CN112571438A

CN112571438A - Automatic manipulator

Info

Publication number: CN112571438A
Application number: CN202011409248.5A
Authority: CN
Inventors: 吴伶俐; 章礼勇; 韩晓健; 吴富荣
Original assignee: Hefei Phoenix Electronics Technology Co Ltd
Current assignee: Hefei Phoenix Electronics Technology Co Ltd
Priority date: 2020-12-03
Filing date: 2020-12-03
Publication date: 2021-03-30
Anticipated expiration: 2040-12-03
Also published as: CN112571438B

Abstract

The automatic manipulator comprises a supporting arm, wherein a clamping block is arranged on the supporting arm, a plurality of combined walls are arranged on the supporting arm, a material conveying head is arranged on the inner side of each combined wall, a plurality of first sliding grooves which are mutually inclined with the axis of the material conveying head are formed in the material conveying head, a reference ring is arranged on the material conveying head, a plurality of first through holes and a plurality of spiral holes are formed in the reference ring, and a plurality of spiral bosses are arranged on the outer wall of the material conveying head; the adjustable support arm is characterized in that an adjusting base is movably mounted in the first sliding groove, a connecting shaft is movably mounted on the adjusting base, the adjusting base is connected with the connecting shaft through a ball, the connecting shaft penetrates through the first through hole, a combined wall is arranged at the upper end of the connecting shaft, and the length of the support arm can be adjusted and kept and the outer diameter is kept unchanged under the condition that the support arm is not detached through the matching of the material conveying head and the reference ring.

Description

Automatic manipulator

Technical Field

The disclosure belongs to the field of automatic manipulators, and particularly relates to an automatic manipulator.

Background

With the continuous development of the present technology and the increase of labor cost, the automatic production management is becoming a problem to be considered. Especially, mass standardized products often involve a large number of complicated and various situations with uniform operation steps. For the operation process, the traditional method is to use manpower to process and produce, and often needs a lot of manpower to invest. Therefore, the production economic benefit is seriously influenced, the production consistency is not ensured, and the automatic manipulator is the second choice for replacing manual operation to carry out assembly line operation at present.

Disclosure of Invention

Aiming at the defects of the prior art, the disclosed aim is to provide an automatic manipulator, which solves the problem that the length of the supporting arm is difficult to adjust in the prior art

The purpose of the disclosure can be realized by the following technical scheme:

an automatic manipulator comprises a supporting arm, wherein the supporting arm is provided with a supporting platform and a first mounting hole, a displacement ring is movably mounted in the first mounting hole, a clamping block is arranged on the displacement ring, a plurality of combined walls are arranged in the displacement ring, and the clamping block is abutted against the outer wall of each combined wall;

the front end of the combined wall is provided with a first clamping groove, the rear end of the combined wall is provided with a first clamping key, the inner side of the combined wall is provided with a material conveying head, the material conveying head is provided with a plurality of first sliding grooves, the axes of the first sliding grooves and the material conveying head are mutually inclined, the material conveying head is provided with a reference ring, the reference ring is provided with a plurality of first through holes and a plurality of spiral holes, and the outer wall of the material conveying head is provided with a plurality of spiral bosses;

the adjustable sliding device is characterized in that an adjusting base is movably mounted in the first sliding groove, a connecting shaft is movably mounted on the adjusting base, the adjusting base is connected with the connecting shaft through a ball, the connecting shaft penetrates through the first through hole, and a combined wall is arranged at the upper end of the connecting shaft.

Furthermore, the combined wall is provided with a first mounting groove, a groove small wall and a key small wall are arranged in the first mounting groove, the groove small wall is provided with the first mounting groove, and the key small wall is provided with a first mounting key.

Furthermore, a first abdicating groove is formed in the small wall of the groove, a second abdicating groove is formed in the small wall of the key, a sliding block is mounted at the upper end of the connecting shaft, and the first through hole is a waist hole.

Furthermore, a second through hole is formed in the sliding block, a contact rod is movably mounted in the second through hole, a circular ring is arranged on the contact rod, and a first spring is arranged between the circular ring and a first step of the second through hole; the groove small wall is provided with a first boss, the key small wall is provided with a second boss, the connecting shaft is provided with a second mounting hole, the second mounting hole is movably provided with an elastic shaft, the third through hole is internally provided with two positioning pins, and a third spring is arranged between the positioning pins.

Furthermore, a second spring is arranged between the bottom surface of the second mounting hole and the elastic shaft, and a third through hole is formed in the elastic shaft.

Furthermore, a contact ring is movably mounted on the displacement ring.

Further, the operation steps of the device are as follows:

the first step is as follows: the cylinder pushes the material conveying head to move forwards, and when the front end of the reference ring butts against the supporting platform, the rear end of the combined wall arranged on the material conveying head is matched with the front end of the assembled combined wall in the axial direction;

the second step is that: the material conveying head continues to move forwards, the reference ring is kept immovable due to the fact that the reference ring is abutted by the supporting platform, the reference ring and the material conveying head generate relative movement, the connecting shaft is fixed through the first through hole, the connecting shaft and the material conveying head participate in relative movement, the movement of the material conveying head enables the adjusting base to slide along the first sliding groove, due to the inclination of the first sliding groove, the combined wall to be installed, which is carried by the connecting shaft, moves outwards, when the combined wall to be installed moves in place, the spiral boss is clamped into the spiral hole to drive the reference ring to rotate, the reference ring rotates to drive the combined wall to be installed to rotate, and the first clamping groove of the combined wall to be installed is clamped in the first clamping key of the front combined wall to complete installation;

the third step: the displacement ring and the supporting arm are far away from each other under the pushing of the cylinder, at the moment, the supporting platform does not abut against the reference ring, the connecting shaft drives the sliding block to move forwards, the sliding block moves to abut against the small wall of the groove and the small wall of the key to move outwards due to clamping and connection of the combined wall to be installed, and the first installation groove is connected with the first installation key when the combined wall to be installed moves in place;

the fourth step: the contact rod is abutted to the first boss and the second boss by the movement of the sliding block, the contact rod is abutted to the positioning pin by the movement of the contact rod, the positioning pin moves out of the second through hole, and the automatic separation of the connecting shaft and the sliding block is quickly completed by the return of the second spring;

the fifth step: the clamping block is loosened through the movement of the contact ring, so that the displacement ring and the combined wall can move relatively, the displacement ring and the supporting arm are close to each other under the pulling of the cylinder, the contact ring moves to abut against the clamping block after the movement is completed, and the displacement ring and the combined wall clamp again to complete the adjustment of the length of the supporting arm.

The beneficial effect of this disclosure:

the length of the supporting arm is adjusted under the condition of step disassembly, and the outer diameter is kept unchanged.

Drawings

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic overall structure diagram of an embodiment of the present disclosure;

FIG. 2 is an anatomical schematic of an embodiment of the present disclosure;

FIG. 3 is a schematic illustration of a partial explosion of a composite wall according to an embodiment of the disclosure;

FIG. 4 is a schematic diagram of a partial explosion of a slider according to an embodiment of the disclosure;

FIG. 5 is a schematic illustration of a partial explosion of a material handling head according to an embodiment of the disclosure;

fig. 6 is a partial side view of an embodiment of the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

As shown in fig. 1-6, an automatic manipulator comprises a supporting arm 1, wherein the supporting arm 1 is provided with a supporting platform 101 and a first mounting hole 102, a displacement ring 3 is movably mounted in the first mounting hole 102, the displacement ring 3 moves back and forth through a cylinder mounted on the bottom surface of the first mounting hole 102, the displacement ring 3 is provided with a plurality of clamping ring mounting grooves distributed circumferentially, a rotating shaft is arranged in each clamping ring mounting groove, a through hole arranged on a clamping block 4 is movably mounted through the rotating shaft, a plurality of combined walls 5 are arranged in the displacement ring 3, the plurality of combined walls 5 form a circular tube shape, and the clamping block 4 is abutted against the outer wall of the combined wall 5;

the front end of the combined wall 5 is provided with a first clamping groove 502, the rear end of the combined wall 5 is provided with a first clamping key 503, the first clamping groove 502 of the next combined wall 5 is internally clamped with the first clamping key 503 of the previous combined wall 5, the inner side of the combined wall 5 is provided with a material transporting head 13, the material transporting head 13 is provided with a plurality of first sliding grooves 131, the axes of the first sliding grooves 131 and the material transporting head 13 are mutually inclined, the material transporting head 13 is provided with a reference ring 12, the reference ring 12 is provided with a plurality of first through holes 121 and a plurality of spiral holes 122, and the outer wall of the material transporting head 13 is provided with a plurality of spiral bosses 132;

an adjusting base 11 is movably installed in the first sliding groove 131, a connecting shaft 10 is movably installed on the adjusting base 11, a spherical surface (111) is arranged on the adjusting base 11 and is movably connected with a spherical hole (201) of the connecting shaft 10, the connecting shaft 10 penetrates through the first through hole 121, and a combined wall 5 to be installed is arranged at the upper end of the connecting shaft 10.

In some disclosures, the combined wall 5 is provided with a first mounting groove 501, the first mounting groove 501 is internally provided with a small groove wall 16 and a small key wall 6, the small groove wall 16 is provided with a first mounting groove 163, and the small key wall 6 is provided with a first mounting key 603, so that by the design, on one hand, the combined wall 5, the small groove wall 16 and the small key wall 6 can form a ring through the connection of the small groove wall 16 and the small key wall 6, and the load capacity can be greatly enhanced through the mechanical property of the ring; on the other hand, the first fitting key 603 and the first fitting groove 163 are fitted first to stabilize the circular ring formed by the combination wall 5, the groove small wall 16 and the key small wall 6 together.

In some disclosures, first groove 161 of stepping down has been seted up on the groove cliff 16, the second groove 601 of stepping down has been seted up on the key cliff 6, slider 7 is installed to connecting axle 10 upper end, first through-hole 121 is the waist hole, through so design, slider 7 is established in the cavity that first groove 161 of stepping down and second groove 601 formed of stepping down, the motion that drives slider 7 through connecting axle 10 at first through-hole 121 slides makes slider 7 contradict first groove 161 of stepping down and second groove 601 of stepping down make groove cliff 16 and key cliff 6 outwards move and expand, can make things convenient for the expansion of groove cliff 16 and key cliff 6, make the structure compacter.

In some disclosures, a second through hole 701 is arranged in the slider 7, a contact rod 9 is movably arranged in the second through hole 701, a circular ring 901 is arranged on the contact rod 9, a first spring is arranged between the circular ring 901 and a first step 704 of the second through hole 701, a first boss 162 is arranged on the small groove wall 16, a second boss 601 is arranged on the small key wall 6, and a fourth through hole 702 is arranged on the slider 7;

the connecting shaft 10 is provided with a second mounting hole 202, the elastic shaft 17 is movably mounted in the second mounting hole 202, one end of the elastic shaft 17 is mounted in a fourth through hole 702, the fourth through hole 702 is provided with a fixing key groove 703 for positioning the elastic shaft 17, a third through hole 171 is formed in the side face of the elastic shaft 17, two positioning pins 18 are arranged in the third through hole 171, the positioning pins 18 are linearly distributed, and therefore a third spring 19 is arranged between the positioning pins 18, through the design, the contact rod 9 can be abutted against the first boss 162 and the second boss 601, the contact rod 9 moves to abut against the positioning pin 18 clamped into the second through hole 701, the positioning pins 18 are made to move out of the second through hole 701, the elastic shaft 17 is made to exit from the fourth through hole 702 through the movement of the material conveying head 13 to complete separation, and the automatic separation of the connecting shaft.

In some disclosures, the second spring 15 is disposed between the bottom surface of the second mounting hole 202 and the elastic shaft 17, and by such a design, the elastic shaft 17 and the slider 7 are in a pulling state when the second spring 15 is in a mounting state, and when the positioning pin 18 moves out of the second through hole 701, the automatic separation of the connecting shaft 10 and the slider 7 can be quickly completed by the return of the second spring 15.

In some disclosures, movable mounting has the ring 2 of touching on the displacement ring 3, through so design, can utilize the cylinder to promote the ring 2 of touching and move, and the tight piece 4 of clamp realizes pressing from both sides tight and unclamp the combination wall 5 through the conflict of the ring 2 of touching, makes the structure compacter.

The operation steps of the device are as follows:

the first step is as follows: the cylinder 14 pushes the material conveying head 13 to move forwards, and when the front end of the reference ring 12 butts against the supporting platform 101, the rear end of the combined wall 5 arranged on the material conveying head 13 is matched with the front end of the assembled combined wall 5 in a direction;

the second step is that: the material transporting head 13 continues to move forwards, because the reference ring 12 is pressed by the supporting platform 101 and kept still, the reference ring 12 and the material transporting head 13 generate relative movement, the first through hole 121 fixes the connecting shaft 10, so that the connecting shaft 10 and the material transporting head 13 move relatively, the movement of the material transporting head 13 enables the adjusting base 11 to slide along the first sliding groove 131, because of the inclination of the first sliding groove 131, the combined wall 5 to be installed, which is carried by the connecting shaft 10, moves outwards, when the combined wall 5 to be installed moves in place, the spiral boss 132 is clamped into the spiral hole 122 to drive the reference ring 12 to rotate, the reference ring 12 rotates to drive the combined wall 5 to be installed to rotate, and the first clamping key 503 of the front combined wall 5 is clamped in the first clamping groove 502 of the combined wall 5 to be installed to complete installation;

the third step: the displacement ring 3 and the supporting arm 1 are far away from each other under the pushing of the cylinder, at the moment, the supporting platform 101 does not abut against the reference ring 12, the connecting shaft 10 drives the sliding block 7 to move forwards, the sliding block 7 moves to abut against the small wall 16 of the groove and the small wall 6 of the key outwards due to the clamping and the non-moving of the combined wall 5 to be installed, and the first installation groove 163 is connected with the first installation key 603 when the sliding block 7 moves in place;

the fourth step: the movement of the sliding block 7 enables the contact rod 9 to abut against the first boss 162 and the second boss 601, the movement of the contact rod 9 abuts against the positioning pin 18, the positioning pin 18 moves out of the second through hole 701, and the return of the second spring 15 quickly completes the automatic separation of the connecting shaft 10 and the sliding block 7;

the fifth step: the clamping block 4 is loosened through the movement of the abutting ring 2, so that the displacement ring 3 and the combined wall 5 can move relatively, the displacement ring 3 and the supporting arm 1 are close to each other under the pulling of the cylinder, the abutting ring 2 moves to abut against the clamping block 4 after the movement is completed, and the displacement ring 3 and the combined wall 5 re-clamp to complete the adjustment of the length of the supporting arm 1.

The working principle is as follows:

the combined wall 5 to be installed is moved to a position needing to be installed through the material conveying head 13, the combined wall 5 to be installed, which is carried by the connecting shaft 10, moves outwards, and when the combined wall 5 to be installed moves in place, the reference ring 12 rotates to drive the combined wall 5 to be installed to rotate, so that the first clamping groove 502 of the combined wall 5 to be installed is clamped in the first clamping key 503 of the front combined wall 5 to complete installation;

move through the contact ring 2 and come unclamp the tight piece 4 of clamp and make displacement ring 3 and combination wall 5 can relative motion, and displacement ring 3 is close to each other with support arm 1 under the pulling of cylinder, and the tight piece 4 of clamp is supported in the 2 motion of contradicting after the motion is accomplished, and displacement ring 3 presss from both sides the adjustment of accomplishing support arm 1 length with combination wall 5 again.

In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the disclosure. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing illustrates and describes the general principles, principal features, and advantages of the present disclosure. It will be understood by those skilled in the art that the present disclosure is not limited to the embodiments described above, which are presented solely for purposes of illustrating the principles of the disclosure, and that various changes and modifications may be made to the disclosure without departing from the spirit and scope of the disclosure, which is intended to be covered by the claims.

Claims

1. An automatic manipulator comprises a supporting arm (1), and is characterized in that the supporting arm (1) is provided with a supporting platform (101) and a first mounting hole (102), a displacement ring (3) is movably mounted in the first mounting hole (102), a clamping block (4) is arranged on the displacement ring (3), a plurality of combined walls (5) are arranged in the displacement ring (3), and the clamping block (4) is abutted against the outer wall of the combined wall (5);

the front end of the combined wall (5) is provided with a first clamping groove (502), the rear end of the combined wall (5) is provided with a first clamping key (503), the inner side of the combined wall (5) is provided with a material conveying head (13), the material conveying head (13) is provided with a plurality of first sliding grooves (131), the axes of the first sliding grooves (131) and the material conveying head (13) are mutually inclined, the material conveying head (13) is provided with a reference ring (12), the reference ring (12) is provided with a plurality of first through holes (121) and a plurality of spiral holes (122), and the outer wall of the material conveying head (13) is provided with a plurality of spiral bosses (132);

the adjustable sliding wall is characterized in that an adjusting base (11) is movably mounted in the first sliding groove (131), a connecting shaft (10) is movably mounted on the adjusting base (11), the adjusting base (11) is connected with the connecting shaft (10) through a ball, the connecting shaft (10) penetrates through the first through hole (121), and a combined wall (5) to be mounted is arranged at the upper end of the connecting shaft (10).

2. An automatic manipulator according to claim 1, characterized in that the combined wall (5) is provided with a first mounting groove (501), a groove small wall (16) and a key small wall (6) are arranged in the first mounting groove (501), a first mounting groove (163) is arranged on the groove small wall (16), and a first mounting key (603) is arranged on the key small wall (6).

3. The automatic manipulator according to claim 2, wherein the small groove wall (16) is provided with a first abdicating groove (161), the small key wall (6) is provided with a second abdicating groove (601), the upper end of the connecting shaft (10) is provided with a sliding block (7), and the first through hole (121) is a waist hole.

4. A robot manipulator according to claim 3, wherein a second through hole (701) is arranged in the slider (7), a contact rod (9) is movably arranged in the second through hole (701), a circular ring (901) is arranged on the contact rod (9), and a first spring (20) is arranged between the circular ring (901) and a first step (704) of the second through hole (701);

be equipped with first boss (162) on groove cliff (16), be equipped with second boss (601) on key cliff (6), be equipped with second mounting hole (102) on connecting axle (10), flexible mounting has elastic shaft (17) on second mounting hole (102), is equipped with third through-hole (171) on elastic shaft (17), is equipped with two locating pins (18) in third through-hole (171), so third spring (19) between locating pin (18).

5. A robotic manipulator according to claim 4, wherein a second spring (15) is provided between the bottom surface of the second mounting hole (102) and the resilient shaft (17).

6. A robotic manipulator according to claim 5, characterised in that the displacement ring (3) has movably mounted thereon a contact ring (2).

7. A robotic manipulator according to claim 6, wherein the device is operable by:

the first step is as follows: the cylinder pushes the material conveying head (13) to move forwards, and when the front end of the reference ring (12) butts against the supporting platform (101), the rear end of the combined wall (5) arranged on the material conveying head (13) is matched with the front end of the assembled combined wall (5) in the direction;

the second step is that: the material conveying head (13) moves forwards continuously, because the reference ring (12) is pressed by the supporting platform (101) and kept immovable, the reference ring (1) and the material conveying head (13) move relatively, the first through hole (121) fixes the connecting shaft (10), so that the connecting shaft (10) and the material conveying head (13) move relatively, the movement of the material conveying head (13) enables the adjusting base (11) to slide along the first sliding groove (131), because of the inclination of the first sliding groove (131), the connecting shaft (10) carries the combined wall (5) to be installed to move outwards, after the combined wall (5) to be installed moves in place, the spiral boss (132) is clamped into the spiral hole (122) to drive the reference ring (12) to rotate, and the reference ring (12) rotates to drive the combined wall (5) to be installed to rotate, so that the first clamping groove (502) of the combined wall (5) to be installed is clamped with the first clamping key (503) of the front combined wall (5) to complete installation;

the third step: the displacement ring (3) and the supporting arm (1) are far away from each other under the pushing of the cylinder, at the moment, the supporting platform (101) does not abut against the reference ring (12), the connecting shaft (10) drives the sliding block (7) to move forwards, the sliding block (7) moves to abut against the small wall (16) of the groove and the small wall (6) of the key to move outwards due to the fact that the combined wall (5) to be installed is clamped and cannot move, and the first installation groove (163) is connected with the first installation key (603) when the combined wall moves in place;

the fourth step: the contact rod (9) is abutted to the first boss (162) and the second boss (601) by the movement of the sliding block (7), the contact rod (9) is abutted to the positioning pin (18) by the movement, the positioning pin (18) moves out of the second through hole (701), and the automatic separation of the connecting shaft (10) and the sliding block (7) is rapidly completed by the return of the second spring (15);

the fifth step: the clamping block (4) is loosened through the movement of the abutting ring (2) so that the displacement ring (3) and the combined wall (5) can move relatively, the displacement ring (3) and the supporting arm (1) are close to each other under the pulling of the cylinder, the abutting ring (2) moves to abut against the clamping block (4) after the movement is completed, and the displacement ring (3) and the combined wall (5) clamp again to complete the adjustment of the length of the supporting arm (1).