CN112936325B

CN112936325B - Industrial manipulator that multi-angle clamp was got

Info

Publication number: CN112936325B
Application number: CN202110100715.4A
Authority: CN
Inventors: 林秀纯
Original assignee: Qingdao Tianluping Metal Product Co ltd
Current assignee: Qingdao Tianluping Metal Product Co ltd
Priority date: 2021-04-26
Filing date: 2021-04-26
Publication date: 2022-08-23
Anticipated expiration: 2041-04-26
Also published as: CN112936325A

Abstract

The invention discloses an industrial manipulator clamped at multiple angles, which comprises a mounting seat, wherein a mounting motor is arranged in the mounting seat, a threaded rod is fixedly connected to the output end of the mounting motor, the threaded rod penetrates through the mounting seat and extends to the outside of the mounting seat, a fixed rod arranged in parallel with the threaded rod is fixedly connected to the outer side wall of the mounting seat, a connecting sleeve is sleeved on the outer side wall of the threaded rod in a threaded manner, the connecting sleeve is connected with the fixed rod in a sliding manner, and a rotating motor is fixedly connected to one side of the connecting sleeve. According to the invention, through the arrangement of the oil injection mechanism, after the mechanical arm is used for a long time, the oil leakage port of the sliding block plugging port is opened, lubricating oil in the oil storage chamber slides and drips into the corresponding adjusting rod along the oil leakage port, the lubricating oil is added to the adjusting rod, the friction force between the adjusting rod and the transmission sleeve is gradually reduced, the sliding between the adjusting rod and the transmission sleeve is smoother, and the working efficiency of the mechanical arm is effectively improved.

Description

Industrial manipulator that multi-angle clamp was got

Technical Field

The invention relates to the technical field of industrial machinery, in particular to an industrial manipulator clamped at multiple angles.

Background

The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, is the earliest appearing industrial robot and the earliest appearing modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under a harmful environment to protect personal safety, and is widely applied to activities such as industrial production and the like due to continuous improvement of functions of the existing manipulator.

The invention discloses a multi-angle grabbing manipulator for an industrial robot, which can change the furling range of a fingerboard above a supporting plate by driving a second push rod to move in different length ranges through a second cylinder, so that the clamping range of the fingerboard can be adjusted according to the actual size of a workpiece, a grabbing mechanism can meet grabbing requirements of different workpiece sizes, meanwhile, the grabbing force of the fingerboard on the workpiece can be controlled according to the driving of the second cylinder, the workpiece cannot be damaged due to overlarge grabbing force in the grabbing process, the workpiece cannot fall down due to insufficient grabbing force, the grabbing efficiency is greatly improved, and a compression spring is arranged at the bottom end of the fingerboard, so that when the fingerboard is in contact with the workpiece and applies clamping force to the workpiece, the compression spring can provide buffer force for the clamping of the fingerboard, thereby further protection is provided to the work piece, and then has improved the reliability of snatching the process greatly, has improved the efficiency of snatching the action.

Current manipulator has elevating system and fixture to operate, can realize the centre gripping and the not centre gripping of co-altitude to the article, to the different angles of article, the manipulator does not have effectual centre gripping, and present manipulator is at the during operation, telescopic link on the manipulator can be stained with in the centre gripping article and attach the dust, the dust of being stained with on the telescopic link on the one hand can influence the work of manipulator, on the other hand is stained with the dust time that attaches longer or is stained with and attaches great granule impurity, friction on the telescopic link can become stiff gradually, manipulator telescopic link position frictional force is big, greatly reduced the work efficiency of manipulator, for this reason, the industrial robot that a multi-angle clamp was got is proposed.

Disclosure of Invention

The invention aims to solve the defect that the friction force of dust attached to a telescopic rod is long or large particles attached to the telescopic rod is increased in the prior art, and provides an industrial manipulator capable of being clamped at multiple angles.

In order to achieve the purpose, the invention adopts the following technical scheme:

an industrial manipulator clamped at multiple angles comprises a mounting seat, wherein an installation motor is arranged inside the mounting seat, a threaded rod is fixedly connected to the output end of the installation motor, the threaded rod penetrates through the mounting seat and extends to the outside of the mounting seat, a fixed rod arranged in parallel with the threaded rod is fixedly connected to the outer side wall of the mounting seat, a connecting sleeve is sleeved on the outer side wall of the threaded rod in a threaded manner and is connected with the fixed rod in a sliding manner, a rotating motor is fixedly connected to one side of the connecting sleeve, a mounting table is fixedly connected to the bottom of the rotating motor, a central rod is connected to the mounting table through an adjusting mechanism, two adjusting rods are fixedly connected to the side face of the central rod, a transmission sleeve is slidably connected to the outer side wall of the adjusting rod through a wiping mechanism, and a mechanical arm is rotatably connected to the end, far away from the central rod, of the transmission sleeve through a rotating shaft, the side wall of the bottom of the central rod is fixedly connected with two mounting rods, the two mounting rods are located on the same horizontal line, the side faces of the mounting rods are rotatably connected with corresponding mechanical arms, and the central rod is connected with an oiling mechanism.

Preferably, the bottoms of the two mechanical arms are folded inwards, and a plurality of positioning lugs are fixedly connected to the side walls of the mechanical arms.

Preferably, adjustment mechanism is including seting up the spread groove in the mount table bottom, the inside wall of spread groove rotates and is connected with double lead screw, double lead screw's one end extends to the outside of mount table, double lead screw's tip fixedly connected with drive motor, double lead screw's lateral wall screw thread has cup jointed two connecting blocks, the bottom of connecting block is rotated and is connected with the transfer line, the one end that the connecting block was kept away from to the transfer line is rotated and is connected with the fixed block, the bottom of fixed block and the transmission cover fixed connection that corresponds.

Preferably, clean the mechanism including fixed the installing sleeve of cup jointing on the driving sleeve lateral wall, the side of installing sleeve is connected with the dust removal cloth through construction bolt, the ring that the cloth of removing dust is openable.

Preferably, the oil injection mechanism comprises an oil storage chamber fixedly connected to the side surface of the mechanical arm, an injection port is formed in the outer side wall of the oil storage chamber, the outer side wall of the filling opening is in threaded connection with a mounting plug, lubricating oil is filled in the oil storage chamber, the inner side wall of the oil storage chamber is fixedly connected with a first spring rod, one end of the first spring rod, which is far away from the side wall of the oil storage chamber, is fixedly connected with a trigger block, the side surface of the trigger block is fixedly connected with a connecting rope which passes through the oil storage chamber and is fixedly connected with the side surface of the corresponding fixed block, the inner side wall of the oil storage chamber is fixedly connected with a second spring rod, one end of the second spring rod, which is far away from the oil storage chamber, is fixedly connected with a sliding block, the bottom of oil storage chamber is equipped with the oil leak mouth, the sliding block carries out the shutoff with the inside wall sliding connection of oil storage chamber and to the oil leak mouth, the removal way strength that triggers the piece can support the top of pressing contact sliding block.

Preferably, the oil storage chamber is provided with an outlet corresponding to the connecting rope, the inner side wall of the outlet is connected with the outer side wall of the connecting rope in a sliding manner, and the height of the lubricating oil is lower than that of the outlet.

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

1. through oiling mechanism's setting, after long-time use, accessible drive transmission motor work, make two transmission cover back of the body motion, contact the sliding block up to connecting rope tractive trigger block motion, the trigger block promotes the sliding block this moment, the oil leak mouth that makes the sliding block mouth is opened, the lubricating oil that is arranged in the oil storage chamber this moment drips the regulation pole that corresponds along the oil leak mouth landing, carry out the interpolation of lubricating oil to the regulation pole, the frictional force that makes regulation pole and transmission cover diminishes gradually, it is more smooth and easy to adjust the slip between pole and the transmission cover, the effectual work efficiency who promotes the manipulator, it needs to explain, under the normal manipulator centre gripping operating condition, the sliding block can't be triggered to the trigger block, the accessible increases transmission motor's actuation time, drive trigger block contacts the sliding block, realize the interpolation of lubricating oil.

2. Through the cooperation work between the mechanism of cleaning, when two transfer lines drive two fixed blocks during operation, corresponding transmission cover can slide on the lateral wall of adjusting the pole, and the transmission cover that removes simultaneously can drive the dust removal cloth of transmission cover tip and clean the lateral wall of adjusting the pole, has avoided being stained with the condition that the dust that attaches can influence manipulator work, it needs to explain that, the dust removal cloth for cleaning can be changed at any time, change out new dust removal cloth and clean the adjusting lever, the operating mass with great assurance adjusting the pole.

Drawings

FIG. 1 is a schematic structural diagram of an industrial robot with multiple grippers at multiple angles according to the present invention;

FIG. 2 is an enlarged view of an industrial robot B according to the present invention;

FIG. 3 is an enlarged view of an industrial robot at A for multi-angle gripping according to the present invention;

FIG. 4 is an enlarged view of an industrial robot C according to the present invention;

fig. 5 is a schematic structural diagram of an industrial robot mounting rod for multi-angle gripping according to the present invention.

In the figure: the device comprises a mounting base 1, a threaded rod 2, a fixing rod 3, a connecting sleeve 4, a rotating motor 5, a transmission motor 6, a mounting table 7, a transmission sleeve 8, a mechanical arm 9, a mounting rod 10, a positioning lug 11, a connecting groove 12, a double-head screw rod 13, a connecting block 14, a transmission rod 15, a fixing block 16, a regulating rod 17, a mounting sleeve 18, a dedusting cloth strip 19, a mounting bolt 20, an oil storage chamber 21, a trigger block 22, a first spring rod 23, a connecting rope 24, a sliding block 25, an oil leakage port 26, a second spring rod 27, a mounting plug 28 and a central rod 29.

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.

Referring to fig. 1-5, a multi-angle clamping industrial manipulator comprises a mounting base 1, a mounting motor is arranged inside the mounting base 1, a threaded rod 2 is fixedly connected to the output end of the mounting motor, the threaded rod 2 penetrates through the mounting base 1 and extends to the outside of the mounting base 1, a fixed rod 3 arranged in parallel with the threaded rod 2 is fixedly connected to the outer side wall of the mounting base 1, a connecting sleeve 4 is sleeved on the outer side wall of the threaded rod 2 in a threaded manner, the connecting sleeve 4 is connected with the fixed rod 3 in a sliding manner, a rotating motor 5 is fixedly connected to one side of the connecting sleeve 4, a mounting table 7 is fixedly connected to the bottom of the rotating motor 5, a central rod 29 is connected to the mounting table 7 through an adjusting mechanism, the adjusting mechanism comprises a connecting groove 12 arranged at the bottom of the mounting table 7, a double-head screw 13 is rotatably connected to the inner side wall of the connecting groove 12, one end of the double-head screw 13 extends to the outside of the mounting table 7, the tip fixedly connected with drive motor 6 of double-end lead screw 13, two connecting blocks 14 have been cup jointed to double-end lead screw 13's lateral wall screw thread, connecting block 14's bottom is rotated and is connected with transfer line 15, the one end that connecting block 14 was kept away from to transfer line 15 is rotated and is connected with fixed block 16, the bottom of fixed block 16 and the 8 fixed connection of transmission cover that correspond, through the setting of rotating motor 5, make to rotate motor 5 and drive whole manipulator and rotate, the manipulator has been realized carrying out centre gripping work in the position of different angles, through the cooperation work between the adjustment mechanism, can make two robotic arm 9 relative motion, carry out the centre gripping to the article, it needs to explain, the setting of location lug 11, can make two robotic arm 9 more stable to the location centre gripping of article.

The side surface of the central rod 29 is fixedly connected with two adjusting rods 17, the outer side wall of each adjusting rod 17 is connected with a transmission sleeve 8 in a sliding manner through a wiping mechanism, the wiping mechanism comprises a mounting sleeve 18 fixedly sleeved on the outer side wall of the transmission sleeve 8, the side surface of the mounting sleeve 18 is connected with a dedusting cloth strip 19 through a mounting bolt 20, the dedusting cloth strip 19 is an openable ring, the end part, far away from the central rod 29, of the transmission sleeve 8 is rotatably connected with a mechanical arm 9 through a rotating shaft, the side wall of the bottom of the central rod 29 is fixedly connected with two mounting rods 10, the two mounting rods 10 are positioned on the same horizontal line, the side surfaces of the mounting rods 10 are rotatably connected with the corresponding mechanical arms 9, the central rod 29 is connected with an oiling mechanism, the bottoms of the two mechanical arms 9 are arranged in an inward folding manner, the side wall of the mechanical arm 9 is fixedly connected with a plurality of positioning convex blocks 11, and when the two transmission rods 15 drive the two fixing blocks 16 to work through the cooperation between the wiping mechanisms, the corresponding transmission sleeve 8 can slide on the outer side wall of the adjusting rod 17, meanwhile, the movable transmission sleeve 8 can drive the dust removal cloth strips 19 at the end part of the transmission sleeve 8 to clean the outer side wall of the adjusting rod 17, the condition that the adhered dust can affect the work of a manipulator is avoided, it needs to be explained that the dust removal cloth strips 19 for cleaning can be replaced at any time, new dust removal cloth strips 19 are replaced to clean the adjusting rod 17, and the working quality of the adjusting rod 17 is ensured as much as possible.

The oil injection mechanism comprises an oil storage chamber 21 fixedly connected to the side surface of the mechanical arm 9, an injection opening is formed in the outer side wall of the oil storage chamber 21, a mounting plug 28 is in threaded connection with the outer side wall of the injection opening, lubricating oil is injected into the oil storage chamber 21, a first spring rod 23 is fixedly connected to the inner side wall of the oil storage chamber 21, a trigger block 22 is fixedly connected to one end, away from the side wall of the oil storage chamber 21, of the first spring rod 23, a connecting rope 24 is fixedly connected to the side surface of the trigger block 22, the connecting rope 24 penetrates through the oil storage chamber 21 and is fixedly connected with the side surface corresponding to the fixing block 16, a second spring rod 27 is fixedly connected to the inner side wall of the oil storage chamber 21, a sliding block 25 is fixedly connected to one end, away from the oil storage chamber 21, an oil leakage opening 26 is formed in the bottom of the sliding block 21, the oil leakage opening 26 is blocked through sliding connection with the inner side wall of the oil leakage opening, the moving force of the trigger block 22 can be in a pressing contact with the top of the sliding block 25, the oil storage chamber 21 is provided with an outlet corresponding to the connecting rope 24, the inner side wall of the outlet is connected with the outer side wall of the connecting rope 24 in a sliding manner, the height of lubricating oil is lower than that of the outlet, after the oil injection mechanism is arranged and used for a long time, the transmission motor 6 can be driven to work, the two transmission sleeves 8 move back to back until the connecting rope 24 pulls the trigger block 22 to move and contact the sliding block 25, the trigger block 22 pushes the sliding block 25 at the moment, the oil leakage port 26 of the sliding block 25 is opened, the lubricating oil in the oil storage chamber 21 slides and drips along the oil leakage port 26 to the corresponding adjusting rod 17 at the moment, the lubricating oil is added to the adjusting rod 17, the friction force between the adjusting rod 17 and the transmission sleeves 8 is gradually reduced, the sliding between the adjusting rod 17 and the transmission sleeves 8 is smoother, the working efficiency of the manipulator is effectively improved, it needs to be explained that under the normal manipulator clamping working condition, the trigger block 22 cannot trigger the sliding block 25, and the lubricating oil can be added by increasing the driving time of the transmission motor 6 to drive the trigger block 22 to contact the sliding block 25, wherein the new lubricating oil can be injected by opening the installation plug 28.

In the invention, the installation motor in the installation seat 1 can be driven to work, at the moment, the output end of the installation motor drives the threaded rod 2 to rotate, the rotating threaded rod 2 drives the connecting sleeve 4 to move up and down, the connecting sleeve 4 drives the installation platform 7 to move up and down through the rotating motor 5, the corresponding installation platform 7 drives the transmission sleeve 8 to move up and down through the connecting block 14, the transmission rod 15 and the fixing block 16, the height of the whole manipulator is adjusted, when an article needs to be clamped, the transmission motor 6 can be driven to work, the output end of the transmission motor 6 drives the stud screw 13 to rotate, the two connecting blocks 14 move relatively, the moving connecting block 14 drives the two fixing blocks 16 to move relatively through the transmission rod 15, the two fixing blocks 16 drive the two installation bolts 20 to approach relatively, the installation bolts 20 slide on the outer side wall of the adjusting rod 17, and the mechanical arm 9 at the end part of the installation bolts 20 is in an open state, at the moment, the two mechanical arms 9 are positioned on the side faces of the objects to be clamped, the transmission motor 6 is driven to rotate reversely, the two connecting blocks 14 move in the opposite directions, the transmission sleeve 8 slides from the outer side wall of the corresponding adjusting rod 17, the mechanical arms 9 clamp the objects, after clamping is completed, the transmission sleeve 8 resets to cover the adjusting rod 17, and at the moment, the dust removing cloth strips 19 at the end parts of the transmission sleeve 8 can clean the outer side wall of the adjusting rod 17 to remove dust.

When lubrication is needed on the adjusting rod 17, the transmission motor 6 can be driven to work, the two connecting blocks 14 move back to back, the connecting blocks 14 drive the fixing blocks 16 to move through the transmission rod 15, the fixing blocks 16 can pull the corresponding trigger blocks 22 to move through the connecting ropes 24, when an object is not clamped, the two mechanical arms 9 can be close to each other, the trigger blocks 22 are in contact with the corresponding sliding blocks 25 at the moment, the trigger blocks 22 extrude the sliding blocks 25, the sliding blocks 25 slide on the inner side wall of the oil storage chamber 21, the oil leakage openings 26 are opened, lubricating oil in the oil storage chamber 21 slides along the oil leakage openings 26 to fall onto the adjusting rod 17, and the lubricating oil is added onto the adjusting rod 17.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The utility model provides an industrial robot that multi-angle clamp was got, includes mount pad (1), its characterized in that: the inside of mount pad (1) is equipped with the installation motor, the output fixedly connected with threaded rod (2) of installation motor, threaded rod (2) pass mount pad (1) and extend to the outside of mount pad (1), lateral wall fixedly connected with of mount pad (1) and threaded rod (2) parallel arrangement's dead lever (3), adapter sleeve (4) have been cup jointed to the lateral wall screw thread of threaded rod (2), adapter sleeve (4) and dead lever (3) sliding connection, one side fixedly connected with of adapter sleeve (4) rotates motor (5), the bottom fixedly connected with mount table (7) of rotating motor (5), be connected with well core rod (29) through adjustment mechanism on mount table (7), two regulation pole (17) of the side fixedly connected with of well core rod (29), the lateral wall of regulation pole (17) has transmission cover (8) through wiping mechanism sliding connection, the end part, far away from the central rod (29), of the transmission sleeve (8) is rotatably connected with a mechanical arm (9) through a rotating shaft, the side wall of the bottom of the central rod (29) is fixedly connected with two mounting rods (10), the two mounting rods (10) are positioned on the same horizontal line, the side surfaces of the mounting rods (10) are rotatably connected with the corresponding mechanical arm (9), and the central rod (29) is connected with an oil injection mechanism;

the adjusting mechanism comprises a connecting groove (12) formed in the bottom of the mounting table (7), the inner side wall of the connecting groove (12) is connected with a double-headed screw rod (13) in a rotating mode, one end of the double-headed screw rod (13) extends to the outside of the mounting table (7), the end part of the double-headed screw rod (13) is fixedly connected with a transmission motor (6), two connecting blocks (14) are sleeved on the outer side wall of the double-headed screw rod (13) in a threaded mode, the bottom of each connecting block (14) is connected with a transmission rod (15) in a rotating mode, one end, far away from the corresponding connecting block (14), of each transmission rod (15) is connected with a fixed block (16) in a rotating mode, and the bottom of each fixed block (16) is fixedly connected with a corresponding transmission sleeve (8);

the oiling mechanism comprises an oil storage chamber (21) fixedly connected to the side face of a mechanical arm (9), an injection opening is formed in the outer side wall of the oil storage chamber (21), an installation plug (28) is connected to the outer side wall of the injection opening in a threaded mode, lubricating oil is injected into the oil storage chamber (21), a first spring rod (23) fixedly connected to the inner side wall of the oil storage chamber (21), a trigger block (22) fixedly connected to one end, away from the side wall of the oil storage chamber (21), of the first spring rod (23), a connecting rope (24) fixedly connected to the side face of the trigger block (22), the connecting rope (24) penetrates through the oil storage chamber (21) and is fixedly connected to the side face of a corresponding fixing block (16), a second spring rod (27) fixedly connected to the inner side wall of the oil storage chamber (21), and a sliding block (25) fixedly connected to one end, away from the oil storage chamber (21), of the second spring rod (27), an oil leakage port (26) is formed in the bottom of the oil storage chamber (21), the sliding block (25) is connected with the inner side wall of the oil storage chamber (21) in a sliding mode and blocks the oil leakage port (26), and a moving path of the trigger block (22) can be in pressing contact with the top of the sliding block (25);

be equipped with the outlet that corresponds with connecting rope (24) on oil storage chamber (21), the inside wall of outlet and the lateral wall sliding connection who connects rope (24), the height that highly is less than the outlet of lubricating oil.

2. The industrial robot for multi-angle gripping as claimed in claim 1, wherein: the bottoms of the two mechanical arms (9) are arranged in an inward folding mode, and a plurality of positioning lugs (11) are fixedly connected to the side walls of the mechanical arms (9).

3. The industrial robot for multi-angle gripping as claimed in claim 1, wherein: wiping mechanism is including fixed mounting sleeve (18) of cup jointing on transmission cover (8) lateral wall, the side of mounting sleeve (18) is connected with dust removal cloth (19) through construction bolt (20), dust removal cloth (19) are the ring that can open.