CN113524151A - Turnover type adjustable manipulator based on intelligent robot and use method thereof - Google Patents
Turnover type adjustable manipulator based on intelligent robot and use method thereof Download PDFInfo
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- CN113524151A CN113524151A CN202111080359.0A CN202111080359A CN113524151A CN 113524151 A CN113524151 A CN 113524151A CN 202111080359 A CN202111080359 A CN 202111080359A CN 113524151 A CN113524151 A CN 113524151A
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- manipulator
- plate
- groove
- block
- connecting block
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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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
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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
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
Abstract
The invention relates to the technical field of turnover type manipulators, in particular to a turnover type adjustable manipulator based on an intelligent robot and a using method thereof, wherein the turnover type adjustable manipulator comprises a manipulator, wherein an adsorption mechanism is detachably connected to the manipulator, a plurality of clamping mechanisms are connected to the manipulator, an adjusting mechanism is arranged in the adsorption mechanism, a limiting mechanism is arranged in the adsorption mechanism, a connecting mechanism is arranged in the adsorption mechanism, a protection mechanism is arranged in the adsorption mechanism, and a moving mechanism is arranged in the manipulator; the board is conveniently and quickly adsorbed and overturned through the adsorption mechanism, the adsorption mechanism and the mechanical arm are conveniently and quickly connected and disassembled through the matching of the connecting mechanism and the protection mechanism, the air pressure is prevented from being changed to cause loosening and separation, the board with different sizes is conveniently adsorbed and processed under the action of the adjusting mechanism and the limiting mechanism, the mechanical arm can be conveniently moved with the ground under the action of the moving mechanism, and the board is convenient to use in different areas.
Description
Technical Field
The invention relates to the technical field of turnover manipulators, in particular to a turnover adjustable manipulator based on an intelligent robot and a using method thereof.
Background
Along with the progress of science and technology, automatic robots are more and more, and the function is also more and more extensive, and in industrial manufacturing process, in order to use manpower sparingly consumption, improve production efficiency, intelligent manipulator stands out, and the manipulator is the automatic operation device that can imitate some action functions of people's hand and arm for snatch, carry upset article or operation tool according to fixed procedure, very big improvement production efficiency.
At present the manipulator when adsorbing the panel of equidimension not snatching, inconvenient quick adjust the sucking disc position, complex operation, the inefficiency, and need be connected the installation through a plurality of bolts and manipulator when changing the sucking disc, the installation dismantlement speed is slow, need hang the transport through fork truck or going when carrying out different regional uses simultaneously, it is inconvenient to use, the unable entering of indoor regional haulage equipment of part, through the consuming time power of artifical transport, it is very inconvenient to operate.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a turnover type adjustable manipulator based on an intelligent robot and a using method thereof.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a convertible adjustable manipulator based on intelligent robot, includes the manipulator, can dismantle on the manipulator and be connected with adsorption apparatus structure, be connected with a plurality of block mechanisms on the manipulator, adsorption apparatus structure internally mounted has adjustment mechanism, adsorption apparatus structure internally mounted has stop gear, adsorption apparatus structure internally mounted has coupling mechanism, adsorption apparatus structure internally mounted has protection machanism, manipulator internally mounted has moving mechanism.
Specifically, adsorption device includes the connecting block, the connecting block is "T" shape cylinder structure, can dismantle on the manipulator and be connected with the connecting block, install the leather collar between connecting block and the manipulator, be connected with the connecting plate on the connecting block, be connected with the mounting panel on the connecting plate, the connecting plate passes through the bolt with the mounting panel and can dismantle and be connected, install four sucking discs on the mounting panel.
Specifically, block mechanism includes the fixed plate, install a plurality of fixed plates on the manipulator, it is connected with the fixture block to rotate on the fixed plate, the inside block rubber that is equipped with of fixture block, the block rubber is through conflict spring and fixture block sliding connection, the block rubber extends to the fixture block outside, it is connected with the cardboard to rotate on the fixture block, the cardboard is the arc structure, fixedly connected with locating piece on the fixture block, be connected with compression spring between locating piece and the cardboard, cardboard one end is contradicted with the fixture block, the leather packing is installed to the cardboard inboard.
Specifically, adjustment mechanism includes the driving groove, the inside driving groove that is equipped with of mounting panel, the inside two slides that are equipped with of driving groove, the slide passes through driving groove and mounting panel sliding connection, be equipped with two mounting holes on the slide, be equipped with two spouts on the mounting panel, spout and driving groove intercommunication, the sucking disc runs through in inside threaded connection of spout and mounting hole, sucking disc and spout sliding connection.
Specifically, two be connected with expanding spring on the slide, expanding spring and the inside fixed connection of mounting panel, the inside lead screw that is connected with two reverse screw threads that rotates of mounting panel, lead screw one end extends to the mounting panel outside, threaded connection has the drive block respectively on the lead screw, two drive block both ends are rotated respectively and are connected with the pole of supporting, support the pole and rotate with the slide respectively and be connected, support pole and the inside sliding connection of drive groove.
Specifically, stop gear includes the slide bar, the inside slide bar that is equipped with of mounting panel, the slide bar is "ten" font structure, the slide bar passes through drive spring and the inside sliding connection of mounting panel, the lead screw lateral wall is equipped with the recess of a plurality of ring distributions, slide bar one end is contradicted with the recess is inside, sliding connection has the briquetting on the mounting panel, it is connected with the trace to rotate on the briquetting, the trace rotates with the slide bar other end to be connected, trace and the inside sliding connection of mounting panel.
Specifically, coupling mechanism includes the bayonet lock, connecting block and the inside sliding connection of connecting plate, the inside sliding connection of connecting block has four bayonet locks, the inside four draw-in grooves that are equipped with of connecting plate, the inside conflict of bayonet lock and draw-in groove, rotate respectively on the bayonet lock and be connected with the pull rod, the inside gas receiver that is equipped with of connecting block, the inside sliding connection of gas receiver has the piston, perpendicular fixedly connected with depression bar on the piston is a plurality of the pull rod rotates with the depression bar lateral wall respectively and is connected, threaded connection has the trachea on the connecting block, the trachea passes through guide slot and the inside intercommunication of gas receiver.
Specifically, protection machanism includes the leather plug, the inside sliding connection of connecting block has two leather plugs, one of them the inside intercommunication groove that is equipped with of leather plug, the intercommunication groove extends to the leather plug outside, install the extrusion spring on the leather plug, the inside fixed connection of extrusion spring and connecting block, two the guide slot respectively with leather plug one side intercommunication, the trachea communicates with leather plug one side respectively, another the leather plug lateral wall passes through air discharge duct and the outside intercommunication of connecting block, air discharge duct internally mounted has the protection network, protection network and the outside intercommunication of connecting block.
The mechanical arm comprises a support rod, two sets of support rods are connected to the inside of the mechanical arm in a rotating mode, idler wheels are connected to the support rods in the rotating mode respectively, the idler wheels are communicated with the outside of the mechanical arm, a reset spring is connected between the support rods and the mechanical arm, two drive plates are connected to the inside of the mechanical arm in a sliding mode and are connected with two drive plates, the side walls of the drive plates are connected with pinch rollers in a rotating mode respectively, the pinch rollers are in conflict with the support rods and are connected with the drive plates through a plurality of connecting rods, the connecting rods are connected with the inside of the mechanical arm in a sliding mode, a movable groove is formed in the mechanical arm, a pressing plate is connected to the inside of the movable groove in a rotating mode, the pressing plate extends to the outside of the mechanical arm, a vertical fixedly connected drive rod is connected to the pressing plate, and ejector rods are connected with one sliding plate in a rotating mode.
Specifically, the use method of the turnover type adjustable manipulator based on the intelligent robot comprises the following steps:
s1: firstly, driving a moving mechanism to jack up the manipulator by the moving mechanism, pushing the moving mechanism to move the manipulator to a position to be processed, and then removing the external force to enable the manipulator to fall down to be attached to the ground;
s2: the adsorption mechanism is connected with the manipulator in a clamping manner, and the connection mechanism works after being filled with gas, so that the connection mechanism is clamped and limited in the adsorption mechanism, and the connection mechanism is stably abutted in the adsorption mechanism under the action of the protection mechanism and cannot be separated due to the change of air pressure;
s3: when plates with different sizes need to be adsorbed, the adjusting mechanism is convenient to rotate by pressing the limiting mechanism, so that the adsorption width of the adsorption mechanism is adjusted;
s4: through the programming of the computer, the manipulator can move according to the programmed program, so that the plate to be processed is adsorbed and taken, and the plate to be processed is overturned in multiple directions.
The invention has the beneficial effects that:
(1) according to the turnover type adjustable manipulator based on the intelligent robot and the using method thereof, the adsorption mechanism is matched with the manipulator, so that plates needing to be processed can be conveniently and quickly adsorbed and taken, the adsorption mechanism can be conveniently turned over under the action of the manipulator, better processing of the plates is facilitated, a pipeline and a cable on the manipulator can be conveniently clamped and fixed under the action of the clamping mechanism, and abrasion of the cable is reduced, namely: the installation plate and the mechanical arm are conveniently installed under the action of the connecting block and the connecting plate, the four suckers are installed on the installation plate, the control of an external air valve is realized, the suckers can conveniently adsorb, take and place the plate to be processed, the connecting block and the installation plate can be conveniently swung and overturned through the swinging of the mechanical arm, the multi-directional processing production of the plate is realized, the production efficiency is improved, the fixture block and the fixture plate can be conveniently installed under the action of the fixing plate, the fixture plate can rotate under the action of the compression spring through swinging the fixture plate, the pipeline and the circuit which need to be connected on the mechanical arm can be conveniently clamped and fixed, after the external force is removed, the fixture plate is abutted against the fixture block, the pipeline and the circuit are stably clamped, the circuit and the pipeline are protected under the action of the rubber block and the leather pad, the rubber block is abutted against the pipeline and the circuit under the action of the abutting spring, and the circuit are firmly clamped between the fixture block and the fixture plate and are not easy to loosen, through the rotation of fixture block and fixed plate, make things convenient for manipulator during operation circuit and pipeline can freely swing, prevent pipeline and circuit wearing and tearing.
(2) The turnover type adjustable manipulator based on the intelligent robot and the using method thereof are convenient for quick connection and disassembly between the adsorption mechanism and the manipulator under the action of the connecting mechanism, and are beneficial to protecting the connecting mechanism under the action of the protecting mechanism, so that the adsorption mechanism and the manipulator are prevented from being loosened and separated when the air pressure changes, namely: after the connecting block is connected with the mechanical arm, the connecting block is clamped with one end of the connecting block, the air is injected into the air pipe through an external air valve, so that the air enters the air storage tank through the guide groove, the piston is favorably abutted and slides, the push rod is driven to drive the pull rods, the pull rods are abutted, the bayonet locks abutted against the inner parts of the clamping grooves are abutted, the connecting block is connected with the connecting block for limiting, the piston is reset and slides through the adsorption of the air in the air pipe, the bayonet locks are separated from the inner parts of the clamping grooves through the pulling of the push rods, the connecting block is conveniently separated and detached from the connecting plate, when one air pipe is injected, the air can push the leather plug to slide under the action of the extrusion spring, the air enters the guide groove, when the air pressure is lowered or is not pressurized, the leather plug is reset under the action of the extrusion spring to block the air pipe, the air in the guide groove cannot overflow, and the bayonet lock cannot be separated from the inner parts of the clamping grooves, the connecting block is connected stably with the connecting plate, and when another trachea gas injection, it is gaseous that promote another leather plug slides to make the guide slot pass through intercommunication groove and air discharge duct intercommunication, make things convenient for the inside gas outgoing of gas storage tank, the piston resets, is favorable to protecting the air discharge duct under the effect of protection network, prevents the jam of outside debris to the air discharge duct.
(3) According to the turnover type adjustable manipulator based on the intelligent robot and the use method thereof, the adsorption mechanism is conveniently adjusted under the action of the adjusting mechanism, and the adjusting mechanism is conveniently controlled and protected under the action of the limiting mechanism, so that plates of different sizes can be held and processed, namely: the sucker is convenient to fix by installing the sliding plate, the sliding plate can slide in the driving groove by pushing the sliding plate, so that the distance between the two sliding plates is convenient to adjust, the sliding plate drives the sucker to slide in the sliding groove under the action of the sliding groove, so that the position distance of the sucker is convenient to adjust, plates with different sizes are convenient to adsorb and take, the practicability of the sucker is improved, the sliding plate is stably placed in the driving groove under the action of the telescopic spring and the abutting rod, the two lead screws rotate when the lead screws are rotated, the two driving blocks can keep relative motion because the two lead screws are reverse threads, the abutting rod can be driven to abut against and pull the sliding plate when the driving blocks slide, so that the position adjustment of the sliding plate and the sucker can be conveniently realized by rotating the lead screws, the operation is convenient, time and labor are saved, the sliding rod can abut against a groove on the lead screw under the action of the driving spring, thereby to the spacing unable rotation of lead screw, prevent that the slide from sliding in the mounting panel inside and causing the offset, influence the sucking disc to the adsorption work of panel, when adjusting slide and sucking disc, through pressing the briquetting earlier, make briquetting drive interlock pole contradict to the slide bar, the slide bar is slided to one side under the effect that the pendulum takes off drive spring under the conflict of interlock pole to with the recess separation, make things convenient for the lead screw to rotate the regulation.
(4) The turnover type adjustable manipulator based on the intelligent robot and the use method thereof provided by the invention have the advantages that the manipulator can conveniently move with the ground under the action of the moving mechanism, so that the manipulator can be conveniently used in different areas, and the operation is convenient, time and labor are saved, namely: the steel pipe is inserted fixedly through the convenience under the effect of actuating lever, then the swing steel pipe makes steel pipe drive actuating lever and clamp plate rotate, and to the ejector pin extrusion, thereby the drive plate slides in manipulator inside, pinch roller on the drive plate is contradicted to the bracing piece, make the bracing piece break away from rotating under reset spring's the effect, make the gyro wheel roll-off manipulator outside, contradict with ground, and promote the manipulator, make things convenient for the manipulator to remove the transport, and convenient for operation, when removing external force back pressure plate and reset, and the bracing piece is accomodate inside the manipulator under the gravity of manipulator, make manipulator and ground place stably, thereby make things convenient for follow-up processing.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic overall structure diagram of a preferred embodiment of a convertible adjustable manipulator based on an intelligent robot according to the present invention;
FIG. 2 is an enlarged view of the part A shown in FIG. 1;
FIG. 3 is a schematic structural view of the coupling mechanism of the present invention;
FIG. 4 is a schematic view of the connection structure of the mounting plate and the slide plate of the present invention;
FIG. 5 is an enlarged view of the structure of the portion B shown in FIG. 4;
FIG. 6 is a schematic view of a connection structure of a fixing plate and a clamping block according to the present invention;
FIG. 7 is a schematic view of a connection structure of the robot and the link according to the present invention;
FIG. 8 is an enlarged view of the structure of the portion C shown in FIG. 7;
fig. 9 is a flow chart of a using method of the turnover type adjustable manipulator based on the intelligent robot provided by the invention.
In the figure: 1. a manipulator; 2. an adsorption mechanism; 201. mounting a plate; 202. a suction cup; 203. connecting blocks; 204. a leather collar; 205. a connecting plate; 3. a clamping mechanism; 301. a fixing plate; 302. a clamping block; 303. a rubber block; 304. against the spring; 305. clamping a plate; 306. a leather pad; 307. a compression spring; 308. positioning blocks; 4. a moving mechanism; 401. a roller; 402. a support bar; 403. a drive plate; 404. a connecting rod; 405. a return spring; 406. a pinch roller; 407. a movable groove; 408. a top rod; 409. pressing a plate; 410. a drive rod; 5. an adjustment mechanism; 501. a chute; 502. a drive slot; 503. a slide plate; 504. mounting holes; 505. a tension spring; 506. a screw rod; 507. a drive block; 508. a support rod; 6. a connecting mechanism; 601. a pressure lever; 602. a pull rod; 603. a bayonet lock; 604. a card slot; 605. a piston; 606. an air storage tank; 607. an air tube; 608. a guide groove; 7. a protection mechanism; 701. a plug of leather; 702. a compression spring; 703. an exhaust groove; 704. a protective net; 705. a communicating groove; 8. a limiting mechanism; 801. briquetting; 802. a linkage rod; 803. a slide bar; 804. a drive spring; 805. and (4) a groove.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-8, the turnover type adjustable manipulator based on the intelligent robot comprises a manipulator 1, wherein an adsorption mechanism 2 is detachably connected to the manipulator 1, a plurality of clamping mechanisms 3 are connected to the manipulator 1, an adjusting mechanism 5 is installed inside the adsorption mechanism 2, a limiting mechanism 8 is installed inside the adsorption mechanism 2, a connecting mechanism 6 is installed inside the adsorption mechanism 2, a protection mechanism 7 is installed inside the adsorption mechanism 2, and a moving mechanism 4 is installed inside the manipulator 1.
Specifically, the adsorption mechanism 2 comprises a connecting block 203, the connecting block 203 is of a T-shaped cylindrical structure, the manipulator 1 is detachably connected with the connecting block 203, a leather collar 204 is installed between the connecting block 203 and the manipulator 1, the connecting block 203 is connected with a connecting plate 205, the connecting plate 205 is connected with a mounting plate 201, the connecting plate 205 is detachably connected with the mounting plate 201 through bolts, four suckers 202 are installed on the mounting plate 201, the mounting plate 201 and the manipulator 1 are conveniently installed under the action of the connecting block 203 and the connecting plate 205, the four suckers 202 are installed on the mounting plate 201, and the four suckers 202 are controlled through an external air valve, so that the suckers 202 can conveniently adsorb, take and place the plate to be processed, and the connecting block 203 and the mounting plate 201 can be conveniently swung and turned over through the swing of the manipulator 1, the multi-directional processing production of the plate is realized, and the production efficiency is improved.
Specifically, the clamping mechanism 3 includes a fixing plate 301, a plurality of fixing plates 301 are installed on the manipulator 1, a clamping block 302 is rotatably connected to each fixing plate 301, a rubber block 303 is arranged inside the clamping block 302, the rubber block 303 is slidably connected to the clamping block 302 through an abutting spring 304, the rubber block 303 extends to the outside of the clamping block 302, a clamping plate 305 is rotatably connected to each clamping block 302, the clamping plate 305 is of an arc structure, a positioning block 308 is fixedly connected to each clamping block 302, a compression spring 307 is connected between the positioning block 308 and the clamping plate 305, one end of the clamping plate 305 abuts against the clamping block 302, a leather pad 306 is installed on the inner side of the clamping plate 305, the clamping block 302 and the clamping plate 305 are conveniently installed under the action of the fixing plates 301, the clamping plate 305 is rotated under the action of the compression spring 307 by swinging the clamping plate 305, and pipes and lines which need to be connected on the manipulator 1 are conveniently clamped and fixed, after removing external force, cardboard 305 with fixture block 302 is contradicted, and is stable to pipeline and circuit centre gripping rubber block 303 with leather packing 306's effect is down to circuit and pipeline protection the effect of contradicting spring 304 makes rubber block 303 contradicts to pipeline and circuit, makes circuit and pipeline be in fixture block 302 with the firm difficult not hard up of centre gripping between the cardboard 305, through fixture block 302 with the rotation of fixed plate 301, it is convenient circuit and pipeline can freely swing when 1 during operation of manipulator prevent pipeline and circuit wearing and tearing.
Specifically, the adjusting mechanism 5 includes a driving groove 502, a driving groove 502 is provided inside the mounting plate 201, two sliding plates 503 are provided inside the driving groove 502, the sliding plates 503 are slidably connected to the mounting plate 201 through the driving groove 502, two mounting holes 504 are provided on the sliding plates 503, two sliding grooves 501 are provided on the mounting plate 201, the sliding grooves 501 are communicated with the driving groove 502, the suction cups 202 penetrate through the sliding grooves 501 and are in threaded connection with the inside of the mounting holes 504, the suction cups 202 are slidably connected to the sliding grooves 501, the suction cups 202 are conveniently fixed by mounting the sliding plates 503, the sliding plates 503 can slide inside the driving groove 502 by pushing the sliding plates 503, so that the distance between the two sliding plates can be conveniently adjusted, and the sliding plates 503 can drive the suction cups 202 to slide inside the sliding grooves 501 under the action of the sliding grooves 501, thereby it is convenient right the position distance of sucking disc 202 is adjusted, conveniently adsorbs the taking to the panel of equidimension not, has improved sucking disc 202's practicality.
Specifically, two sliding plates 503 are connected with a telescopic spring 505, the telescopic spring 505 is fixedly connected with the inside of a mounting plate 201, the inside of the mounting plate 201 is rotatably connected with two screw rods 506 with reverse threads, one end of each screw rod 506 extends to the outside of the mounting plate 201, the screw rods 506 are respectively connected with driving blocks 507 in a threaded manner, two ends of each driving block 507 are respectively rotatably connected with a resisting rod 508, the resisting rods 508 are respectively rotatably connected with the sliding plates 503, the resisting rods 508 are slidably connected with the inside of the driving grooves 502, the sliding plates 503 are stably placed in the driving grooves 502 under the action of the telescopic spring 505 and the resisting rods 508, when the screw rods 506 are rotated, the two screw rods 506 are rotated, because the two screw rods 506 are reverse threads, the two driving blocks 507 can keep relative motion, and when the driving blocks 507 slide, the resisting rods 508 can be driven to resist and pull the sliding plates 503, therefore, the position of the sliding plate 503 and the sucking disc 202 can be conveniently adjusted by rotating the screw rod 506, and the operation is convenient, time-saving and labor-saving.
Specifically, the limiting mechanism 8 includes a sliding rod 803, a sliding rod 803 is disposed inside the mounting plate 201, the sliding rod 803 is of a cross-shaped structure, the sliding rod 803 is slidably connected with the inside of the mounting plate 201 through a driving spring 804, a plurality of grooves 805 distributed in an annular shape are disposed on a side wall of the lead screw 506, one end of the sliding rod 803 abuts against the inside of the groove 805, a pressing block 801 is slidably connected to the mounting plate 201, a linkage 802 is rotatably connected to the pressing block 801, the linkage 802 is rotatably connected to the other end of the sliding rod 803, the linkage 802 is slidably connected to the inside of the mounting plate 201, the sliding rod 803 abuts against the groove 805 on the lead screw 506 under the action of the driving spring 804, so that the lead screw 506 is limited and cannot rotate, the sliding plate 503 is prevented from sliding inside the mounting plate 201 to cause position deviation, and the suction work of the suction cup 202 on a sheet is influenced, when the sliding plate 503 and the suction cup 202 are adjusted, the pressing block 801 is pressed first, so that the pressing block 801 drives the linkage rod 802 to abut against the sliding rod 803, and the sliding rod 803 slides to one side under the action of swinging off the driving spring 804 under the abutting of the linkage rod 802, so as to be separated from the groove 805, and the rotation adjustment of the screw 506 is facilitated.
Specifically, the connecting mechanism 6 includes a bayonet 603, the connecting block 203 is slidably connected with the inside of the connecting plate 205, the inside of the connecting block 203 is slidably connected with four bayonet 603, the inside of the connecting plate 205 is provided with four bayonet 604, the bayonet 603 is abutted against the inside of the bayonet 604, the bayonet 603 is respectively rotatably connected with a pull rod 602, the inside of the connecting block 203 is provided with an air storage tank 606, the inside of the air storage tank 606 is slidably connected with a piston 605, the piston 605 is vertically and fixedly connected with a press rod 601, the plurality of pull rods 602 are respectively rotatably connected with the side wall of the press rod 601, the connecting block 203 is in threaded connection with an air pipe 607, the air pipe 607 is communicated with the inside of the air storage tank 606 through a guide groove 608, after the connecting block 203 is connected with the manipulator 1, the connecting plate 205 is clamped with one end of the connecting block 203, and the air is injected into the air pipe 607 through an external air valve, therefore, gas enters the gas storage groove 606 through the guide groove 608, and is beneficial to abutting and sliding the piston 605, so that the pressure lever 601 is driven to drive the pull rods 602, the pull rods 602 abut against the clamping pins 603 and the clamping grooves 604, the connecting block 203 and the connecting plate 205 are connected and limited, the piston 605 is reset and slides through gas adsorption in the gas pipe 607, the pull rods 602 are pulled through the pressure lever 601, the clamping pins 603 and the clamping grooves 604 are separated, and the connecting block 203 and the connecting plate 205 are conveniently separated and detached.
Specifically, the protection mechanism 7 includes a leather plug 701, two leather plugs 701 are slidably connected inside the connecting block 203, one of the leather plugs 701 is provided with a communicating groove 705 inside, the communicating groove 705 extends to the outside of the leather plug 701, the leather plug 701 is provided with a pressing spring 702, the pressing spring 702 is fixedly connected with the inside of the connecting block 203, two guide grooves 608 are respectively communicated with one side of the leather plug 701, the air pipes 607 are respectively communicated with one side of the leather plugs 701, the side wall of the other leather plug 701 is communicated with the outside of the connecting block 203 through an exhaust groove 703, the exhaust groove 703 is internally provided with a protective net 704, the protective net 704 is communicated with the outside of the connecting block 203, when one of the air pipes 607 injects air, the air pushes the leather plug 701 to slide under the action of the pressing spring 702, so that the air enters the guide grooves 608, when the air pressure becomes low or no air pressure, the leather plug 701 is reset under the action of the extrusion spring 702 to block the air pipe 607, air in the guide groove 608 cannot overflow, so that the bayonet pin 603 cannot be separated from the inside of the bayonet groove 604, the connecting block 203 is stably connected with the connecting plate 205, when the other air pipe 607 injects air, the air pushes the other leather plug 701 to slide, so that the guide groove 608 is communicated with the air exhaust groove 703 through the communicating groove 705, the air in the air storage groove 606 is conveniently exhausted, the piston 605 is reset, the protection of the air exhaust groove 703 is facilitated under the action of the protection net 704, and the blockage of external impurities to the air exhaust groove 703 is prevented.
Specifically, the moving mechanism 4 includes a support rod 402, two sets of support rods 402 are rotatably connected inside the manipulator 1, the support rods 402 are respectively rotatably connected with a roller 401, the roller 401 is communicated with the outside of the manipulator 1, a return spring 405 is connected between the support rod 402 and the manipulator 1, two drive plates 403 are slidably connected inside the manipulator 1, side walls of the two drive plates 403 are respectively rotatably connected with a pressing wheel 406, the pressing wheel 406 is abutted against the support rod 402, the two drive plates 403 are connected through a plurality of connecting rods 404, the connecting rods 404 are slidably connected with the inside of the manipulator 1, a movable groove 407 is formed in the manipulator 1, a pressing plate 409 is rotatably connected inside the movable groove 407, the pressing plate 409 extends to the outside of the manipulator 1, a driving rod 410 is vertically and fixedly connected to the pressing plate 409, and a push rod 408 is rotatably connected to the pressing plate 409, the push rod 408 is rotatably connected with one of the sliding plates 503, a steel pipe is conveniently inserted and fixed under the action of the driving rod 410, then the steel pipe is swung to drive the driving rod 410 and the pressing plate 409 to rotate, and the push rod 408 is extruded, so that the driving plate 403 is driven to slide in the manipulator 1, the pinch roller 406 on the driving plate 403 abuts against the supporting rod 402, the supporting rod 402 is rotated under the action of the reset spring 405, the roller 401 slides out of the manipulator 1 to abut against the ground, the manipulator 1 is lifted, the manipulator 1 is convenient to move and carry, the operation is convenient, the pressing plate 409 resets after the external force is removed, and the supporting rod 402 is accommodated in the manipulator 1 under the gravity of the manipulator 1, so that the manipulator 1 is stably placed on the ground, thereby facilitating subsequent processing.
Specifically, please refer to fig. 9, fig. 9 is a flowchart of a method for using the intelligent robot-based turnover type adjustable manipulator provided by the present invention, and a method for using the intelligent robot-based turnover type adjustable manipulator includes the following steps:
s1: firstly, the moving mechanism 4 is driven to jack the manipulator 1 by the moving mechanism 4, the moving mechanism 4 is pushed to move the manipulator 1 to a position to be processed, and then the external force is removed to enable the manipulator 1 to fall down to be attached to the ground, so that the subsequent processing is convenient;
s2: the adsorption mechanism 2 is connected with the manipulator 1 in a clamping manner, and the connection mechanism 6 works after being filled with gas, so that the connection mechanism 6 is used for limiting the clamping of the interior of the adsorption mechanism 2, and the connection mechanism 6 is stably abutted against the interior of the adsorption mechanism 2 under the action of the protection mechanism 7 and cannot be separated due to the change of air pressure;
s3: when plates with different sizes need to be adsorbed, the adjusting mechanism 5 is convenient to rotate by pressing the limiting mechanism 8, so that the adsorption width of the adsorption mechanism 2 is adjusted, and the plates with different areas can be conveniently adsorbed and used;
s4: through the programming of computer, make manipulator 1 can install the program of writing and move to adsorb the panel of taking that needs processing, and overturn diversified processing, promoted production efficiency.
When the invention is used, firstly, the mounting plate 201 and the mechanical arm 1 are conveniently mounted under the action of the connecting block 203 and the connecting plate 205, the four suckers 202 are mounted on the mounting plate 201, the plates to be processed are conveniently adsorbed, taken and placed by the suckers 202 under the control of an external air valve, the connecting block 203 and the mounting plate 201 are conveniently swung and turned over by the swinging of the mechanical arm 1, the multi-directional processing production of the plates is realized, the production efficiency is improved, the fixture block 302 and the fixture plate 305 are conveniently mounted under the action of the fixing plate 301, the fixture plate 305 is rotated under the action of the compression spring 307 by swinging the fixture plate 305, the pipelines and the circuits which are required to be connected on the mechanical arm 1 are conveniently clamped and fixed, after the external force is removed, the fixture plate 305 and the fixture block 302 are abutted, the pipelines and the circuits are stably clamped, and the circuits are protected under the action of the rubber block 303 and the leather pad 306, the rubber block 303 is abutted against the pipeline and the line under the action of the abutting spring 304, so that the line and the pipeline are firmly clamped between the clamping block 302 and the clamping plate 305 and are not easy to loosen, the rotation of the clamping block 302 and the fixing plate 301 is convenient, the line and the pipeline can freely swing when the mechanical arm 1 works, the abrasion of the pipeline and the line is prevented, after the connecting block 203 is connected with the mechanical arm 1, the connecting plate 205 is clamped with one end of the connecting block 203, gas is injected into the gas pipe 607 through an external gas valve, so that the gas enters the gas storage tank 606 through the guide groove 608, the abutting sliding of the piston 605 is facilitated, the driving pressure rod 601 drives the plurality of pull rods 602, the plurality of pull rods 602 abut against the bayonet pins 603 and the inside of the clamping grooves 604, the connecting block 203 is connected with the connecting plate 205 for limiting, the piston 605 resets and slides through the gas adsorption inside the gas pipe 607, and the pull rods 602 are pulled through the pressure rod 601, so that the bayonet pins 603 are separated from the inside of the clamping grooves 604, the connecting block 203 and the connecting plate 205 are convenient to separate and disassemble, when one air pipe 607 injects air, the air can push the leather plug 701 to slip away from the action of the extrusion spring 702, so that the air enters the guide groove 608, when the air pressure becomes low or no air pressure exists, the leather plug 701 resets under the action of the extrusion spring 702 to block the air pipe 607, the air in the guide groove 608 does not overflow, so that the bayonet pin 603 does not separate from the inside of the bayonet groove 604, the connecting block 203 is stably connected with the connecting plate 205, when the other air pipe 607 injects air, the air pushes the other leather plug 701 to slip, so that the guide groove 608 is communicated with the exhaust groove 703 through the communicating groove 705, the air in the air storage groove 606 is convenient to exhaust, the piston 605 resets, the exhaust groove is favorable for protecting the exhaust groove under the action of the protective net 704, the blocking of the exhaust groove 703 by external sundries is prevented, the sucker 202 is convenient to fix through the installation of the sliding plate 503, the sliding plate 503 can slide in the driving groove 502, so that the distance between the two sliding plates 503 can be conveniently adjusted, meanwhile, the sliding plate 503 drives the sucker 202 to slide in the sliding groove 501 under the action of the sliding groove 501, so that the position distance of the sucker 202 can be conveniently adjusted, boards with different sizes can be conveniently adsorbed and taken, the practicability of the sucker 202 is improved, the sliding plate 503 is stably placed in the driving groove 502 under the action of the telescopic spring 505 and the abutting rod 508, when the screw rod 506 is rotated, the two screw rods 506 are rotated, because the two screw rods 506 are reverse threads, the two driving blocks 507 can keep relative motion, when the driving block 507 slides, the abutting rod 508 can be driven to abut and pull the sliding plate 503, so that the position adjustment of the sliding plate 503 and the sucker 202 can be conveniently realized through the rotation of the screw rod 506, the operation is convenient, time and labor are saved, the sliding rod 803 is abutted to the groove 805 on the screw rod 506 under the action of the driving spring 804, therefore, the screw rod 506 is limited and can not rotate, the sliding plate 503 is prevented from sliding in the mounting plate 201 to cause position deviation, the adsorption work of the sucker 202 on the plate is influenced, when the sliding plate 503 and the sucker 202 are adjusted, the pressing block 801 is pressed firstly, the pressing block 801 drives the linkage rod 802 to abut against the sliding rod 803, the sliding rod 803 slides to one side under the action of the swinging and releasing driving spring 804 under the abutting action of the linkage rod 802, so that the sliding rod is separated from the groove 805, the rotation adjustment of the screw rod 506 is facilitated, the steel pipe is conveniently inserted and fixed under the action of the driving rod 410, then the steel pipe is swung to drive the driving rod 410 and the pressing plate 409 to rotate, and the push rod 408 is squeezed, so that the driving plate 403 slides in the manipulator 1, the pinch roller 406 on the driving plate 403 abuts against the supporting rod 402, the supporting rod 402 rotates under the action of the releasing spring 405, so that the roller 401 slides out of the manipulator 1 to abut against the ground, and promote manipulator 1, make things convenient for manipulator 1 to remove the transport, convenient operation resets when removing external force back clamp plate 409 to bracing piece 402 is accomodate inside manipulator 1 under manipulator 1's gravity, makes manipulator 1 place stably with ground, thereby makes things convenient for follow-up processing.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. The turnover type adjustable manipulator based on the intelligent robot is characterized by comprising a manipulator (1), wherein an adsorption mechanism (2) is detachably connected to the manipulator (1), a plurality of clamping mechanisms (3) are connected to the manipulator (1), an adjusting mechanism (5) is installed inside the adsorption mechanism (2), a limiting mechanism (8) is installed inside the adsorption mechanism (2), a connecting mechanism (6) is installed inside the adsorption mechanism (2), a protection mechanism (7) is installed inside the adsorption mechanism (2), and a moving mechanism (4) is installed inside the manipulator (1); the moving mechanism (4) comprises a supporting rod (402), two groups of supporting rods (402) are rotatably connected inside the mechanical arm (1), rollers (401) are rotatably connected on the supporting rods (402) respectively, the rollers (401) are communicated with the outside of the mechanical arm (1), a reset spring (405) is connected between the supporting rod (402) and the mechanical arm (1), two driving plates (403) are slidably connected inside the mechanical arm (1), press wheels (406) are rotatably connected on the side walls of the two driving plates (403) respectively, the press wheels (406) are abutted against the supporting rods (402), the two driving plates (403) are connected through a plurality of connecting rods (404), the connecting rods (404) are slidably connected inside the mechanical arm (1), a movable groove (407) is formed in the mechanical arm (1), and a press plate (409) is rotatably connected inside the movable groove (407), the pressing plate (409) extends to the outside of the manipulator (1), the pressing plate (409) is vertically and fixedly connected with a driving rod (410), the pressing plate (409) is rotatably connected with an ejector rod (408), and the ejector rod (408) is rotatably connected with one sliding plate (503).
2. The turnover type adjustable manipulator based on the intelligent robot as claimed in claim 1, wherein: adsorption equipment (2) is including connecting block (203), connecting block (203) are "T" shape cylinder structure, can dismantle on manipulator (1) and be connected with connecting block (203), install leather collar (204) between connecting block (203) and manipulator (1), be connected with connecting plate (205) on connecting block (203), be connected with mounting panel (201) on connecting plate (205), connecting plate (205) can be dismantled through the bolt with mounting panel (201) and be connected, install four sucking discs (202) on mounting panel (201).
3. The turnover type adjustable manipulator based on the intelligent robot as claimed in claim 1, wherein: clamping mechanism (3) includes fixed plate (301), install a plurality of fixed plates (301) on manipulator (1), it is connected with fixture block (302) to rotate on fixed plate (301), inside rubber block (303) that is equipped with of fixture block (302), rubber block (303) are through conflict spring (304) and fixture block (302) sliding connection, rubber block (303) extend to fixture block (302) outside, it is connected with cardboard (305) to rotate on fixture block (302), cardboard (305) are the arc structure, fixedly connected with locating piece (308) on fixture block (302), be connected with compression spring (307) between locating piece (308) and cardboard (305), cardboard (305) one end is contradicted with fixture block (302), leather packing (306) are installed to cardboard (305) inboard.
4. The intelligent robot-based turnover type adjustable manipulator of claim 2, wherein the manipulator comprises: adjustment mechanism (5) are including driving groove (502), inside driving groove (502) that is equipped with of mounting panel (201), inside two slide (503) of being equipped with of driving groove (502), slide (503) are through driving groove (502) and mounting panel (201) sliding connection, be equipped with two mounting holes (504) on slide (503), be equipped with two spout (501) on mounting panel (201), spout (501) and driving groove (502) intercommunication, sucking disc (202) run through in spout (501) and mounting hole (504) internal thread connection, sucking disc (202) and spout (501) sliding connection.
5. The intelligent robot-based turnover type adjustable manipulator of claim 4, wherein the manipulator comprises: two be connected with expanding spring (505) on slide (503), expanding spring (505) and the inside fixed connection of mounting panel (201), mounting panel (201) internal rotation is connected with lead screw (506) of two reverse screw threads, lead screw (506) one end extends to mounting panel (201) outside, there are driving block (507), two on lead screw (506) respectively threaded connection have drive block (507) both ends rotate respectively and are connected with and support pole (508), support pole (508) rotate respectively with slide (503) and be connected, support pole (508) and drive groove (502) inside sliding connection.
6. The intelligent robot-based turnover type adjustable manipulator of claim 5, wherein the manipulator comprises: stop gear (8) include slide bar (803), inside slide bar (803) that is equipped with of mounting panel (201), slide bar (803) are "ten" font structure, slide bar (803) are through drive spring (804) and the inside sliding connection of mounting panel (201), lead screw (506) lateral wall is equipped with recess (805) that a plurality of annular distribute, slide bar (803) one end is inside contradicted with recess (805), sliding connection has briquetting (801) on mounting panel (201), sliding connection has trace (802) on briquetting (801), trace (802) are connected with slide bar (803) other end rotation, trace (802) and the inside sliding connection of mounting panel (201).
7. The intelligent robot-based turnover type adjustable manipulator of claim 2, wherein the manipulator comprises: coupling mechanism (6) include bayonet lock (603), connecting block (203) and the inside sliding connection of connecting plate (205), the inside sliding connection of connecting block (203) has four bayonet lock (603), the inside four draw-in groove (604) that are equipped with of connecting plate (205), bayonet lock (603) and draw-in groove (604) inside conflict, it is connected with pull rod (602) to rotate respectively on bayonet lock (603), the inside gas storage tank (606) that is equipped with of connecting block (203), the inside sliding connection of gas storage tank (606) has piston (605), perpendicular fixedly connected with depression bar (601) on piston (605), it is a plurality of pull rod (602) rotates with depression bar (601) lateral wall respectively and is connected, threaded connection has trachea (607) on connecting block (203), trachea (607) are through guide slot (608) and the inside intercommunication of gas storage tank (606).
8. The intelligent robot-based turnover type adjustable manipulator of claim 7, wherein the manipulator comprises: protection machanism (7) are including leather plug (701), connecting block (203) inside sliding connection has two leather plugs (701), one of them leather plug (701) inside is equipped with intercommunication groove (705), intercommunication groove (705) extend to leather plug (701) outside, install extrusion spring (702) on leather plug (701), extrusion spring (702) and connecting block (203) inside fixed connection, two guide slot (608) respectively with leather plug (701) one side intercommunication, trachea (607) communicate with leather plug (701) one side respectively, another leather plug (701) lateral wall passes through exhaust groove (703) and connecting block (203) outside intercommunication, exhaust groove (703) internally mounted has protection network (704), protection network (704) and connecting block (203) outside intercommunication.
9. The use method of the turnover type adjustable manipulator based on the intelligent robot as claimed in any one of claims 1 to 8, wherein: the method comprises the following steps:
s1: firstly, driving a moving mechanism (4), enabling the moving mechanism (4) to jack up a manipulator (1), pushing the moving mechanism (4) to enable the manipulator (1) to move to a position to be processed, and then removing external force to enable the manipulator (1) to fall down to be attached to the ground;
s2: the adsorption mechanism (2) is connected with the manipulator (1) in a clamping manner, and the connection mechanism (6) works after being filled with gas, so that the connection mechanism (6) is limited in the clamping manner inside the adsorption mechanism (2), and the connection mechanism (6) is stably abutted inside the adsorption mechanism (2) under the action of the protection mechanism (7) and cannot be separated due to the change of air pressure;
s3: when plates with different sizes need to be adsorbed, the adjusting mechanism (5) is rotated by pressing the limiting mechanism (8), so that the adsorption width of the adsorption mechanism (2) is adjusted;
s4: through the programming of a computer, the manipulator (1) can move according to a programmed program, so that the plate to be processed is adsorbed and taken, and the plate to be processed is overturned and processed in multiple directions.
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| CN202111080359.0A CN113524151A (en) | 2021-09-15 | 2021-09-15 | Turnover type adjustable manipulator based on intelligent robot and use method thereof |
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| CN202111080359.0A CN113524151A (en) | 2021-09-15 | 2021-09-15 | Turnover type adjustable manipulator based on intelligent robot and use method thereof |
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| CN114700925A (en) * | 2022-03-03 | 2022-07-05 | 电子科技大学成都学院 | Mechanical arm |
| CN114844289A (en) * | 2022-07-04 | 2022-08-02 | 深圳市盛泰奇科技有限公司 | Servo motor for woodworking machine tool |
| CN115194514A (en) * | 2022-08-11 | 2022-10-18 | 山东实胜机械股份有限公司 | Conversion frock of high accuracy forging drilling |
| CN116277100A (en) * | 2023-02-01 | 2023-06-23 | 江苏炜磊科技有限公司 | Clamping type manipulator based on bolt processing |
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Application publication date: 20211022 |