CN112775994B - Manipulator convenient to change different chucks - Google Patents
Manipulator convenient to change different chucks Download PDFInfo
- Publication number
- CN112775994B CN112775994B CN201911057276.2A CN201911057276A CN112775994B CN 112775994 B CN112775994 B CN 112775994B CN 201911057276 A CN201911057276 A CN 201911057276A CN 112775994 B CN112775994 B CN 112775994B
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- China
- Prior art keywords
- frame
- mounting
- rotating
- far away
- mechanical arm
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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
- B25J15/00—Gripping heads and other end effectors
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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
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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
Abstract
The invention discloses a manipulator convenient for replacing different chucks, which comprises a bottom frame, wherein a control panel is fixedly arranged at the left end of the front side of the bottom frame, a moving groove is formed in the middle of the top end of the bottom frame, and a moving frame is movably arranged in the moving groove. According to the invention, the movable frame is conveniently arranged in the movable groove arranged at the top end of the bottom frame, the output ends of the single-phase motors arranged at two sides of the bottom end in the movable frame are respectively provided with the rotating rod, one end of each rotating rod far away from the single-phase motor penetrates through the movable frame and is provided with the rotating wheel, when the mechanical arm, the mounting plate, the mounting frame and the operating plate need to be moved, the single-phase motors are started through the control panel to rotate simultaneously, the rotating rods are used for driving the rotating wheels to rotate, and the bottom ends of the rotating wheels are in butt joint with the bottom end in the movable groove, so that the rotating wheels can flexibly drive the movable frame to move when rotating, and the mechanical arm, the mounting plate, the mounting frame and the operating plate can be driven to move more conveniently and flexibly.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to a mechanical arm convenient for replacing different chucks.
Background
A manipulator, which is an automatic operating device capable of simulating certain action functions of human hands and arms and used for grabbing and carrying objects or operating tools according to a fixed program, mainly comprises an executing mechanism, a driving mechanism and a control system, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
The traditional manipulator convenient for replacing different chucks has the following defects:
at present, along with the rapid development of science and technology, a great deal of mechanical manufacturing fields are changed greatly, a common mechanical arm needs to clamp and move different articles during working, and the existing mechanical arm cannot clamp the articles with different sizes conveniently.
Disclosure of Invention
The invention aims to provide a manipulator which is convenient for replacing different chucks so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a manipulator convenient for replacing different chucks comprises a bottom frame, a control panel is fixedly arranged at the left end of the front side of the bottom frame, a moving groove is formed in the middle of the top end of the bottom frame, a moving frame is movably arranged in the moving groove, single-phase motors are fixedly arranged at two sides of the bottom end of the moving frame through mounting seats, rotating rods are movably arranged at the output ends of the single-phase motors, one ends of the rotating rods far away from the single-phase motors penetrate through the moving frame and are fixedly provided with rotating wheels, the bottom ends of the rotating wheels are movably butted with the bottom ends of the moving groove, a mounting plate is fixedly arranged at the top end of the mounting plate through the moving groove, a mounting frame is movably arranged at the left side of the top end of the mounting plate, a motor is fixedly arranged at one side of the inner part of the mounting frame through the mounting seats, a rotating rod is movably arranged at the output end of the motor, and an operating plate is movably arranged at one side far away from the mechanical arm of the mounting frame, the end of the rotating rod far away from the motor penetrates through the installation frame to be fixedly connected with the operation plate, the end of the rotating rod far away from the mechanical arm is fixedly provided with the stabilizing plate at the periphery outside the installation frame, the stabilizing plate is provided with a chute at the periphery of one side far away from the mechanical arm, a sliding ring is slidably mounted in the chute and is fixedly connected with the operation plate at one side far away from the chute, a plurality of fixed chucks are fixedly arranged at the periphery of one side far away from the installation frame of the operation plate, the operation plate is provided with guide grooves at the opposite positions of the fixed chucks at one side far away from the installation frame, a sliding block is slidably mounted at one side close to the fixed chucks in the guide grooves, a movable chuck is fixedly arranged at one end far away from the guide grooves of the sliding block, and electric push rods are fixedly arranged at the opposite positions of the guide grooves at the periphery in the operation plate, the telescopic end of the electric push rod penetrates through the guide groove and is fixedly connected with the sliding block, and the control panel is electrically connected with the single-phase motor, the mechanical arm and the electric push rod through wires.
Further, the lower extreme of underframe both sides front end, rear end all fixedly is provided with the connecting block, the dop is installed in the gomphosis of connecting block top, the dop is all fixedly being provided with the stabilizing block in the one end of keeping away from the underframe.
Furthermore, the inside both sides of removal frame are all fixed being provided with the bearing and the bull stick all passes the bearing middle part at the relative position that is located the bull stick.
Furthermore, the mounting panel bottom both sides all are seted up flutedly, the recess is inside all to be provided with a plurality of pulleys and pulley bottom all with underframe top activity butt joint.
Furthermore, mounting grooves are formed in the periphery of the top end and the bottom end of the sliding ring, and a plurality of wheel bodies are movably arranged in the mounting grooves.
Furthermore, rubber pads are fixedly arranged on the opposite sides of the movable chuck and the fixed chuck.
Furthermore, the guide slot is provided with a connecting hole block at the opposite position of the electric push rod.
Further, the outer part of the moving frame and the outer part of the sliding block are both processed by polishing.
Furthermore, the rotating rod, the moving frame, the mounting frame, the operating plate, the fixed chuck and the stabilizing plate are all made of alloy materials.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the movable frame is arranged in the movable groove formed in the top end of the bottom frame, the rotating rods are arranged at the output ends of the single-phase motors arranged at two sides of the bottom end in the movable frame, and the ends of the rotating rods far away from the single-phase motors penetrate through the movable frame to be provided with the rotating wheels;
2. the operation plate is arranged on one side, away from the mechanical arm, of the installation frame, the rotating rod is arranged at the output end of the motor and is fixedly connected with the operation plate at one end, away from the motor, of the installation frame, the fixed chucks are arranged on the periphery of one side, away from the installation frame, of the operation plate, the movable chucks are fixedly arranged on the sliding blocks arranged in the guide grooves through the guide grooves, the telescopic ends of the electric push rods arranged on the periphery in the operation plate penetrate through the guide grooves and are fixedly connected with the sliding blocks, the sizes of the fixed chucks and the movable chucks on the left side of the outer portion of the operation plate are different, when an object is clamped and moved, the motor is started through the control panel to drive the rotating rod to rotate according to the size of the clamped object, the operation plate is driven to rotate through the rotating rod, the movable chucks and the fixed chucks are driven to rotate, the corresponding fixed chucks and the movable chucks are driven to rotate to the lower end of the left side of the operation plate, and the corresponding electric push rods are started through the control panel to drive the movable chucks to move to one side of the fixed chucks and clamp and fix the fixed chucks after the articles are rotated, and the objects with different sizes can be clamped and quickly operated.
Drawings
FIG. 1 is a schematic view of the overall structure of a robot for facilitating the replacement of different chucks in accordance with the present invention;
FIG. 2 is an enlarged schematic view taken at A in FIG. 1 of a robot for facilitating replacement of different chucks in accordance with the present invention;
FIG. 3 is an enlarged view taken at B in FIG. 1 of a robot for facilitating the replacement of different chucks in accordance with the present invention;
FIG. 4 is an enlarged schematic view at C of FIG. 1 of a robot for facilitating the replacement of different chucks in accordance with the present invention;
figure 5 is a top view of a stabilizing plate and mounting frame of a robot that facilitates changing different chucks in accordance with the present invention.
In FIGS. 1-5: 1. a bottom frame; 2. clamping a head; 3. a stabilizing block; 4. a control panel; 5. a rotating wheel; 6. moving the frame; 7. a rotating rod; 8. a single-phase motor; 9. connecting blocks; 10. a moving groove; 11. mounting a plate; 12. a mechanical arm; 13. installing a frame; 14. a stabilizing plate; 15. a slip ring; 16. an operation panel; 17. fixing the chuck; 18. an electric push rod; 19. a movable chuck; 20. rotating the rod; 21. a motor; 22. a groove; 23. a pulley; 24. a chute; 25. mounting grooves; 26. a wheel body; 27. a slider; 28. and a guide groove.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a manipulator convenient for replacing different chucks comprises a bottom frame 1, a control panel 4 is fixedly installed at the left end of the front side of the bottom frame 1 through screws, a moving groove 10 is formed in the middle of the top end of the bottom frame 1, a moving frame 6 is slidably installed inside the moving groove 10, single-phase motors 8 are fixedly installed at two sides of the bottom end of the moving frame 6 through installation seats, rotating rods 7 are fixedly installed at output ends of the single-phase motors 8 through shaft couplers, rotating wheels 5 are fixedly installed at one ends of the rotating rods 7 far away from the single-phase motors 8 through the moving frame 6, the bottom ends of the rotating wheels 5 are movably butted with the bottom end inside the moving groove 10, an installation plate 11 is fixedly installed at the top end of the moving frame 6 through the moving groove 10, a mechanical arm 12 is fixedly installed at the top end of the installation plate 11, an installation frame 13 is fixedly installed at the left end of the top end of the mechanical arm 12, a motor 21 is fixedly installed at one side inside the installation frame 13 through the installation seats, the output end of the motor 21 is fixedly provided with a rotating rod 20 through a coupling, the mounting frame 13 is movably provided with an operating plate 16 through a rotating shaft at one side far away from the mechanical arm 12, one end of the rotating rod 20 far away from the motor 21 penetrates through the mounting frame 13 to be fixedly connected with the operating plate 16, a stabilizing plate 14 is fixedly arranged at one end far away from the mechanical arm 12 at the periphery of the outer part of the mounting frame 13 through welding, a chute 24 is arranged at the periphery of one side far away from the mechanical arm 12 of the stabilizing plate 14, a sliding ring 15 is slidably arranged in the chute 24, the sliding ring 15 is fixedly connected with the operating plate 16 at one side far away from the chute 24, a plurality of fixed chucks 17 are fixedly arranged at the periphery of one side far away from the mounting frame 13 of the operating plate 16 through welding, the operating plate 16 is provided with guide grooves 28 at the opposite positions of the fixed chucks 17 at one side far away from the mounting frame 13, and a sliding block 27 is slidably arranged at one side near the fixed chucks 17 in the guide grooves 28, the slider 27 all installs movable chuck 19 through welded fastening in the one end of keeping away from guide slot 28, and the relative position that is located guide slot 28 all has electric putter 18 through welded fastening around the inside operating panel 16, and electric putter 18's flexible end all passes guide slot 28 and slider 27 fixed connection, and control panel 4 all passes through the wire and all is connected with single phase motor 8, motor 21, arm 12 and electric putter 18 electric connection.
1 both sides front end of underframe, the lower extreme of rear end all installs connecting block 9 through welded fastening, dop 2 and connecting block 9 and dop 2 all are the L structure are installed to 9 top gomphosis of connecting block, dop 2 all installs stable piece 3 through welded fastening in the one end of keeping away from underframe 1, all will install stable piece 3 simultaneously to connecting block 9 upper end through 2 gomphosis of dop when underframe 1 carries out the during operation like this to increase underframe 1 at the steadiness of during operation.
Remove the inside both sides of frame 6 and all pass through with your sister fixed mounting have a bearing and the bull stick 7 all passes the bearing middle part at the relative position that is located bull stick 7, be convenient for like this bull stick 7 more stable when rotating.
Mounting groove 25 has all been seted up all around on sliding ring 15 top and bottom, and mounting groove 25 is inside all to have a plurality of wheel bodies 26 through bearing movable mounting, and the more nimble frictional force that reduces more of sliding ring 15 of being convenient for like this when rotating.
Rubber pads are fixedly arranged on the opposite sides of the movable clamping head 19 and the fixed clamping head 17 through welding, so that the friction force is increased during clamping.
The guide grooves 28 are fixedly provided with connecting hole blocks at the opposite positions of the electric push rod 18 by welding, and the fixed ends of the electric push rod 18 penetrate through the middle parts of the connecting hole blocks, so that the electric push rod 18 is more stable when being started.
The outer part of the movable frame 6 and the outer part of the sliding block 27 are both processed by polishing, so that the movable frame 6 and the sliding block 27 are more flexible when moving.
The rotating rod 7, the moving frame 6, the mounting frame 13, the operating plate 16, the fixed chuck 17 and the stabilizing plate 14 are all made of alloy materials which are firm and light, so that the service life is prolonged.
The working principle is as follows: the invention installs the moving frame 6 in the moving groove 10 arranged on the top of the bottom frame 1, and the output ends of the single-phase motors 8 installed on the two sides of the bottom end in the moving frame 6 are all installed with the rotating rod 7, and the rotating rod 7 is installed with the rotating wheel 5 through the moving frame 6 at the end far away from the single-phase motor 8, when the mechanical arm 12, the mounting plate 11, the mounting frame 13 and the operation plate 16 need to be moved, the single-phase motor 8 is started to rotate through the control panel 4, the rotating rod 7 drives the rotating wheel 5 to rotate, and because the bottom end of the rotating wheel 5 is butted with the bottom end in the moving groove 10, the rotating wheel 5 can flexibly drive the moving frame 6 to move when rotating, thereby the mechanical arm 12, the mounting plate 11, the mounting frame 13 and the operation plate 16 can be driven to move more conveniently and flexibly, and the two sides of the bottom end of the mounting plate 11 are provided with the grooves 22, and the grooves 22 are installed with the pulleys 23, thereby it plays the effect of reducing friction force to be convenient for more nimble when mounting panel 11 removes, simultaneously operation panel 16 is installed in one side of keeping away from arm 12 to installing frame 13, and install the output at the inside one side motor 21 of installing frame 13 and install dwang 20 and dwang 20 in the one end and the operation panel 16 fixed connection of keeping away from motor 21, and operation panel 16 all installs a plurality of fixed chucks 17 all around the one side of keeping away from installing frame 13, and install slider 27 in guide slot 28 inside all passes guide slot 28 fixed mounting and have movable chuck 19, and install the flexible end of electric putter 18 all around in operation panel 16 and all pass guide slot 28 and slider 27 fixed connection, and the outside left fixed chuck 17 of operation panel 16 and the movable chuck 19 size all lead to the difference, when carrying out centre gripping removal to article through the rotation that motor 21 drove dwang 20 is started to control panel 4 according to the size of centre gripping article And the rotating rod 20 drives the operating plate 16 to rotate, and then the corresponding movable chuck 19 and the fixed chuck 17 are driven to rotate, and the corresponding fixed chuck 17 and the movable chuck 19 are rotated to the lower end of the left side of the operating plate 16, after the rotation, the corresponding electric push rod 18 is started through the control panel 4 and the slide block 27 is pushed to drive the movable chuck 19 to move towards one side of the fixed chuck 17 and to clamp and fix the fixed chuck, so that the operation is fast, and articles with different sizes can be clamped.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a manipulator convenient to change different chucks, includes underframe (1), and characterized in that: the automatic control device is characterized in that a control panel (4) is fixedly arranged at the left end of the front side of the bottom frame (1), a moving groove (10) is formed in the middle of the top end of the bottom frame (1), a moving frame (6) is movably arranged in the moving groove (10), single-phase motors (8) are fixedly arranged on two sides of the bottom end of the moving frame (6) through mounting seats, rotating rods (7) are movably arranged at the output ends of the single-phase motors (8), the rotating rods (7) penetrate through the moving frame (6) to be fixedly provided with rotating wheels (5) and the bottom ends of the rotating wheels (5) to be movably butted with the bottom end in the moving groove (10), a mounting plate (11) is fixedly arranged at the top end of the moving frame (6) through the moving groove (10), a mechanical arm (12) is fixedly arranged at the top end of the mounting plate (11), a mounting frame (13) is movably arranged at the top end of the mechanical arm (12), a motor (21) is fixedly arranged at one side in the mounting frame (13) through the mounting seats, a rotating rod (16) is movably arranged at one end far away from the mechanical arm (12), and a fixed plate (16) is connected with the motor (16), a stabilizing plate (14) is fixedly arranged at one end of the periphery of the outer part of the mounting frame (13) far away from the mechanical arm (12), the periphery of one side of the stabilizing plate (14) far away from the mechanical arm (12) is provided with a sliding groove (24), a sliding ring (15) is arranged in the sliding groove (24) in a sliding way, one side of the sliding ring (15) far away from the sliding groove (24) is fixedly connected with the operating plate (16), a plurality of fixed chucks (17) are fixedly arranged on the periphery of one side of the operating plate (16) far away from the mounting frame (13), the operating plate (16) is provided with guide grooves (28) at one side far away from the mounting frame (13) and at the opposite positions of the fixed chucks (17), sliding blocks (27) are arranged in the guide grooves (28) at one side close to the fixed chuck (17) in a sliding way, one end of the sliding block (27) far away from the guide groove (28) is fixedly provided with a movable chuck (19), electric push rods (18) are fixedly arranged at the opposite positions of the inner periphery of the operating plate (16) which are positioned in the guide grooves (28), the telescopic ends of the electric push rods (18) penetrate through the guide grooves (28) and are fixedly connected with the sliding blocks (27), the control panel (4) is electrically connected with the single-phase motor (8), the motor (21), the mechanical arm (12) and the electric push rod (18) through leads.
2. A robot hand for facilitating replacement of different cartridges as claimed in claim 1, wherein: underframe (1) both sides front end, the lower extreme of rear end all fixed be provided with connecting block (9), dop (2) are installed in the gomphosis of connecting block (9) top, dop (2) are all fixed being provided with stabilizing block (3) in the one end of keeping away from underframe (1).
3. A robot hand for facilitating replacement of different cartridges as claimed in claim 1, wherein: the two sides in the moving frame (6) are fixedly provided with bearings at the opposite positions of the rotating rods (7), and the rotating rods (7) penetrate through the middle parts of the bearings.
4. A robot hand for facilitating replacement of different cartridges as claimed in claim 1, wherein: the mounting panel (11) bottom both sides all are seted up flutedly (22), recess (22) inside all activity is provided with a plurality of pulleys (23) and pulley (23) bottom all with underframe (1) top activity butt joint.
5. A robot hand for facilitating replacement of different cartridges as claimed in claim 1, wherein: mounting grooves (25) are formed in the periphery of the top end and the periphery of the bottom end of the sliding ring (15), and a plurality of wheel bodies (26) are movably arranged inside the mounting grooves (25).
6. A robot hand for facilitating replacement of different cartridges as claimed in claim 1, wherein: rubber pads are fixedly arranged on the opposite sides of the movable chuck (19) and the fixed chuck (17).
7. The manipulator of claim 1, wherein the manipulator is adapted to facilitate changing different chucks: the guide groove (28) is movably provided with a connecting hole block at the opposite position of the electric push rod (18).
8. A robot hand for facilitating replacement of different cartridges as claimed in claim 1, wherein: the outer part of the moving frame (6) and the outer part of the sliding block (27) are both processed by polishing.
9. A robot hand for facilitating replacement of different cartridges as claimed in claim 1, wherein: the rotating rod (7), the moving frame (6), the mounting frame (13), the operating plate (16), the fixed chuck (17) and the stabilizing plate (14) are all made of alloy materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911057276.2A CN112775994B (en) | 2019-11-01 | 2019-11-01 | Manipulator convenient to change different chucks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911057276.2A CN112775994B (en) | 2019-11-01 | 2019-11-01 | Manipulator convenient to change different chucks |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112775994A CN112775994A (en) | 2021-05-11 |
| CN112775994B true CN112775994B (en) | 2023-01-13 |
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ID=75748643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911057276.2A Active CN112775994B (en) | 2019-11-01 | 2019-11-01 | Manipulator convenient to change different chucks |
Country Status (1)
| Country | Link |
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| CN (1) | CN112775994B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108637777A (en) * | 2018-05-11 | 2018-10-12 | 郑州嘉晨化工科技有限公司 | A kind of digital control mechanical arm clamping device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT516279B1 (en) * | 2014-12-15 | 2016-04-15 | Trumpf Maschinen Austria Gmbh | Production plant with manipulation device |
| CN107803853A (en) * | 2017-11-22 | 2018-03-16 | 无锡艾度科技有限公司 | A kind of loading and unloading industrial robot |
| CN108555884A (en) * | 2018-04-26 | 2018-09-21 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of notebook computer shell clamping mechanical arm |
| CN208977317U (en) * | 2018-09-10 | 2019-06-14 | 天津市双鑫隆自行车配件股份有限公司 | A kind of bicycle wheel disc processing special mobile formula fixture |
| CN209023763U (en) * | 2018-11-01 | 2019-06-25 | 湖北天冠建材发展有限公司 | A kind of autoclave aerated concrete building block blank-clamping machine |
-
2019
- 2019-11-01 CN CN201911057276.2A patent/CN112775994B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108637777A (en) * | 2018-05-11 | 2018-10-12 | 郑州嘉晨化工科技有限公司 | A kind of digital control mechanical arm clamping device |
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| CN112775994A (en) | 2021-05-11 |
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