High-precision grabbing manipulator

Abstract

The utility model relates to the technical field of manipulators, in particular to a high-precision grabbing manipulator which comprises a base. A first mounting box is arranged on the front side of the upper end of the base, a sixth motor is fixedly arranged on the left side of the first mounting box, a two-way threaded rod is fixedly arranged at the output end of the sixth motor, the other end of the two-way threaded rod is mounted on the right side in the first mounting box through a bearing, and moving blocks are in threaded connection with the outer sides of threads at the left end and the right end of the two-way threaded rod. Through the arrangement of a sixth motor, a bidirectional threaded rod, a moving block, a pressure sensor, a spring and a clamping plate, the sixth motor is started, so that the clamping plate can be driven to move towards the inner side, the clamping plate can clamp a workpiece, in the clamping process, the pressure sensor can monitor the clamping force, and the clamping force can be monitored through the spring. And therefore, the clamping force can be controlled, the matched clamping force can be adjusted according to different workpieces, and the situation that the workpieces are damaged due to the fact that the force is too large and the workpieces fall off due to the fact that the force is too small is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a high-precision grasping manipulator. Background Art

[0002] With the rapid development of industrialization, the original manual production has problems such as low production efficiency and increased labor costs. It can no longer meet the large-scale production requirements of enterprises. In addition, the long-term fatigue of employees will cause production safety hazards. Therefore, more and more high-precision grasping robots are beginning to replace manual labor in enterprises. Using high-precision grasping robots for grasping can greatly improve production speed and meet the production requirements of enterprises.

[0003] The existing high-precision grasping manipulators are unable to control the grasping force. When grasping workpieces of different materials, if the force is too great, the shape of the workpiece may be damaged. If the force is too small, the workpiece may fall off during transportation.

[0004] Therefore, in view of the above-mentioned currently existing high-precision grasping manipulator, it is impossible to control the grasping force. Excessive force may cause damage to the shape of the workpiece, and too little force may cause the workpiece to fall off during transportation. A high-precision grasping manipulator can be designed. By setting motor six, a two-way threaded rod, a moving block, a pressure sensor, a pressure plate, a spring, a push plate and a clamping plate, starting motor six can drive the clamping plate to move inward, so that the clamping plate can clamp the workpiece. During the clamping process, the pressure sensor can monitor the clamping force, so as to control the clamping force, and then adjust the appropriate clamping force according to different workpieces, avoiding damage to the workpiece caused by excessive force and falling off of the workpiece caused by too little force. Utility Model Content

[0005] In order to overcome the problem that the existing high-precision grasping manipulators cannot control the grasping force, too much force may cause damage to the appearance of the workpiece, and too little force may cause the workpiece to fall off during transportation.

[0006] The technical solution of the utility model is: a high-precision grasping robot, comprising a base; a mounting box 1 is provided on the front side of the upper end of the base, a motor 6 is fixedly provided on the left side of the mounting box 1, a bidirectional threaded rod is fixedly provided on the output end of the motor 6, the other end of the bidirectional threaded rod is installed on the right side inside the mounting box 1 through a bearing, the outer sides of the threads at the left and right ends of the bidirectional threaded rod are threadedly connected to a moving block, a connecting plate is fixedly provided on the bottom of the moving block, a mounting box 2 is fixedly provided on the lower end of the inner side of the connecting plate, a pressure sensor is fixedly provided on the side of the mounting box 2 facing the connecting plate, a pressure plate is fixedly provided on the inner side of the pressure sensor, a spring is fixedly provided on the inner side of the pressure plate, a push plate is fixedly provided on the other end of the spring, a push rod is fixedly provided on the inner side of the push plate, and the other end of the push rod passes through the mounting box 2 and is fixedly provided with a clamping plate.

[0007] Preferably, motor six is ​​started, and the output end of motor six can drive the bidirectional threaded rod to rotate. The moving block is acted upon by the threads of the bidirectional threaded rod, thereby driving the connecting plate, the mounting box two and the clamping plate to move inward, so that the clamping plate can clamp the workpiece. When the clamping plate clamps the workpiece, it can push the push rod and the push plate to move outward relative to the mounting box two, thereby compressing the spring, and the rebound force of the spring acts on the pressure sensor through the pressure plate. The pressure sensor can sense the clamping force, thereby controlling the clamping force of the workpiece.

[0008] Preferably, a protective shell is fixedly provided on the top of the base, a rotating shaft 1 is installed on the bottom of the protective shell through a bearing, a gear 1 is fixedly provided on the outside of the rotating shaft 1, a motor 1 is fixedly provided on the right side of the top of the protective shell, the output end of the motor 1 is installed on the bottom of the protective shell through a bearing, a gear 2 is fixedly provided on the outside of the output end of the motor 1, and the gear 2 is meshingly connected with the gear 1.

[0009] Preferably, a rotating seat is fixedly provided on the top of the rotating shaft one through the protective shell, a mounting seat is fixedly provided on the top of the rotating seat, a motor two is fixedly provided on the right side of the mounting seat, and the rotating shaft two is installed inside the mounting seat, and the output end of the motor two is fixedly connected to the right side of the rotating shaft two.

[0010] Preferably, a motor three is fixedly provided on the upper end of the right side of the rotating rod one, a rotating rod two is rotatably connected to the upper end of the left side of the rotating rod one, and an output end of the motor three is fixedly connected to the right side of the rotating rod two.

[0011] Preferably, a motor four is fixedly provided at the front end of the left side of the rotating rod two, a rotating block is rotatably connected to the front end of the right side of the rotating rod two, and the output end of the motor four is fixedly connected to the left side of the rotating block.

[0012] Preferably, a telescopic cylinder is fixedly provided at the bottom of the rotating block, a mounting plate 1 is fixedly provided at the output end of the telescopic cylinder, four connecting rods are fixedly provided at the bottom of the mounting plate 1, a mounting plate 2 is fixedly provided at the other end of the connecting rod, a motor 5 is fixedly provided at the top of the mounting plate 2, and the output end of the motor 5 passes through the mounting plate 2 and is fixedly connected to the top of the mounting box 1.

[0013] Preferably, mounting holes are provided at the four corners of the top of the base.

[0014] Beneficial effects of the utility model:

[0015] 1. By setting motor six, a bidirectional threaded rod, a moving block, a pressure sensor, a pressure plate, a spring, a push plate and a clamping plate, the motor six is ​​started, and the output end of the motor six can drive the bidirectional threaded rod to rotate. The moving block is acted upon by the threads of the bidirectional threaded rod to drive the connecting plate, the mounting box two and the clamping plate to move inward, so that the clamping plate can clamp the workpiece. When the clamping plate clamps the workpiece, it can push the push rod and the push plate to move outward relative to the mounting box two, so that the spring is compressed, and the spring rebound force acts on the pressure sensor through the pressure plate. The pressure sensor can sense the clamping force, thereby controlling the clamping force of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a schematic diagram of the three-dimensional structure of a high-precision grasping manipulator of the present utility model;

[0017] Figure 2 Shown is a schematic diagram of a three-dimensional structure of a high-precision gripping manipulator mounting plate of the utility model;

[0018] Figure 3 Shown is a three-dimensional cross-sectional schematic diagram of a high-precision gripping manipulator installation box of the utility model;

[0019] Figure 4 Shown is a schematic diagram of the internal three-dimensional structure of a protective shell of a high-precision grasping manipulator of the present invention;

[0020] Figure 5 Shown is a schematic diagram of the left side three-dimensional structure of a high-precision grasping manipulator of the present invention.

[0021] Explanation of the accompanying drawings: 1. base; 2. protective shell; 3. rotating shaft 1; 4. gear 1; 5. motor 1; 6. gear 2; 7. rotating seat; 8. mounting seat; 9. motor 2; 10. rotating shaft 2; 11. rotating rod 1; 12. motor 3; 13. rotating rod 2; 14. motor 4; 15. rotating block; 16. telescopic cylinder; 17. mounting plate 1; 18. mounting plate 2; 19. motor 5; 20. mounting box 1; 21. motor 6; 22. bidirectional threaded rod; 23. moving block; 24. connecting plate; 25. mounting box 2; 26. pressure sensor; 27. pressure plate; 28. spring; 29. ​​push plate; 30. push rod; 31. clamping plate; 32. connecting rod; 33. mounting hole. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] See also Figure 1-Figure 5 The utility model provides an embodiment: a high-precision grasping manipulator, including a base 1; a mounting box 20 is provided on the front side of the upper end of the base 1, a motor 6 21 is fixedly provided on the left side of the mounting box 20, a bidirectional threaded rod 22 is fixedly provided at the output end of the motor 6 21, the other end of the bidirectional threaded rod 22 is installed on the right side of the inside of the mounting box 20 through a bearing, the outer side of the threads at the left and right ends of the bidirectional threaded rod 22 is threadedly connected with a moving block 23, a connecting plate 24 is fixedly provided on the bottom of the moving block 23, a mounting box 25 is fixedly provided on the lower end of the inner side of the connecting plate 24, a pressure sensor 26 is fixedly provided on the inner side of the mounting box 25 facing the connecting plate 24, a pressure plate 27 is fixedly provided on the inner side of the pressure sensor 26, a spring 28 is fixedly provided on the inner side of the pressure plate 27, and the other end of the spring 28 is fixedly provided. The end is fixedly provided with a push plate 29, and the inner side of the push plate 29 is fixedly provided with a push rod 30. The other end of the push rod 30 passes through the installation box 25 and is fixed with a clamping plate 31. Start the motor 6 21. The output end of the motor 6 21 can drive the bidirectional threaded rod 22 to rotate. The moving block 23 is acted upon by the threads of the bidirectional threaded rod 22, thereby driving the connecting plate 24, the installation box 25 and the clamping plate 31 to move inward, so that the clamping plate 31 can clamp the workpiece. When the clamping plate 31 clamps the workpiece, it can push the push rod 30 and the push plate 29 to move outward relative to the installation box 25, and the spring 28 is thereby compressed. The rebound force of the spring 28 acts on the pressure sensor 26 through the pressure plate 27. The pressure sensor 26 can sense the clamping force, thereby controlling the clamping force of the workpiece.

[0024] See also Figure 1-Figure 5In this embodiment, a protective shell 2 is fixedly provided on the top of the base 1, a rotating shaft 3 is installed on the bottom of the protective shell 2 through a bearing, a gear 4 is fixedly provided on the outside of the rotating shaft 3, a motor 5 is fixedly provided on the right side of the top of the protective shell 2, the output end of the motor 5 is installed on the bottom of the protective shell 2 through a bearing, a gear 2 6 is fixedly provided on the outside of the output end of the motor 5, and the gear 2 6 is meshed with the gear 1 4. The top of the rotating shaft 3 passes through the protective shell 2 and is fixedly provided with a rotating seat 7. The top of the rotating seat 7 is fixedly provided with a mounting seat 8, and the right side of the mounting seat 8 is fixedly provided with a motor 2 9. , a rotating shaft 2 10 is installed inside the mounting seat 8, the output end of the motor 2 9 is fixedly connected to the right side of the rotating shaft 2 10, a motor 3 12 is fixedly provided on the upper end of the right side of the rotating rod 1 11, and the upper end of the left side of the rotating rod 1 11 is rotatably connected to the rotating rod 2 13, the output end of the motor 3 12 is fixedly connected to the right side of the rotating rod 2 13, the front end of the left side of the rotating rod 2 13 is fixedly provided with a motor 4 14, the front end of the right side of the rotating rod 2 13 is rotatably connected to the rotating block 15, the output end of the motor 4 14 is fixedly connected to the left side of the rotating block 15, and the bottom of the rotating block 15 is fixedly provided with a telescopic cylinder 16, the telescopic cylinder 1 The output end of 6 is fixedly provided with a mounting plate 17, and four connecting rods 32 are fixedly provided at the bottom of the mounting plate 17. The other end of the connecting rod 32 is fixedly provided with a mounting plate 2 18. The top of the mounting plate 2 18 is fixedly provided with a motor 5 19. The output end of the motor 5 19 passes through the mounting plate 2 18 and is fixedly connected to the top of the mounting box 1 20. Start the motor 15, the motor 15 can drive the gear 2 6 to rotate, the gear 2 6 can thereby drive the rotating shaft 3 to rotate through the gear 1 4, and the rotating shaft 3 can thereby drive the mounting box 1 20 to rotate, start the motor 2 9, the motor 3 12 and the motor 4 14, the motor 2 9. Motor three 12 and motor four 14 can respectively drive the rotating rod one 11, the rotating rod two 13 and the rotating block 15 to rotate. Motor one 5, motor two 9, motor three 12 and motor four 14 cooperate with each other to adjust the installation box one 20 to the upper end of the workpiece. Start motor five 19. Motor five 19 can drive the installation box one 20 to rotate, so that the clamping plate 31 at the lower end of the installation box one 20 can be adjusted to the upper ends of both sides of the workpiece. Start the telescopic cylinder 16. The telescopic cylinder 16 can thereby lower the clamping plate 31 at the lower end of the installation box one 20 to both sides of the workpiece, thereby facilitating the clamping of the workpiece by the clamping plate 31.

[0025] See also Figure 1 In this embodiment, mounting holes 33 are provided at the four corners of the top of the base 1. The opening of the mounting holes 33 facilitates the installation of the manipulator.

[0026] When working, start motor 15, motor 15 can drive gear 2 6 to rotate, gear 2 6 can drive rotating shaft 1 3 to rotate through gear 1 4, rotating shaft 3 can drive mounting box 1 20 to rotate, start motor 2 9, motor 3 12 and motor 4 14, motor 2 9, motor 3 12 and motor 4 14 can respectively drive rotating rod 1 11, rotating rod 2 13 and rotating block 15 to rotate, motor 1 5, motor 2 9, motor 3 12 and motor 4 14 cooperate with each other, so that mounting box 1 20 can be adjusted to the upper end of the workpiece, start motor 5 19, motor 5 19 can drive mounting box 1 20 to rotate, so that the clamping plate 31 at the lower end of mounting box 1 20 can be adjusted to the upper end of both sides of the workpiece, start the telescopic cylinder 16, the telescopic cylinder 16 can The clamping plates 31 at the lower ends of the mounting box 1 20 are lowered to both sides of the workpiece, thereby facilitating the clamping plates 31 to clamp the workpiece. After the clamping plates 31 are adjusted, the motor 6 21 is started. The output end of the motor 6 21 can drive the bidirectional threaded rod 22 to rotate. The moving block 23 is acted upon by the threads of the bidirectional threaded rod 22, thereby driving the connecting plate 24, the mounting box 25 and the clamping plates 31 to move inward, so that the clamping plates 31 can clamp the workpiece. When the clamping plate 31 clamps the workpiece, it can push the push rod 30 and the push plate 29 to move outward relative to the mounting box 25, and the spring 28 is thereby compressed. The rebound force of the spring 28 acts on the pressure sensor 26 through the pressure plate 27. The pressure sensor 26 can sense the clamping force, thereby controlling the force of clamping the workpiece.

[0027] Through the above steps, by setting motor six 21, bidirectional threaded rod 22, moving block 23, pressure sensor 26, pressure plate 27, spring 28, push plate 29 and clamping plate 31, start motor six 21, so that the clamping plate 31 can be driven to move inward, and the clamping plate 31 can clamp the workpiece. During the clamping process, the pressure sensor 26 can monitor the clamping force, so as to control the clamping force, and then adjust the clamping force to match different workpieces, avoiding damage to the workpiece due to excessive force and falling off of the workpiece due to insufficient force, so as to solve the problem that the current high-precision grasping manipulator cannot control the grasping force, excessive force may cause damage to the shape of the workpiece, and too insufficient force may cause the workpiece to fall off during transportation.

Claims

1. A high-precision gripping manipulator, comprising a base (1); characterized in that: The front side of the upper end of the base (1) is provided with a mounting box (20), a motor (21) is fixedly provided on the left side of the mounting box (20), a bidirectional threaded rod (22) is fixedly provided at the output end of the motor (21), the other end of the bidirectional threaded rod (22) is installed on the right side of the inside of the mounting box (20) through a bearing, the outer side of the threads at the left and right ends of the bidirectional threaded rod (22) is threadedly connected to a moving block (23), a connecting plate (24) is fixedly provided at the bottom of the moving block (23), and the lower end of the inner side of the connecting plate (24) is fixedly provided. A second mounting box (25) is fixedly provided, a pressure sensor (26) is fixedly provided on one side of the second mounting box (25) facing the connecting plate (24), a pressure plate (27) is fixedly provided on the inner side of the pressure sensor (26), a spring (28) is fixedly provided on the inner side of the pressure plate (27), a push plate (29) is fixedly provided on the other end of the spring (28), a push rod (30) is fixedly provided on the inner side of the push plate (29), and a clamping plate (31) is fixedly provided on the other end of the push rod (30) which passes through the second mounting box (25).

2. A high-precision gripping manipulator according to claim 1, characterized in that: A protective shell (2) is fixedly provided on the top of the base (1), a rotating shaft (3) is installed on the bottom of the protective shell (2) via a bearing, a gear (4) is fixedly provided on the outside of the rotating shaft (3), a motor (5) is fixedly provided on the right side of the top of the protective shell (2), an output end of the motor (5) is installed on the bottom of the protective shell (2) via a bearing, a gear (6) is fixedly provided on the outside of the output end of the motor (5), and the gear (6) is meshed with the gear (4).

3. A high-precision gripping manipulator according to claim 1, characterized in that: The top of the rotating shaft 1 (3) passes through the protective shell (2) and is fixedly provided with a rotating seat (7), the top of the rotating seat (7) is fixedly provided with a mounting seat (8), the right side of the mounting seat (8) is fixedly provided with a motor 2 (9), the interior of the mounting seat (8) is provided with a rotating shaft 2 (10), and the output end of the motor 2 (9) is fixedly connected to the right side of the rotating shaft 2 (10).

4. A high-precision gripping manipulator according to claim 3, characterized in that: The upper end of the right side of the rotating rod 1 (11) is fixedly provided with a motor 3 (12), the upper end of the left side of the rotating rod 1 (11) is rotatably connected to the rotating rod 2 (13), and the output end of the motor 3 (12) is fixedly connected to the right side of the rotating rod 2 (13).

5. The high-precision gripping manipulator according to claim 4, characterized in that: The front end of the left side of the rotating rod 2 (13) is fixedly provided with a motor 4 (14), the front end of the right side of the rotating rod 2 (13) is rotatably connected with a rotating block (15), and the output end of the motor 4 (14) is fixedly connected to the left side of the rotating block (15).

6. A high-precision gripping manipulator according to claim 5, characterized in that: A telescopic cylinder (16) is fixedly provided at the bottom of the rotating block (15), a mounting plate 1 (17) is fixedly provided at the output end of the telescopic cylinder (16), four connecting rods (32) are fixedly provided at the bottom of the mounting plate 1 (17), a mounting plate 2 (18) is fixedly provided at the other end of the connecting rods (32), a motor 5 (19) is fixedly provided at the top of the mounting plate 2 (18), and the output end of the motor 5 (19) passes through the mounting plate 2 (18) and is fixedly connected to the top of the mounting box 1 (20).

7. The high-precision gripping manipulator according to claim 1, characterized in that: Mounting holes (33) are provided at the four corners of the top of the base (1).

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