CN113650003B - Manipulator for machining micro heat pipe - Google Patents

Abstract

The invention discloses a manipulator for micro heat pipe processing, which relates to the technical field of manipulators and comprises a manipulator body, a connecting frame, a driving box, a first clamping part, a second clamping part and a third clamping part, wherein the connecting frame is connected with the working end of the manipulator body; the invention solves the problems that in the prior art, a manipulator only has a single clamping mode, a new clamping mode needs to be replaced when the clamping mode of the micro heat pipe is changed, the machining efficiency of the micro heat pipe is influenced and the machining cost is increased no matter a new manipulator or clamping equipment is additionally arranged.

Description

Manipulator for machining micro heat pipe

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator for machining a micro heat pipe.

Background

With the rapid development of information technology, the heat dissipation demand of electronic products is also increasing. The micro heat pipe technology is widely applied to the fields of electronic equipment, military weapons, aerospace and the like, so that the experimental research of the micro heat pipe is a scientific and technological project which is a key national item.

The micro heat pipe is a device for carrying out heat transmission by utilizing phase change of working media sealed in the pipe, has the remarkable advantages of small volume, light weight, high heat transfer efficiency, low cost, easy integration, no need of external power and the like, can effectively solve the heat dissipation problem of the existing micro device and chip, and has wide application prospect.

Because the precision of the micro heat pipe is high, the micro heat pipe is generally clamped by the manipulator and is fixed and then moved to one side of the processing equipment for finish processing, the flexibility of the manipulator is high, and the manipulator can move automatically within a certain range, so that the manipulator can generally perform feeding and discharging operations on the micro heat pipe.

In the prior art, when a micro heat pipe is processed, the micro heat pipe is generally clamped by a manipulator and then moved to a processing device for processing.

The chinese patent with patent publication No. CN110900561A in the prior art discloses a pipe supporting manipulator, which comprises: the crawler is used for driving the pipe supporting manipulator to move; the support assembly is fixedly arranged on the top of the crawler and used for providing a supporting force; the folding arm system comprises a rotary table arranged on the supporting assembly, a folding arm arranged and fixed on the rotary table and a control unit, wherein the control unit controls the folding arm to extend, retract and bend, and controls the rotary table to drive the folding arm to rotate; clamping jaw subassembly, clamping jaw subassembly including install in the head end of roll over the arm forms articulated support arm, is fixed in the clamping jaw on support arm top and install in the supporting wheel of support arm bottom, the clamping jaw with support arm mutually perpendicular sets up. Compared with the prior art, the pipe supporting manipulator is convenient to operate and high in operation efficiency.

The manipulator in the aforesaid only possesses single kind and gets the mode of pressing from both sides, can lead to when the manipulator presss from both sides the pipe shaft of tight little heat pipe like this, and the tube shaft that the processing equipment just can't be processed the little heat pipe, just need change the new mode of pressing from both sides this moment, and no matter add new manipulator or change and press from both sides the machining efficiency that the equipment all can influence little heat pipe to the processing cost has been increased.

Disclosure of Invention

The embodiment of the invention provides a manipulator for machining a micro heat pipe, which aims to solve the problems in the background technology.

The embodiment of the invention adopts the following technical scheme: a manipulator for micro heat pipe processing comprises a manipulator body, a connecting frame, a driving box, a first clamping part, a second clamping part and a third clamping part, the connecting frame is connected with the working end of the manipulator body, one side of the connecting frame is provided with a first motor, two driving shafts are symmetrically arranged on two side walls in the connecting frame, the driving box is arranged between the two driving shafts, the driving box is connected with two driving shafts, the output end of the first motor is connected with one of the driving shafts, the first clamping component, the second clamping component and the third clamping component are all arranged on the driving box, and the first clamping component, the second clamping component and the third clamping component are respectively positioned in three directions of the driving box, the third clamping member corresponds to the first clamping member and also corresponds to the second clamping member.

Further, be equipped with U-shaped hole, arc wall and a style of calligraphy hole on the drive case, the U-shaped hole is equipped with two, two U-shaped hole symmetry sets up on the both sides of drive case, the arc wall is located a lateral wall of drive case, the arc wall is corresponding with second clamping part, a style of calligraphy hole is located another lateral wall of drive case, a style of calligraphy hole is corresponding with first clamping part.

Further, the first clamping part comprises a second motor, first fixing plates, a threaded rod, two moving blocks, first connecting frames, first connecting rods and a first clamp, the second motor, the first fixing plates, the threaded rod and the moving blocks are all arranged inside the driving box, the first fixing plates are arranged in two numbers, the two first fixing plates are symmetrically arranged on the inner side wall of the driving box, the second motor is positioned on one side of one of the first fixing plates, the output end of the second motor is connected with the threaded rod, the threaded rod is arranged between the two first fixing plates, the thread surfaces at the two ends of the threaded rod are arranged in opposite directions, the moving blocks, the first connecting frames and the first connecting rods are arranged in two numbers, the two moving blocks are symmetrically arranged at the two ends of the threaded rod, and each first connecting frame is connected with one moving block, the two first connecting frames are located in the linear holes, each first connecting rod is connected with one first connecting frame, and each group of first clamps are arranged on one first connecting rod.

Furthermore, each group of the first fixtures comprises a placing box, a third motor, a fixing frame, a protection plate, a worm wheel, worm wheel placing rods, fixtures and a rubber protection layer, the third motor is arranged in the placing box, the fixing frame is arranged below the placing box, the protection plate is arranged at the bottom end of the fixing frame, the worm wheel and the worm wheel placing rods are all arranged in the fixing frame, the worm wheel and the worm wheel placing rods are all positioned above the protection plate, the output end of the third motor is connected with the worm, the worm wheel placing rods, the fixtures and the rubber protection layer are all provided with two worm wheel placing rods, the two worm wheel placing rods are symmetrically arranged at two sides of the worm, the two ends of the two worm wheel placing rods are rotatably connected with the fixing frame, the two worm wheels are respectively arranged on the two worm wheel placing rods, and the two worm wheels are all meshed with the worm, the two clamps are respectively arranged on the two worm wheel placing rods, and the two rubber protective layers are respectively arranged on the clamps.

Further, the second clamping component comprises a fixed shaft, a second connecting rod, a second clamp, a fourth motor, a rotating shaft, a first telescopic plate, a second telescopic plate, an adjusting movable plate, a movable shaft, a third connecting rod and a limiting plate, the fixed shaft is arranged on the driving box, one end of the second connecting rod is connected with the fixed shaft, the second clamp is arranged at the other end of the fixed shaft, the structural principle of the second clamp is consistent with that of the first clamp, the fourth motor is arranged on the inner side wall of the driving box, the output end of the fourth motor is connected with the rotating shaft, the rotating shaft is positioned on the outer side wall of the driving box, the first telescopic plate is arranged on one side of the rotating shaft, the movable shaft is arranged in the arc-shaped groove in a sliding manner, the second telescopic plate is arranged on one side of the movable shaft, movable grooves are formed in the first telescopic plate and the second telescopic plate, the two sides of the adjusting movable plate are respectively inserted into the movable grooves in the first telescopic plate and the second telescopic plate, two limiting columns are symmetrically arranged at the two ends of the adjusting movable plate, the third connecting rod is arranged on the movable shaft, and the limiting plates are arranged on the third connecting rod.

Furthermore, the third clamping part comprises a driving assembly and a clamping assembly, the driving assembly is arranged in the driving box, the clamping assembly is provided with two groups, the two groups are symmetrically arranged on the outer side of the driving box, the clamping assemblies are connected with the driving assembly, and each group corresponds to one U-shaped hole.

Further, drive assembly includes fifth motor, actuating lever, second fixed plate, transfer line and connects the belt, the fifth motor sets up on the inside wall of drive case, the output of fifth motor is connected with the one end of actuating lever, the other end of actuating lever rotates and sets up on the second fixed plate, the transfer line sets up on the intermediate position in the drive case, the both ends of connecting the belt overlap respectively and establish on actuating lever and transfer line.

Further, every group the clamping unit all includes second connecting axle, telescopic link, the spacing frame of second, third fixed plate, electric putter and presss from both sides tight frame, the second connecting axle sets up on one side of transfer line, the pole body and the second connecting axle of telescopic link are connected, the spacing frame of second is located the U-shaped downthehole, the one end of the spacing frame of second is connected with the flexible end of telescopic link, the third fixed plate sets up on the other end of the spacing frame of second, electric putter sets up on the outside of third fixed plate, it sets up on the inboard of third fixed plate to press from both sides tight frame, electric putter's output and the clamp are put up and are connected.

The embodiment of the invention adopts at least one technical scheme which can achieve the following beneficial effects:

firstly, when the invention is operated, the connecting frame is driven by the operation of the manipulator body to enable the first clamping part, the second clamping part and the third clamping part which are positioned in the driving box to move randomly in a certain range, so that the first clamping part can grab the micro heat pipe from the feeding device of the micro heat pipe, then the micro heat pipe is moved to the corresponding processing equipment for processing, after the micro heat pipe is clamped by the first clamping part and the corresponding processing is finished, the third clamping part rotates on the driving box through the third clamping part, the third clamping part can move to correspond to the first clamping part, then the third clamping part can clamp the micro heat pipe from two sides, and at the moment, whether the third clamping part moves the micro heat pipe to the second clamping part for processing or processes correspondingly on the third clamping part is determined according to the next processing step of the micro heat pipe, when the processing operation of the micro heat pipe is finished, the micro heat pipe is subjected to blanking; the problem that in the prior art, a manipulator generally only has a single clamping mode, when the clamping mode of the micro heat pipe is changed, a new clamping mode needs to be changed, and the machining efficiency of the micro heat pipe is affected and the machining cost is increased no matter a new manipulator is additionally arranged or the clamping equipment is changed is solved; the invention improves the processing efficiency of the micro heat pipe and reduces the processing cost of the micro heat pipe.

The threaded rod can rotate under the driving of the second motor, the two moving blocks can move relatively when the threaded rod rotates, and the moving blocks can drive the first clamp to move synchronously through the first connecting frame and the first connecting rod, so that the two groups of clamps can be adjusted according to the size of the micro heat pipe and are suitable for micro heat pipes with different sizes; the practicability is improved.

Thirdly, the worm can drive the two worm wheels to rotate through the driving of the third motor, the worm wheels can drive the worm wheel placing rods to rotate when rotating, the fixture can be driven to rotate through the worm wheel placing rods, the two fixtures can be opened when the third motor drives the worm to rotate clockwise, the micro heat pipe can be placed in the fixture at the moment, the two fixtures can be closed when the third motor drives the worm to rotate anticlockwise, the micro heat pipe can be fixed through the fixture at the moment, and the surface of the micro heat pipe can be protected from being damaged due to the connection with the fixture through a rubber protective layer arranged on the fixture; the micro heat pipe can be fixed by the clamp through the connection and the matching, and the micro heat pipe can not deviate during processing.

Fourthly, the rotating shaft can be driven to rotate by the fourth motor, the rotating shaft can drive the movable shaft to move in the arc-shaped groove through the first expansion plate, the second expansion plate and the adjusting movable plate when rotating, and the adjusting movable plate can be adjusted in the first expansion plate and the second expansion plate along with the movement of the movable shaft, so that the movement of the movable shaft is not hindered; when the third clamping part moves the micro heat pipe to the second clamp, the second clamp drives the micro heat pipe to the working end of the corresponding processing equipment through the movement of the manipulator body to process one end of the micro heat pipe, and the movable shaft drives the limiting plate to synchronously move to the other end of the micro heat pipe after moving, so that the other end of the micro heat pipe supporting the micro heat pipe can be supported, the clamping force applied to the micro heat pipe by the second clamp can be reduced through the limiting plate, the micro heat pipe is prevented from being damaged when the clamping force of the second clamp is large, and the clamping force of the second clamp is also prevented from being small, the micro heat pipe can be deviated, and the micro heat pipe is shaken or even dropped.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a first partial schematic view of the present invention;

FIG. 3 is a schematic partial perspective cross-sectional view of the present invention;

FIG. 4 is a perspective view of a first clamping member of the present invention;

FIG. 5 is a first view illustrating a first clamp according to the present invention;

FIG. 6 is a second schematic view of a partial structure of the first clamp of the present invention;

FIG. 7 is a perspective view of a second clamping member of the present invention;

FIG. 8 is a first perspective view of a third clamping member in accordance with the present invention;

fig. 9 is a second perspective view of a third clamping member in accordance with the present invention.

Reference numerals: 1. a manipulator body; 2. a connecting frame; 21. a first motor; 22. a drive shaft; 3. a drive box; 31. a U-shaped hole; 32. an arc-shaped slot; 33. a slotted hole; 4. a first clamping member; 41. a second motor; 42. a first fixing plate; 43. a threaded rod; 44. a moving block; 45. a first connecting frame; 46. a first connecting rod; 47. a first clamp; 471. placing a box; 472. a third motor; 473. a fixed mount; 474. a protection plate; 475. a worm; 476. a worm gear; 477. a worm wheel placing rod; 478. a clamp; 479. a rubber protective layer; 5. a second clamping member; 51. a fixed shaft; 52. a second connecting rod; 53. a second clamp; 54. a fourth motor; 55. a rotating shaft; 56. a first expansion plate; 57. a second expansion plate; 58. adjusting the movable plate; 509. a limiting column; 510. a movable shaft; 511. a third connecting rod; 512. a limiting plate; 6. a third clamping member; 61. a drive assembly; 611. a fifth motor; 612. a drive rod; 613. a second fixing plate; 614. a transmission rod; 615. connecting a belt; 62. a clamping assembly; 621. a second connecting shaft; 622. a telescopic rod; 623. a second limiting frame; 624. a third fixing plate; 625. an electric push rod; 626. and (4) clamping the frame.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope 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.

The technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 9, an embodiment of the present invention provides a manipulator for micro heat pipe processing, including a manipulator body 1, a connecting frame 2, a driving box 3, a first clamping component 4, a second clamping component 5, and a third clamping component 6, where the manipulator body 1 and the connecting frame 2 are all in the prior art, the connecting frame 2 is connected to a working end of the manipulator body 1, a first motor 21 is disposed on one side of the connecting frame 2, two driving shafts 22 are symmetrically disposed on two side walls in the connecting frame 2, the driving box 3 is disposed between the two driving shafts 22, the driving box 3 is connected to the two driving shafts 22, an output end of the first motor 21 is connected to one of the driving shafts 22, the first clamping component 4, the second clamping component 5, and the third clamping component 6 are all disposed on the driving box 3, and the first clamping component 4, the second clamping component, and the third clamping component 6 are disposed on the driving box 3, The second clamping member 5 and the third clamping member 6 are respectively positioned in three directions of the driving case 3, the third clamping member 6 corresponds to the first clamping member 4, and the third clamping member 6 also corresponds to the second clamping member 5; the first clamping part 4, the second clamping part 5 and the third clamping part 6 respectively adopt different clamping modes for the micro heat pipe, the first clamping part 4, the second clamping part 5 and the third clamping part 6 can be used as grabbing ends for feeding and discharging the micro heat pipe, and the proper grabbing ends can be selected according to the feeding mode of a micro heat pipe feeding device; when the micro heat pipe machining device works, the connecting frame 2 is driven by the operation of the manipulator body 1 to enable the first clamping part 4, the second clamping part 5 and the third clamping part 6 which are positioned in the driving box 3 to move randomly within a certain range, so that the first clamping part 4 can grab the micro heat pipe from a feeding device of the micro heat pipe and then move the micro heat pipe to corresponding machining equipment for machining, after the micro heat pipe is clamped by the first clamping part 4 and is machined correspondingly, the third clamping part 6 rotates on the driving box 3 through the third clamping part 6, the third clamping part 6 moves to correspond to the first clamping part 4, then the third clamping part 6 clamps the micro heat pipe from two sides, and at the moment, the third clamping part 6 is determined to move the micro heat pipe to the second clamping part 5 for machining according to the next machining step of the micro heat pipe, or carrying out corresponding processing on the third clamping part 6, and blanking the micro heat pipe when the processing operation of the micro heat pipe is finished; the invention solves the problems that in the prior art, a manipulator generally only has a single clamping mode, so that when the manipulator clamps the tube body of the micro heat pipe, the processing equipment cannot process the tube body of the micro heat pipe, and at the moment, a new clamping mode needs to be replaced, and the processing efficiency of the micro heat pipe is influenced and the processing cost is increased no matter a new manipulator is additionally arranged or the clamping equipment is replaced.

Specifically, referring to fig. 1-2, be equipped with U-shaped hole 31, arc wall 32 and a style of calligraphy hole 33 on the drive case 3, U-shaped hole 31 is equipped with two, two U-shaped hole 31 symmetry sets up on the both sides of drive case 3, arc wall 32 is located a lateral wall of drive case 3, arc wall 32 is corresponding with second clamping part 5, a style of calligraphy hole 33 is located another lateral wall of drive case 3, a style of calligraphy hole 33 is corresponding with first clamping part 4.

Specifically, referring to fig. 4, the first clamping component 4 includes a second motor 41, first fixing plates 42, a threaded rod 43, a moving block 44, first connecting frames 45, first connecting rods 46 and first clamps 47, the second motor 41, the first fixing plates 42, the threaded rod 43 and the moving block 44 are all disposed inside the driving box 3, two first fixing plates 42 are disposed, the two first fixing plates 42 are symmetrically disposed on the inner side wall of the driving box 3, the second motor 41 is disposed on one side of one of the first fixing plates 42, the output end of the second motor 41 is connected to the threaded rod 43, the threaded rod 43 is disposed between the two first fixing plates 42, the threaded surfaces at two ends of the threaded rod 43 are disposed in opposite directions, two moving blocks 44, two first connecting frames 45 and two first connecting rods 46 are disposed, and two sets of the first clamps 47 are disposed, the two moving blocks 44 are symmetrically arranged at two ends of the threaded rod 43, each first connecting frame 45 is connected with one moving block 44, the two first connecting frames 45 are located in the straight-line-shaped holes 33, each first connecting rod 46 is connected with one first connecting frame 45, and each group of first clamps 47 is arranged on one first connecting rod 46; when the operation is performed, the threaded rod 43 can be rotated by the driving of the second motor 41, the threaded rod 43 can enable the two moving blocks 44 to move relatively when rotating, and the moving blocks 44 can drive the first clamp 47 to move synchronously through the first connecting frame 45 and the first connecting rod 46, so that the two sets of clamps 478 can be adjusted according to the size of the micro heat pipe to adapt to the micro heat pipes with different sizes.

Specifically, referring to fig. 4 to 6, each set of the first clamps 47 includes a placing case 471, a third motor 472, a fixing frame 473, a protection plate 474, a worm 475, a worm wheel 476, a worm wheel placing rod 477, a clamp 478, and a rubber protection layer 479, the third motor 472 is disposed in the placing case 471, the fixing frame 473 is disposed below the placing case 471, the protection plate 474 is disposed at a bottom end in the fixing frame 473, the worm 475, the worm wheel 476, and the worm wheel placing rod 477 are disposed above the protection plate 474, an output end of the third motor 472 is connected to the worm 475, two worm wheels 476, 477, two clamp 478, and rubber protection layer 479 are disposed, two of the worm wheel placing rods 477 are symmetrically disposed on two sides of the worm 475, and two ends of the two worm wheel placing rods 477 are rotatably connected to the fixing frame 473, two worm gears 476 are respectively provided on the two worm gear placing rods 477, the two worm gears 476 are both engaged with the worm 475, two clamps 478 are respectively provided on the two worm gear placing rods 477, and two rubber guards 479 are respectively provided on the clamps 478; the worm 475 can drive the two worm wheels 476 to rotate by driving of the third motor 472, the worm wheels 476 can drive the worm wheel placing rods 477 to rotate when rotating, the clamp 478 can be driven to rotate by the worm wheel placing rods 477, the two clamps 478 can be opened when the worm 475 is driven by the third motor 472 to rotate clockwise, the micro heat pipe can be placed in the clamp 478 at the moment, the two clamps 478 can be closed when the worm 475 is driven by the third motor 472 to rotate counterclockwise, the micro heat pipe can be fixed by the clamps 478 at the moment, and the micro heat pipe can be protected from surface damage caused by connection with the clamps 478 by a rubber protective layer 479 arranged on the clamps 478; the above-mentioned connection and engagement can make the clamp 478 complete the fixing operation of the micro heat pipe, and the micro heat pipe will not be shifted during the processing.

Specifically, referring to fig. 7, the second clamping member 5 includes a fixed shaft 51, a second connecting rod 52, a second clamp 53, a fourth motor 54, a rotating shaft 55, a first retractable plate 56, a second retractable plate 57, an adjusting movable plate 58, a movable shaft 510, a third connecting rod 511, and a limiting plate 512, the fixed shaft 51 is disposed on the driving box 3, one end of the second connecting rod 52 is connected to the fixed shaft 51, the second clamp 53 is disposed on the other end of the fixed shaft 51, the second clamp 53 is configured in accordance with the first clamp 47, the fourth motor 54 is disposed on the inner sidewall of the driving box 3, the output end of the fourth motor 54 is connected to the rotating shaft 55, the rotating shaft 55 is located on the outer sidewall of the driving box 3, the first retractable plate 56 is disposed on one side of the rotating shaft 55, the movable shaft 510 is slidably disposed in the arc-shaped groove 32, the second expansion plate 57 is arranged on one side of the movable shaft 510, movable grooves are formed in the first expansion plate 56 and the second expansion plate 57, two sides of the adjusting movable plate 58 are respectively inserted into the movable grooves of the first expansion plate 56 and the second expansion plate 57, two limiting columns 509 are symmetrically arranged at two ends of the adjusting movable plate 58, the third connecting rod 511 is arranged on the movable shaft 510, and the limiting plate 512 is arranged on the third connecting rod 511; when in operation, the rotating shaft 55 can be driven by the fourth motor 54 to rotate, when rotating, the rotating shaft 55 drives the movable shaft 510 to move in the arc-shaped groove 32 through the first telescopic plate 56, the second telescopic plate 57 and the adjusting movable plate 58, and the adjusting movable plate 58 can be adjusted in the first telescopic plate 56 and the second telescopic plate 57 along with the movement of the movable shaft 510, so that the movement of the movable shaft 510 is not hindered; when the third clamping part 6 moves the micro heat pipe to the second clamp 53, the second clamp 53 drives the micro heat pipe to the working end of the corresponding processing equipment to process one end of the micro heat pipe through the movement of the manipulator body 1, the movable shaft 510 drives the limiting plate 512 to synchronously move to the other end of the micro heat pipe after moving, so that the limiting plate 512 supports the other end of the micro heat pipe, the bottom end of the micro heat pipe is supported through the limiting plate 512, the bottom end of the micro heat pipe is provided with a supporting point when the micro heat pipe is in a vertical state, and the clamping force of the second clamp 53 can be properly adjusted. The micro heat pipe is prevented from being damaged when the clamping force of the second clamp 53 is large, and the micro heat pipe can be prevented from being deviated, shaken or even dropped when the clamping force of the second clamp 53 is small.

Specifically, referring to fig. 3, the third clamping component 6 includes a driving assembly 61 and two clamping assemblies 62, the driving assembly 61 is disposed in the driving box 3, the two clamping assemblies 62 are disposed in two sets, the two sets of clamping assemblies 62 are symmetrically disposed on the outer side of the driving box 3, the two sets of clamping assemblies 62 are connected to the driving assembly 61, and each set of clamping assemblies 62 corresponds to one U-shaped hole 31.

Specifically, referring to fig. 8 to 9, the driving assembly 61 includes a fifth motor 611, a driving rod 612, a second fixing plate 613, a driving rod 614 and a connecting belt 615, the fifth motor 611 is disposed on an inner sidewall of the driving box 3, an output end of the fifth motor 611 is connected to one end of the driving rod 612, the other end of the driving rod 612 is rotatably disposed on the second fixing plate 613, the driving rod 614 is disposed at an intermediate position in the driving box 3, and two ends of the connecting belt 615 are respectively sleeved on the driving rod 612 and the driving rod 614; the driving rod 612 can be driven by the fifth motor 611 to rotate to drive the connecting belt 615 to rotate, the connecting belt 615 can drive the transmission rod 614 to rotate, and the transmission rod 614 can drive the two sets of clamping assemblies 62 to synchronously rotate when rotating, so that the two sets of clamping assemblies 62 can move along the U-shaped hole 31.

Specifically, referring to fig. 8 to 9, each set of the clamping assemblies 62 includes a second connecting shaft 621, an expansion link 622, a second limiting frame 623, a third fixing plate 624, an electric push rod 625, and a clamping frame 626, the second connecting shaft 621 is disposed on one side of the transmission link 614, the rod body of the expansion link 622 is connected to the second connecting shaft 621, the second limiting frame 623 is located in the U-shaped hole 31, one end of the second limiting frame 623 is connected to the expansion end of the expansion link 622, the third fixing plate 624 is disposed on the other end of the second limiting frame 623, the electric push rod 625 is disposed on the outer side of the third fixing plate 624, the clamping frame 626 is disposed on the inner side of the third fixing plate 624, and the output end of the electric push rod 625 is connected to the clamping frame 626; when the micro heat pipe is located between the two clamping frames 626, the electric push rod 625 drives the clamping frames 626 to extend and retract, so that the clamping frames 626 are inserted into the pipe at one end of the micro heat pipe, the two clamping frames 626 can fix the micro heat pipe, then the second connecting shaft 621 can rotate along the transmission rod 614 under the driving of the transmission rod 614, when the second connecting shaft 621 rotates, the telescopic rod 622 drives the second limiting frame 623 to enable the third fixing plate 624, the electric push rod 625 and the clamping frames 626 to move along the U-shaped hole 31, and the position of the telescopic rod 622 can be adjusted according to actual conditions.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (3)

1. The manipulator for the micro heat pipe machining comprises a manipulator body (1) and a connecting frame (2), and is characterized by further comprising a driving box (3), a first clamping part (4), a second clamping part (5) and a third clamping part (6), wherein the connecting frame (2) is connected with the working end of the manipulator body (1), a first motor (21) is arranged on one side of the connecting frame (2), two driving shafts (22) are symmetrically arranged on two side walls in the connecting frame (2), the driving box (3) is arranged between the two driving shafts (22), the driving box (3) is connected with the two driving shafts (22), the output end of the first motor (21) is connected with one of the driving shafts (22), and the first clamping part (4), the second clamping part (5) and the third clamping part (6) are all arranged on the driving box (3), and the first clamping component (4), the second clamping component (5) and the third clamping component (6) are respectively positioned in three directions of the driving box (3), the third clamping component (6) corresponds to the first clamping component (4), and said third clamping part (6) also corresponds to the second clamping part (5), when the first clamping part (4) clamps the micro heat pipe to finish the corresponding processing, the third clamping part (6) rotates on the driving box (3) and moves to correspond to the first clamping part (4), then the third clamping part (6) clamps the micro heat pipe from two sides, and at the moment, whether the third clamping part (6) moves the micro heat pipe to the second clamping part (5) for processing or carries out corresponding processing on the third clamping part (6) is determined according to the next processing step of the micro heat pipe; the driving box (3) is provided with two U-shaped holes (31), two arc-shaped grooves (32) and two linear holes (33), the two U-shaped holes (31) are symmetrically arranged on two sides of the driving box (3), the arc-shaped grooves (32) are positioned on one side wall of the driving box (3), the arc-shaped grooves (32) correspond to the second clamping part (5), the linear holes (33) are positioned on the other side wall of the driving box (3), and the linear holes (33) correspond to the first clamping part (4); the first clamping part (4) comprises a second motor (41), two first fixing plates (42), a threaded rod (43), a moving block (44), two first connecting frames (45), two first connecting rods (46) and a first clamp (47), the second motor (41), the first fixing plates (42), the threaded rod (43) and the moving block (44) are all arranged inside the driving box (3), the number of the first fixing plates (42) is two, the two first fixing plates (42) are symmetrically arranged on the inner side wall of the driving box (3), the second motor (41) is located on one side of one of the first fixing plates (42), the output end of the second motor (41) is connected with the threaded rod (43), the threaded rod (43) is arranged between the two first fixing plates (42), the thread surfaces at two ends of the threaded rod (43) are arranged in opposite directions, and the moving block (44), Two first connecting frames (45) and two first connecting rods (46) are arranged, two groups of first clamps (47) are arranged, the two moving blocks (44) are symmetrically arranged at two ends of the threaded rod (43), each first connecting frame (45) is connected with one moving block (44), the two first connecting frames (45) are located in the linear hole (33), each first connecting rod (46) is connected with one first connecting frame (45), and each group of first clamps (47) is arranged on one first connecting rod (46); each group of the first clamps (47) comprises a placing box (471), a third motor (472), a fixing frame (473), a protection plate (474), a worm (475), a worm wheel (476), a worm wheel placing rod (477), a clamp (478) and a rubber protection layer (479), the third motor (472) is arranged in the placing box (471), the fixing frame (473) is arranged below the placing box (471), the protection plate (474) is arranged at the bottom end in the fixing frame (473), the worm (475), the worm wheel (476) and the worm wheel placing rod (477) are all arranged in the fixing frame (473), the worm (475), the worm wheel (476) and the worm wheel placing rod (477) are all located above the protection plate (474), the output end of the third motor (472) is connected with the worm (475), the worm wheel (476), the worm wheel placing rod (477), the clamp (479) and the rubber protection layer (479) are all provided with two, the two worm wheel placing rods (477) are symmetrically arranged at two sides of a worm (475), two ends of the two worm wheel placing rods (477) are rotatably connected with a fixing frame (473), the two worm wheels (476) are respectively arranged on the two worm wheel placing rods (477), the two worm wheels (476) are respectively meshed with the worm (475), the two clamps (478) are respectively arranged on the two worm wheel placing rods (477), and the two rubber protective layers (479) are respectively arranged on the clamps (478); the second clamping part (5) comprises a fixed shaft (51), a second connecting rod (52), a second clamp (53), a fourth motor (54), a rotating shaft (55), a first telescopic plate (56), a second telescopic plate (57), an adjusting movable plate (58), a movable shaft (510), a third connecting rod (511) and a limiting plate (512), the fixed shaft (51) is arranged on the driving box (3), one end of the second connecting rod (52) is connected with the fixed shaft (51), the second clamp (53) is arranged at the other end of the fixed shaft (51), the structural principle of the second clamp (53) is consistent with that of the first clamp (47), the fourth motor (54) is arranged on the inner side wall of the driving box (3), the output end of the fourth motor (54) is connected with the rotating shaft (55), and the rotating shaft (55) is positioned on the outer side wall of the driving box (3), the first expansion plate (56) is arranged on one side of the rotating shaft (55), the movable shaft (510) is arranged in the arc-shaped groove (32) in a sliding manner, the second expansion plate (57) is arranged on one side of the movable shaft (510), movable grooves are formed in the first expansion plate (56) and the second expansion plate (57), two sides of the adjusting movable plate (58) are respectively inserted into the movable grooves in the first expansion plate (56) and the second expansion plate (57), two limiting columns (509) are symmetrically arranged at two ends of the adjusting movable plate (58), the third connecting rod (511) is arranged on the movable shaft (510), and the limiting plate (512) is arranged on the third connecting rod (511); third clamping unit (6) are including drive assembly (61) and clamping components (62), drive assembly (61) set up in drive case (3), clamping components (62) are equipped with two sets ofly, two sets of clamping components (62) symmetry sets up in the outside of drive case (3), and two sets of clamping components (62) all are connected with drive assembly (61), every group clamping components (62) all correspond with a U shape hole (31).

2. The manipulator for micro heat pipe processing according to claim 1, wherein the driving assembly (61) comprises a fifth motor (611), a driving rod (612), a second fixing plate (613), a driving rod (614) and a connecting belt (615), the fifth motor (611) is disposed on an inner side wall of the driving box (3), an output end of the fifth motor (611) is connected with one end of the driving rod (612), the other end of the driving rod (612) is rotatably disposed on the second fixing plate (613), the driving rod (614) is disposed at an intermediate position in the driving box (3), and two ends of the connecting belt (615) are respectively sleeved on the driving rod (612) and the driving rod (614).

3. The manipulator for micro heat pipe processing according to claim 2, wherein each set of the clamping assemblies (62) comprises a second connecting shaft (621), a telescopic rod (622), a second limiting frame (623), a third fixing plate (624), an electric push rod (625), and a clamping frame (626), the second connecting shaft (621) is disposed on one side of the transmission rod (614), the rod body of the telescopic rod (622) is connected with the second connecting shaft (621), the second limiting frame (623) is located in the U-shaped hole (31), one end of the second limiting frame (623) is connected with the telescopic end of the telescopic rod (622), the third fixing plate (624) is disposed on the other end of the second limiting frame (623), the electric push rod (625) is disposed on the outer side of the third fixing plate (624), and the clamping frame (626) is disposed on the inner side of the third fixing plate (624), the output end of the electric push rod (625) is connected with the clamping frame (626).

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