CN110900572A - Manipulator capable of carrying special-shaped plate - Google Patents
Manipulator capable of carrying special-shaped plate Download PDFInfo
- Publication number
- CN110900572A CN110900572A CN201911235975.1A CN201911235975A CN110900572A CN 110900572 A CN110900572 A CN 110900572A CN 201911235975 A CN201911235975 A CN 201911235975A CN 110900572 A CN110900572 A CN 110900572A
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- China
- Prior art keywords
- sliding
- manipulator
- rod
- limiting
- plate
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Classifications
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
Abstract
The invention relates to a manipulator, in particular to a manipulator capable of carrying a special-shaped plate. The invention comprises a base, a large arm, a small arm, a screw rod, a vertical shaft, a clamp, a nut, a fixing piece, a connecting piece and a limiting piece, wherein the large arm and the small arm are horizontally arranged, the large arm is respectively connected with the base and the small arm, the small arm is connected with the screw rod and the vertical shaft positioned on one side of the screw rod, the screw rod and the vertical shaft are both vertically arranged, the screw rod is sleeved with the nut, the vertical shaft is connected with the fixing piece, the connecting piece is connected between the nut and the fixing piece, the limiting piece is arranged on the base, the clamp comprises a movable mounting table, a vacuum tube and a sucker, the vertical shaft is connected with the movable mounting table, the vacuum tube is. The manipulator capable of carrying the special-shaped plate can fix the special-shaped plate from a plurality of positions, so that the manipulator can carry the special-shaped plate stably and safely, and the application range and the safety coefficient of the manipulator are improved.
Description
Technical Field
The invention relates to a manipulator, in particular to a manipulator capable of carrying a special-shaped plate.
Background
The manipulator is a device simulating the functions of a human hand and an arm and grabbing and carrying objects or operating tools according to a fixed program, and the existing manipulator is widely applied to the industries of mechanical manufacturing, electronics and the like due to high-strength working capacity and high-efficiency working efficiency. The manipulator often meets special-shaped plate in the use, because special-shaped plate structure dispersion, focus distribute unevenly, therefore anchor clamps are difficult to effectively snatch, can take place to snatch the incident that special-shaped plate that the jail leads to drops sometimes, consequently many special-shaped plates need the manual work to transport the operation.
Disclosure of Invention
The invention aims to provide a manipulator capable of carrying a special-shaped plate, which can fix the special-shaped plate from a plurality of positions, so that the manipulator can carry the special-shaped plate stably and safely, and the application range and the safety factor of the manipulator are improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
a manipulator capable of carrying special-shaped plates comprises a base, a large arm, a small arm, a screw rod, a vertical shaft, a clamp, a nut, a fixing part, a connecting part and a limiting part, wherein the large arm and the small arm are horizontally arranged, one end of the large arm is rotatably connected to the base, the other end of the large arm is connected with the small arm, the small arm is connected with the screw rod and the vertical shaft positioned on one side of the screw rod, the screw rod and the vertical shaft are both vertically arranged, the screw rod is sleeved with the nut, the vertical shaft is connected with the fixing part, the connecting part is connected between the nut and the fixing part, the limiting part is arranged on the base, the clamp comprises a movable mounting table, a vacuum tube and a sucker, the lowest end of the vertical shaft is connected with the movable mounting table, a plurality of vacuum tubes are arranged under the movable mounting table in a sliding manner, the pipeline is provided with a vacuum valve.
Aforementioned manipulator of dysmorphism plate can be carried, movable mounting platform is including placing board, slide rail and sliding part, place the board level setting, vertical axis fixed connection is in placing the board top, place two parallel arrangement's of fixedly connected with slide rail under the board, a plurality of sliding part slides and sets up placing between board and two slide rails, a plurality of vacuum tube is fixed to be set up under sliding part.
According to the manipulator capable of carrying the special-shaped plate, the sliding part comprises the sliding rod and the sliding block, the sliding rod is provided with the limiting sliding groove, the sliding block is arranged in the limiting sliding groove in a sliding mode, the vacuum tubes are fixedly arranged below the sliding block, and the limiting sliding groove is perpendicular to the sliding rail in the arranging direction.
Aforementioned manipulator of dysmorphism plate can carry, still be provided with the tensioning rod between slide rail and the slide bar, still be provided with the puller rod between the one end that the slider deviates from the vacuum tube and the spacing spout, a plurality of screw thread through-hole has been seted up along vertical direction to slide rail and puller rod, be provided with the bolt in the screw hole respectively.
The mechanical hand capable of carrying the special-shaped plate comprises a limiting cylinder, a double-sided rack, a gear and a limiting rod, wherein the base is connected with the two gears in a rotating mode through a rotating shaft, the double-sided rack is arranged between the gears, one end of the double-sided rack is connected with an output shaft of the limiting cylinder, the two gears are fixedly connected with the limiting rod in a horizontal mode, and the large arm is located between the two limiting rods.
According to the manipulator capable of carrying the special-shaped plate, the limiting rod is provided with the pressure sensor.
The manipulator capable of carrying the special-shaped plate comprises a connecting plate A and a connecting plate B, wherein the connecting plate A and the connecting plate B are fixedly connected through a bolt group, one end, far away from the connecting plate B, of the connecting plate A is connected with a nut through a bolt, and one end, far away from the connecting plate A, of the connecting plate B is fixedly connected with the connecting piece.
According to the manipulator capable of carrying the special-shaped plate, the end, away from the gear, of the limiting rod is further provided with the contact element, the large arm is located between the two contact elements, and the soft cushion layer is arranged on one side, facing the large arm, of the contact element.
Compared with the prior art, the invention has the advantages that:
1) according to the manipulator capable of carrying the special-shaped plate, the special-shaped plate can be fixed from a plurality of positions, so that the manipulator can carry the special-shaped plate stably and safely, and the application range and the safety coefficient of the manipulator are improved;
2) the sucker can be arranged under the movable mounting platform in a sliding manner by arranging the movable mounting platform, so that the sucker can move to a proper position to adsorb the special-shaped plate, and the manipulator can carry the special-shaped plate more safely by virtue of multiple adsorption; the movable mounting platform is arranged in a form comprising a placing plate, a sliding rail and a sliding piece, so that the sucker can slide along the opening direction of the sliding rail below the placing plate along with the sliding piece, the sucker can reach a proper position to adsorb the special-shaped plate, and the manipulator can carry the special-shaped plate more safely and reliably;
3) the sliding part is arranged into a sliding rod and a sliding block, the sliding rod is provided with a limiting sliding chute for the sliding block to slide, and the vacuum tube and the sucker are fixedly arranged below the sliding block, so that the positions where the sucker can be distributed are more diversified, and more complex special-shaped plates can be adsorbed and transported;
4) the tensioning rod is arranged between the sliding rail and the sliding rod, the tightening rod is further arranged between one end, away from the vacuum tube, of the sliding block and the limiting sliding groove, the sliding rail and the tightening rod are provided with a plurality of threaded through holes in the vertical direction, and the threaded holes are respectively provided with the bolts, so that the tensioning rod can tightly press the sliding rod under the tightening action of the bolts, the sliding rod can be fixed after being moved to a proper position, the tightening rod can tightly press the sliding block under the tightening action of the bolts, the sliding rod can be fixed after being moved to a proper position, the vacuum tube can be fixed after being moved to a proper position along with the sliding rod and the sliding block, and the safety coefficient of the manipulator in carrying the special-shaped plate is improved;
5) the limit piece capable of adjusting the position is arranged to partially limit the stroke of the manipulator, so that the manipulator is prevented from overtravel operation, and the safety factor of the manipulator is improved;
6) the connecting piece is detachably connected with the plate A and the plate B, so that the mechanical arm is simpler and more convenient to mount and dismount, and the maintenance of the mechanical arm and the maintenance of the precision of the mechanical arm are facilitated;
7) the contact piece and the soft cushion layer are arranged on the limiting rod, so that when the manipulator exceeds the range, the large arm is firstly contacted with the soft cushion layer, the soft cushion layer is made of materials such as soft plastics and rubber, the damage to the manipulator caused by rigid contact or collision is avoided, the manipulator is protected while the range exceeding limit is carried out on the manipulator, the precision of the manipulator is prevented from being further reduced, the anti-skid grains are arranged on the soft cushion layer, the phenomenon that the soft cushion layer is deformed and torn can be reduced, the soft cushion layer is more durable, and the protection effect of soft points on the large arm in the manipulator is ensured;
8) through set up pressure sensor on the gag lever post to make pressure sensor and control system link to each other, make the gag lever post can regard as the spacing and positioning mechanism use of big arm in the manipulator, promptly big arm is through removing the back with the gag lever post contact, pressure sensor feedback signal gives control system, thereby can brake the removal of big arm, and this can be applied to the mobile location and spacing of big arm, thereby make the locate mode of big arm more diversified, needn't keep the precision through frequent debugging.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a front view of the clamp of the present invention;
FIG. 4 is a block diagram of the present invention at the glide;
fig. 5 is a left side view of fig. 4.
The meaning of the reference numerals: 1. a base; 2. a large arm; 3. a small arm; 4. a screw rod; 5. a vertical axis; 6. a clamp; 7. a nut; 8. a fixing member; 9. a connecting member; 10. a limiting member; 11. a limiting cylinder; 12. a double-sided rack; 13. a gear; 14. a limiting rod; 15. connecting the A board; 16. connecting the board B; 17. a contact member; 18. a soft cushion layer; 19. a pressure sensor; 20. anti-skid lines; 21. a first steering engine; 22. a second steering engine; 23. a servo motor; 61. a movable mounting table; 62. a vacuum tube; 63. a suction cup; 64. placing the plate; 65. a slide rail; 66. a sliding member; 67. a slide bar; 68. a slider; 69. a limiting chute; 70. a tension rod; 71. and (5) a tightening rod.
The invention is further described with reference to the following figures and detailed description.
Detailed Description
The embodiment of the invention comprises the following steps: a manipulator capable of carrying special-shaped plates is composed of a base 1, a large arm 2, a small arm 3, a screw rod 4, a vertical shaft 5, a clamp 6, a nut 7, a fixing part 8, a connecting part 9 and a limiting part 10, wherein the large arm 2 and the small arm 3 are horizontally arranged, one end of the large arm 2 is rotatably connected to the base 1, the other end of the large arm 2 is connected to the small arm 3, the small arm 3 is connected with the screw rod 4 and the vertical shaft 5 positioned on one side of the screw rod 4, the screw rod 4 and the vertical shaft 5 are both vertically arranged, the screw rod 4 is sleeved with the nut 7, the vertical shaft 5 is connected with the fixing part 8, the connecting part 9 is connected between the nut 7 and the fixing part 8, the limiting part 10 is arranged on the base 1, the clamp 6 comprises a movable mounting table 61, a vacuum tube 62 and a sucker 63, the lowest end of the vertical shaft 5 is connected with the movable mounting table 61, the vacuum pipes 62 are arranged under the movable mounting table 61 in a sliding mode, the vacuum pipes 62 are connected with the suckers 63, the vacuum pipes 62 are connected with vacuum pumps through pipelines, the vacuum valves are arranged on the pipelines, the suckers 63 can be arranged under the movable mounting table 61 in a sliding mode through the arrangement of the movable mounting table 61, the suckers 63 can move to proper positions to adsorb the special-shaped plates, and the mechanical arm can carry the special-shaped plates more safely through multiple adsorption.
The movable mounting table 61 comprises a placing plate 64, a sliding rail 65 and a sliding part 66, details are shown in fig. 4 and fig. 5, the placing plate 64 is horizontally arranged, the vertical shaft 5 is fixedly connected above the placing plate 64, two sliding rails 65 which are arranged in parallel are fixedly connected below the placing plate 64, the sliding parts 66 are arranged between the placing plate 64 and the two sliding rails 65 in a sliding manner, the vacuum tubes 62 are fixedly arranged below the sliding parts 66, and the movable mounting table 61 is arranged in a mode comprising the placing plate 64, the sliding rails 65 and the sliding parts 66, so that the suction cups 63 can slide along the opening direction of the sliding rails 65 below the placing plate 64 along with the sliding parts 66, and the suction cups 63 can reach suitable positions to suck special-in special-shaped plates, and accordingly a manipulator can carry the special-shaped plates more safely and reliably.
The sliding part 66 comprises a sliding rod 67 and a sliding block 68, a limiting sliding groove 69 is formed in the sliding rod 67, the sliding block 68 is arranged in the limiting sliding groove 69 in a sliding mode, external threads are formed in the vacuum pipes 62, threaded holes are formed in the sliding block 68, the vacuum pipes 62 are fixedly arranged below the sliding block 68 through the threaded holes, the limiting sliding groove 69 is perpendicular to the sliding rail 65 in the opening direction, the positions where the suction pipes can be distributed are diversified, and accordingly the suction and the carrying of the complicated special-shaped plates can be achieved.
The manipulator capable of carrying the special-shaped plate is characterized in that a tension rod 70 is further arranged between the slide rail 65 and the slide rod 67, a tightening rod 71 is further arranged between one end, away from the vacuum tube 62, of the slide block 68 and the limiting slide groove 69, a plurality of thread through holes are formed in the slide rail 65 and the tightening rod 71 in the vertical direction, bolts are respectively arranged in the thread holes, the tension rod 70 is arranged between the slide rail 65 and the slide rod 67, the tightening rod 71 is further arranged between one end, away from the vacuum tube 62, of the slide block 68 and the limiting slide groove 69, the thread through holes are formed in the slide rail 65 and the tightening rod 71 in the vertical direction, the bolts are respectively arranged in the thread holes, so that the tension rod 70 compresses the slide rod 67 under the tightening action of the bolts, the slide rod 67 can be fixed after being moved to a proper position, and the tightening rod 71 compresses the slide block 68 under the tightening action of the bolts, thereby make slide bar 67 can fix after removing suitable position, and then make vacuum tube 62 can be fixed after removing suitable position along with slide bar 67 and slider 68, factor of safety when having improved the manipulator and carrying special-shaped plate.
The limiting part 10 comprises a limiting cylinder 11, a double-sided rack 12, a gear 13 and a limiting rod 14, and is shown in fig. 1 to 3 in detail, two gears 13 are rotatably connected to the base 1 through rotating shafts, the double-sided rack 12 is arranged between the gears 13, one end of the double-sided rack 12 is connected with an output shaft of the limiting cylinder 11, the two gears 13 are fixedly connected with the limiting rod 14 which is horizontally arranged, and the large arm 2 is located between the two limiting rods 14.
The first steering engine 21 is arranged between the base 1 and the large arm 2, and the first steering engine 21 drives the large arm 2 to rotate relative to the base 1; a second steering engine 22 is arranged between the large arm 2 and the small arm 3, and the second steering engine 22 drives the small arm 3 to rotate relative to the large arm 2; the small arm 3 is also provided with a servo motor 23, and the servo motor 23 drives the screw rod 4 to rotate; the first steering engine 21 and the second steering engine 22 are composed of a motor and a reduction gear 13.
In the manipulator capable of carrying the special-shaped plate, one end of the limiting rod 14, which is far away from the gear 13, is also provided with a contact element 17, the large arm 2 is positioned between the two contact elements 17, one side of the contact element 17, which faces the large arm 2, is provided with a soft cushion layer 18, the soft cushion layer 18 is provided with anti-skid lines 20, the limiting rod 14 is provided with the contact element 17 and the soft cushion layer 18, so that the large arm 2 is firstly contacted with the soft cushion layer 18 when the manipulator exceeds the stroke, the soft cushion layer 18 is made of materials such as soft plastics and rubber, the damage to the manipulator caused by rigid contact or collision is avoided, the manipulator is protected while the manipulator is limited by exceeding the stroke, the precision of the manipulator is prevented from being further reduced, the anti-skid lines 20 are arranged on the soft cushion layer 18, the phenomenon that the soft cushion layer 18 is torn and deformed can, ensuring the protective action of the soft spot on the large arm 2 of the manipulator.
The limiting rod 14 is provided with the pressure sensor 19, the pressure sensor 19 is arranged on the limiting rod 14, and the pressure sensor 19 is connected with the control system, so that the limiting rod 14 can be used as a limiting and positioning mechanism of the large arm 2 in the manipulator, namely, after the large arm 2 is moved to be in contact with the limiting rod 14, the pressure sensor 19 feeds back a signal to the control system, so that the movement of the large arm 2 can be braked, the limiting and positioning mechanism can be applied to the moving positioning and limiting of the large arm 2, the positioning mode of the large arm 2 is diversified, and the precision is not required to be maintained through frequent debugging.
The manipulator of transport dysmorphism plate still include control system, control system includes control module, display module, operation module and all kinds of sensors, control module and pressure sensor 19, servo motor 23, steering wheel 21, No. two steering wheel 22, spacing cylinder 11, display module, operation module and other all kinds of sensors carry out signal connection, wherein control module can select for use the treater of different grade type according to the motion complexity, including singlechip, PLC, godson etc..
The working principle of the invention is as follows: the manipulator capable of carrying the special-shaped plate is organically assembled by the base 1, the large arm 2, the small arm 3, the screw rod 4, the vertical shaft 5, the clamp 6, the nut 7, the fixing piece 8, the connecting piece 9, the limiting piece 10 and the like, so that the special-shaped plate can be fixed from a plurality of positions, the manipulator can carry the special-shaped plate stably and safely, and the application range and the safety coefficient of the manipulator are improved. According to the invention, the movable mounting table 61 is arranged, so that the sucker 63 can be arranged below the movable mounting table 61 in a sliding manner, the sucker 63 can be moved to a proper position to adsorb a special-shaped plate, and a manipulator can carry the special-shaped plate more safely through multiple adsorption; the movable mounting table 61 is arranged to comprise a placing plate 64, a sliding rail 65 and a sliding piece 66, so that the suction cup 63 can slide along the opening direction of the sliding rail 65 below the placing plate 64 along with the sliding piece 66, the suction cup 63 can reach a proper position to adsorb a special-shaped plate, and a manipulator can convey the special-shaped plate more safely and reliably; the sliding piece 66 is arranged into a form of a sliding rod 67 and a sliding block 68, a limiting sliding groove 69 for the sliding block 68 to slide is formed in the sliding rod 67, the vacuum tube 62 and the sucking disc 63 are fixedly arranged below the sliding block 68, the positions where the sucking tubes can be distributed are diversified, and the sucking and carrying of the more complicated special-shaped plates can be realized; the tensioning rod 70 is arranged between the sliding rail 65 and the sliding rod 67, the tightening rod 71 is further arranged between one end, away from the vacuum tube 62, of the sliding block 68 and the limiting sliding groove 69, the sliding rail 65 and the tightening rod 71 are provided with a plurality of threaded through holes in the vertical direction, and bolts are respectively arranged in the threaded holes, so that the tensioning rod 70 compresses the sliding rod 67 under the tightening action of the bolts, the sliding rod 67 can be fixed after being moved to a proper position, the tightening rod 71 compresses the sliding block 68 under the tightening action of the bolts, the sliding rod 67 can be fixed after being moved to a proper position, the vacuum tube 62 can be fixed after being moved to a proper position along with the sliding rod 67 and the sliding block 68, and the safety factor of a manipulator in carrying special-shaped plates is improved; the limit piece 10 with adjustable position is arranged to partially limit the stroke of the manipulator, so that the manipulator is prevented from overtravel running, and the safety factor of the manipulator is improved; the connecting piece 9 is detachably arranged to comprise a connecting plate A15 and a connecting plate B16, so that the mechanical arm is simpler and more convenient to mount and dismount, and the mechanical arm is convenient to overhaul; the contact piece 17 and the soft cushion layer 18 are arranged on the limiting rod 14, so that when the manipulator exceeds the range, the large arm 2 is firstly contacted with the soft cushion layer 18, the soft cushion layer 18 is made of soft plastics, rubber and other materials, the damage to the manipulator caused by rigid contact or collision is avoided, the manipulator is protected while the manipulator is limited by exceeding the range, the precision of the manipulator is prevented from being further reduced, the phenomenon that the soft cushion layer 18 is deformed and torn can be reduced by arranging the anti-skid grains 20 on the soft cushion layer 18, the soft cushion layer 18 is more durable, and the protection effect of soft points on the large arm 2 in the manipulator is ensured; through set up pressure sensor 19 on gag lever post 14 to make pressure sensor 19 link to each other with control system, make gag lever post 14 can regard as the spacing and positioning mechanism use of big arm 2 in the manipulator, promptly big arm 2 is through removing after contacting with gag lever post 14, pressure sensor 19 feedback signal gives control system, thereby can brake the removal of big arm 2, this can be applied to the mobile location and spacing of big arm 2, thereby make the locate mode of big arm 2 more diversified, needn't keep the precision through frequent debugging.
Claims (8)
1. The mechanical hand capable of carrying the special-shaped plate is characterized by comprising a base (1), a large arm (2), a small arm (3), a screw rod (4), a vertical shaft (5), a clamp (6), a nut (7), a fixing part (8), a connecting part (9) and a limiting part (10), wherein the large arm (2) and the small arm (3) are horizontally arranged, one end of the large arm (2) is rotatably connected onto the base (1), the other end of the large arm (2) is connected with the small arm (3), the small arm (3) is connected with the screw rod (4) and the vertical shaft (5) positioned on one side of the screw rod (4), the screw rod (4) and the vertical shaft (5) are both vertically arranged, the screw rod (4) is sleeved with the nut (7), the vertical shaft (5) is connected with the fixing part (8), the connecting part (9) is connected between the nut (7) and the fixing part (8), locating part (10) sets up on base (1), anchor clamps (6) are including movable mounting platform (61), vacuum tube (62), sucking disc (63), vertical axis (5) are connected with movable mounting platform (61) bottom, a plurality of vacuum tube (62) slide and set up under movable mounting platform (61), be connected with sucking disc (63) under vacuum tube (62), vacuum tube (62) are connected with the vacuum pump through the pipeline, be provided with the vacuum valve on the pipeline.
2. The manipulator of claim 1, characterized in that the movable mounting table (61) comprises a placing plate (64), a sliding rail (65) and a sliding member (66), the placing plate (64) is horizontally arranged, the vertical shaft (5) is fixedly connected above the placing plate (64), two parallel sliding rails (65) are fixedly connected below the placing plate (64), the sliding members (66) are slidably arranged between the placing plate (64) and the two sliding rails (65), and the vacuum pipes (62) are fixedly arranged below the sliding members (66).
3. The manipulator of claim 2, wherein the sliding member (66) comprises a sliding rod (67) and a sliding block (68), a limiting sliding groove (69) is formed in the sliding rod (67), the sliding block (68) is slidably arranged in the limiting sliding groove (69), the vacuum tubes (62) are fixedly arranged below the sliding block (68), and the limiting sliding groove (69) is perpendicular to the opening direction of the sliding rail (65).
4. The manipulator capable of carrying specially-shaped plates according to claim 3, wherein a tensioning rod (70) is further arranged between the sliding rail (65) and the sliding rod (67), a tightening rod (71) is further arranged between one end, away from the vacuum tube (62), of the sliding block (68) and the limiting sliding groove (69), a plurality of threaded through holes are formed in the sliding rail (65) and the tightening rod (71) in the vertical direction, and bolts are respectively arranged in the threaded holes.
5. The manipulator capable of carrying specially-shaped plates according to claim 1 or 4, wherein the limiting member (10) comprises a limiting cylinder (11), a double-sided rack (12), a gear (13) and a limiting rod (14), two gears (13) are rotatably connected to the base (1) through a rotating shaft, the double-sided rack (12) is arranged between the gears (13), one end of the double-sided rack (12) is connected with an output shaft of the limiting cylinder (11), the two gears (13) are fixedly connected with the horizontally-arranged limiting rod (14), and the large arm (2) is located between the two limiting rods (14).
6. Manipulator for handling profiled sheets according to claim 5, characterized in that said stop bar (14) is provided with a pressure sensor (19).
7. The manipulator capable of handling the special-shaped plate according to claim 6, wherein the connecting piece (9) comprises a connecting A plate (15) and a connecting B plate (16), the connecting A plate (15) and the connecting B plate (16) are fixedly connected through a bolt group, one end, away from the connecting B plate (16), of the connecting A plate (15) is connected with the nut (7) through a bolt, and one end, away from the connecting A plate (15), of the connecting B plate (16) is fixedly connected with the connecting piece (9).
8. Manipulator for handling profiled sheets according to claim 7, characterized in that the end of the limit lever (14) remote from the gear (13) is further provided with a contact element (17), the large arm (2) is located between two contact elements (17), and a soft cushion (18) is provided on the side of the contact element (17) facing the large arm (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911235975.1A CN110900572A (en) | 2019-12-05 | 2019-12-05 | Manipulator capable of carrying special-shaped plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911235975.1A CN110900572A (en) | 2019-12-05 | 2019-12-05 | Manipulator capable of carrying special-shaped plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110900572A true CN110900572A (en) | 2020-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911235975.1A Pending CN110900572A (en) | 2019-12-05 | 2019-12-05 | Manipulator capable of carrying special-shaped plate |
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| CN (1) | CN110900572A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409095A (en) * | 2020-04-20 | 2020-07-14 | 西安工业大学 | Mechanical claw for grabbing special-shaped silicon steel sheet |
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Application publication date: 20200324 |