CN111113473A - Conflict fixed type adjustable manipulator - Google Patents
Conflict fixed type adjustable manipulator Download PDFInfo
- Publication number
- CN111113473A CN111113473A CN201911289916.2A CN201911289916A CN111113473A CN 111113473 A CN111113473 A CN 111113473A CN 201911289916 A CN201911289916 A CN 201911289916A CN 111113473 A CN111113473 A CN 111113473A
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- arm
- conflict
- connecting rod
- sliding sleeve
- cover
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a conflict fixed type adjustable manipulator which comprises a top connecting rod, a middle connecting cover, a lateral protecting cover, a middle sliding sleeve structure, a plurality of conflict arm structures, a spring and a lower conflict end, wherein the top connecting rod penetrates through the middle connecting cover and is in threaded connection with the middle of the middle connecting cover; the middle sliding sleeve structure is annular inside and is provided with a plurality of mounting ends on the outer side; the conflict arm structure includes claw arm and linking arm, and the claw arm includes the main part and accepts the arm, and the main part includes upper portion hinged end and middle part hinged end, and the linking arm articulates in upper portion hinged end. The fixed work piece of treating processing through the cooperation of claw arm and lower part butt end on the one hand, convenient adjustable is applicable to the processing of multiple work piece, satisfies different sizes, and on the other hand through the articulated cooperation of butt arm structure and lateral part protecting cover, thereby contradict with middle part sliding sleeve structure and middle part connecting cover respectively through the spring both ends and provide certain rigidity.
Description
Technical Field
The invention relates to the field of machinery, in particular to an adjustable manipulator in a butt-fixed type.
Background
At present, a numerical control milling machine is an automatic processing device developed on the basis of a common milling machine, the processing technologies of the two are basically the same, and the structures are somewhat similar. The numerical control milling machine is divided into two categories, namely a tool magazine without tool magazine and a tool magazine with tool magazine. Wherein the numerical control milling machine with the tool magazine is also called as a machining center. The development of scientific technology and the rise and continuous maturity of advanced manufacturing technology in the world put forward higher requirements on numerical control processing technology; the application of technologies such as ultra-high speed cutting, ultra-precision machining and the like provides higher performance indexes for a numerical control system, servo performance, main shaft driving, a machine tool structure and the like of a numerical control machine tool; the rapid development of FMS and the continuous maturity of CIMS will also put higher requirements on the technologies of reliability, communication function, artificial intelligence, adaptive control and the like of numerical control machine tools. With the development of microelectronics and computer technologies, the performance of numerical control systems is becoming perfect and the application field of numerical control technologies is expanding day by day.
However, the existing machining clamp has the following defects:
in the machining center, a workpiece is fixed on the fixed table, a cutting or machining tool machines the fixed workpiece, and when the angle of the workpiece is required to be changed, the direction needs to be manually adjusted, so that the automation degree is low.
Some machining centers clamp a workpiece by using a clamping jaw to machine, and the machining angle is adjusted by adjusting the clamping jaw through a mechanical arm, but the clamping jaw is low in fixation stability and cannot be suitable for high-precision machining.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an interference fixed type adjustable manipulator which can solve the problem of low stability of a clamping jaw in a machining center.
One of the purposes of the invention is realized by adopting the following technical scheme:
a fixed type adjustable manipulator of contradiction, including top connecting rod, middle part connect cover, lateral part protecting cover, middle part sliding sleeve structure, several conflict arm structure, spring and lower part to touch the end, the said top connecting rod crosses the said middle part connects the cover and the spiro union is connected to the middle part of the said middle part connects the cover, the said lower part of the top connecting rod connects with said lower part to touch the end, the said lateral part protecting cover is fixed to the lower part of the said middle part connects the cover; the middle sliding sleeve structure is annular inside, and a plurality of mounting ends are arranged on the outer side of the middle sliding sleeve structure; the butt arm structure comprises a claw arm and a connecting arm, the claw arm comprises a main body and a bearing arm, the main body comprises an upper hinged end and a middle hinged end, and the connecting arm is hinged to the upper hinged end; the middle part hinged end hinge joint in the lateral part protecting cover, middle part sliding sleeve structure slidable mounting in the lower part is to touching the end, the lower part is to touching the end and is the column, the spring both ends respectively with middle part sliding sleeve structure with the lid is connected at the middle part and is contradicted, and is adjacent between the claw arm with lower part conflict end forms fixed space, waits to process the work piece and is located on the claw arm, rotates the top connecting rod makes the lower part conflict end is contradicted and is fixed in waiting to process the work piece.
Further, the top connecting rod is provided with an upper section thread and a middle section thread, the upper section thread is connected with the motor, and the middle section thread is in threaded connection with the middle connecting cover.
Further, the top connecting rod is perpendicular to the middle connecting cover, and the connecting arm and the spring are located on the inner side of the side protecting cover.
Furthermore, the lateral protecting cover is provided with a plurality of extending grooves, and the connecting arms extend out of the extending grooves.
Further, the main part is strip-shaped, the bearing arm is located at the lower end of the main part, and the main part is perpendicular to the bearing arm.
Further, the quantity of installation end with conflict arm structure's quantity is the same, conflict arm structure's quantity is 3-5, conflict arm structure evenly distributed in the outside of lateral part protecting cover.
Furthermore, the spring sleeve is arranged above the lower contact end, the lower contact end and the top connecting rod are cylindrical, and the axis of the lower contact end coincides with the axis of the top connecting rod.
Further, the claw arm further comprises an elastic pad, and the elastic pad is fixed to the end of the bearing arm.
Further, the inner side of the elastic pad is arc-shaped, and the curvature radius of the elastic pad is larger than that of the lower contact end.
Further, the lower part of the top connecting rod is rotatably connected with the lower abutting end.
Compared with the prior art, the invention has the beneficial effects that:
the claw arm comprises a main body and a bearing arm, the main body comprises an upper hinged end and a middle hinged end, and the connecting arm is hinged to the upper hinged end; the middle part hinged end hinge joint in the lateral part protecting cover, middle part sliding sleeve structure slidable mounting in the lower part is to touching the end, the lower part is to touching the end and is the column, the spring both ends respectively with middle part sliding sleeve structure with the lid is connected at the middle part and is contradicted, and is adjacent between the claw arm with lower part conflict end forms fixed space, waits to process the work piece and is located on the claw arm, rotates the top connecting rod makes the lower part conflict end is contradicted and is fixed in waiting to process the work piece. On the one hand through the claw arm with the lower part is supported the cooperation of end and is fixed treating the processing work piece, and is convenient adjustable, is applicable to the processing of multiple work piece, satisfies different sizes, and the steadiness is high, is applicable to high accuracy processing, and on the other hand, through conflict arm structure with the articulated cooperation of lateral part protecting cover, through the spring both ends respectively with middle part sliding sleeve structure with thereby the middle part is connected the lid and is contradicted and provide certain rigidity, improves to press from both sides and get the effect.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a perspective view of a preferred embodiment of an adjustable fixed interference robot according to the present invention;
FIG. 2 is a cross-sectional view of the interference fixed adjustable robot of FIG. 1;
FIG. 3 is a first perspective view of the interference fixed adjustable robot of FIG. 1;
FIG. 4 is a second perspective view of the interference fixed adjustable robot of FIG. 1;
figure 5 is an exploded view of the interference fixed adjustable robot of figure 1;
figure 6 is another exploded view of the interference fixed adjustable robot of figure 1;
figure 7 is a further exploded view of the interference fixed adjustable robot of figure 1.
In the figure: 10. a top link; 11. an upper section of threads; 12. middle section screw thread; 20. the middle part is connected with a cover; 30. a side cover; 40. a middle sliding sleeve structure; 41. an installation end; 200. a contact arm structure; 50. a claw arm; 51. a main body; 511. an upper hinged end; 512. a middle hinged end; 52. a bearing arm; 53. an elastic pad; 60. a connecting arm; 70. a spring; 90. the lower part is contacted with the end.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 7, an interference fixed type adjustable manipulator includes a top link 10, a middle connecting cover 20, a side protecting cover 30, a middle sliding sleeve structure 40, a plurality of interference arm structures 200, a spring 70, and a lower contact end 90, wherein the top link 10 passes through the middle connecting cover 20 and is screwed to the middle of the middle connecting cover 20, the lower part of the top link 10 is connected to the lower contact end 90, and the side protecting cover 30 is fixed to the lower part of the middle connecting cover 20; the middle sliding sleeve structure 40 is annular and is provided with a plurality of mounting ends 41 on the outer side; the interference arm structure 200 comprises a claw arm 50 and a connecting arm 60, wherein the claw arm 50 comprises a main body 51 and a bearing arm 52, the main body 51 comprises an upper hinged end 511 and a middle hinged end 512, and the connecting arm 60 is hinged to the upper hinged end 511; middle part hinged end 512 articulate in lateral part protecting cover 30, middle part sliding sleeve structure 40 slidable mounting in lower part end 90 of conflicting, lower part end 90 of conflicting is the column, spring 70 both ends respectively with middle part sliding sleeve structure 40 with middle part connecting cover 20 contradicts, and is adjacent between the claw arm 50 with lower part end 90 of conflicting forms fixed space, wait to process the work piece and be located on the claw arm 50, rotate top connecting rod 10 makes lower part end 90 of conflicting is fixed in waiting to process the work piece. On the one hand through claw arm 50 with the fixed work piece of treating that processes of lower part end of touch 90's cooperation, convenient adjustable is applicable to the processing of multiple work piece, satisfies different sizes, and the steadiness is high, is applicable to high accuracy processing, on the other hand, through touch arm structure 200 with lateral part protecting cover 30's articulated cooperation, through spring 70 both ends respectively with middle part sliding sleeve structure 40 with thereby middle part connecting cover 20 contradicts and provides certain rigidity, improves to press from both sides and gets the effect.
Preferably, the top connecting rod 10 is provided with an upper section thread 11 and a middle section thread 12, the upper section thread 11 is connected with the motor, and the middle section thread 12 is screwed on the middle connecting cover 20. The top connecting rod 10 is simple and convenient to process, the motor is connected with a mechanical arm, and therefore processing of various angles is completed, and meanwhile the top connecting rod is simple to fold and unfold.
Preferably, the top link 10 is perpendicular to the middle connection cover 20, and the connection arm 60 and the spring 70 are located inside the side protective cover 30. The side protective covers 30 are provided with a plurality of protruding grooves in which the connecting arms 60 protrude. The stability of the structure is further improved, and the phenomenon that the side part of the connecting arm 60 deviates to influence the clamping effect is avoided.
Preferably, the main body 51 is strip-shaped, the receiving arm 52 is located at the lower end of the main body 51, and the main body 51 is perpendicular to the receiving arm 52. The number of the mounting ends 41 is the same as that of the abutting arm structures 200, the number of the abutting arm structures 200 is 3-5, and the abutting arm structures 200 are uniformly distributed on the outer side of the lateral protective cover 30. In this embodiment, the number of the interference arm structures 200 is 3.
Preferably, the spring 70 is sleeved above the lower contact end 90, the lower contact end 90 and the top link 10 are cylindrical, and an axis of the lower contact end 90 coincides with an axis of the top link 10. The stability of conflict is improved.
Preferably, the claw arm 50 further includes an elastic pad 53, and the elastic pad 53 is fixed to an end of the receiving arm 52. The inner side of the elastic pad 53 is arc-shaped, and the curvature radius of the elastic pad 53 is larger than that of the lower contact end 90. Avoiding clamping the parts.
Preferably, the lower portion of the top link 10 is rotatably connected to the lower contact end 90. The lower abutting end 90 is prevented from driving the workpiece to rotate together, and the device is novel in structure, ingenious in design, high in applicability and convenient to popularize.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. The utility model provides a fixed adjustable manipulator of contradicting, includes top connecting rod, middle part connection lid, lateral part protecting cover, middle part sliding sleeve structure, a plurality of conflict arm structure, spring and lower part support and touch the end, its characterized in that:
the top connecting rod penetrates through the middle connecting cover and is in threaded connection with the middle of the middle connecting cover, the lower part of the top connecting rod is connected with the lower part abutting end, and the side protecting cover is fixed on the lower part of the middle connecting cover;
the middle sliding sleeve structure is annular inside, and a plurality of mounting ends are arranged on the outer side of the middle sliding sleeve structure;
the butt arm structure comprises a claw arm and a connecting arm, the claw arm comprises a main body and a bearing arm, the main body comprises an upper hinged end and a middle hinged end, and the connecting arm is hinged to the upper hinged end;
the middle part hinged end hinge joint in the lateral part protecting cover, middle part sliding sleeve structure slidable mounting in the lower part is to touching the end, the lower part is to touching the end and is the column, the spring both ends respectively with middle part sliding sleeve structure with the lid is connected at the middle part and is contradicted, and is adjacent between the claw arm with lower part conflict end forms fixed space, waits to process the work piece and is located on the claw arm, rotates the top connecting rod makes the lower part conflict end is contradicted and is fixed in waiting to process the work piece.
2. An interference fixed adjustable manipulator according to claim 1 and further comprising: the top connecting rod is provided with upper section screw thread, middle section screw thread, the upper section screw thread is connected with the motor, middle section screw thread spiro union in the lid is connected at the middle part.
3. An interference fixed adjustable manipulator according to claim 2 and further comprising: the top connecting rod is perpendicular to the middle connecting cover, and the connecting arm and the spring are located on the inner side of the lateral protecting cover.
4. An interference fixed adjustable manipulator according to claim 1 and further comprising: the lateral protecting cover is provided with a plurality of extending grooves, and the connecting arms extend out of the extending grooves.
5. An interference fixed adjustable manipulator according to claim 1 and further comprising: the main part is strip-shaped, the bearing arm is positioned at the lower end of the main part, and the main part is perpendicular to the bearing arm.
6. An interference fixed adjustable manipulator according to claim 1 and further comprising: the quantity of installation end with conflict arm structure's quantity is the same, conflict arm structure's quantity is 3-5, it evenly distributes in the outside of lateral part protecting cover to conflict arm structure.
7. An interference fixed adjustable manipulator according to claim 1 and further comprising: the spring sleeve is arranged above the lower abutting end, the lower abutting end and the top connecting rod are cylindrical, and the axis of the lower abutting end is superposed with the axis of the top connecting rod.
8. An interference fixed adjustable manipulator according to claim 1 and further comprising: the claw arm further comprises an elastic pad, and the elastic pad is fixed to the end portion of the bearing arm.
9. An interference fixed adjustable manipulator according to claim 8 and further comprising: the inner side of the elastic pad is arc-shaped, and the curvature radius of the elastic pad is larger than that of the lower contact end.
10. An interference fixed adjustable manipulator according to claim 1 and further comprising: the lower part of the top connecting rod is rotatably connected with the lower part abutting end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911289916.2A CN111113473A (en) | 2019-12-16 | 2019-12-16 | Conflict fixed type adjustable manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911289916.2A CN111113473A (en) | 2019-12-16 | 2019-12-16 | Conflict fixed type adjustable manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111113473A true CN111113473A (en) | 2020-05-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911289916.2A Pending CN111113473A (en) | 2019-12-16 | 2019-12-16 | Conflict fixed type adjustable manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111113473A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8307579D0 (en) * | 1983-03-18 | 1983-04-27 | Qingsen Huang | Concentric gripper |
| US20170225328A1 (en) * | 2012-10-09 | 2017-08-10 | Willow Garage, Inc. | Kinetic and dimensional optimization for a tendon-driven gripper |
| CN207044168U (en) * | 2017-08-01 | 2018-02-27 | 北京博美华科玻璃有限公司 | A kind of mechanical arm |
| CN207139835U (en) * | 2017-06-13 | 2018-03-27 | 楼剑美 | A kind of rubbish catching robot |
| CN108436953A (en) * | 2018-03-20 | 2018-08-24 | 河南工学院 | A kind of mechanical grip for machine-building |
| CN108527427A (en) * | 2018-04-25 | 2018-09-14 | 河南工程学院 | A kind of mechanical automation grabbing device |
| CN208260170U (en) * | 2018-03-05 | 2018-12-21 | 成都看客网络技术有限公司 | Doll machine clamping jaw device |
| CN109079840A (en) * | 2018-10-10 | 2018-12-25 | 哈工大机器人集团(江苏)华粹智能装备有限公司 | A kind of arm end effector of special novel crawl bevel gear |
| CN208556446U (en) * | 2018-04-27 | 2019-03-01 | 山东隆基机械股份有限公司 | A kind of rapid welding clamping device |
-
2019
- 2019-12-16 CN CN201911289916.2A patent/CN111113473A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8307579D0 (en) * | 1983-03-18 | 1983-04-27 | Qingsen Huang | Concentric gripper |
| US20170225328A1 (en) * | 2012-10-09 | 2017-08-10 | Willow Garage, Inc. | Kinetic and dimensional optimization for a tendon-driven gripper |
| CN207139835U (en) * | 2017-06-13 | 2018-03-27 | 楼剑美 | A kind of rubbish catching robot |
| CN207044168U (en) * | 2017-08-01 | 2018-02-27 | 北京博美华科玻璃有限公司 | A kind of mechanical arm |
| CN208260170U (en) * | 2018-03-05 | 2018-12-21 | 成都看客网络技术有限公司 | Doll machine clamping jaw device |
| CN108436953A (en) * | 2018-03-20 | 2018-08-24 | 河南工学院 | A kind of mechanical grip for machine-building |
| CN108527427A (en) * | 2018-04-25 | 2018-09-14 | 河南工程学院 | A kind of mechanical automation grabbing device |
| CN208556446U (en) * | 2018-04-27 | 2019-03-01 | 山东隆基机械股份有限公司 | A kind of rapid welding clamping device |
| CN109079840A (en) * | 2018-10-10 | 2018-12-25 | 哈工大机器人集团(江苏)华粹智能装备有限公司 | A kind of arm end effector of special novel crawl bevel gear |
Non-Patent Citations (1)
| Title |
|---|
| 非标设备: "机械手抓结构", 《沐风网》 * |
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Application publication date: 20200508 |
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