CN113370188A - Multi-purpose manipulator capable of reversely bending - Google Patents
Multi-purpose manipulator capable of reversely bending Download PDFInfo
- Publication number
- CN113370188A CN113370188A CN202110772400.4A CN202110772400A CN113370188A CN 113370188 A CN113370188 A CN 113370188A CN 202110772400 A CN202110772400 A CN 202110772400A CN 113370188 A CN113370188 A CN 113370188A
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- China
- Prior art keywords
- fixedly connected
- telescopic cylinder
- plate
- gear
- bottom plate
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- 238000005452 bending Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 49
- 230000002441 reversible effect Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 244000309464 bull Species 0.000 description 6
- 230000002349 favourable effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a multi-purpose manipulator capable of reversely bending, which comprises a bottom plate, wherein the upper end of the bottom plate is fixedly connected with a sliding mechanism, and the upper ends of the bottom plate and the sliding mechanism are fixedly connected with a moving mechanism together, so that the multi-purpose manipulator has the beneficial effects that: the movable plate is conveniently driven to move under the action of the sliding groove and the sliding block through the first telescopic cylinder and the first piston rod, the clamping plate is conveniently driven to move to different positions, so that objects in different positions can be clamped fast, meanwhile, the second gear and the rotating rod are conveniently meshed through the step motor and the first gear, the rotating direction of the clamping plate is conveniently and fast changed, objects in different directions can be conveniently and reversely grabbed, meanwhile, the objects can be fast and stably clamped under the rotating action of the first rotating shaft and the second rotating shaft through the second telescopic cylinder and the third telescopic cylinder, the structure is simple, the manufacturing cost is low, and objects in different positions and different directions can be fast clamped.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a multipurpose manipulator capable of reversely bending.
Background
A manipulator is an automatic operating device which can imitate certain motion functions of human hands and arms and is used for grabbing and carrying objects or operating tools according to a fixed program. It can replace human to carry out heavy work to realize mechanization and automation of production, and is widely applied to departments of mechanical manufacturing, light industry, atomic energy and the like.
Present manipulator often the structure is complicated and the function singleness, and the cost is higher, in case damage maintenance cost is higher, can only snatch in the object of narrow range moreover, can not remove, can not snatch the object of different positions, and present manipulator rotation direction is less moreover, can not snatch the object of equidirectional not, and the flexibility is poor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, adapt to the practical requirements and provide the multipurpose manipulator which is novel in structural design and applicable to large-caliber pipelines and can be bent reversely.
In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
the multi-purpose manipulator capable of being bent reversely is designed, and comprises a bottom plate, wherein the upper end of the bottom plate is fixedly connected with a sliding mechanism, the upper ends of the bottom plate and the sliding mechanism are fixedly connected with a moving mechanism together, the upper end of the moving mechanism is fixedly connected with a steering mechanism, the upper end of the steering mechanism is fixedly connected with a lifting mechanism, and the lower end of the lifting mechanism is fixedly connected with a clamping mechanism;
the sliding mechanism comprises a sliding groove, the sliding groove is formed in the upper end of the bottom plate, a sliding block is connected in the sliding groove in a sliding mode, and a moving plate is fixedly connected to the upper end of the sliding block.
The moving mechanism comprises a first telescopic cylinder, the first telescopic cylinder is fixedly connected to the upper surface of one side of the bottom plate, a first piston rod is movably connected to the output end of the first telescopic cylinder, and one side, far away from the first telescopic cylinder, of the first piston rod is fixedly connected to the side wall of the moving plate.
The steering mechanism comprises a stepping motor, the stepping motor is fixedly connected to the upper surface of the movable plate, a first gear is fixedly connected to the output end of the stepping motor, a rotating rod is rotatably connected to the upper surface of the movable plate on one side of the stepping motor through a bearing, a second gear is fixedly sleeved on the rod wall of the corresponding position of the rotating rod and the first gear, and the second gear is meshed and connected to the first gear.
The lifting mechanism comprises a transverse plate, the lower surface of one side of the transverse plate is fixedly connected to the upper end of the rotating rod, a second telescopic cylinder is fixedly connected to the lower surface of one side of the transverse plate, away from the rotating rod, and the output end of the second telescopic cylinder is movably connected with a second piston rod.
Fixture includes a fixed plate, fixed plate fixed connection is at second piston rod lower extreme, just a fixed plate lower surface center department fixedly connected with connecting rod, connecting rod both sides pole wall rotates and is connected with two first pivots, two first pivot lower extreme rotates and is connected with a commentaries on classics board, two fixed plate lower surface both sides fixedly connected with are the third telescopic cylinder of symmetry setting, two third telescopic cylinder output swing joint has a third piston rod, two third piston rod lower extreme all rotates and is connected with a second pivot, and two second pivot lower extreme rotates and connects on two commentaries on classics boards, two change boards and be close to two spinal branch vaulting poles of fixedly connected with in one side in opposite directions of lower extreme position, two the bracing piece is the equal fixedly connected with splint in one side in opposite directions.
The two sides of the lower surface of the bottom plate are fixedly connected with four symmetrically arranged support legs.
The invention has the beneficial effects that: this design is convenient to drive the movable plate through first telescopic cylinder and first piston rod under the effect of spout and slider and is removed, conveniently drive splint and remove different positions, thereby can press from both sides the object of different positions fast and get, simultaneously through setting up step motor and the convenient meshing of first gear drive second gear and bull stick, the direction of rotation of the splint of being convenient for change fast, be convenient for reversely snatch the object of equidirectional, simultaneously through setting up second telescopic cylinder and third telescopic cylinder convenient can the fast stabilization centre gripping object under the rotation effect of first pivot and second pivot, moreover, the steam generator is simple in structure, low in cost, and can the object of quick centre gripping different positions and equidirectional.
Drawings
FIG. 1 is a schematic overall cross-sectional view of a reversible multi-purpose manipulator of the present design;
FIG. 2 is a schematic structural view of a reverse bendable multi-purpose robot clamping structure of the present design;
FIG. 3 is an enlarged view of portion A of FIG. 2 of a reversible, bendable multi-purpose robot of the present design;
FIG. 4 is a schematic top view of a reversible bending multi-purpose robot of the present design;
fig. 5 is a schematic cross-sectional view along the direction B-B of fig. 1 of a multi-purpose manipulator capable of bending in the opposite direction according to the present design.
In the figure: 1. a base plate; 2. a sliding mechanism; 21. a chute; 22. a slider; 23. moving the plate; 3. a moving mechanism; 31. a first telescopic cylinder; 32. a first piston rod; 4. a steering mechanism; 41. a stepping motor; 42. a first gear; 43. a rotating rod; 44. a second gear; 5. a lifting mechanism; 51. a transverse plate; 52. a second telescopic cylinder; 6. a clamping mechanism; 61. a fixing plate; 62. connecting; 63. a first rotating shaft; 64. rotating the plate; 65. a third telescopic cylinder; 66. a third piston rod; 67. a second rotating shaft; 68. a support bar; 7. and (3) a support leg.
Detailed Description
The invention is further illustrated with reference to the following figures and examples:
example (b): a reversible bendable multi-purpose robot, see fig. 1-5.
The multi-purpose manipulator capable of reversely bending comprises a bottom plate 1, wherein the upper end of the bottom plate 1 is fixedly connected with a sliding mechanism 2, the upper ends of the bottom plate 1 and the sliding mechanism 2 are fixedly connected with a moving mechanism 3 together, the upper end of the moving mechanism 3 is fixedly connected with a steering mechanism 4, the upper end of the steering mechanism 4 is fixedly connected with a lifting mechanism 5, and the lower end of the lifting mechanism 5 is fixedly connected with a clamping mechanism 6;
the sliding mechanism 2 comprises a sliding groove 21, the sliding groove 21 is arranged at the upper end of the bottom plate 1, a sliding block 22 is connected in the sliding groove 21 in a sliding mode, and a moving plate 23 is fixedly connected to the upper end of the sliding block 22.
Further, the moving mechanism 3 includes a first telescopic cylinder 31, the first telescopic cylinder 31 is fixedly connected to the upper surface of one side of the bottom plate 1, an output end of the first telescopic cylinder 31 is movably connected to a first piston rod 32, one side of the first piston rod 32 far away from the first telescopic cylinder 31 is fixedly connected to the side wall of the moving plate 23, and the moving plate 23 is conveniently pushed to move through the first telescopic cylinder 31 and the first piston rod 32, so that the position of the steering mechanism 4 is conveniently adjusted.
Further, steering mechanism 4 includes a step motor 41, step motor 41 fixed connection is on movable plate 23 upper surface, and step motor 41 output end fixedly connected with a first gear 42, movable plate 23 upper surface that is located step motor 41 one side is connected with a bull stick 43 through the bearing rotation, the pole wall of bull stick 43 and the corresponding position of first gear 42 is fixed to be cup jointed a second gear 44, second gear 44 meshing connection is on first gear 42, be favorable to conveniently driving second gear 44 and bull stick 43 through step motor 41 and first gear 42 and rotate, be convenient for adjust elevating system 5 and fixture 6's direction.
Further, elevating system 5 includes a diaphragm 51, and diaphragm 51 one side lower surface fixed connection is in the bull stick 43 upper end, and diaphragm 51 keeps away from one side lower surface fixed connection of bull stick 43 and is connected with a second telescopic cylinder 52, and second telescopic cylinder 52 output end swing joint has a second piston rod 53, is favorable to conveniently driving fixture 6 through second telescopic cylinder 52 and second piston rod 53 and descends, the object that the clamping position of being convenient for is low.
Further, the clamping mechanism 6 includes a fixing plate 61, the fixing plate 61 is fixedly connected to the lower end of the second piston rod 53, a connecting rod 62 is fixedly connected to the center of the lower surface of the fixing plate 61, two first rotating shafts 63 are rotatably connected to the rod walls on two sides of the connecting rod 62, the lower ends of the two first rotating shafts 63 are rotatably connected to a rotating plate 64, two third telescopic cylinders 65 symmetrically arranged are fixedly connected to two sides of the lower surface of the fixing plate 61, two third piston rods 66 are movably connected to the output end of the two third telescopic cylinders 65, the lower ends of the two third piston rods 66 are rotatably connected to a second rotating shaft 67, the lower ends of the two second rotating shafts 67 are rotatably connected to the two rotating plates 64, two opposite side fixedly connected support rods 68 close to the lower end positions of the two rotating plates 64, one opposite side fixedly connected to a clamping plate 69 is connected to one side of the two opposite support rods 68, and the clamping plate 69 is beneficial to The rotating plate 64 is rotated, so that the first rotating shaft 63 drives the supporting rod 68 and the clamping plate 69 to stably clamp the object.
Further, four stabilizer blades 7 that are the symmetry and set up are fixedly connected with in bottom plate 1 lower surface both sides, are favorable to making things convenient for the stable support bottom plate 1 through four stabilizer blades 7, increase the support stability of device.
When the multi-purpose manipulator capable of being bent reversely is used, the bottom plate 1 is placed at a designated position through the four support legs 7, then the first telescopic cylinder 31 is started, the output end of the first telescopic cylinder 31 drives the first piston rod 32 to push the moving plate 23, the moving plate 23 can stably move under the action of the sliding groove 21 and the sliding block 22, the moving plate 23 synchronously drives the clamping mechanism 6 to move through the rotating rod 43, when the two clamping plates 69 move to a proper position, the first telescopic cylinder 31 is closed, then the stepping motor 41 is started, the output end of the stepping motor 41 drives the first gear 42 to rotate, the first gear 42 is meshed with the second gear 44, the second gear 44 drives the rotating rod 43 to rotate through the bearing, the rotating rod 43 drives the two clamping plates 69 to rotate through the transverse plate 51, when the two clamping plates 69 rotate to a proper position, the stepping motor 41 is closed, the second telescopic cylinder 52 is started, the output end of the second telescopic cylinder 52 drives the fixed plate 61 to descend through the second piston rod 53, the fixed plate 61 drives the two clamp plates 69 to descend through the connecting rod 62, when the two clamp plates 69 descend to a proper position, the third telescopic cylinder 65 is synchronously started, the two third telescopic cylinders 65 downwards press the two rotating plates 64 through the two third piston rods 66 and the two second rotating shafts 67, and the two rotating plates 64 can drive the two clamp plates 69 to stably clamp objects through the rotating action of the two first rotating shafts 63, so that the invention has the advantage of conveniently clamping objects in different positions and different directions.
The embodiments of the present invention are disclosed as the preferred embodiments, but not limited thereto, and those skilled in the art can easily understand the spirit of the present invention and make various extensions and changes without departing from the spirit of the present invention.
Claims (6)
1. The multipurpose manipulator capable of reversely bending is characterized by comprising a bottom plate, wherein the upper end of the bottom plate is fixedly connected with a sliding mechanism, the upper ends of the bottom plate and the sliding mechanism are fixedly connected with a moving mechanism together, the upper end of the moving mechanism is fixedly connected with a steering mechanism, the upper end of the steering mechanism is fixedly connected with a lifting mechanism, and the lower end of the lifting mechanism is fixedly connected with a clamping mechanism;
the sliding mechanism comprises a sliding groove, the sliding groove is formed in the upper end of the bottom plate, a sliding block is connected in the sliding groove in a sliding mode, and a moving plate is fixedly connected to the upper end of the sliding block.
2. A reverse bendable multi-purpose robot as defined in claim 1, wherein: the moving mechanism comprises a first telescopic cylinder, the first telescopic cylinder is fixedly connected to the upper surface of one side of the bottom plate, a first piston rod is movably connected to the output end of the first telescopic cylinder, and one side, far away from the first telescopic cylinder, of the first piston rod is fixedly connected to the side wall of the moving plate.
3. A reversible bendable multi-purpose robot according to claim 1, wherein: the steering mechanism comprises a stepping motor, the stepping motor is fixedly connected to the upper surface of the movable plate, a first gear is fixedly connected to the output end of the stepping motor, a rotating rod is rotatably connected to the upper surface of the movable plate on one side of the stepping motor through a bearing, a second gear is fixedly sleeved on the rod wall of the corresponding position of the rotating rod and the first gear, and the second gear is meshed and connected to the first gear.
4. A reversible bendable multi-purpose robot according to claim 1, wherein: the lifting mechanism comprises a transverse plate, the lower surface of one side of the transverse plate is fixedly connected to the upper end of the rotating rod, a second telescopic cylinder is fixedly connected to the lower surface of one side of the transverse plate, away from the rotating rod, and the output end of the second telescopic cylinder is movably connected with a second piston rod.
5. A reversible bendable multi-purpose robot according to claim 1, wherein: fixture includes a fixed plate, fixed plate fixed connection is at second piston rod lower extreme, just a fixed plate lower surface center department fixedly connected with connecting rod, connecting rod both sides pole wall rotates and is connected with two first pivots, two first pivot lower extreme rotates and is connected with a commentaries on classics board, two fixed plate lower surface both sides fixedly connected with are the third telescopic cylinder of symmetry setting, two third telescopic cylinder output swing joint has a third piston rod, two third piston rod lower extreme all rotates and is connected with a second pivot, and two second pivot lower extreme rotates and connects on two commentaries on classics boards, two change boards and be close to two spinal branch vaulting poles of fixedly connected with in one side in opposite directions of lower extreme position, two the bracing piece is the equal fixedly connected with splint in one side in opposite directions.
6. A reversible bendable multi-purpose robot according to claim 1, wherein: the two sides of the lower surface of the bottom plate are fixedly connected with four symmetrically arranged support legs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110772400.4A CN113370188A (en) | 2021-07-08 | 2021-07-08 | Multi-purpose manipulator capable of reversely bending |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110772400.4A CN113370188A (en) | 2021-07-08 | 2021-07-08 | Multi-purpose manipulator capable of reversely bending |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113370188A true CN113370188A (en) | 2021-09-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110772400.4A Pending CN113370188A (en) | 2021-07-08 | 2021-07-08 | Multi-purpose manipulator capable of reversely bending |
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| Country | Link |
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| CN (1) | CN113370188A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116141226A (en) * | 2023-02-15 | 2023-05-23 | 深圳市森空科技有限公司 | Coupling rotary electric claw |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0788784A (en) * | 1993-07-03 | 1995-04-04 | Kyodo Kumiai Asunomu | Robot work vehicle |
| RU2003122797A (en) * | 2003-07-21 | 2005-02-10 | Закрытое акционерное общество "Национальна компани Уралтерминалмаш" (RU) | CRANE AND MANIPULATORY INSTALLATION |
| CN204109297U (en) * | 2014-10-30 | 2015-01-21 | 中山力劲机械有限公司 | A kind of injection machine automatic catching robot |
| CN108748120A (en) * | 2018-08-13 | 2018-11-06 | 南京皓焜自动化科技有限公司 | A kind of mechanical gripper convenient for adjusting |
| CN109761040A (en) * | 2019-01-26 | 2019-05-17 | 莱芜职业技术学院 | It is a kind of can automatic stored and multifunction logistics machinery arm device |
| CN210121848U (en) * | 2019-05-23 | 2020-03-03 | 准银科技(深圳)有限公司 | Cylinder driving type cylindrical part clamping and conveying manipulator |
| CN210307821U (en) * | 2019-08-08 | 2020-04-14 | 苏州市星锐自动化设备有限公司 | Three-dimensional 42-position manipulator |
| CN111716317A (en) * | 2019-03-21 | 2020-09-29 | 山东交通学院 | Manipulator for recycling and processing injection molding material |
-
2021
- 2021-07-08 CN CN202110772400.4A patent/CN113370188A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0788784A (en) * | 1993-07-03 | 1995-04-04 | Kyodo Kumiai Asunomu | Robot work vehicle |
| RU2003122797A (en) * | 2003-07-21 | 2005-02-10 | Закрытое акционерное общество "Национальна компани Уралтерминалмаш" (RU) | CRANE AND MANIPULATORY INSTALLATION |
| CN204109297U (en) * | 2014-10-30 | 2015-01-21 | 中山力劲机械有限公司 | A kind of injection machine automatic catching robot |
| CN108748120A (en) * | 2018-08-13 | 2018-11-06 | 南京皓焜自动化科技有限公司 | A kind of mechanical gripper convenient for adjusting |
| CN109761040A (en) * | 2019-01-26 | 2019-05-17 | 莱芜职业技术学院 | It is a kind of can automatic stored and multifunction logistics machinery arm device |
| CN111716317A (en) * | 2019-03-21 | 2020-09-29 | 山东交通学院 | Manipulator for recycling and processing injection molding material |
| CN210121848U (en) * | 2019-05-23 | 2020-03-03 | 准银科技(深圳)有限公司 | Cylinder driving type cylindrical part clamping and conveying manipulator |
| CN210307821U (en) * | 2019-08-08 | 2020-04-14 | 苏州市星锐自动化设备有限公司 | Three-dimensional 42-position manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116141226A (en) * | 2023-02-15 | 2023-05-23 | 深圳市森空科技有限公司 | Coupling rotary electric claw |
| CN116141226B (en) * | 2023-02-15 | 2024-01-09 | 深圳市森空科技有限公司 | Coupling rotary electric claw |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210910 |
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| RJ01 | Rejection of invention patent application after publication |