阅读说明：本技术 一种搭载机械臂的智能车抓取机构 (Intelligent vehicle carrying mechanical arm grabbing mechanism ) 是由 刘玮 厉冯鹏 经成 万益东 于 2019-10-30 设计创作，主要内容包括：本发明涉及机械抓取结构技术领域,且公开了一种搭载机械臂的智能车抓取机构,包括车体,所述车体的右侧面固定安装有视觉摄像头,所述车体的右侧面位于视觉摄像头的下方固定安装有红外传感器,所述车体内腔的正面固定安装有减速电机,所述减速电机的输出端固定安装有动力连接齿轮,所述车体的正面活动安装有拉动轮,所述拉动轮的外表面啮合传动连接有履带。该搭载机械臂的智能车抓取机构,通过红外传感器以及视觉摄像头以及距离传感器的配合可以保证该装置可以进行自动抓取物体,通过设置第一丝杆以及第三齿轮和第四齿轮的配合使得第一机械臂杆的自由度更大进而保证该装置在使用的过程中对物体的抓取更加的简单。(The invention relates to the technical field of mechanical grabbing structures, and discloses an intelligent vehicle grabbing mechanism carrying a mechanical arm, which comprises a vehicle body, wherein a visual camera is fixedly mounted on the right side surface of the vehicle body, an infrared sensor is fixedly mounted on the right side surface of the vehicle body, which is positioned below the visual camera, a speed reduction motor is fixedly mounted on the front surface of an inner cavity of the vehicle body, a power connection gear is fixedly mounted at the output end of the speed reduction motor, a pulling wheel is movably mounted on the front surface of the vehicle body, and the outer surface of the pulling wheel is in meshing transmission connection with a track. This carry on intelligent car of arm snatchs mechanism can guarantee through infrared sensor and vision camera and distance sensor's cooperation that the device can carry out the automation and snatch the object, and the cooperation through setting up first lead screw and third gear and fourth gear makes the degree of freedom of first arm pole bigger and then guarantees that the device is at the in-process that uses snatchs more simply to the object.)

1. The utility model provides a carry on intelligent car of arm and snatch mechanism, includes automobile body (1), its characterized in that: the visual camera is fixedly mounted on the right side face of the vehicle body (1), the infrared sensor (2) is fixedly mounted below the visual camera (3) on the right side face of the vehicle body (1), the speed reduction motor (4) is fixedly mounted on the front face of the inner cavity of the vehicle body (1), the power connection gear (25) is fixedly mounted on the output end of the speed reduction motor (4), the pulling wheel (26) is movably mounted on the front face of the vehicle body (1), the outer surface of the pulling wheel (26) is connected with the crawler belt (27) in a meshing manner, the outer surface of the power connection gear (25) is connected with the inner side face of the crawler belt (27) in a meshing manner, the control device (28) is fixedly mounted below the speed reduction motor (4) on the front face of the inner cavity of the vehicle body (1), the placing table (24) is fixedly mounted on the top of the vehicle body (1), the mounting seat (5) is fixedly mounted on the right side of the placing, the front fixed mounting of mount pad (5) inner chamber has first micro motor (23), the output fixed mounting of first micro motor (23) has first gear (22), the top movable mounting of mount pad (5) has adjustable seat (7), the bottom fixed mounting of adjustable seat (7) has second gear (6), the surface of first gear (22) is connected with the surface engagement transmission of second gear (6), the top fixed mounting of adjustable seat (7) has backup pad (8), the top fixed mounting of backup pad (8) has first installation room (42), the left surface fixed mounting of first installation room (42) has second micro motor (40), the output of second micro motor (40) extends to inside and the first lead screw of fixedly connected with (41) of first installation room (42), the front of first installation room (42) inner chamber is located the top screw thread of first lead screw (41) and installs the third micro motor (40), the output of first installation room (42) inner chamber is located the top screw thread of first lead screw (41) Gear (39), the side movable mounting that the front of first installation room (42) inner chamber is located third gear (39) has fourth gear (38) of being connected with the surface mesh transmission of third gear (39), the outer fixed surface of fourth gear (38) is connected with first arm pole (21), the top fixed mounting of first arm pole (21) has second installation room (20), the bottom fixed mounting of second installation room (20) has semi-gear (19), the top movable mounting that the front of second installation room (20) inner chamber is located semi-gear (19) has fifth gear (18) of being connected with the surface mesh transmission of semi-gear (19), the top movable mounting of second installation room (20) has second arm pole (16), the inside movable mounting of second arm pole (16) has pivot (43), the outer fixed surface of pivot (43) is overlapped and is equipped with sixth gear (17), the front surface of the second mechanical arm rod (16) is fixedly provided with a third micro motor (31), and the output end of the third micro motor (31) is fixedly connected with the outer surface of the rotating shaft (43).

2. The intelligent vehicle grabbing mechanism with the mechanical arm as claimed in claim 1, wherein: the top fixed mounting of second mechanical arm pole (16) has third installation room (14), the positive fixed mounting of third installation room (14) inner chamber has fourth micro motor (33), the output fixed mounting of fourth micro motor (33) has seventh gear (10), the top movable mounting of third installation room (14) has rotation seat (12), it is located inside one end fixedly connected with connecting axle (11) of third installation room (14) to rotate seat (12), the surface cover of connecting axle (11) is equipped with eighth gear (9) with seventh gear (10) looks meshing.

3. The intelligent vehicle gripping mechanism with the mechanical arm as claimed in claim 2, wherein: a fourth installation chamber (13) is fixedly installed on the outer surface of the rotating seat (12), a fifth micro motor (34) is fixedly installed inside the fourth installation chamber (13), the output end of the fifth micro motor (34) is fixedly connected with a second screw rod (35), a ninth gear (36) which is in meshing transmission connection with the outer surface of the second screw rod (35) is movably arranged in the fourth mounting chamber (13), a first connecting rod (37) is fixedly arranged on the outer surface of the ninth gear (36), a second connecting rod (32) is movably arranged in the fourth mounting chamber (13), one end of the first connecting rod (37) positioned outside the fourth mounting chamber (13) is movably connected with a hand grip (30), one end of the second connecting rod (32) positioned outside the fourth mounting chamber (13) is movably connected with the side surface of the hand grip (30), the inner side surface of the handle (30) is fixedly connected with a film pressure sensor (29).

4. The intelligent vehicle gripping mechanism with the mechanical arm as claimed in claim 3, wherein: the control device (28) is electrically connected with the film pressure sensor (29) and the fifth micro motor (34).

5. The intelligent vehicle grabbing mechanism with the mechanical arm as claimed in claim 1, wherein: the control device (28) is electrically connected with the visual camera (3) and the infrared sensor (2).

6. The intelligent vehicle gripping mechanism with the mechanical arm as claimed in claim 2, wherein: distance sensors (15) are fixedly mounted on the side faces of the third mounting chamber (14), and the number of the distance sensors (15) is two.

7. The intelligent vehicle gripping mechanism with the mechanical arm as claimed in claim 3, wherein: the number of the ninth gears (36), the first connecting rods (37), the second connecting rods (32) and the grippers (30) is two.

Technical Field

The invention relates to the technical field of mechanical grabbing structures, in particular to an intelligent vehicle grabbing mechanism carrying a mechanical arm.

Background

The robot arm is an automated mechanical device which is widely applied in the technical field of robots, can see the figure of the robot in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like, and has the common characteristic of receiving instructions and accurately positioning to a certain point on a three-dimensional (or two-dimensional) space for operation although the shapes of the robot arm are different.

The grabbing mechanism structure of the mechanical arm used at present is complex, the degree of freedom of the mechanical arm in the using process is not enough, and meanwhile, in the using process, due to the fact that the degree of freedom is not enough, a lot of actions cannot be better achieved, and therefore the object is difficult to control.

Disclosure of Invention

The invention provides an intelligent vehicle grabbing mechanism with a mechanical arm, which has the advantages of high degree of freedom, good grabbing effect and capability of automatically grabbing, and solves the problems in the background art.

The invention provides the following technical scheme: an intelligent vehicle grabbing mechanism carrying mechanical arms comprises a vehicle body, wherein a vision camera is fixedly mounted on the right side face of the vehicle body, an infrared sensor is fixedly mounted on the right side face of the vehicle body, which is located below the vision camera, a speed reduction motor is fixedly mounted on the front face of an inner cavity of the vehicle body, a power connection gear is fixedly mounted at the output end of the speed reduction motor, a pulling wheel is movably mounted on the front face of the vehicle body, the outer surface of the pulling wheel is in transmission connection with a crawler belt in an meshed manner, the outer surface of the power connection gear is in meshed connection with the inner side face of the crawler belt, a control device is fixedly mounted on the front face of the inner cavity of the vehicle body, a placing table is fixedly mounted on the top of the vehicle body, a mounting seat is fixedly mounted on the right side of the placing table on the top of the, the output end of the first micro motor is fixedly provided with a first gear, the top of the mounting seat is movably provided with a movable seat, the bottom of the movable seat is fixedly provided with a second gear, the outer surface of the first gear is in transmission connection with the outer surface of the second gear in a meshing manner, the top of the movable seat is fixedly provided with a support plate, the top of the support plate is fixedly provided with a first mounting chamber, the left side surface of the first mounting chamber is fixedly provided with a second micro motor, the output end of the second micro motor extends to the inside of the first mounting chamber and is fixedly connected with a first lead screw, the front surface of the inner cavity of the first mounting chamber is positioned above the first lead screw and is provided with a third gear in a threaded manner, the front surface of the inner cavity of the first mounting chamber is positioned on the side surface of the third gear and is movably provided with a fourth gear in transmission connection with the outer surface of the third gear, the outer surface of the fourth gear, the top fixed mounting of first mechanical arm pole has the second installation room, the bottom fixed mounting of second installation room has the half-gear, the front of second installation room inner chamber is located the top movable mounting of half-gear has the fifth gear of being connected with the surface meshing transmission of half-gear, the top movable mounting of second installation room has the second mechanical arm pole, the inside movable mounting of second mechanical arm pole has the pivot, the fixed surface cover of pivot is equipped with the sixth gear, the positive fixed mounting of second mechanical arm pole has the output of third micro motor and the fixed surface connection of pivot.

Preferably, a third installation chamber is fixedly installed at the top of the second mechanical arm rod, a fourth micro motor is fixedly installed on the front surface of an inner cavity of the third installation chamber, a seventh gear is fixedly installed at the output end of the fourth micro motor, a rotation seat is movably installed at the top of the third installation chamber, a connecting shaft is fixedly connected to one end, located inside the third installation chamber, of the rotation seat, and an eighth gear meshed with the seventh gear is sleeved on the outer surface of the connecting shaft.

Preferably, the outer fixed surface who rotates the seat installs the fourth installation room, the inside fixed mounting of fourth installation room has the fifth micro motor, the output fixedly connected with second lead screw of fifth micro motor, the inside movable mounting of fourth installation room has the ninth gear of being connected with the surface mesh transmission of second lead screw, the outer fixed surface of ninth gear installs the head rod, the inside movable mounting of fourth installation room has the second connecting rod, the one end swing joint that the head rod is located the outdoor side of fourth installation has the tongs, the one end that the second connecting rod is located the outdoor side of fourth installation and the side swing joint of tongs, the medial surface fixedly connected with film pressure sensor of tongs.

Preferably, the control device is electrically connected with the film pressure sensor and the fifth micro motor.

Preferably, the control device is electrically connected with the visual camera and the infrared sensor.

Preferably, the side surface of the third installation chamber is fixedly provided with two distance sensors.

Preferably, the number of the ninth gears, the first connecting rods, the second connecting rods and the hand grips is two.

The invention has the following beneficial effects:

1. this carry on intelligent car of arm snatchs mechanism can guarantee through infrared sensor and vision camera and distance sensor's cooperation that the device can carry out the automation and snatch the object, and the cooperation through setting up first lead screw and third gear and fourth gear makes the degree of freedom of first arm pole bigger and then guarantees that the device is at the in-process that uses snatchs more simply to the object.

2. This carry on intelligent car of arm snatchs mechanism makes the device can guarantee that the device's arm can carry out the free rotation and then need not the automobile body and rotate when snatching the object at the in-process that uses through the cooperation that sets up first micro motor and first gear and second gear and sliding seat, can make the tongs rotate and snatch through the cooperation that sets up eighth gear and seventh gear.

3. This carry on intelligent car of arm snatchs mechanism makes the tongs can carry out snatching by a wide margin through the cooperation that sets up fifth micro motor and second lead screw and ninth gear and head rod and second connecting rod, can detect the tongs and to the pressure of snatching of object and then make the device can not crush the object through film pressure sensor.

Drawings

FIG. 1 is a cross-sectional view of the structure of the present invention;

FIG. 2 is an enlarged view of the point A in FIG. 1;

FIG. 3 is an enlarged view of the point B in FIG. 1;

fig. 4 is a front view of a portion of the structure of the present invention.

In the figure: 1. a vehicle body; 2. an infrared sensor; 3. a vision camera; 4. a reduction motor; 5. a mounting seat; 6. a second gear; 7. a movable seat; 8. a support plate; 9. an eighth gear; 10. a seventh gear; 11. a connecting shaft; 12. a rotating seat; 13. a fourth installation chamber; 14. a third installation chamber; 15. a distance sensor; 16. a second arm lever; 17. a sixth gear; 18. a fifth gear; 19. a half gear; 20. a second installation chamber; 21. a first arm lever; 22. a first gear; 23. a first micro motor; 24. a placing table; 25. a power connection gear; 26. pulling the wheel; 27. a crawler belt; 28. a control device; 29. a thin film pressure sensor; 30. a gripper; 31. a third micro motor; 32. a second connecting rod; 33. a fourth micro motor; 34. a fifth micro motor; 35. a second lead screw; 36. a ninth gear; 37. a first connecting rod; 38. a fourth gear; 39. a third gear; 40. a second micro motor; 41. a first lead screw; 42. a first installation chamber; 43. a rotating shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The drawings in the embodiments of the invention: the different types of hatching in the figures are not given the national standards, do not require the material of the elements, and distinguish between cross-sectional views of the elements in the figures.

Referring to fig. 1-4, an intelligent vehicle grabbing mechanism carrying a mechanical arm comprises a vehicle body 1, a vision camera 3 is fixedly mounted on the right side surface of the vehicle body 1, an infrared sensor 2 is fixedly mounted on the right side surface of the vehicle body 1 and positioned below the vision camera 3, a reduction motor 4 is fixedly mounted on the front surface of the inner cavity of the vehicle body 1, a power connecting gear 25 is fixedly mounted at the output end of the reduction motor 4, a pulling wheel 26 is movably mounted on the front surface of the vehicle body 1, a track 27 is connected to the outer surface of the pulling wheel 26 in a meshing manner, the outer surface of the power connecting gear 25 is connected to the inner side surface of the track 27 in a meshing manner, a control device 28 is fixedly mounted on the front surface of the inner cavity of the vehicle body 1 and positioned below the reduction motor 4, the control device 28 is electrically connected with the vision camera 3 and the infrared sensor 2, and the infrared sensor 2 can guarantee that the device can, the top of the vehicle body 1 is fixedly provided with a placing table 24, the top of the vehicle body 1 is fixedly provided with a mounting seat 5 on the right side of the placing table 24, the front of the inner cavity of the mounting seat 5 is fixedly provided with a first micro motor 23, the output end of the first micro motor 23 is fixedly provided with a first gear 22, the top of the mounting seat 5 is movably provided with a movable seat 7, the bottom of the movable seat 7 is fixedly provided with a second gear 6, the outer surface of the first gear 22 is in meshing transmission connection with the outer surface of the second gear 6, the device can ensure that the mechanical arm of the device can freely rotate in the using process by arranging the first micro motor 23, the first gear 22, the second gear 6 and the movable seat 7, so that the vehicle body does not need to rotate when grabbing an object, the top of the movable seat 7 is fixedly provided with a supporting plate 8, and the top of the supporting plate 8 is fixedly, a second micro motor 40 is fixedly installed on the left side surface of the first installation chamber 42, the output end of the second micro motor 40 extends into the first installation chamber 42 and is fixedly connected with a first screw rod 41, a third gear 39 is installed on the front surface of the inner cavity of the first installation chamber 42 above the first screw rod 41 in a threaded manner, a fourth gear 38 which is in meshing transmission connection with the outer surface of the third gear 39 is movably installed on the front surface of the inner cavity of the first installation chamber 42 on the side surface of the third gear 39, a first mechanical arm rod 21 is fixedly connected with the outer surface of the fourth gear 38, the degree of freedom of the first mechanical arm rod 21 is larger through the matching of the first screw rod 41, the third gear 39 and the fourth gear 38, and therefore the device can grab an object more simply in the using process, a second installation chamber 20 is fixedly installed on the top of the first mechanical arm rod 21, and a half gear 19 is fixedly installed on the bottom of the second installation chamber 20, a fifth gear 18 in meshing transmission connection with the outer surface of the half gear 19 is movably mounted on the front surface of the inner cavity of the second mounting chamber 20 above the half gear 19, a second mechanical arm rod 16 is movably mounted on the top of the second mounting chamber 20, a rotating shaft 43 is movably mounted inside the second mechanical arm rod 16, a sixth gear 17 is fixedly sleeved on the outer surface of the rotating shaft 43, a third micro motor 31 is fixedly mounted on the front surface of the second mechanical arm rod 16, the output end of the third micro motor 31 is fixedly connected with the outer surface of the rotating shaft 43, a third mounting chamber 14 is fixedly mounted on the top of the second mechanical arm rod 16, distance sensors 15 are fixedly mounted on the side surfaces of the third mounting chamber 14, the number of the distance sensors 15 is two, a fourth micro motor 33 is fixedly mounted on the front surface of the inner cavity of the third mounting chamber 14, a seventh gear 10 is fixedly mounted on the output end of the fourth micro motor 33, a rotating seat 12 is movably mounted on the top of the third, a connecting shaft 11 is fixedly connected to one end of the rotating base 12 positioned in the third installation chamber 14, an eighth gear 9 engaged with the seventh gear 10 is sleeved on the outer surface of the connecting shaft 11, the gripper 30 can be rotationally gripped by arranging the eighth gear 9 and the seventh gear 10, a fourth installation chamber 13 is fixedly installed on the outer surface of the rotating base 12, a fifth micro motor 34 is fixedly installed in the fourth installation chamber 13, a second lead screw 35 is fixedly connected to the output end of the fifth micro motor 34, a ninth gear 36 engaged and driven with the outer surface of the second lead screw 35 is movably installed in the fourth installation chamber 13, a first connecting rod 37 is fixedly installed on the outer surface of the ninth gear 36, a second connecting rod 32 is movably installed in the fourth installation chamber 13, and the gripper 30 is movably connected to one end of the first connecting rod 37 positioned outside the fourth installation chamber 13, one end, located outside the fourth mounting chamber 13, of the second connecting rod 32 is movably connected with the side face of the hand grip 30, the number of the ninth gear 36, the number of the first connecting rod 37, the number of the second connecting rod 32 and the number of the hand grip 30 are two, the inner side face of the hand grip 30 is fixedly connected with the film pressure sensor 29, the control device 28 is electrically connected with the film pressure sensor 29 and the fifth micro motor 34, the hand grip 30 can grip the object greatly by arranging the fifth micro motor 34, the second screw rod 35, the ninth gear 36, the first connecting rod 37 and the second connecting rod 32 in a matched mode, and the film pressure sensor 29 can detect the gripping pressure of the hand grip 30 on the object, so that the device cannot crush the object.

The working principle is that in the using process, the speed reduction motor 4 drives the power connecting gear 25 to rotate so as to enable the caterpillar 27 to rotate between the pulling wheels 26, at the moment, the visual camera 3 and the infrared sensor 2 can detect the position of the vehicle body, at the moment, the first micro motor 23 drives the first gear 22 to drive the second gear 6 to rotate so as to drive the supporting plate 8 to rotate, so that the mechanism rotates in a plane, the rotation of the second micro motor 40 drives the first lead screw 41 to rotate so as to enable the third gear 39 to rotate, the third gear 39 drives the fourth gear 38 to rotate so as to enable the first mechanical arm rod 21 to change the angle, the third micro motor 31 rotates so as to drive the sixth gear 17 to rotate through the rotating shaft 43 and further enable the inclination of the second mechanical arm rod 16 to change through the meshing with the fifth gear 18, at the moment, the fifth gear 18 acts on the half gear 19 to ensure that the torque is large enough, when the hand grab needs to rotate longitudinally, the fourth micro motor 33 drives the eighth gear 9 to rotate through the seventh gear 10, and then drives the rotating seat 12 to rotate through the connecting shaft 11, so that the fourth installation chamber 13 rotates, when the hand grab needs to grab, the fifth micro motor 34 drives the second screw rod 35 to rotate, so that the ninth gear 36 rotates, and then the two first connecting rods 37 incline inwards, at the moment, the second connecting rods 32 incline simultaneously, so that the two hand grabs 30 move inwards to grab an object, at the moment, the film pressure sensor 29 senses the grabbing force, and then the grabbing force between the two hand grabs 30 is ensured.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Also in the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present invention.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.