CN113664802A - Power-assisted manipulator structure based on four-way rotating seat type - Google Patents
Power-assisted manipulator structure based on four-way rotating seat type Download PDFInfo
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- CN113664802A CN113664802A CN202111021171.9A CN202111021171A CN113664802A CN 113664802 A CN113664802 A CN 113664802A CN 202111021171 A CN202111021171 A CN 202111021171A CN 113664802 A CN113664802 A CN 113664802A
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- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 230000000694 effects Effects 0.000 claims abstract description 17
- 230000004224 protection Effects 0.000 claims abstract description 11
- 230000001050 lubricating effect Effects 0.000 claims abstract description 6
- 238000003860 storage Methods 0.000 claims description 25
- 239000010985 leather Substances 0.000 claims description 10
- 230000009979 protective mechanism Effects 0.000 claims 1
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 238000000926 separation method Methods 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 21
- 230000002349 favourable effect Effects 0.000 description 15
- 239000010687 lubricating oil Substances 0.000 description 13
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000002035 prolonged effect Effects 0.000 description 4
- 230000005574 cross-species transmission Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 230000002337 anti-port Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
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Abstract
The invention relates to the technical field of manipulators, in particular to a four-way rotary seat type power-assisted manipulator structure which comprises a manipulator body, wherein a sliding mechanism is arranged on the manipulator body, a limiting mechanism is arranged on the sliding mechanism, a connecting mechanism is arranged on the sliding mechanism, lubricating mechanisms are arranged on two sides of the sliding mechanism, a moving mechanism is arranged on the sliding mechanism, and a protection mechanism is arranged on the sliding mechanism; through the cooperation of slide mechanism and stop gear, increased the working range of manipulator body, made manipulator body work more stable, through stop gear's drive, made lubricated mechanism work, made slide mechanism slide smoothly, make things convenient for a plurality of slide mechanism to assemble the connection under coupling mechanism's effect, further increased the working range of manipulator body, under protection machanism and moving mechanism's cooperation, make things convenient for slide mechanism to dismantle the separation, can use in different regions.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a four-way rotating seat type power-assisted manipulator structure.
Background
The power-assisted mechanical hand is also called a mechanical hand, is novel power-assisted equipment which is used for labor-saving operation in material carrying and installation, can liberate labor hands to a great extent, reduces unnecessary physical expenditure of workers, can be suitable for carrying special articles in special places, and has irreplaceable advantages.
However, traditional because four ways roating seat formula helping hand manipulator all is with ground fixed mounting at the during operation, and the manipulator can only be carried the inside goods of effective range, still need the manual work to carry when needs are to the goods transport that surpass the circumference within range, and inconvenient carrying out fine regulation and control to the working range of manipulator, reduced practical efficiency, simultaneously when carrying because heavy, it is very loaded down with trivial details to remove, consuming time power, cause the damage of colliding with of manipulator carelessly easily a little.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a four-way rotating seat type power-assisted manipulator structure.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a helping hand manipulator structure based on four ways roating seat formula, includes the manipulator body, install slide mechanism on the manipulator body, the last stop gear that installs of slide mechanism, the last coupling mechanism that installs of slide mechanism, the slide mechanism both sides are equipped with lubricated mechanism, the last moving mechanism that installs of slide mechanism, the last protection machanism that is equipped with of slide mechanism.
Specifically, slide mechanism includes the base, can dismantle on the manipulator body and be connected with the base, the base both sides are equipped with the dead lever, two can dismantle between the dead lever and be connected with a plurality of connecting rods, two the dead lever opposite side is equipped with the spout, the inside first rack of fixedly connected with respectively of spout, a plurality of pivots of fixedly connected with respectively in base both sides, it is connected with the toothed disc to rotate respectively in the pivot, the toothed disc is located respectively inside the spout, toothed disc and first rack toothing.
Specifically, the connecting rod is of a U-shaped structure, the base is of a T-shaped structure, and a plurality of mounting plates are respectively mounted on the two fixing rods.
Specifically, stop gear includes the cylinder, two install a plurality of cylinders on the dead lever respectively, the inside sliding connection of spout has the second rack, perpendicular fixedly connected with connecting rod on the second rack, the connecting rod run through in the dead lever extends to the outside, connecting rod and cylinder fixed connection.
Specifically, lubricated mechanism includes the oil storage tank, two the inside oil storage tank that is equipped with respectively of dead lever, a plurality of slide bars of perpendicular fixedly connected with on the second rack, the slide bar extends to inside the oil storage tank respectively, slide bar and the inside sliding connection of dead lever, be equipped with a plurality of logical grooves on the second rack, the inside guiding gutter that is equipped with of slide bar, lead to the groove and pass through guiding gutter and the inside intercommunication of oil storage tank.
Specifically, the guiding gutter is "T" shape structure, dead lever internally mounted has a plurality of leather rings, slide bar and leather ring sliding connection.
Specifically, the connecting mechanism comprises guide rods, one ends of the two fixing rods are fixedly connected with the guide rods respectively, and the other ends of the two fixing rods are provided with guide grooves respectively.
Specifically, two dead lever one end lateral wall fixedly connected with fixture block respectively, be equipped with the recess on the fixture block, two the other end lateral wall of dead lever is sliding connection respectively has the slider, be connected with the cardboard on the slider, the cardboard rotates with the slider through the axle that links and is connected, it is connected with first lead screw to rotate on the slider, two dead lever other end lateral wall fixedly connected with fixed block, first lead screw and the inside threaded connection of fixed block.
Specifically, the clamping plate and the sliding block are both L-shaped structures, and a telescopic spring is connected between the clamping plate and the sliding block.
The movable mechanism comprises a movable groove, a plurality of groups of movable grooves are formed in the base, a supporting rod is connected to the inner portion of each movable groove in a rotating mode, idler wheels are connected to the supporting rod in a rotating mode, ejector rods are connected to the supporting rod in a rotating mode respectively, a push plate is connected to the inner portion of the base in a sliding mode, the push plate is connected with the movable grooves in a connecting mode, the ejector rods are connected with the push plate in a rotating mode respectively, a second lead screw is connected to the inner portion of the push plate in a threaded mode, the second lead screw extends to the outer portion of the base, and nuts are fixedly connected to the second lead screw.
Specifically, the protection machanism includes the bayonet lock, the inside sliding connection of base has the bayonet lock, be equipped with the draw-in groove that a plurality of rings shape distribute on the nut, the bayonet lock is contradicted with the draw-in groove is inside, fixedly connected with ejector pad on the bayonet lock, be connected with reset spring between ejector pad and the base, the ejector pad passes through bayonet lock and reset spring and base sliding connection.
The invention has the beneficial effects that:
(1) according to the four-way rotary seat type power-assisted manipulator structure, the manipulator body can conveniently slide in different areas under the action of the sliding mechanism, the working range of the manipulator body is enlarged, the sliding mechanism is conveniently limited under the action of the limiting mechanism, and the manipulator body can work more stably, namely: the mechanical hand body is convenient to mount and connect under the action of the base, the base is convenient to slide between the two fixing rods through the meshing of the plurality of gear discs and the first rack, so that the position of the mechanical hand body is convenient to adjust, the working range is favorably enlarged, the two fixing rods are convenient to stably connect and connect under the action of the connecting rods, the two fixing rods are convenient to detachably connect and mount with the ground under the action of the mounting plate, so that the fixing rods are more stable and firm, the mechanical hand body can work better, the mounting hidden danger is reduced, after the base and the fixing rods are adjusted, the air cylinder is pushed out through the control of an external electromagnetic valve, the air cylinder drives the connecting rod to slide in the fixing rods, the second rack in the chute is favorably abutted against the second rack in the chute, and the second rack can slide in the chute to mesh with the gear discs, thereby make the toothed disc by first rack and second rack centre gripping, be favorable to making the spacing unable roll of toothed disc to make things convenient for the better work of manipulator body on the base.
(2) According to the four-way rotary seat type power-assisted manipulator structure, the lubricating mechanism works under the driving of the limiting mechanism, so that the sliding mechanism is convenient to lubricate, and the sliding mechanism slides smoothly and stably, namely: through the inside slip that rises of second rack in the spout, be favorable to guiding gutter and the inside intercommunication of oil storage tank, make the inside lubricating oil of oil storage tank spill over from leading to the groove through the guiding gutter, and drip on first rack, be favorable to lubricated to first rack, when the base slides, the toothed disc rolls smoothly, the second rack gliding is spacing to the toothed disc, the slide bar can slide in the dead lever is inside, thereby it is inboard to make the guiding gutter slide into the dead lever, be favorable to making the inside lubricating oil of oil storage tank can not derive from the guiding gutter, make things convenient for manipulator body work, the inside lubricating oil of oil storage tank can not spill over when being favorable to making the slide bar slide under the effect through the leather collar, sealed effect has been played, reduce the waste of running off of lubricating oil.
(3) The four-way rotary seat type power-assisted manipulator structure provided by the invention has the advantages that the plurality of sliding mechanisms are conveniently assembled and connected under the action of the connecting mechanism, the moving stroke of the sliding mechanisms is prolonged, and the working range of the manipulator body is further enlarged, namely: the guide rod is beneficial to being clamped with the inside of a guide groove at one end of another fixed rod in a sliding manner, so that a plurality of groups of fixed rods can be conveniently assembled in an end-to-end connection manner, the sliding stroke of the base is prolonged, the working range of the manipulator body is wider, the production efficiency is improved, after two groups of fixed rods are connected end to end, two clamping plates are rotated to be clamped and abutted with grooves on the clamping blocks, the first screw rod pulls the sliding block to slide under the action of the threads by rotating the first screw rod, the sliding block drives the clamping plates to be firmly buckled with the clamping blocks, the plurality of groups of fixed rods can be more stably and firmly connected end to end, the base and the manipulator body can slide conveniently, the first screw rod drives the sliding block to reset by reversely rotating the first screw rod, the clamping plates can be conveniently rotated to be separated from the clamping blocks, the fixed rods can be conveniently detached and separated, and the clamping plates can be conveniently pushed to break away from the telescopic spring, when the external force is removed, the clamping plate resets under the action of the telescopic spring, so that the clamping block is stably and difficultly separated from the loosening, and the stabilizing effect is achieved.
(4) According to the four-way rotary seat based power-assisted manipulator structure, under the matching of the protection mechanism and the moving mechanism, the sliding mechanism can be conveniently detached and separated, so that the manipulator body can be used in different areas, and the protection mechanism is beneficial to limiting and protecting the moving mechanism, namely: when the base needs to be separated from the fixed rod to slide out, the nut is rotated through the wrench, the nut drives the second screw rod to rotate, the second screw rod drives the push plate to slide under the action of the screw thread and is abutted against the ejector rods, the ejector rods are respectively abutted against and supported by the support rods, so that the support rods rotate in the movable groove, the idler wheels on the support rods extend to the outside of the base, the idler wheels are abutted against the ground when the base is pushed, the base can smoothly slide out of the fixed rod, the push plate is reset by reversely rotating the second screw rod, the support rods are driven to pull the support rods to be accommodated in the movable groove, the push block slides downwards under the action of the reset spring by pressing the push block, the bayonet lock is driven to be separated from the inside of the clamping groove, the nut is convenient to rotate, the push block resets after external force is removed, the bayonet lock is pushed to be abutted against the inside of the clamping groove, the nut is not easy to rotate, and the nut plays a role of limiting protection, the screw rod is prevented from rotating at will to cause the displacement of the supporting rod.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic overall structure diagram of a four-way rotary base-based power-assisted manipulator structure according to a preferred embodiment of the present invention;
FIG. 2 is an enlarged view of the part A shown in FIG. 1;
FIG. 3 is an enlarged view of the structure of the portion B shown in FIG. 1;
FIG. 4 is an enlarged view of the structure of the portion C shown in FIG. 1;
FIG. 5 is a schematic view of a connection structure of a cylinder and a second rack according to the present invention;
FIG. 6 is an enlarged view of the structure of the portion D shown in FIG. 5;
FIG. 7 is a schematic view of the internal structure of the base of the present invention;
FIG. 8 is an enlarged view of the structure of the section E shown in FIG. 7;
fig. 9 is an enlarged view of the structure of the portion F shown in fig. 8.
In the figure: 1. a manipulator body; 2. a sliding mechanism; 201. a base; 202. fixing the rod; 203. a connecting rod; 204. a chute; 205. a first rack; 206. mounting a plate; 207. a rotating shaft; 208. a gear plate; 3. a limiting mechanism; 301. a cylinder; 302. a second rack; 303. a connecting rod; 4. a connecting mechanism; 401. a slider; 402. a connecting shaft; 403. clamping a plate; 404. a fixed block; 405. a first lead screw; 406. a clamping block; 407. a groove; 408. a guide bar; 409. a guide groove; 410. a tension spring; 5. a lubrication mechanism; 501. an oil storage tank; 502. a slide bar; 503. a diversion trench; 504. a leather collar; 505. a through groove; 6. a moving mechanism; 601. pushing the plate; 602. a second lead screw; 603. a roller; 604. a movable groove; 605. a support bar; 606. a top rod; 607. a nut; 7. a protection mechanism; 701. a push block; 702. a return spring; 703. a bayonet lock; 704. a clamping 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. 1-9, the four-way rotary seat-based power-assisted manipulator structure comprises a manipulator body 1, a sliding mechanism 2 is mounted on the manipulator body 1, a limiting mechanism 3 is mounted on the sliding mechanism 2, a connecting mechanism 4 is mounted on the sliding mechanism 2, lubricating mechanisms 5 are arranged on two sides of the sliding mechanism 2, a moving mechanism 6 is mounted on the sliding mechanism 2, and a protection mechanism 7 is arranged on the sliding mechanism 2.
Specifically, the sliding mechanism 2 includes a base 201, the base 201 is detachably connected to the manipulator body 1, fixing rods 202 are disposed on two sides of the base 201, a plurality of connecting rods 203 are detachably connected between the two fixing rods 202, sliding grooves 204 are disposed on opposite sides of the two fixing rods 202, first racks 205 are respectively fixedly connected to the insides of the sliding grooves 204, a plurality of rotating shafts 207 are respectively fixedly connected to two sides of the base 201, gear discs 208 are respectively rotatably connected to the rotating shafts 207, the gear discs 208 are respectively disposed inside the sliding grooves 204, the gear discs 208 are engaged with the first racks 205, the manipulator body 1 is conveniently mounted and connected under the action of the base 201, the base 201 is conveniently slid between the two fixing rods 202 by the engagement of the plurality of gear discs 208 and the first racks 205, so as to conveniently adjust the position of the manipulator body 1, the movable range of the work is favorably enlarged, and the two fixing rods 202 are conveniently and stably connected under the action of the connecting rod 203.
Specifically, connecting rod 203 is "U" font structure, base 201 is "T" shape structure, two install a plurality of mounting panels 206 on the dead lever 202 respectively, through conveniently with two under the effect of mounting panel 206 dead lever 202 and ground demountable connection installation, thereby make dead lever 202 is more stable firm, is favorable to the better work of manipulator body 1 has reduced the installation hidden danger.
Specifically, the limiting mechanism 3 includes an air cylinder 301, a plurality of air cylinders 301 are respectively mounted on the two fixing rods 202, a second rack 302 is slidably connected inside the sliding groove 204, a connecting rod 303 is vertically and fixedly connected to the second rack 302, the connecting rod 303 extends to the outside through the fixing rods 202, the connecting rod 303 is fixedly connected to the air cylinder 301, when the positions of the base 201 and the fixing rods 202 are adjusted, the air cylinder 301 is operated and pushed out by controlling an external electromagnetic valve, the air cylinder 301 drives the connecting rod 303 to slide inside the fixing rods 202, which is favorable for abutting against the second rack 302 inside the sliding groove 204, the second rack 302 slides inside the sliding groove 204 to engage with the gear plate 208, so that the gear plate 208 is clamped by the first rack 205 and the second rack 302, which is favorable for limiting the gear plate 208 and cannot roll, thereby facilitating better work of the robot body 1 on the base 201.
Specifically, the lubricating mechanism 5 includes an oil storage tank 501, two oil storage tanks 501 are respectively arranged inside the fixing rods 202, a plurality of slide bars 502 are vertically and fixedly connected to the second rack 302, the slide bars 502 respectively extend into the oil storage tanks 501, the slide bars 502 are slidably connected with the inside of the fixing rods 202, a plurality of through grooves 505 are arranged on the second rack 302, guide grooves 503 are arranged inside the slide bars 502, the through grooves 505 are communicated with the inside of the oil storage tanks 501 through the guide grooves 503, the guide grooves 503 are communicated with the inside of the oil storage tanks 501 through the second rack 302, the guide grooves 503 are communicated with the inside of the oil storage tanks 501 through the guide grooves 503, the lubricating oil drops on the first rack 205 to lubricate the first rack 205, and when the base 201 slides, the gear plate 208 rolls smoothly, when the second rack 302 slides downwards to limit the gear disc 208, the sliding rod 502 slides inside the fixing rod 202, so that the guiding groove 503 slides inside the fixing rod 202, which is beneficial to preventing the lubricating oil in the oil storage tank 501 from being guided out from the guiding groove 503, and the manipulator body 1 can work conveniently.
Specifically, guiding gutter 503 is "T" shape structure, dead lever 202 internally mounted has a plurality of leather rings 504, slide bar 502 and leather rings 504 sliding connection, through be favorable to making under the effect of leather rings 504 slide bar 502 when sliding the inside lubricating oil of oil storage tank 501 can not spill over, has played sealed effect, reduces the loss of lubricating oil and wastes.
Specifically, coupling mechanism 4 includes guide arm 408, two dead lever 202 one end fixedly connected with guide arm 408 respectively, two the dead lever 202 other end is equipped with guide slot 409 respectively, through be favorable to with another under the effect of guide arm 408 dead lever 202 one end the inside block that slides in of guide slot 409 to make things convenient for a plurality of groups dead lever 202 carries out end to end connection and assembles, has prolonged the gliding stroke of base 201, thereby makes manipulator body 1's working range is wider, has improved the efficiency of production work.
Specifically, the side walls of one end of the two fixing rods 202 are respectively and fixedly connected with a clamping block 406, the clamping block 406 is provided with a groove 407, the side walls of the other ends of the two fixing rods 202 are respectively and slidably connected with a sliding block 401, the sliding block 401 is connected with a clamping plate 403, the clamping plate 403 is rotatably connected with the sliding block 401 through a connecting shaft 402, the sliding block 401 is rotatably connected with a first screw 405, the side walls of the other ends of the two fixing rods 202 are respectively and fixedly connected with a fixing block 404, the first screw 405 is in threaded connection with the fixing block 404, after the two groups of fixing rods 202 are connected end to end, the two clamping plates 403 are rotated to enable the clamping plates 403 to be clamped and abutted against the grooves 407 on the clamping block 406, the sliding block 401 is driven to be firmly buckled with the clamping block 406 by rotating the first screw 405 under the action of threads by the first screw 405, the fixing rod 202 is more stable and firm after being connected end to end, the base 201 and the manipulator body 1 slide, the first screw rod 405 drives the sliding block 401 to reset through reverse rotation of the first screw rod 405, the clamping plate 403 is conveniently rotated to be separated from the clamping block 406, and the fixing rod 202 is conveniently detached and separated.
Specifically, the clamping plate 403 and the sliding block 401 are both of an L-shaped structure, the telescopic spring 410 is connected between the clamping plate 403 and the sliding block 401, the clamping plate 403 is convenient to rotate under the action of the telescopic spring 410 by pushing the clamping plate 403, and after external force is removed, the clamping plate 403 resets under the action of the telescopic spring 410, so that the clamping of the clamping block 406 is facilitated to be stable and not easy to break away from and loosen, and a stable effect is achieved.
Specifically, the moving mechanism 6 includes a movable groove 604, a plurality of groups of movable grooves 604 are arranged on the base 201, a support rod 605 is rotatably connected inside the movable groove 604, a roller 603 is rotatably connected on the support rod 605, ejector rods 606 are respectively rotatably connected on the support rods 605, a push plate 601 is slidably connected inside the base 201, the push plate 601 is connected with the movable groove 604, the ejector rods 606 are respectively rotatably connected with the push plate 601, a second lead screw 602 is connected with the inner portion of the push plate 601 in a threaded manner, the second lead screw 602 extends to the outer portion of the base 201, a nut 607 is fixedly connected on the second lead screw 602, when the base 201 needs to be separated from the fixed rod 202 and slide out, the nut 607 is rotated by a wrench, the nut 607 drives the second lead screw 602 to rotate, the second lead screw 602 drives the push plate 601 to slide under the action of the threads, and the plurality of the top rods 606 are abutted, the plurality of the top rods 606 are abutted to the support rod 605 respectively to support, so that the support rod 605 rotates in the movable groove 604, the roller 603 on the support rod 605 extends to the outside of the base 201, when the base 201 is pushed, the roller 603 is abutted to the ground, the base 201 can smoothly slide out of the fixed rod 202 conveniently, the push plate 601 resets by reversely rotating the second lead screw 602, and the top rods 606 are driven to pull the support rod 605 to be accommodated in the movable groove 604.
Specifically, the protection mechanism 7 includes a bayonet 703, the bayonet 703 is slidably connected to the inside of the base 201, a plurality of annularly distributed slots 704 are disposed on the nut 607, the bayonet 703 is abutted to the inside of the slots 704, a push block 701 is fixedly connected to the bayonet 703, a return spring 702 is connected between the push block 701 and the base 201, the push block 701 is slidably connected to the base 201 through the bayonet 703 and the return spring 702, by pressing the push block 701, the push block 701 gets rid of the downward sliding under the action of the return spring 702 and drives the bayonet 703 to be separated from the inside of the slot 704, so as to facilitate the rotation of the nut 607, when the external force is removed, the push block 701 is reset and pushes the bayonet 703 to be abutted to the inside of the slot 704, so that the nut 703 is not easy to rotate, thereby facilitating the function of limiting and protecting the nut 607 and preventing the screw rod from rotating at will, causing the support rod 605 to displace.
When the manipulator body 1 is used, firstly, the manipulator body 1 is conveniently installed and connected under the action of the base 201, the base 201 is conveniently slid between the two fixing rods 202 through the meshing of the plurality of gear discs 208 and the first rack 205, so that the position of the manipulator body 1 is conveniently adjusted, the movable range of work is favorably enlarged, the two fixing rods 202 are conveniently and stably connected under the action of the connecting rods 203, the two fixing rods 202 are conveniently detachably connected and installed with the ground under the action of the installing plate 206, so that the fixing rods 202 are more stable and firm, the manipulator body 1 can better work, the hidden installation troubles are reduced, after the positions of the base 201 and the fixing rods 202 are adjusted, the air cylinder 301 is pushed out through the control of an external electromagnetic valve, the air cylinder 301 drives the connecting rod 303 to slide in the fixing rods 202, and the second rack 302 in the sliding chute 204 can be favorably abutted, the second rack 302 slides in the sliding groove 204 to engage with the gear disc 208, so that the gear disc 208 is clamped by the first rack 205 and the second rack 302, which is favorable for limiting the gear disc 208 and preventing the gear disc from rolling, thereby facilitating the better work of the manipulator body 1 on the base 201, the second rack 302 ascends and slides in the sliding groove 204, which is favorable for the communication between the diversion groove 503 and the oil storage tank 501, so that the lubricating oil in the oil storage tank 501 overflows from the through groove 505 through the diversion groove 503 and drops on the first rack 205, which is favorable for lubricating the first rack 205, when the base 201 slides, the gear disc 208 rolls smoothly, when the second rack 302 slides down to limit the gear disc 208, the sliding rod 502 slides in the fixing rod 202, so that the diversion groove 503 slides into the inner side of the fixing rod 202, which is favorable for preventing the lubricating oil in the oil storage tank 501 from being guided out from the diversion groove 503, and facilitating the work of the manipulator body 1, the lubricating oil in the oil storage tank 501 can not overflow when the sliding rod 502 slides under the action of the leather collar 504, a sealing effect is achieved, the loss and the waste of the lubricating oil are reduced, the lubricating oil can slide into the guide groove 409 at one end of another fixing rod 202 to be clamped under the action of the guide rod 408, so that the end-to-end connection and assembly of a plurality of groups of fixing rods 202 are facilitated, the sliding stroke of the base 201 is prolonged, the working range of the manipulator body 1 is wider, the production efficiency is improved, after the two groups of fixing rods 202 are connected end to end, the two clamping plates 403 are rotated, the clamping plates 403 are clamped and abutted with the grooves 407 on the clamping blocks 406, the first screw rod 405 is rotated, the sliding block 401 is pulled to slide under the action of the threads, the sliding block 401 drives the clamping plates 403 to be firmly buckled with the clamping blocks 406, the end-to-end connection of a plurality of groups of fixing rods 202 is facilitated to be more stable and firm, and the sliding of the base 201 and the manipulator body 1 is facilitated, the first screw rod 405 is rotated reversely to drive the sliding block 401 to reset, so that the clamping plate 403 can be conveniently rotated to be separated from the clamping block 406, the fixed rod 202 can be conveniently detached and separated, the clamping plate 403 can be conveniently rotated without the action of the telescopic spring 410 by pushing the clamping plate 403, after external force is removed, the clamping plate 403 can be reset under the action of the telescopic spring 410, the clamping of the clamping block 406 can be stably and difficultly separated and loosened, and a stable effect can be realized, when the base 201 and the fixed rod 202 need to be separated and slide out, the nut 607 is rotated by a wrench, the nut 607 drives the second screw rod 602 to rotate, the push plate 601 is driven by the second screw rod 602 to slide under the action of threads, the push rods 606 abut against the push rods 606, the push rods 606 abut against and support the supporting rod 605, so that the supporting rod 605 rotates in the movable groove 604, and the idler wheels 603 on the supporting rod 605 extend to the outside of the base 201, gyro wheel 603 contradicts with ground when promoting base 201, thereby make things convenient for roll-off dead lever 202 that base 201 can be smooth and easy, through antiport second lead screw 602, make push pedal 601 reset, and drive ejector pin 606 is accomodate at movable groove 604 inside to bracing piece 605 pulling, through pressing ejector pad 701, ejector pad 701 breaks away from gliding under reset spring 702's the effect, and drive bayonet lock 703 and the inside separation of draw-in groove 704, make things convenient for nut 607 to rotate, after removing external force, ejector pad 701 resets, and promote bayonet lock 703 and the inside conflict of draw-in groove 704, make nut 607 difficult the rotation, be favorable to playing spacing guard's effect to nut 607, prevent that the lead screw from rotating at will, cause bracing piece 605 to shift.
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 (10)
1. A four-way rotary seat-based power-assisted manipulator structure is characterized by comprising a manipulator body (1), wherein a sliding mechanism (2) is mounted on the manipulator body (1), a limiting mechanism (3) is mounted on the sliding mechanism (2), a connecting mechanism (4) is mounted on the sliding mechanism (2), lubricating mechanisms (5) are arranged on two sides of the sliding mechanism (2), a moving mechanism (6) is mounted on the sliding mechanism (2), and a protective mechanism (7) is arranged on the sliding mechanism (2);
Slide mechanism (2) include base (201), can dismantle on manipulator body (1) and be connected with base (201), base (201) both sides are equipped with dead lever (202), two can dismantle between dead lever (202) and be connected with a plurality of connecting rods (203), two dead lever (202) opposite side is equipped with spout (204), spout (204) inside respectively first rack (205) of fixedly connected with, base (201) both sides respectively a plurality of pivot (207) of fixedly connected with, it is connected with toothed disc (208) to rotate respectively on pivot (207), toothed disc (208) are located respectively inside spout (204), toothed disc (208) and first rack (205) meshing.
2. The four-way rotating seat based power-assisted manipulator structure according to claim 1, characterized in that: the connecting rod (203) is of a U-shaped structure, the base (201) is of a T-shaped structure, and a plurality of mounting plates (206) are respectively mounted on the two fixing rods (202).
3. The four-way rotating seat based power-assisted manipulator structure according to claim 1, characterized in that: stop gear (3) include cylinder (301), two install a plurality of cylinders (301) on dead lever (202) respectively, spout (204) inside sliding connection has second rack (302), perpendicular fixedly connected with connecting rod (303) on second rack (302), connecting rod (303) run through in dead lever (202) extend to the outside, connecting rod (303) and cylinder (301) fixed connection.
4. A power-assisted manipulator structure based on four ways roating seat formula of claim 3, characterized in that: lubricated mechanism (5) are including oil storage tank (501), two oil storage tank (501) are equipped with respectively to dead lever (202) inside, a plurality of slide bars (502) of perpendicular fixedly connected with are gone up in second rack (302), slide bar (502) extend to inside oil storage tank (501) respectively, slide bar (502) and dead lever (202) inside sliding connection, be equipped with a plurality of logical groove (505) on second rack (302), slide bar (502) inside is equipped with guiding gutter (503), it passes through guiding gutter (503) and the inside intercommunication of oil storage tank (501) to lead to groove (505).
5. A power-assisted manipulator structure based on four ways roating seat formula of claim 4, characterized in that: the flow guide groove (503) is of a T-shaped structure, a plurality of leather rings (504) are arranged inside the fixing rod (202), and the sliding rod (502) is in sliding connection with the leather rings (504).
6. The four-way rotating seat based power-assisted manipulator structure according to claim 1, characterized in that: the connecting mechanism (4) comprises guide rods (408), one ends of the two fixing rods (202) are fixedly connected with the guide rods (408) respectively, and the other ends of the two fixing rods (202) are provided with guide grooves (409) respectively.
7. The four-way rotating seat based power-assisted manipulator structure according to claim 1, characterized in that: the fixing device comprises two fixing rods (202), wherein a clamping block (406) is fixedly connected to the side wall of one end of each fixing rod (202), a groove (407) is formed in each clamping block (406), a sliding block (401) is slidably connected to the side wall of the other end of each fixing rod (202), a clamping plate (403) is connected to the sliding block (401) in a connecting mode, the clamping plate (403) is rotatably connected with the sliding block (401) through a connecting shaft (402), a first screw rod (405) is rotatably connected to the sliding block (401), a fixing block (404) is fixedly connected to the side wall of the other end of each fixing rod (202), and the first screw rod (405) is in threaded connection with the inside of the fixing block (404).
8. The four-way rotating seat based power-assisted manipulator structure according to claim 7, characterized in that: the clamping plate (403) and the sliding block (401) are both L-shaped structures, and a telescopic spring (410) is connected between the clamping plate (403) and the sliding block (401).
9. The four-way rotating seat based power-assisted manipulator structure according to claim 1, characterized in that: moving mechanism (6) are including activity groove (604), be equipped with multiunit activity groove (604) on base (201), activity groove (604) internal rotation is connected with bracing piece (605), it is connected with gyro wheel (603) to rotate on bracing piece (605), it is connected with ejector pin (606) to rotate respectively on bracing piece (605), base (201) internal sliding connection has push pedal (601), push pedal (601) are connected with activity groove (604), and is a plurality of ejector pin (606) rotate with push pedal (601) respectively and are connected, push pedal (601) internal thread is connected with second lead screw (602), second lead screw (602) extend to base (201) outside, fixedly connected with nut (607) on second lead screw (602).
10. The four-way rotating seat based power-assisted manipulator structure according to claim 9, characterized in that: protection machanism (7) include bayonet lock (703), the inside sliding connection of base (201) has bayonet lock (703), be equipped with draw-in groove (704) that a plurality of annular distribute on nut (607), bayonet lock (703) and draw-in groove (704) are inside to be contradicted, fixedly connected with ejector pad (701) on bayonet lock (703), be connected with reset spring (702) between ejector pad (701) and base (201), ejector pad (701) are through bayonet lock (703) and reset spring (702) and base (201) sliding connection.
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