in China. Existing two-finger manipulators have the following problems: poor control of the motion accuracy of the end fingers; and external equipment is required for debugging. Summary of the invention

[0004] The purpose of the present invention is to provide a drive-control integrated intelligent electric manipulator to solve the problems of high cost and poor motion precision control of dexterous manipulators in the prior art.

[0005] The present invention provides a drive-control integrated intelligent electric manipulator, comprising fingers, a palm, a wrist and an intelligent control module, wherein the fingers are mounted on the palm, the palm is mounted on the top of the wrist, and the intelligent control module is mounted on the bottom of the wrist;

[0006] The palm comprises a palm body and two sliders, fingers are fixedly mounted on the two sliders, two notches are centrally symmetrically arranged in the palm body, the two sliders are respectively slidably inserted into the two notches, and racks are arranged on the inner sides of the two sliders;

[0007] The wrist comprises a wrist body, a reducer, a motor and a circuit board are installed in the wrist body, the reducer is installed above the motor and connected to the rotating shaft of the motor, the output end of the reducer is connected to a gear, the gear is arranged between two racks and meshed with the two racks, a magnetic bead is installed at the bottom of the rotating shaft of the motor, and the magnetic bead is located above the circuit board and directly facing the magnetic induction area of ​​the circuit board;

[0008] The intelligent control module includes a control base, a control core and a cable. The control core is installed inside the control base, the control core is connected to the cable, an elastic male pin is embedded in the control core, an elastic female pin is embedded in the circuit board, and the control core is connected to the circuit board through the triggering of the elastic male pin and the elastic female pin.

[0009] Furthermore, the bottom of the finger is fixedly mounted on the slider by means of bolts, through holes are arranged opposite to each other on the finger and the slider, and positioning pins are installed in the through holes to achieve accurate positioning of the finger.

[0010] Furthermore, a display screen and buttons are installed on the palm, and the display screen and buttons are connected to a circuit board.

[0011] Furthermore, an LED light is installed on the wrist, and the LED light is connected to a circuit board.

[0012] Furthermore, the output end of the reducer is connected to the gear via a flat key, the gear is sleeved on the flat key, a positioning groove is provided on the gear, and the flat key is inserted into the positioning groove.

[0013] Furthermore, it also includes a brake connected to the motor, and the brake is installed at the bottom of the motor.

[0014] Furthermore, it also includes a spring sheath, which is arranged on the cable and at the contact position between the cable and the control base, and is used to protect the cable and avoid bending and wear due to external force.

[0015] Furthermore, a plurality of weight-reducing holes are provided on the wrist body for reducing weight.

[0016] Furthermore, a camera bracket is installed on the wrist, a camera is installed on the camera bracket, and the camera is connected to a circuit board.

[0017] The beneficial effects of adopting the above technical solution of the present invention are:

[0018] The manipulator of the present invention drives the gears to rotate through a motor, thereby controlling the opening and closing of the fingers, and the finger movement accuracy is high, realizing the integration of electromechanical control;

[0019] The manipulator is modularly designed to achieve low cost and high versatility. Its application will greatly expand the application potential of manipulators in the service industry, special environment and agricultural automation fields.

[0020] Embedded display screen, motion parameters can be set directly through buttons, knobs, encoders, etc.

[0021] The finger structure is diversified, and fingers with different structures can be selected according to the needs of gripping products;

[0022] The shell is provided with weight-reducing holes to reduce the weight of the body. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of the intelligent electric manipulator with integrated drive and control of the present invention;

[0024] Figure 2This is a schematic diagram of the connection structure between the finger and the slider of the present invention;

[0025] Figure 3 This is a schematic diagram of the finger and palm connection structure of the present invention;

[0026] Figure 4 This is a schematic diagram of the palm body structure of the present invention;

[0027] Figure 5 This is a schematic diagram of the wrist structure of the present invention;

[0028] Figure 6 This is a schematic diagram of the internal structure of the wrist of the present invention;

[0029] Figure 7 This is a cross-sectional view of the intelligent electric manipulator of the present invention;

[0030] Figure 8 This is a schematic diagram of the connection relationship between the rack and the gear when the fingers of the present invention are opened;

[0031] Fig. 9 This is a schematic diagram of the connection relationship between the rack and the gear when the fingers are closed in the present invention;

[0032] Fig.10 A schematic diagram of the structure of the intelligent control module of the present invention;

[0033] Fig.11 This is a schematic diagram of the bottom structure of the intelligent control module of the present invention;

[0034] Fig.12 Schematic diagram of the finger structure of the present invention Figure 1 ;

[0035] Fig.13 Schematic diagram of the finger structure of the present invention Figure 2 ;

[0036] Fig.14 Schematic diagram of the finger structure of the present invention Figure 3 ;

[0037] Fig.15 Schematic diagram of the finger structure of the present invention Figure 4 ;

[0038] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0039] 10-Fingers,

[0040] 20-palm, 2001-palm body, 2002-slider, 2003-button, 2004-display screen, 2005-locating pin, 2006-bolt, 200101-concave hole, 200102-groove, 200103-notch, 200201-rack,

[0041] 30- Camera bracket,

[0042] 40- wrist, 4001- wrist body, 4002- gear, 4004- reducer, 4005- motor, 4006- brake, 4007 flat key, 4010- circuit board, 400102- weight reduction hole,

[0043] 50-intelligent control module, 5001-control base, 5002-control core, 5003-spring sheath, 5004-cable, 5005-elastic thimble male head. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0045] like Figure 1 As shown, the present invention provides a drive-control integrated intelligent electric manipulator, comprising a finger 10, a palm 20, a wrist 40 and an intelligent control module 50, wherein the finger 10 is mounted on the palm 20, the palm 20 is mounted on the top of the wrist 40, and the intelligent control module 50 is mounted on the bottom of the wrist 40;

[0046] like Figure 2-4 As shown, the palm 20 includes a palm body 2001 and two sliders 2002, the fingers 10 are fixedly mounted on the two sliders 2002 by bolts 2006, two notches 200103 are centrally symmetrically arranged in the palm body 2001, the two sliders 2002 are respectively slidably embedded in the two notches 200103, and can slide horizontally in the notches, and racks 200201 are arranged on the inner sides of the two sliders 2002;

[0047] like Figure 5-7 As shown, the wrist 40 includes a wrist body 4001, in which a reducer 4004, a motor 4005 and a circuit board 4010 are installed. The reducer 4004 is installed above the motor 4005 and connected to the rotating shaft of the motor 4005. The output end of the reducer 4004 is connected to the gear 4002 through a flat key 4007. The gear 4002 is sleeved on the flat key 4007. A positioning groove is set on the gear 4002. The flat key 4007 is stuck in the positioning groove. The output end of the reducer 4004 is connected to the gear 4002. The gear 4002 is set between the two racks 200201 and is meshed with the two racks 200201. Figure 8-9As shown, the gear 4002 rotates to drive the racks 200201 on both sides to move left and right, thereby realizing the opening and closing of the finger 10. A magnetic bead is installed at the bottom of the rotating shaft of the motor 4005. The magnetic bead is located above the circuit board 4010 and faces the magnetic induction area of ​​the circuit board 4010. The circuit board 4010 controls the speed and direction of the motor 4005.

[0048] like Figure 10-11 As shown, the intelligent control module 50 includes a control base 5001, a control core 5002 and a cable 5004, wherein the control core 5002 is installed inside the control base 5001, the control core 5002 is connected to the cable 5004, an elastic ejector male head 5005 is embedded in the control core 5002, an elastic ejector female head is embedded in the circuit board 4010, the control core 5002 is connected to the circuit board 4010 through the triggering of the elastic ejector male head 5005 and the elastic ejector female head, a display screen 2004 and a button 2003 are installed on the palm 20, wherein the display screen 2004 and the button 2003 are respectively embedded in a groove 200102 and a concave hole 200101 arranged on the palm body 2001, the display screen 2004 and the button 2003 are connected to the circuit board 4010, and the motion parameters can be directly set by buttons, knobs, code disks, etc.

[0049] The working principle of the intelligent electric manipulator with integrated drive and control in this embodiment is as follows: the cable 5004 supplies power to the control core 5002, and the control core 5002 is connected to the circuit board 4010 through the trigger of the elastic ejector male head 5005 and the elastic ejector female head to supply power to the circuit board 4010. After the circuit board 4010 is powered on, the magnetic induction area on the circuit board 4010 generates a magnetic field, the magnetic beads sense the magnetic field, and the motor 4005 is powered on. The specific motion parameters are set by the display screen 2004 and the button 2003 installed on the palm 20 and the parameter information is transmitted to the circuit board 4010. The circuit board 4010 controls the power on, power off, forward and reverse rotation and speed of the motor 4005. When the motor 4005 is powered on, the motor 4005 works, and the torque is increased through the reducer 4004, and the torque is transmitted to the gear 4002, thereby driving the gear 4002 to rotate, driving the two racks 200201 to move in the opposite direction, and then driving the closing and opening of the finger 10 to realize the grasping and releasing action of the finger 10.

[0050] Specifically, through holes are arranged opposite to each other on the finger 10 and the slider 2002 , and positioning pins 2005 are installed in the through holes to achieve accurate positioning of the finger 10 .

[0051] Specifically, an LED light 4008 is installed on the wrist 40, and the LED light 4008 is connected to the circuit board 4010. When the LED light 4008 is on, it means that the finger hand is powered, and when the LED light 4008 is off, it means that the finger hand is not powered, which serves as a warning. A camera bracket 30 is also installed on the wrist 40, and a camera is installed on the camera bracket 30. The camera is connected to the circuit board 4010 and is used to capture the product position to facilitate accurate clamping of the product.

[0052] Specifically, it also includes a brake 4006 connected to the motor 4005, and the brake 4006 is installed at the bottom of the motor 4005. After the finger 10 grasps the object, the brake 4006 limits the rotation of the shaft of the motor 4005, thereby preventing the motor 4005 from rotating under the action of external force, and the fingers 10 are opened, and the grasped object falls accidentally, thereby improving the safety of the robot.

[0053] Specifically, it also includes a spring sheath 5003, which is sleeved on the cable 5004 and arranged at the contact position between the cable 5004 and the control base 5001, and is used to protect the cable 5004 and avoid bending and wear due to external force.

[0054] Specifically, a plurality of weight-reducing holes 400102 are provided on the wrist body 4001 for reducing weight.

[0055] The finger 10 is modularly designed, and the structure of the end of the finger can be set according to actual product requirements, such as Figure 12-15 As shown, other structures of fingers can of course also be selected.

[0056] In summary, the manipulator of the present invention drives the gears to rotate through a motor, thereby controlling the opening and closing of the fingers. The fingers move with high precision and realize electromechanical control integration. The manipulator is modularly designed to achieve low cost and high versatility. Its application will greatly expand the application potential of robotic arms in the service industry, special environment and agricultural automation fields. The display screen is embedded, and the motion parameters can be set directly through buttons, knobs, code disks, etc. The finger structures are diversified, and fingers of different structures can be selected according to the needs of clamping products. The outer shell is provided with weight-reducing holes to reduce the weight of the main body.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent electric manipulator with integrated drive and control, characterized in that: It includes fingers, palms, wrists and an intelligent control module, wherein the fingers are mounted on the palms, the palms are mounted on the top of the wrists, and the intelligent control module is mounted on the bottom of the wrists; The palm comprises a palm body and two sliders, fingers are fixedly mounted on the two sliders, two notches are centrally symmetrically arranged in the palm body, the two sliders are respectively slidably inserted into the two notches, and racks are arranged on the inner sides of the two sliders; The wrist comprises a wrist body, a reducer, a motor and a circuit board are installed in the wrist body, the reducer is installed above the motor and connected to the rotating shaft of the motor, the output end of the reducer is connected to a gear, the gear is arranged between two racks and meshed with the two racks, a magnetic bead is installed at the bottom of the rotating shaft of the motor, and the magnetic bead is located above the circuit board and directly facing the magnetic induction area of ​​the circuit board; The intelligent control module includes a control base, a control core and a cable. The control core is installed inside the control base, the control core is connected to the cable, an elastic male pin is embedded in the control core, an elastic female pin is embedded in the circuit board, and the control core is connected to the circuit board through the triggering of the elastic male pin and the elastic female pin.

2. The intelligent electric manipulator with integrated drive and control according to claim 1, characterized in that: The bottom of the finger is fixedly mounted on the slider by bolts, through holes are arranged opposite to each other on the finger and the slider, and positioning pins are installed in the through holes to realize accurate positioning of the finger.

3. The intelligent electric manipulator with integrated drive and control according to claim 1, characterized in that: A display screen and buttons are installed on the palm, and the display screen and buttons are connected to a circuit board.

4. The intelligent electric manipulator with integrated drive and control according to claim 1, characterized in that: An LED lamp is installed on the wrist, and the LED lamp is connected to a circuit board.

5. The intelligent electric manipulator with integrated drive and control according to claim 1, characterized in that: The output end of the reducer is connected to the gear through a flat key, the gear is sleeved on the flat key, a positioning groove is arranged on the gear, and the flat key is inserted into the positioning groove.

6. The intelligent electric manipulator with integrated drive and control according to claim 1, characterized in that: It also includes a brake connected to the motor, and the brake is installed at the bottom of the motor.

7. The intelligent electric manipulator with integrated drive and control according to claim 1, characterized in that: It also includes a spring sheath, which is sleeved on the cable and arranged at the contact position between the cable and the control base, and is used to protect the cable and avoid bending and wear due to external force.

8. The intelligent electric manipulator with integrated drive and control according to claim 1, characterized in that: A plurality of weight-reducing holes are arranged on the wrist body for reducing weight.

9. The intelligent electric manipulator with integrated drive and control according to claim 1, characterized in that: A camera bracket is also installed on the wrist, a camera is installed on the camera bracket, and the camera is connected to a circuit board.

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