CN111482979A

CN111482979A - Manipulator for industrial production

Info

Publication number: CN111482979A
Application number: CN202010325094.5A
Authority: CN
Inventors: 黄晓明
Original assignee: Hainan Shenzanmi Technology Co ltd
Current assignee: Shandong Yong'an special equipment Co.,Ltd.
Priority date: 2020-04-23
Filing date: 2020-04-23
Publication date: 2020-08-04
Anticipated expiration: 2040-04-23
Also published as: CN111482979B

Abstract

The invention discloses a manipulator for industrial production, which structurally comprises a base, a control machine body, a main shaft, a connecting column, an extension arm, a joint rod and a grabbing device, wherein the control machine body is movably clamped at the top end of the base, the connecting column is movably clamped with the control machine body through the main shaft, the extension arm is movably clamped between the joint arm and the connecting column, the grabbing device is matched with the joint rod and movably clamped at the lower end of the joint arm, an adjusting piece is driven by the rotating shaft to rotate downwards, a gripper is retracted inwards to enable an object to be grabbed into the gripper, a universal device clamping groove below the gripper is adjusted in a sliding mode to adjust and grab objects with different shapes, the object is prevented from sliding off from the gripper, a sucker of a stabilizing device is attached to the surface of the object, when the object needs to be released, the straight channel and a hollow block are communicated inwards to enable gas to blow the blocking plate, the vacuum state is disabled, and the object carrying capacity is effectively improved.

Description

Manipulator for industrial production

Technical Field

The invention relates to the field of manipulators, in particular to a manipulator for industrial production.

Background

The manipulator is an automatic operation device which simulates human hands and carries out grabbing, object carrying and other operations according to a certain fixed program, the manipulator is the earliest appearing industrial robot and can replace heavy labor of people to realize production mechanization, when the grabbing device of the existing manipulator grabs titanium alloy steel of small objects with different shapes, due to the fact that no good adjusting device is arranged on a gripper, grabbing work is inconvenient and stability is poor, the titanium alloy steel slides off the manipulator, and the object is damaged.

Disclosure of Invention

The invention provides a manipulator for industrial production, aiming at the problem that when the existing manipulator grabbing device grabs titanium alloy steel for small objects with different shapes, the grabbing operation is inconvenient and the stability is poor due to the fact that no good adjusting device is arranged on the grabbing hand, and the titanium alloy steel slides from the manipulator.

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a manipulator for industrial production, its structure includes base, control organism, main shaft, spliced pole, extension arm, joint arm, combination pole, grabbing device, control organism activity block is on the base top, the spliced pole passes through main shaft and control organism activity block, extension arm activity block is between joint arm and spliced pole, its characterized in that: the grabbing device is matched with the combination rod and movably clamped at the lower end of the combination arm, the grabbing device mainly comprises a fixed support, an adjusting sheet, a grabbing hand, a rotating shaft, universal devices and a stabilizing device, the adjusting sheet is matched with the rotating shaft and movably clamped at the front end and the rear end of the fixed support, the top end of the grabbing hand is movably clamped with the adjusting sheet, the lower end of the grabbing hand is connected with the stabilizing device through the universal devices, the number of the grabbing hand is four, and the grabbing hand is uniformly arranged on the front side and the rear side.

As a further improvement of the universal device, the universal device mainly comprises a pipe body, a connecting rod, a fixing ball, an auxiliary ball, a lower shell, a clamping groove, a compression mechanism and a combination plate, wherein the connecting rod is fixedly embedded in the pipe body, the connecting rod is embedded in the auxiliary ball in a matched manner with the fixing ball, the compression mechanism is fixedly connected to the upper position of the middle part of the combination plate, the combination plate is welded in the lower shell, the clamping groove is fixedly embedded in the upper end of the compression mechanism, the auxiliary ball is installed above the clamping groove in a clearance fit manner, and the auxiliary ball is made of steel alloy and has certain sliding property.

As a further improvement of the present invention, the compression mechanism mainly includes a joining block, a combining plate, a telescopic bar, and a contact block, the combining plate is embedded and connected inside the combining plate, the contact block is connected with the combining plate through the telescopic bar, the joining block is bolted above the combining plate, and the clamping groove is attached to the contact block.

As a further improvement of the invention, the stabilizing device mainly comprises a sucker, a fixing plate and a connecting wire, wherein the fixing plate is welded and connected at the bottom of the lower shell, the sucker is fixedly embedded in the middle section of the fixing plate, the connecting wire is in threaded connection with the tail end of the sucker, and the fixing plate is of an arc-shaped structure and has a certain accommodating effect.

As a further improvement of the invention, the sucker mainly comprises a connector, a straight channel, a supporting block, a hollowed-out block, an adjusting mechanism, a communicating chamber, a contact piece, a connecting piece and a colloid, wherein the connecting wire is in threaded connection above the connector, the connector is in welded connection with the top end of the supporting block, the straight channel and the hollowed-out block penetrate through the middle position of the supporting block, the adjusting mechanism is movably clamped below the communicating chamber, the connecting piece is fixedly connected to the lower end of the supporting block in an embedded mode, the colloid, the connecting block and the contact piece are in an integrated structure, and the colloid is made of silicon rubber and has good adsorbability and toughness.

As a further improvement of the invention, the adjusting mechanism mainly comprises a blocking plate, a stop block, a clamping block, a fixed roller, a sleeve body and a sliding groove, wherein the clamping block is welded at the position above the left end of the blocking plate, the stop block is fixedly embedded at the side of the supporting block, the clamping block is installed below the stop block in a clearance fit manner, the blocking plate is movably clamped outside the fixed roller in a fit manner with the sleeve body, the fixed roller is in a clearance fit manner inside the sliding groove, the sliding groove is arranged at the position of the lower left corner of the supporting block, and the clamping block is of an I-shaped.

Advantageous effects

Compared with the prior art, the invention has the following beneficial effects:

1. when the object is grabbed, the adjusting piece is driven to rotate downwards through the rotating shaft, the grab is matched with the adjusting piece to contract inwards, so that the object is grabbed to the inside of the grab, and the universal device below the grab is matched with the connecting rod to drive the auxiliary ball to slide and adjust in the clamping groove, so that the objects in different shapes are adjusted and grabbed, and the situation that the object slides from the grab is avoided.

2. When the object is grabbed on the gripper, the universal device can adjust the stabilizing device, so that the sucker of the stabilizing device is attached to the surface of the object, the sucker can be matched with the supporting block to compress downwards to extrude the air in the colloid outwards to form a vacuum state in the colloid, the object is firmly fixed, when the object needs to be released, the straight channel and the hollow block are used for ventilating inwards, so that the gas blows the blocking plate, the clamping block can be loosened from the inside of the blocking block, the gap is exposed to guide the gas into the colloid, the vacuum state is invalid, and the carrying capacity of the object is effectively improved.

Drawings

Fig. 1 is a schematic structural diagram of a manipulator for industrial production according to the present invention.

Fig. 2 is a partial structural schematic view of the gripping device of the present invention.

FIG. 3 is a front view, partially cross-sectional, schematic structural view of the gimbal assembly of the present invention.

Fig. 4 is a partial sectional structural schematic view of the compression mechanism of the present invention.

FIG. 5 is a partial, semi-sectional, schematic structural view of the stabilization device of the present invention.

FIG. 6 is a partial front sectional structural view of the chuck of the present invention.

Fig. 7 is a partial sectional structural schematic view of the left side of the adjusting mechanism of the present invention.

Fig. 8 is a partial sectional structural schematic view of the right side of the adjustment mechanism of the present invention.

In the figure: base-1, control machine body-2, main shaft-3, connecting column-4, extension arm-5, joint arm-6, joint rod-7, grabbing device-8, fixed support-81, adjusting sheet-82, gripper-83, rotating shaft-84, universal device-85, stabilizing device-86, pipe body-a 1, connecting rod-a 2, fixing ball-a 3, auxiliary ball-a 4, lower casing-a 5, clamping groove-a 6, compression mechanism-a 7, combination plate-a 8, connecting block-a 71, combination piece-a 72, telescopic strip-a 73, contact block-a 74, sucking disc-b 1, fixing plate-b 2, connecting line-b 3, joint-c 1, straight channel-c 2, supporting block-c 3, hollow block-c 4, and fixing block-a, An adjusting mechanism-c 5, a communicating chamber-c 6, a contact piece-c 7, a connecting piece-c 8, colloid-c 9, a blocking plate-c 501, a blocking piece-c 502, a clamping block-c 503, a fixed roller-c 504, a sleeve body-c 505 and a sliding groove-c 506.

Detailed Description

The invention is further described below with reference to the accompanying drawings:

example 1

As shown in fig. 1-5:

the invention provides a manipulator for industrial production, which structurally comprises a base 1, a control machine body 2, a main shaft 3, a connecting column 4, an extension arm 5, a combined arm 6, a combining rod 7 and a grabbing device 8, wherein the control machine body 2 is movably clamped at the top end of the base 1, the connecting column 4 is movably clamped with the control machine body 2 through the main shaft 3, and the extension arm 5 is movably clamped between the combined arm 6 and the connecting column 4, and is characterized in that: the grabbing device 8 is matched with the combination rod 7 and movably clamped at the lower end of the joint arm 6, the grabbing device 8 mainly comprises a fixed support 81, an adjusting sheet 82, a hand grip 83, a rotating shaft 84, universal devices 85 and a stabilizing device 86, the adjusting sheet 82 is matched with the rotating shaft 84 and movably clamped at the front end and the rear end of the fixed support 81, the top end of the hand grip 83 is movably clamped with the adjusting sheet 82, the lower end of the hand grip 83 is connected with the stabilizing device 86 through the universal devices 85, the number of the hand grip 83 is four, the hand grip is uniformly arranged on the front side and the rear side of the fixed support 81, and the grabbing performance of the.

The universal device 85 mainly comprises a tube body a1, a connecting rod a2, a fixing ball a3, an auxiliary ball a4, a lower shell a5, a clamping groove a6, a compression mechanism a7 and a combination plate a8, wherein the connecting rod a2 is fixedly embedded in the tube body a1, the connecting rod a2 is matched with the fixing ball a3 and is connected inside the auxiliary ball a4 in a nested manner, the compression mechanism a7 is fixedly connected above the middle of the combination plate a8, the combination plate a8 is connected inside the lower shell a5 in a welded manner, the clamping groove a6 is fixedly embedded in the upper end of the compression mechanism a7, the auxiliary ball a4 is installed above the clamping groove a6 in a clearance manner, and the auxiliary ball a4 is made of steel alloy material, has certain sliding performance and can be adjusted more smoothly.

The compression mechanism a7 mainly comprises an engagement block a71, a combination piece a72, a telescopic bar a73 and a contact block a74, the combination piece a72 is fixedly connected inside a combination plate a8 in an embedded mode, the contact block a74 is connected with a combination piece a72 through the telescopic bar a73, the engagement block a71 is connected above the combination plate a8 in a bolted mode, the clamping groove a6 is attached to the contact block a74, the contact area of the contact block a74 is enlarged, and the situation that the universal device 85 is dislocated when the position is adjusted can be avoided.

The specific use mode and function of the embodiment are as follows:

according to the invention, the connecting column 4 and the extension arm 5 are controlled by controlling the machine body 2, the combined arm 6 is matched with the combined rod 7 to drive the grabbing device 8 to grab titanium alloy steel, at the moment, the rotating shaft 84 drives the adjusting sheet 82 to rotate downwards, the hand grip 83 is matched with the adjusting sheet 82 to contract inwards, so that the titanium alloy steel is grabbed into the hand grip 83, the universal device 85 below the hand grip 83 is matched with the internal connecting rod a2, so that the connecting rod a2 and the fixed ball a3 drive the auxiliary ball a4 to slide and adjust in the clamping groove a6, objects of different shapes are adjusted and grabbed, and the contact block a74 below the clamping groove a6 is matched with the telescopic strip a73 to adjust up and down in the combined sheet a72, so that the service life of the universal device 85 can be prolonged, and the.

Example 2

As shown in fig. 6-8:

the invention provides a manipulator for industrial production, wherein a stabilizing device 86 mainly comprises a suction cup b1, a fixing plate b2 and a connecting wire b3, the fixing plate b2 is connected to the bottom of a lower shell a5 in a welding mode, the suction cup b1 is fixedly connected to the middle section of a fixing plate b2 in an embedding mode, the connecting wire b3 is connected to the tail end of the suction cup b1 in a threaded mode, and the fixing plate b2 is of an arc-shaped structure and has a certain containing effect, so that an object can be attached to the position below the suction cup b 1.

The suction cup b1 mainly comprises a joint c1, a straight channel c2, a supporting block c3, a hollowed block c4, an adjusting mechanism c5, a communicating chamber c6, a contact sheet c7, an adjusting sheet c8 and a colloid c9, the connecting line b3 is in threaded connection with the upper portion of the joint c1, the joint c1 is in welded connection with the top end of the supporting block c3, the straight channel c2 and the hollowed block c4 penetrate through the middle of the supporting block c3, the adjusting mechanism c5 is movably clamped below the communicating chamber c6, the adjusting sheet c8 is fixedly connected with the lower end of the supporting block c3, the colloid c9, the connecting block a71 and the contact sheet c7 are of an integrated structure, and the colloid c9 is made of silicon rubber, has good adsorbability and toughness, can be adsorbed on a rough object, and further strengthens adsorbability.

The adjusting mechanism c5 mainly includes a blocking plate c501, a stop block c502, a fixture block c503, a fixed roller c504, a sleeve body c505 and a chute c506, the fixture block c503 is welded at a position above the left end of the blocking plate c501, the stop block c502 is fixedly connected to the side of a supporting block c3 in an embedded manner, the fixture block c503 is installed below the stop block c502 in a clearance fit manner, the blocking plate c501 is movably clamped outside the fixed roller c504 in a fit manner in a manner in which the sleeve body c505 is matched, the fixed roller c504 is in a clearance fit manner in the chute c506, the chute c506 is arranged at the lower left corner of the supporting block c3, the fixture block c503 is of an I-shaped structure and has a certain clamping property, when an object is adsorbed, air can be effectively prevented from entering, when the adsorption effect is removed, a small gap can also be.

The specific use mode and function of the embodiment are as follows:

when an object is grabbed on the hand grip 83 and the universal device 85 adjusts the stabilizing device 86, at the moment, the suction disc b1 below the stabilizing device 86 is attached to the surface of the object, the colloid c9 drives the contact piece c7 to be matched with the supporting block c3 to compress downwards, air in the colloid c9 is extruded outwards and discharged, so that the inside of the colloid c9 is in a vacuum state, the object is firmly adsorbed, the object is prevented from sliding off, when the object needs to be released, the straight channel c2 and the hollow block c4 are ventilated inwards along the connecting line b3, the air blows the blocking plate c501, the fixing roller c504 is matched to rotate, the clamping block c503 on the left side of the blocking plate c501 is loosened from the inside of the blocking block c502, the gap is exposed, the air is guided into the inside of the colloid c9, the vacuum state is disabled, the carrying capacity of the object is effectively improved, and the problem that the object slides off from the.

The technical solutions of the present invention or similar technical solutions designed by those skilled in the art based on the teachings of the technical solutions of the present invention are all within the scope of the present invention to achieve the above technical effects.

Claims

1. The utility model provides a manipulator for industrial production, its structure includes base (1), control organism (2), main shaft (3), spliced pole (4), extension arm (5), joint arm (6), combination pole (7), grabbing device (8), control organism (2) activity block is on base (1) top, spliced pole (4) are through main shaft (3) and control organism (2) activity block, extension arm (5) activity block is between joint arm (6) and spliced pole (4), its characterized in that: the gripping device (8) is movably clamped at the lower end of the joint arm (6) in a matching way with the joint rod (7);

grabbing device (8) mainly include fixing support (81), trimmer (82), tongs (83), pivot (84), universal device (85), stabilising arrangement (86), both ends around fixing support (81) are cooperated pivot (84) activity block in trimmer (82), tongs (83) top and trimmer (82) activity block, tongs (83) lower extreme is connected with stabilising arrangement (86) through universal device (85).

2. The manipulator for industrial production according to claim 1, wherein: the universal device (85) mainly comprises a pipe body (a1), a connecting rod (a2), a fixing ball (a3), an auxiliary ball (a4), a lower shell (a5), a clamping groove (a6), a compression mechanism (a7) and a combination plate (a8), wherein the connecting rod (a2) is fixedly connected inside the pipe body (a1), the connecting rod (a2) is matched with the fixing ball (a3) and is connected inside the auxiliary ball (a4) in a nested mode, the compression mechanism (a7) is fixedly connected above the middle of the combination plate (a8), the combination plate (a8) is connected inside the lower shell (a5) in a welded mode, the clamping groove (a6) is fixedly connected at the upper end of the compression mechanism (a7) in a matched mode, and the auxiliary ball (a4) is installed above the clamping groove (a6) in a clearance fit mode.

3. A manipulator for industrial production according to claim 2, wherein: the compression mechanism (a7) mainly comprises an engagement block (a71), a combination piece (a72), a telescopic bar (a73) and a contact block (a74), wherein the combination piece (a72) is fixedly connected inside the combination plate (a8), the contact block (a74) is connected with the combination piece (a72) through the telescopic bar (a73), and the engagement block (a71) is connected above the combination plate (a8) through bolts.

4. The manipulator for industrial production according to claim 1, wherein: securing device (86) mainly include sucking disc (b1), fixed plate (b2), connecting wire (b3), fixed plate (b2) welded connection casing (a5) bottom position under, sucking disc (b1) are embedded and are connected in fixed plate (b2) middle section, connecting wire (b3) threaded connection is at sucking disc (b1) terminal.

5. The manipulator for industrial production according to claim 4, wherein: the sucking disc (b1) mainly comprises a connector (c1), a straight channel (c2), a supporting block (c3), a hollowed-out block (c4), an adjusting mechanism (c5), a communicating chamber (c6), a contact piece (c7), a connecting piece (c8) and colloid (c9), wherein the connecting line (b3) is in threaded connection with the upper portion of the connector (c1), the connector (c1) is in welded connection with the top end of the supporting block (c3), the straight channel (c2) and the hollowed-out block (c4) penetrate through the middle position of the supporting block (c3), the adjusting mechanism (c5) is movably clamped below the communicating chamber (c6), the connecting piece (c8) is fixedly connected to the lower end of the supporting block (c3), and the colloid (c9), the connecting piece (a71) and the contact piece (c7) are of an integrated structure.

6. An industrial robot according to claim 5, wherein: the adjusting mechanism (c5) mainly comprises a blocking plate (c501), a stop block (c502), a fixture block (c503), a fixed roller (c504), a sleeve body (c505) and a sliding chute (c506), wherein the fixture block (c503) is welded at the upper position of the left end of the blocking plate (c501), the stop block (c502) is fixedly connected to the side of the supporting block (c3) in an embedded mode, the fixture block (c503) is installed below the stop block (c502) in a clearance fit mode, the blocking plate (c501) is movably clamped outside the fixed roller (c504) in a fit mode with the sleeve body (c505), the fixed roller (c504) is in a clearance fit mode inside the sliding chute (c506), and the sliding chute (c506) is arranged at the lower left corner of the supporting block (c 3.