CN113601544A - Synergistic industrial manipulator - Google Patents
Synergistic industrial manipulator Download PDFInfo
- Publication number
- CN113601544A CN113601544A CN202111173601.9A CN202111173601A CN113601544A CN 113601544 A CN113601544 A CN 113601544A CN 202111173601 A CN202111173601 A CN 202111173601A CN 113601544 A CN113601544 A CN 113601544A
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- China
- Prior art keywords
- clamping
- bearing
- auxiliary
- plate
- goods
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
Abstract
The application provides an increase type industrial robot, including the backup pad, the middle part on backup pad top is provided with coupling mechanism. According to the synergistic industrial manipulator, the two clamping and bearing mechanisms are driven to be close to each other through the driving mechanism, and goods can be clamped through the two clamping and bearing mechanisms; the auxiliary rod is adjusted to be perpendicular to the clamping and bearing mechanism, so that a grapple structure can be formed between the clamping and bearing mechanism and the auxiliary rod, and at the moment, goods can be grabbed through the synergistic industrial manipulator; through overturning the supporting plate and horizontally arranging the two clamping bearing mechanisms on two sides of the supporting plate, a lifting structure can be formed between the supporting plate and the two clamping bearing mechanisms, and goods can be moved in a lifting mode on the supporting plate and the two clamping bearing mechanisms, so that the enhanced industrial manipulator can move different types of goods.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to an enhanced industrial mechanical arm.
Background
The accuracy of manipulator operations and the ability to perform operations in a variety of environments are becoming more and more widely used. In the actual production process, remove the goods through the manipulator, and the mode that the goods of different grade type adopted also is different, and the mode that the centre gripping was adopted to the stereoplasm goods, flexible goods adopted snatchs, and the mode that lifts from the bottom is adopted to some great fragile article of volume, and among the prior art, need use the manipulator of different grade type when removing the goods of different grade type, lead to the mill to need purchase many manipulators to influence the result of use of manipulator.
Disclosure of Invention
The invention aims to solve the following problems: different types of robots are required to move different types of goods.
In order to achieve the above object, the present invention provides the following technical solutions to improve the above problems.
An enhanced industrial robot, comprising:
a support plate;
the connecting mechanism is arranged in the middle of the top end of the supporting plate, is specifically a deformation structure and is used for connecting the supporting plate and the driving system;
the driving mechanism is arranged on the supporting plate;
the two clamping and bearing mechanisms are arranged on the driving mechanism and are used for fixing goods;
the two auxiliary mechanisms are respectively arranged on the two clamping and bearing mechanisms and are used for assisting the clamping and bearing mechanisms to fix the goods;
the two supporting and sharing mechanisms are respectively arranged on the two clamping and bearing mechanisms and are used for supporting the clamping and bearing mechanisms;
the driving mechanism is used for driving the two clamping and bearing mechanisms to approach or separate from each other, so that the clamping and bearing mechanisms can fix and release the goods;
the clamping and bearing mechanism comprises a clamping part, the clamping part is in threaded connection with the driving mechanism, the clamping part is of a rotating structure and is used for fixing goods under the driving of the driving mechanism, and the clamping part is used for bearing the goods after rotating;
the clamping part is provided with a locking part which is used for locking the clamping part;
the auxiliary mechanism comprises an adjusting part and an auxiliary part, the adjusting part is arranged on the clamping and bearing mechanism and used for driving the auxiliary part to lift, and the auxiliary part is arranged between the adjusting part and the clamping and bearing mechanism and used for assisting the clamping part to fix goods;
the auxiliary part comprises an auxiliary structure, a fixing structure and a transmission structure, the transmission structure is arranged on the auxiliary structure and used for connecting the auxiliary structure and the adjusting part, and the fixing structure is arranged on the auxiliary structure and used for fixing the auxiliary structure.
As the preferred technical scheme of this application, the clamping part includes first transmission board, the bottom of first transmission board articulates there is the keysets, the bottom fixedly connected with centre gripping loading board of keysets.
As the preferred technical scheme of this application, regulation portion is including seting up the second cavity in the centre gripping loading board, rotate through the bearing in the second cavity and be connected with the pivot, the one end of pivot is passed the second cavity and is extended to the outside of centre gripping loading board one side.
As the preferred technical scheme of this application, regulation portion still includes the hand wheel, hand wheel fixed mounting is located the outside one end of centre gripping loading board at the pivot.
As the preferred technical scheme of this application, auxiliary structure includes that two are seted up the third spout on the centre gripping loading board, two equal sliding connection has the connector, two in the third spout the bottom of connector all articulates there is the auxiliary rod.
As the preferred technical scheme of this application, the auxiliary structure still includes that two are seted up respectively at two recesses on auxiliary rod one side, two the guide way, four have all been seted up on the inner wall of recess both sides equal sliding connection has the guide block in the guide way.
As the preferred technical scheme of this application, fixed knot constructs including two respectively fixed connection between four guide blocks and respectively with two recess sliding connection's locating plate, fixedly connected with second spring between guide block and the guide way.
As the preferred technical scheme of this application, the transmission structure includes that two open the through-hole on two locating plates respectively, threaded connection has the threaded rod between connector and the auxiliary rod, the top of threaded rod passes the third spout and extends to in the second cavity.
As the preferred technical scheme of this application, transmission structure still includes the bevel gear group of fixed mounting on the threaded rod top, the external fixed surface of bevel gear group and pivot is connected, be provided with the bearing between the inner wall of the surface of threaded rod and centre gripping loading board.
As the preferable technical scheme of the application, the supporting and sharing mechanism comprises a connecting part and a sharing part, the connecting part is arranged on the clamping and bearing mechanism and used for connecting the clamping and bearing mechanism and the sharing part, and the sharing part is arranged on the connecting part and used for sharing the pressure of the driving mechanism.
Compared with the prior art, the invention has the beneficial effects that:
1. in order to solve the problem that in the prior art, different types of mechanical arms are needed to be used when different types of goods are moved, the synergistic industrial mechanical arm is designed, two clamping and bearing mechanisms are driven to be close to each other through a driving mechanism, and the goods can be clamped through the two clamping and bearing mechanisms; the auxiliary rod is adjusted to be perpendicular to the clamping and bearing mechanism, so that a grapple structure can be formed between the clamping and bearing mechanism and the auxiliary rod, and at the moment, goods can be grabbed through the synergistic industrial manipulator; the supporting plate is turned over, the two clamping and bearing mechanisms are horizontally arranged on the two sides of the supporting plate, so that a lifting structure can be formed between the supporting plate and the two clamping and bearing mechanisms, and goods can be placed on the supporting plate and the two clamping and bearing mechanisms and can move in a lifting mode, so that the enhanced industrial manipulator can move different types of goods, the number of manipulators required to be purchased in a factory can be reduced, and the using effect of the invention is improved;
2. in order to improve the stability of the manipulator in goods grabbing, the clamping and bearing mechanism is designed, when goods are clamped, the clamping and bearing mechanism can be used as a part for clamping the goods, when the goods are grabbed, the clamping and bearing mechanism can protect the goods, and the stability of the manipulator in goods grabbing is improved;
3. in order to further improve the efficiency of the manipulator, the clamping and bearing mechanism is designed, when goods are lifted, the clamping and bearing mechanism is horizontally arranged on two sides of the supporting plate, the length of the manipulator can be improved, the manipulator can lift more goods, and the using effect of the manipulator is further improved;
4. in order to increase the stabilizing effect when clamping the goods, the auxiliary mechanism is designed, when clamping the goods, the distance between the auxiliary mechanism and the supporting plate can be adjusted, the clamping range of the goods can be increased through the auxiliary mechanism, the contact area between the bottom end of the auxiliary mechanism and the goods can be increased through the positioning plate, and the stabilizing effect when clamping the goods can be increased;
5. according to the auxiliary mechanism designed by the application, when goods are grabbed, the auxiliary rod is perpendicular to the clamping and bearing mechanism after rotating, the auxiliary mechanism serves as a grab hook, the positioning plate can fix the auxiliary rod after rotating, so that the auxiliary rod and the clamping and bearing mechanism are in a perpendicular state, and when the goods are lifted, the auxiliary rod perpendicular to the clamping and bearing mechanism can play a limiting and protecting role on the goods;
6. in order to prolong the service life of the manipulator, the supporting and sharing mechanism is designed, when goods are clamped and grabbed, the clamping and bearing mechanism can be supported through the supporting and sharing mechanism, the gravity borne by the driving mechanism can be reduced, the bending deformation of the driving mechanism is reduced, and the service life of the manipulator is prolonged;
7. in order to improve this stability that the backup pad placed subaerial before lifting the goods, this application design supports shares the mechanism, when lifting the goods, supports and shares the mechanism and can support the backup pad through structural deformation, can improve this stability that the backup pad placed subaerial before lifting the goods.
Drawings
Fig. 1 is a schematic structural diagram of an enhanced industrial robot provided herein;
fig. 2 is a schematic structural diagram of the enhanced industrial robot provided by the present application when grabbing goods;
fig. 3 is a schematic structural diagram of the enhanced industrial robot provided by the present application when lifting goods;
fig. 4 is a schematic structural diagram of the enhanced industrial robot provided by the present application after the roller rotates;
fig. 5 is a schematic cross-sectional structural view of a second connecting seat of the enhanced industrial robot provided in the present application;
FIG. 6 is an enlarged schematic view of the structure at A in FIG. 2;
fig. 7 is a schematic structural diagram of a clamping and carrying mechanism and an auxiliary part of the enhanced industrial robot provided by the present application;
FIG. 8 is a schematic cross-sectional view of a clamping plate of the enhanced industrial robot provided herein;
fig. 9 is a schematic structural view of an auxiliary rod of the synergistic industrial robot provided in the present application;
fig. 10 is a schematic structural diagram of a groove of the enhanced industrial robot provided by the present application;
fig. 11 is a schematic structural view of a guide block of the enhanced industrial robot provided in the present application;
FIG. 12 is a schematic view of the threaded rod of the enhanced industrial robot provided herein;
fig. 13 is a schematic structural diagram of a supporting and sharing mechanism of the enhanced industrial robot provided in the present application.
The following are marked in the figure:
1. a support plate; 2. a connecting mechanism; 201. a first connecting seat; 202. a second connecting seat; 203. a connecting frame; 204. fixing the screw rod; 205. a jack; 3. a drive mechanism; 301. a first chamber; 302. a first chute; 303. a stopper; 304. a bidirectional screw rod; 305. a drive assembly; 306. a threaded heat dissipation hole; 4. clamping the bearing mechanism; 401. a first drive plate; 402. an adapter plate; 403. clamping the bearing plate; 404. a second chute; 405. pushing the plate; 406. inserting a rod; 407. a first spring; 408. a limiting groove; 5. an auxiliary mechanism; 501. a second chamber; 502. a rotating shaft; 503. a bevel gear set; 504. a third chute; 505. a connector; 506. an auxiliary lever; 507. a groove; 508. a guide groove; 509. a guide block; 510. positioning a plate; 511. a second spring; 512. a through hole; 513. a threaded rod; 6. a support sharing mechanism; 601. a second connecting plate; 602. a square groove; 603. a square plate; 604. a third spring; 605. a fourth chute; 606. a socket; 607. a fourth spring; 608. a first connecting rod; 609. a second connecting rod; 610. connecting blocks; 611. a roller; 612. a third connecting rod; 613. a fourth connecting rod; 614. and (4) a slot.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.
Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but is merely representative of some embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments of the present invention and the features and technical solutions thereof may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like refer to orientations or positional relationships based on those shown in the drawings, or orientations or positional relationships that are conventionally arranged when the products of the present invention are used, or orientations or positional relationships that are conventionally understood by those skilled in the art, and such terms are used for convenience of description and simplification of the description, and do not refer to or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, the present embodiment provides a synergistic industrial robot including:
a support plate 1;
the connecting mechanism 2 is arranged in the middle of the top end of the supporting plate 1, the connecting mechanism 2 is a deformation structure and is used for connecting the supporting plate 1 with a driving system, and the driving system is a truss driving system in the prior art;
the driving mechanism 3 is arranged on the supporting plate 1;
the two clamping and bearing mechanisms 4 are arranged on the driving mechanism 3 and are used for fixing goods;
the two auxiliary mechanisms 5 are respectively arranged on the two clamping and bearing mechanisms 4 and are used for assisting the clamping and bearing mechanisms 4 in fixing goods;
and the two supporting and sharing mechanisms 6 are respectively arranged on the two clamping and bearing mechanisms 4 and are used for supporting the clamping and bearing mechanisms 4.
As shown in fig. 1, 3, 4, 5 and 6, as a preferred embodiment, based on the above-mentioned manner, further, the connecting mechanism 2 includes a first connecting seat 201 hinged at the middle of the top end of the supporting plate 1, one end of the first connecting seat 201 away from the supporting plate 1 is hinged with a second connecting seat 202, two insertion holes 205 are opened through the side surface of the second connecting seat 202, two connecting frames 203 with connecting holes are fixedly installed at one side of the second connecting seat 202 away from the first connecting seat 201, the manipulator can be connected with the driving system by passing bolts through the connecting holes on the connecting frames 203, two fixing screws 204 are threadedly connected between the second connecting seat 202, the first connecting seat 201 and the supporting plate 1, the fixing screws 204 can fix the second connecting seat 202 and the first connecting seat 201 when being disposed between the second connecting seat 202, the first connecting seat 201 and the supporting plate 1, make second connecting seat 202 and first connecting seat 201 unable rotation, when lifting the goods, backup pad 1 need overturn, coupling mechanism 2 is located the below of backup pad 1 behind the backup pad 1 upset, be not convenient for and actuating system connection, twist fixing screw 204 this moment, then rotate first connecting seat 201 and second connecting seat 202, make jack 205 aim at screw thread louvre 306, twist fixing screw 204 again between jack 205 and actuating mechanism 3, coupling mechanism 2's form is like figure 3 and figure 4 this moment, make link 203 can link together with actuating system after backup pad 1 overturns.
As shown in fig. 1 and fig. 5, as a preferred embodiment, on the basis of the above manner, further, the driving mechanism 3 is configured to drive the two clamping and carrying mechanisms 4 to approach or separate from each other, so as to fix and release the goods by the clamping and carrying mechanisms 4, the driving mechanism 3 includes a first chamber 301 and two first sliding grooves 302, the first chamber 301 and the two first sliding grooves 302 are both disposed on the supporting plate 1, the two first sliding grooves 302 are respectively located at two sides of the first chamber 301, the two first sliding grooves 302 are both fixedly installed with a stopper 303 far from the first chamber 301, a bidirectional screw 304 is rotatably connected between the two stoppers 303 through a bearing, a driving assembly 305 located in the first chamber 301 is disposed on an outer surface of the bidirectional screw 304, two threaded heat dissipation holes 306 are respectively disposed on inner walls at two sides of the first chamber 301, when clamping or grabbing goods, heat generated when the driving assembly 305 works can be discharged by disposing the threaded heat dissipation holes 306, when goods are lifted, the first connecting seat 201 and the second connecting seat 202 can be fixed by screwing the fixing screw 204 between the jack 205 and the threaded heat dissipation hole 306;
the driving assembly 305 comprises a motor and two gears, the motor is installed in the first chamber 301, the two gears are respectively sleeved on an output shaft of the motor and the bidirectional screw rod 304 and are meshed with each other, the motor can drive the two gears to rotate, and the gears can drive the bidirectional screw rod 304 to rotate.
As shown in fig. 1, 2, 7 and 8, as a preferred embodiment, on the basis of the above-mentioned manner, further, the clamping and carrying mechanism 4 includes a clamping portion, the clamping portion is in threaded connection with the bidirectional screw rod 304, the clamping portion itself is a rotating structure for fixing the goods under the driving of the driving mechanism 3, the clamping portion is used for carrying the goods after rotating, the clamping portion includes a first transmission plate 401 in threaded connection with the outer surface of the bidirectional screw rod 304, the bottom end of the first transmission plate 401 is hinged with an adapter plate 402, and the bottom end of the adapter plate 402 is fixedly connected with a clamping and carrying plate 403.
As shown in fig. 7, 8 and 13, as a preferred embodiment, on the basis of the above-mentioned manner, further, a locking portion is provided on the clamping portion, the locking portion is used for locking the clamping portion, the locking portion includes a second sliding slot 404 provided in the middle of the adapter plate 402 and a limiting slot 408 provided in the middle of the bottom end of the first transmission plate 401, a push plate 405 is slidably connected in the second sliding slot 404, an insertion rod 406 is fixedly installed on one surface of the push plate 405, one end of the insertion rod 406 away from the push plate 405 passes through the second sliding slot 404 and is inserted into the limiting slot 408, when the insertion rod 406 is inserted into the limiting slot 408, the first transmission plate 401 and the adapter plate 402 can be fixed, so that the adapter plate 402 cannot rotate, so that the clamping bearing plate 403 can clamp the cargo, when the push plate 405 is pulled downward, the insertion rod 406 can be separated from the limiting slot 408, at this time, the adapter plate 402 can rotate, one surface of the push plate 405 away from the push plate 405 is fixedly connected with a first spring 407, one end of the first spring 407 away from the push plate 405 is fixedly connected to the clamping carrier plate 403.
As shown in fig. 8, as a preferred embodiment, in addition to the above mode, the auxiliary mechanism 5 further includes an adjusting portion and an auxiliary portion, the adjusting portion is disposed on the clamp bearing mechanism 4 and is used for driving the auxiliary portion to ascend and descend, and the auxiliary portion is disposed between the adjusting portion and the clamp bearing mechanism 4 and is used for fixing the goods by the auxiliary portion;
the auxiliary part comprises an auxiliary structure, a fixing structure and a transmission structure, the transmission structure is arranged on the auxiliary structure and used for connecting the auxiliary structure and the adjusting part, and the fixing structure is arranged on the auxiliary structure and used for fixing the auxiliary structure;
the regulating part comprises a second cavity 501 arranged in the clamping bearing plate 403, a rotating shaft 502 is rotatably connected in the second cavity 501 through a bearing, one end of the rotating shaft 502 penetrates through the second cavity 501 and extends to the outside of one side of the clamping bearing plate 403, and a hand wheel is fixedly connected with the rotating shaft, and the rotating shaft 502 can be rotated by a user conveniently through the arranged hand wheel.
As shown in fig. 7, 8, 9, 10 and 11, as a preferred embodiment, on the basis of the above manner, further, the auxiliary structure includes two third sliding grooves 504 formed on the clamping and loading plate 403, the two third sliding grooves 504 are connected with connecting heads 505 in a sliding manner, and the bottom ends of the two connecting heads 505 are hinged with auxiliary rods 506.
The auxiliary structure further comprises two grooves 507 which are respectively arranged on one side of the two auxiliary rods 506, guide grooves 508 are respectively arranged on the inner walls of the two sides of the two grooves 507, and guide blocks 509 are respectively connected into the four guide grooves 508 in a sliding mode.
Fixed knot constructs including two respectively fixed connection between four guide blocks 509 and respectively with two recess 507 sliding connection's locating plate 510, fixedly connected with second spring 511 between guide block 509 and the guide way 508, rotate pivot 502 and can make auxiliary rod 506 and locating plate 510 descend, can increase the centre gripping scope to the goods, and locating plate 510 can increase the area of contact of 5 bottoms of complementary unit and goods, can increase the stable effect when to the goods centre gripping.
As shown in fig. 2, 9, 10, 11 and 12, as a preferred embodiment, on the basis of the above-mentioned manner, further, the transmission structure includes two through holes 512 respectively opened on the two positioning plates 510, a threaded rod 513 is connected between the connecting head 505 and the auxiliary rod 506 by screw threads, when the auxiliary rod 506 rotates to be perpendicular to the connecting head 505, the positioning plate 510 is pushed to align the position of the through hole 512 with the position of the threaded rod 513, at this time, the threaded rod 513 can pass through the through hole 512, so as to prevent the positioning plate 510 from influencing the threaded rod 513 after the auxiliary rod 506 rotates, and the top end of the threaded rod 513 passes through the third sliding chute 504 and extends into the second chamber 501;
the transmission structure further comprises a bevel gear group 503 fixedly installed at the top end of the threaded rod 513, the bevel gear group 503 is composed of two bevel gears which are fixedly installed on the threaded rod 513 and the rotating shaft 502 respectively and are meshed with each other, the bevel gear group 503 is fixedly connected with the outer surface of the rotating shaft 502, a bearing is arranged between the outer surface of the threaded rod 513 and the inner wall of the clamping bearing plate 403, the bevel gear group 503 and the threaded rod 513 can be driven to rotate by rotating the rotating shaft 502, the auxiliary rod 506 and the connecting head 505 can ascend or descend by rotating the threaded rod 513, and therefore the clamping position of the auxiliary mechanism 5 on goods is adjusted.
As shown in fig. 1, 2, 3, 4 and 13, as a preferred embodiment, in addition to the above-mentioned embodiment, the supporting and sharing mechanism 6 further includes a connecting portion and a sharing portion, the connecting portion is disposed on the clamping and carrying mechanism 4 and is used for connecting the clamping and carrying mechanism 4 and the sharing portion, the sharing portion is disposed on the connecting portion and is used for sharing the pressure of the driving mechanism 3, the connecting portion includes a second connecting plate 601 disposed above the first driving plate 401, and a square groove 602 is opened in the middle of the second connecting plate 601.
As shown in fig. 1, 2, 3, 4 and 13, as a preferred embodiment, in addition to the above-mentioned mode, a square plate 603 is slidably connected in the square groove 602, the square plate 603 cannot rotate in the square groove 602, so that the second connecting plate 601 cannot rotate during use, and the stability of the second connecting plate 601 can be improved, a third spring 604 is fixedly connected between the square plate 603 and the square groove 602, a fourth connecting rod 613 is fixedly connected to one surface of the square plate 603 away from the third spring 604, and one end of the fourth connecting rod 613 away from the square plate 603 penetrates through the second connecting plate 601, extends to the lower part of the support plate 1, and is fixedly connected to the top of the first transmission plate 401.
As shown in fig. 1, 2, 3, 4 and 13, as a preferred embodiment, on the basis of the above manner, further, the sharing part includes two fourth sliding grooves 605 respectively formed on two sides of the second connecting plate 601, sockets 606 are formed on the tops of the inner cavities of the two fourth sliding grooves 605, first connecting rods 608 are slidably connected in the two fourth sliding grooves 605, one ends of the two first connecting rods 608, which are far away from each other, are hinged to second connecting rods 609, one ends of the two second connecting rods 609, which are far away from each other, are fixedly connected to connecting blocks 610, slots 614 are formed on two sides of the two connecting blocks 610, the connecting blocks 610 can be inserted into the sockets 606 through the slots 614 formed in the connecting blocks 610, and the connecting blocks 610 can be limited through the sockets 606 and the slots 614, so that the connecting blocks 610 can be prevented from rotating after being inserted into the sockets 606.
As shown in fig. 1, 2, 3, 4 and 13, as a preferred embodiment, on the basis of the above-mentioned manner, further, one side of each of the two connection blocks 610 away from each other is fixedly connected with a third connection rod 612, the two third connection rods 612 respectively extend to the outside of both sides of the second connection plate 601, the outer surfaces of the two third connection rods 612 are rotatably connected with rollers 611 through bearings, when the state of the manipulator is as shown in fig. 1 and 2, the rollers 611 can support the second connection plate 601, so that the second connection plate 601 is separated from the support plate 1, friction between the supporting and sharing mechanism 6 and the support plate 1 can be reduced, and when the state of the manipulator is as shown in fig. 3 and 4, the rollers 611 are not in contact with the support plate 1 after being subjected to position conversion, and the rollers 611 are in contact with the support plate 1 under the action force of the third spring 604, so that the rollers 611 can cooperate with the third connection rods 612 to support the support plate 1, one side of the first connecting rod 608 away from the second connecting rod 609 is fixedly connected with a fourth spring 607, and one end of the fourth spring 607 away from the first connecting rod 608 is fixedly connected with the fourth sliding groove 605.
Specifically, when the synergistic industrial manipulator works/is used, the synergistic industrial manipulator comprises the following steps:
s1, clamping goods: the manipulator is in a shape shown in fig. 1, passes through a connecting hole in a connecting frame 203 through a thread, is connected with a driving system, rotates a rotating shaft 502, drives a bevel gear set 503 and a threaded rod 513 to rotate through the rotating shaft 502, so that an auxiliary rod 506 slides in a third sliding groove 504, adjusts the distance between the bottom end of the auxiliary rod 506 and a supporting plate 1 according to the actual situation of the goods, moves the manipulator to a specified position through the driving system after adjustment, drives a bidirectional screw rod 304 to rotate through a driving assembly 305, and drives two clamping and bearing mechanisms 4 to approach each other through the rotation of the bidirectional screw rod 304 so as to clamp the goods;
s2, grabbing goods: the manipulator is switched from the state shown in fig. 1 to the state shown in fig. 2, firstly, the rotating shaft 502 is rotated, the bevel gear set 503 and the threaded rod 513 are driven to rotate through the rotating shaft 502, the auxiliary rod 506 and the connector 505 descend, the rotating shaft 502 stops rotating when the auxiliary rod 506 is separated from the threaded rod 513, the positioning plate 510 is pulled downwards, then the auxiliary rod 506 is rotated by ninety degrees, the positioning plate 510 is pushed to enable the through hole 512 to be aligned with the threaded rod 513, the rotating shaft 502 is rotated reversely to enable the threaded rod 513 to penetrate through the through hole 512, at the moment, a grappling structure can be formed between the clamping bearing plate 403 and the auxiliary rod 506, and the goods can be grabbed by driving the two auxiliary mechanisms 5 to be close to each other through the driving mechanism 3 and the two clamping bearing mechanisms 4;
when the manipulator needs to be switched back to the shape shown in fig. 1, the rotating shaft 502 is rotated to lower the connecting head 505, when the threaded rod 513 is separated from the through hole 512, the rotating shaft 502 is stopped rotating, the positioning plate 510 is pushed to reset, then the positioning plate 510 is released after the auxiliary rod 506 is rotated, and the rotating shaft 502 is rotated reversely to connect the threaded rod 513 between the connecting head 505 and the auxiliary rod 506;
s3, lifting goods: firstly, bolts for connecting a driving system and a connecting frame 203 are screwed off, then a fixing screw 204 is rotated to separate the fixing screw 204 from a first connecting seat 201 and a second connecting seat 202, then the first connecting seat 201 is rotated to attach the first connecting seat 201 to a supporting plate 1, the second connecting seat 202 is rotated to attach the second connecting seat 202 to the supporting plate 1, so that a jack 205 is aligned with a threaded heat dissipation hole 306, the fixing screw 204 is screwed between the jack 205 and the threaded heat dissipation hole 306, a driving assembly 305 drives a bidirectional screw 304 to rotate so that two first transmission plates 401 are far away from each other and are respectively contacted with two stoppers 303, then a push plate 405 is pushed to separate a plug rod 406 from a limiting groove 408 and rotate a clamping bearing plate 403 outwards to contact the adapter plate 402 and the stoppers 303, then the driving assembly 305 drives the bidirectional screw 304 to rotate reversely so that the two clamping bearing plates 403 are respectively contacted with two sides of the supporting plate 1, then, the roller 611 is pulled outwards to separate the connecting block 610 from the fourth sliding groove 605, then the connecting block 610 is rotated to enable the slot 614 to be aligned with the socket 606 and push the connecting block 610 to be inserted into the socket 606, and the manipulator is integrally inverted, at the moment, the shape of the manipulator is as shown in fig. 3, the connecting frame 203 and the driving system are connected through the bolt, goods are placed on the supporting plate 1 and the clamping bearing plate 403, the goods can be lifted and moved through the manipulator, when the manipulator is in contact with the ground, the supporting plate 1 can be supported through the roller 611, and the stability of the supporting plate 1 placed on the ground can be improved;
when the manipulator needs to be switched back to fig. 1, the driving assembly 305 drives the bidirectional screw rod 304 to rotate so that the two clamping bearing plates 403 are away from each other, then the push plate 405 is pushed and the clamping bearing plates 403 are rotated so that the clamping bearing plates 403 are perpendicular to the supporting plate 1, the push plate 405 is loosened so that the insertion rod 406 is inserted into the limiting groove 408, the two fixing screws 204 are screwed to turn the supporting plate 1 over, the second connecting seat 202 and the first connecting seat 201 are erected, the fixing screws 204 are screwed back between the second connecting seat 202, the first connecting seat 201 and the supporting plate 1, then the third connecting rod 612 is pushed outwards so that the connecting block 610 is separated from the inserting hole 606, and then the connecting block 610 is rotated so that the connecting block 610 is aligned with the fourth sliding groove 605 and is inserted into the fourth sliding groove 605.
The above embodiments are only used for illustrating the invention and not for limiting the technical solutions described in the invention, and although the present invention has been described in detail in the present specification with reference to the above embodiments, the present invention is not limited to the above embodiments, and therefore, any modification or equivalent replacement of the present invention is made; all such modifications and variations are intended to be included herein within the scope of this disclosure and the appended claims.
Claims (10)
1. An enhanced industrial robot, comprising:
a support plate;
the connecting mechanism is arranged in the middle of the top end of the supporting plate, is specifically a deformation structure and is used for connecting the supporting plate and the driving system;
the driving mechanism is arranged on the supporting plate;
the two clamping and bearing mechanisms are arranged on the driving mechanism and are used for fixing goods;
the two auxiliary mechanisms are respectively arranged on the two clamping and bearing mechanisms and are used for assisting the clamping and bearing mechanisms to fix the goods;
the two supporting and sharing mechanisms are respectively arranged on the two clamping and bearing mechanisms and are used for supporting the clamping and bearing mechanisms;
the driving mechanism is used for driving the two clamping and bearing mechanisms to approach or separate from each other, so that the clamping and bearing mechanisms can fix and release the goods;
the clamping and bearing mechanism comprises a clamping part, the clamping part is in threaded connection with the driving mechanism, the clamping part is of a rotating structure and is used for fixing goods under the driving of the driving mechanism, and the clamping part is used for bearing the goods after rotating;
the clamping part is provided with a locking part which is used for locking the clamping part;
the auxiliary mechanism comprises an adjusting part and an auxiliary part, the adjusting part is arranged on the clamping and bearing mechanism and used for driving the auxiliary part to lift, and the auxiliary part is arranged between the adjusting part and the clamping and bearing mechanism and used for assisting the clamping part to fix goods;
the auxiliary part comprises an auxiliary structure, a fixing structure and a transmission structure, the transmission structure is arranged on the auxiliary structure and used for connecting the auxiliary structure and the adjusting part, and the fixing structure is arranged on the auxiliary structure and used for fixing the auxiliary structure.
2. The enhanced industrial manipulator of claim 1, wherein the clamping portion comprises a first transmission plate, an adapter plate is hinged to the bottom end of the first transmission plate, and a clamping bearing plate is fixedly connected to the bottom end of the adapter plate.
3. The enhanced industrial robot as claimed in claim 2, wherein the adjusting part comprises a second cavity formed in the clamping plate, a rotating shaft is rotatably connected to the second cavity through a bearing, and one end of the rotating shaft passes through the second cavity and extends to the outside of one side of the clamping plate.
4. The enhanced industrial manipulator of claim 3, wherein the adjusting portion further comprises a hand wheel, and the hand wheel is fixedly installed at one end of the rotating shaft, which is located outside the clamping and bearing plate.
5. The enhanced industrial manipulator of claim 4, wherein the auxiliary structure comprises two third sliding grooves formed in the clamping bearing plate, two connectors are slidably connected in the two third sliding grooves, and auxiliary rods are hinged to the bottom ends of the two connectors.
6. The enhanced industrial manipulator according to claim 5, wherein the auxiliary structure further comprises two grooves respectively formed on one side of the two auxiliary rods, guide grooves are formed on inner walls of two sides of the two grooves, and guide blocks are slidably connected in the four guide grooves.
7. The enhanced industrial robot as claimed in claim 6, wherein the fixing structure comprises two positioning plates fixedly connected between the four guide blocks and slidably connected with the two grooves, respectively, and a second spring is fixedly connected between the guide blocks and the guide grooves.
8. The enhanced industrial robot as claimed in claim 7, wherein the transmission structure comprises two through holes respectively formed on the two positioning plates, a threaded rod is threadedly connected between the connecting head and the auxiliary rod, and a top end of the threaded rod passes through the third sliding groove and extends into the second chamber.
9. The enhanced industrial robot of claim 8, wherein the transmission structure further comprises a bevel gear set fixedly mounted on the top end of the threaded rod, the bevel gear set is fixedly connected with the outer surface of the rotating shaft, and a bearing is arranged between the outer surface of the threaded rod and the inner wall of the clamping bearing plate.
10. The enhanced industrial robot of claim 9, wherein the supporting and sharing mechanism comprises a connecting portion and a sharing portion, the connecting portion is disposed on the clamping and supporting mechanism for connecting the clamping and supporting mechanism and the sharing portion, and the sharing portion is disposed on the connecting portion for sharing the pressure of the driving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111173601.9A CN113601544A (en) | 2021-10-09 | 2021-10-09 | Synergistic industrial manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111173601.9A CN113601544A (en) | 2021-10-09 | 2021-10-09 | Synergistic industrial manipulator |
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| CN113601544A true CN113601544A (en) | 2021-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111173601.9A Withdrawn CN113601544A (en) | 2021-10-09 | 2021-10-09 | Synergistic industrial manipulator |
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| CN (1) | CN113601544A (en) |
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| CN113772413A (en) * | 2021-11-09 | 2021-12-10 | 杭州骏沃机电科技有限公司 | High-efficient pile up neatly device for commodity circulation |
| CN113928849A (en) * | 2021-11-06 | 2022-01-14 | 郑路 | A device is got to dangerous article clamp of chemical industry for safety in production |
| CN114476658A (en) * | 2022-03-02 | 2022-05-13 | 何斌 | A transport manipulator for intelligent manufacturing line |
| CN114481847A (en) * | 2022-02-09 | 2022-05-13 | 中化学建设投资集团有限公司 | Construction device and construction process for mounting prefabricated beam plate on bridge girder erection machine |
| CN114888835A (en) * | 2022-06-24 | 2022-08-12 | 付敏 | Micro mechanical arm for picking up particles and use method thereof |
| CN116330332A (en) * | 2023-05-31 | 2023-06-27 | 中国科学院沈阳自动化研究所 | Large flexible body posture adjustment manipulator |
| CN116652994A (en) * | 2023-07-31 | 2023-08-29 | 南通固邦数控机床有限公司 | Turnover type adjustable manipulator for industrial production and application method thereof |
| CN117182886A (en) * | 2023-11-07 | 2023-12-08 | 纳图智能科技(常州)有限公司 | Manipulator is used in circuit breaker production line processing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113928849A (en) * | 2021-11-06 | 2022-01-14 | 郑路 | A device is got to dangerous article clamp of chemical industry for safety in production |
| CN113772413A (en) * | 2021-11-09 | 2021-12-10 | 杭州骏沃机电科技有限公司 | High-efficient pile up neatly device for commodity circulation |
| CN114481847A (en) * | 2022-02-09 | 2022-05-13 | 中化学建设投资集团有限公司 | Construction device and construction process for mounting prefabricated beam plate on bridge girder erection machine |
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| CN116652994A (en) * | 2023-07-31 | 2023-08-29 | 南通固邦数控机床有限公司 | Turnover type adjustable manipulator for industrial production and application method thereof |
| CN116652994B (en) * | 2023-07-31 | 2023-10-10 | 南通固邦数控机床有限公司 | Turnover type adjustable manipulator for industrial production and application method thereof |
| CN117182886A (en) * | 2023-11-07 | 2023-12-08 | 纳图智能科技(常州)有限公司 | Manipulator is used in circuit breaker production line processing |
| CN117182886B (en) * | 2023-11-07 | 2024-01-23 | 纳图智能科技(常州)有限公司 | Manipulator is used in circuit breaker production line processing |
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