CN114193441A - Delta parallel four-shaft type manipulator - Google Patents
Delta parallel four-shaft type manipulator Download PDFInfo
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- CN114193441A CN114193441A CN202210015246.0A CN202210015246A CN114193441A CN 114193441 A CN114193441 A CN 114193441A CN 202210015246 A CN202210015246 A CN 202210015246A CN 114193441 A CN114193441 A CN 114193441A
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- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 22
- 230000001050 lubricating effect Effects 0.000 claims abstract description 9
- 230000000694 effects Effects 0.000 claims description 14
- 230000000087 stabilizing effect Effects 0.000 claims description 10
- 230000001788 irregular Effects 0.000 abstract description 9
- 239000000428 dust Substances 0.000 abstract description 7
- 239000003921 oil Substances 0.000 description 97
- 239000010687 lubricating oil Substances 0.000 description 31
- 230000009471 action Effects 0.000 description 19
- 238000000034 method Methods 0.000 description 7
- 239000000284 extract Substances 0.000 description 6
- 210000003437 trachea Anatomy 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 230000002349 favourable effect Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 238000000605 extraction Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000003746 feather Anatomy 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
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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
- B25J19/06—Safety devices
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of four-shaft manipulators, in particular to a Delta parallel four-shaft manipulator which comprises a manipulator body, wherein the front end of the manipulator body is rotatably provided with a mounting frame, the lower ends of the two sides of the mounting frame are respectively rotatably provided with a clamping plate, the upper ends of the two groups of clamping plates close to one side are jointly and fixedly provided with a bidirectional electric push rod, the lower ends of the clamping plates are movably provided with a clamping mechanism, the clamping mechanism comprises a supporting plate, a cavity, a sleeve, a first spring, an oil tank, a hollow ball body, a sucker and a rubber block, the clamping mechanism can be used for clamping an irregular object with a smooth surface, the rubber block wraps the outer surface of the object during clamping, the sucker can be tightly attached to the outer surface of the object, the clamping stability is improved, and the joint of the hollow ball body and the sucker can be lubricated under the matching of the lubricating mechanism and a hairbrush, meanwhile, dust can be reduced from entering the joint of the hollow ball body and the sucker.
Description
Technical Field
The invention relates to the technical field of four-axis manipulators, in particular to a Delta parallel four-axis manipulator.
Background
In a compact assembly robot, "four-axis robot" refers to a "selectively assembled articulated robot arm," i.e., the arm portion of a four-axis robot is free to move in a geometric plane. The front two joints of the manipulator can freely rotate left and right on a horizontal plane. The third joint consists of a metal rod called feather (quick) and a holder. The metal bar can be moved up and down in a vertical plane or rotated about its vertical axis, but cannot be tilted. This unique design gives the four-axis robots a strong rigidity, making them capable of high speed and high repeatability work. In packaging applications, four-axis manipulators are good at high speed pick and place and other material handling tasks.
When an irregular object with a smooth surface is clamped by the conventional four-axis manipulator, the clamping is not stable enough, so that the clamping effect is poor, the object may fall off from the manipulator in the moving process of the object, the object is damaged, and the taking and placing efficiency of the object is influenced.
Therefore, a Delta parallel four-axis manipulator is provided.
Disclosure of Invention
The invention aims to provide a Delta parallel four-shaft type mechanical arm which can clamp an irregular object with a smooth surface by arranging a clamping mechanism, wherein a rubber block wraps the outer surface of the object during clamping, and a sucker can be tightly attached to the outer surface of the object, so that the clamping stability is improved.
In order to achieve the purpose, the invention provides the following technical scheme: a Delta parallel four-shaft type mechanical arm comprises a mechanical arm body, wherein a mounting frame is rotatably mounted at the front end of the mechanical arm body, clamping plates are rotatably mounted at the lower ends of two sides of the mounting frame, two groups of clamping plates are fixedly mounted at the upper ends of the sides close to each other together with a bidirectional electric push rod, a clamping mechanism is movably arranged at the lower end of each clamping plate and comprises a supporting plate, a cavity, a sleeve, a first spring, an oil tank, a hollow ball, a sucker and a rubber block, the supporting plate is fixedly mounted at the lower end of each clamping plate, the cavity is formed in the side close to each group of supporting plates, the sleeves are slidably inserted into the front end and the rear end of the cavity, the first spring is movably inserted into the cavity, the first spring is fixedly mounted between the two groups of sleeves, the oil tank is slidably inserted into the sleeve and far away from the supporting plate, the hollow ball is fixedly inserted into the oil tank and far away from the center of the sleeve, the rubber block is fixedly arranged between the two groups of suckers, a lubricating mechanism is movably arranged in the oil tank, one side of the sleeve, which is close to the oil tank, is movably provided with an air exhaust mechanism, and two sides of the bidirectional electric push rod are both movably provided with stabilizing mechanisms;
the lubricating mechanism comprises a second spring, a first check valve, a push plate, an oil pipe, an oil groove, a fixed block, an elastic rope, a baffle plate, a mounting plate and a second check valve, the second spring is movably mounted between a sleeve and the first spring, the first check valve is movably inserted in the center of one side of the oil tank close to the second spring, the push plate is slidably inserted in one side of the oil tank close to the first check valve, the oil pipe is fixedly mounted on one side of the hollow sphere far away from the sucker, the oil pipe is communicated with the hollow sphere and the oil tank, the oil groove is sleeved in the middle of the outer surface of the oil pipe, the diameter of the oil groove is larger than that of the oil pipe, the fixed block is fixedly inserted in one end of the oil pipe far away from the oil groove, one side of the fixed block close to the oil groove is movably mounted with the elastic rope and the baffle plate, the mounting plate is movably sleeved on the outer surface of the baffle plate and is slidably connected with the oil groove, the second check valve is movably sleeved on the outer surface of one side of the oil pipe and is positioned between the oil pipe and the hollow ball body;
the baffle is dumbbell-shaped, the diameter of one end, close to the elastic rope, of the baffle is larger than that of one end, far away from the elastic rope, of the baffle, and the mounting plate is circular;
the sucking disc is close to hollow spheroid's one end fixed mounting has the brush, and the brush is the annular shape, the brush contacts with hollow spheroid's surface.
The bidirectional electric push rod is connected with an external power supply, the bidirectional electric push rod pushes the clamping plates to two sides, the clamping plates are driven by the thrust of the bidirectional electric push rod to rotate on two sides of the mounting frame, the supporting plates are fixedly arranged at the lower ends of the clamping plates and move along with the clamping plates, the two groups of supporting plates move in opposite directions, the position of the mounting frame can be adjusted by arranging the manipulator body, so that an irregular object to be taken is positioned between the two groups of supporting plates, the bidirectional electric push rod shrinks inwards to drive the two groups of supporting plates to be close to each other, when the supporting plates are close to each other, the rubber blocks are firstly contacted with the object, as the rubber blocks are made of flexible materials, the object can push the rubber blocks to deform, and then the two groups of oil tanks are pulled to be close to each other, the oil tanks are connected with the sleeves in a sliding manner, the sleeves are further pulled to be close to each other in the cavity, and simultaneously the sleeves are pushed to the cavity, when the sucker is contacted with an object, the sucker is movably connected with the hollow sphere, so that the sucker can be adjusted to a proper angle according to the shape of the surface of the object, the sucker can be attached to the outer surface of the object, the supporting plate is further close to the object, the object pushes the oil tank to extrude the second spring and slide in the sleeve, air in the sleeve is extruded into the oil tank through the one-way valve, the push plate is pushed to move towards the object in the spring, the oil tank is the prior art and is provided with a feed inlet, lubricating oil is required to be injected into the oil tank before use and is sealed at the feed inlet, the push plate can extrude the lubricating oil in the oil tank into the oil pipe when moving, the lubricating oil drives the baffle to be contacted with the mounting plate under the action of pressure, and the baffle and the mounting plate can be regarded as a whole, the baffle plate and the mounting plate synchronously slide in the oil groove, lubricating oil in the oil groove is pushed into the hollow sphere through a check valve II, the lubricating oil penetrates through the hollow sphere and is extruded between the hollow sphere and the sucker, the sucker can paint the lubricating oil when rotating, meanwhile, under the cooperation of the brush, the sucker can drive the brush to clean the surface of the hollow sphere when rotating, dust attached to the surface of the sleeve is cleaned, after the baffle plate loses pressure, the elastic rope pulls the baffle plate to move towards the fixed block under the action of the elastic force of the elastic rope, after the baffle plate moves for a distance, the mounting plate is pulled to slide in the oil groove, the lubricating oil on the left side of the baffle plate can penetrate through the mounting plate to reach the right side of the mounting plate, and when the elastic rope reaches the inside of the oil pipe, the inside of the oil groove is still in a state of being filled with the lubricating oil, and the lubricating oil can not leak from the inside of the oil groove, when the device does not clamp an object, the device is driven to reset under the elastic action of the cavity and the second spring, the clamping mechanism can clamp the irregular object with smooth surface, when in clamping, the rubber block wraps the outer surface of the object, the sucker can be tightly attached to the outer surface of the object, the clamping stability is increased, the connection part of the hollow sphere and the sucker can be lubricated under the matching of the lubricating mechanism and the brush, meanwhile, the dust can be reduced from entering the connection part of the hollow sphere and the sucker, the rotating effect of the sucker can be improved, the sucker can adjust the angle of the sucker according to the shape of the outer surface of the object in time, meanwhile, the increase of the friction force between the sucker and the hollow sphere after long-term use can be avoided, and the rotating effect of the sucker is prevented from being influenced, and can add lubricating oil by ration, avoid extravagant lubricating oil, be favorable to keeping the clean and tidy of the device.
Preferably, the air exhaust mechanism comprises a cylinder, a hose, a screw rod, a threaded rod and a fixed plate, the cylinder is movably penetrated through the sleeve to be close to the front end of one side of the oil tank, the cylinder is fixedly connected with the oil tank, the hose is fixedly installed at one end, close to the sucker, of the cylinder, the hose is communicated with the sucker, the screw rod is rotatably inserted into the cylinder, the threaded rod is fixedly installed at one end, close to the sleeve, of the screw rod, the fixed plate is fixedly inserted into the sleeve, and the fixed plate is in threaded connection with the threaded rod.
Under fixture's cooperation, the oil tank is when telescopic inside is inwards extrudeed, the oil tank drives the drum and extrudees to telescopic inside, the drum is when removing, because fixed plate and threaded rod threaded connection, consequently, the threaded rod can drive the hob and rotate in the inside of drum, thereby extract through the inside air of hose to the sucking disc, extract telescopic inside through drum and hose with the inside air of sucking disc, through setting up air exhaust mechanism, can reduce the air between sucking disc and the object, increase the area of contact between sucking disc and the object, make the contact inseparabler between object and the sucking disc, stability when further having increased the centre gripping object.
Preferably, stabilizing mean includes bellows, trachea, gasbag, support frame, one-way axle and stopper, bellows movable sleeve establishes in two-way electric putter surface both sides, trachea fixed mounting is at bellows surface lower extreme, gasbag activity cartridge is in the inside upper end of cavity, and gasbag and trachea and bellows intercommunication, support frame fixed mounting is at the gasbag lower extreme, and support frame and cavity sliding connection, the even fixed cartridge of one-way axle is in the inside of support frame, stopper movable sleeve establishes the outward appearance of one-way axle.
When an object is clamped, the two-way electric push rod is retracted inwards to drive the corrugated pipe to unfold, at the moment, the corrugated pipe extracts air in the air bag through the air pipe, the two-way electric push rod pushes outwards under the cooperation of the clamping mechanism, at the moment, the corrugated pipe is extruded, the air in the corrugated pipe is injected into the air bag through the air pipe, the volume of the air bag is increased, the support frame, the one-way shaft and the limiting block are pushed to slide downwards in the cavity, so that the support frame extends to the lower end of the cavity, when the two groups of sleeves are close to each other, the sleeves can push the limiting block to rotate under the action of the one-way shaft, when the sleeves are moved to be not in contact with the limiting block, the limiting block resets under the action of gravity, at the moment, the two groups of sleeves cannot move in opposite directions under the action of the elastic force of the first spring, when the object does not need to be clamped, inside air of gasbag then gets into the inside of bellows through the trachea, and then drive the support frame, one-way axle and stop block remove the inside of cavity, the sleeve can reset under the spring action of a spring this moment, through setting up stabilizing mean, can increase the telescopic stability of centre gripping in-process, make the sleeve can not be at the inside back-and-forth movement of cavity, and then avoid when centre gripping object, object takes place to rock with the device, the safety of article has further been guaranteed, avoid at the in-process that removes, the object drops from the device.
Compared with the prior art, the invention has the beneficial effects that:
1. by arranging the clamping mechanism, irregular objects with smooth surfaces can be clamped, the rubber block wraps the outer surface of the object during clamping, the sucker can be tightly attached to the outer surface of the object, the clamping stability is improved, the connection part of the hollow sphere and the sucker can be lubricated under the matching of the lubricating mechanism and the hairbrush, dust can be reduced from entering the connection part of the hollow sphere and the sucker, and the rotation effect of the sucker can be improved;
2. through setting up stabilizing mean, can increase telescopic stability of centre gripping in-process for the sleeve can not be at the inside back-and-forth movement of cavity, and then avoids when the centre gripping object, and the object takes place to rock with the device, has further guaranteed the safety of article, avoids at the in-process that removes, and the object drops from the device.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a partial sectional view of the present invention;
FIG. 3 is an enlarged view of the structure of FIG. 2;
FIG. 4 is an enlarged view of the structure of FIG. 2 at B in accordance with the present invention;
FIG. 5 is a partial cross-sectional view of the present invention;
FIG. 6 is an enlarged view of the structure of FIG. 5 in accordance with the present invention at C.
In the figure: 1. a manipulator body; 101. a mounting frame; 102. a clamping plate; 103. a bidirectional electric push rod; 2. a clamping mechanism; 201. a support plate; 202. a cavity; 203. a sleeve; 204. a first spring; 205. an oil tank; 206. a hollow sphere; 207. a suction cup; 208. a rubber block; 3. a lubrication mechanism; 301. a second spring; 302. a first check valve; 303. pushing the plate; 304. an oil pipe; 305. an oil sump; 306. a fixed block; 307. an elastic cord; 308. a baffle plate; 309. mounting a plate; 310. a second one-way valve; 4. a brush; 5. an air extraction mechanism; 501. a cylinder; 502. a hose; 503. a screw rod; 504. a threaded rod; 505. a fixing plate; 6. a stabilizing mechanism; 601. a bellows; 602. an air tube; 603. an air bag; 604. a support frame; 605. a one-way shaft; 606. and a limiting block.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1 to 6, the present invention provides a technical solution:
a Delta parallel four-shaft type manipulator, as shown in fig. 1 to 6, comprising a manipulator body 1, wherein a mounting frame 101 is rotatably mounted at the front end of the manipulator body 1, clamping plates 102 are rotatably mounted at the lower ends of both sides of the mounting frame 101, a bidirectional electric push rod 103 is fixedly mounted at the upper ends of the two groups of clamping plates 102 close to each other, a clamping mechanism 2 is movably arranged at the lower end of the clamping plate 102, the clamping mechanism 2 comprises a supporting plate 201, a cavity 202, a sleeve 203, a first spring 204, an oil tank 205, a hollow sphere 206, a suction cup 207 and a rubber block 208, the supporting plate 201 is fixedly mounted at the lower end of the clamping plate 102, the cavity 202 is arranged at one side of the two groups of supporting plates 201 close to each other, the sleeve 203 is slidably inserted at the front end and the rear end inside the cavity 202, the first spring 204 is movably inserted inside the cavity 202, and the first spring 204 is fixedly mounted between the two groups of sleeves 203, the oil tank 205 is inserted into the sleeve 203 in a sliding manner, the side of the sleeve 203, which is far away from the support plate 201, the hollow sphere 206 is fixedly inserted into the center of the side of the oil tank 205, which is far away from the sleeve 203, the suction cups 207 are movably sleeved on the outer surface of the hollow sphere 206, the rubber block 208 is fixedly installed between the two groups of suction cups 207, the lubricating mechanism 3 is movably arranged inside the oil tank 205, the air suction mechanism 5 is movably arranged on the side, which is close to the oil tank 205, of the sleeve 203, and the stabilizing mechanisms 6 are movably arranged on both sides of the bidirectional electric push rod 103;
the lubricating mechanism 3 comprises a second spring 301, a first check valve 302, a push plate 303, an oil pipe 304, an oil groove 305, a fixed block 306, an elastic rope 307, a baffle plate 308, a mounting plate 309 and a second check valve 310, wherein the second spring 301 is movably mounted between a sleeve 203 and a first spring 204, the first check valve 302 is movably inserted in the center of one side, close to the second spring 301, of the oil tank 205, the push plate 303 is slidably inserted in one side, close to the first check valve 302, of the oil tank 205, the oil pipe 304 is fixedly mounted on one side, far away from the suction cup 207, of the hollow sphere 206, the oil pipe 304 is communicated with the hollow sphere 206 and the oil tank 205, the oil groove 305 is sleeved in the middle of the outer surface of the oil pipe 304, the diameter of the oil groove 305 is larger than that of the oil pipe 304, the fixed block 306 is fixedly inserted in one end, far away from the oil groove 305, of the fixed block 306 is movably mounted with the elastic rope 307 and the baffle plate 308, the elastic rope 307 is fixedly connected with the baffle 308, the mounting plate 309 is movably sleeved on the outer surface of the baffle 308, the mounting plate 309 is in sliding connection with the oil groove 305, the second check valve 310 is movably sleeved on the outer surface of one side of the oil pipe 304, and the second check valve 310 is positioned between the oil pipe 304 and the hollow sphere 206;
the baffle 308 is dumbbell-shaped, the diameter of one end, close to the elastic rope 307, of the baffle 308 is larger than that of one end, far away from the elastic rope 307, of the baffle 308, and the mounting plate 309 is circular;
a brush 4 is fixedly installed at one end of the suction cup 207 close to the hollow sphere 206, the brush 4 is in a circular ring shape, and the brush 4 is in contact with the outer surface of the hollow sphere 206;
when the manipulator is in operation, the bidirectional electric push rod 103 is connected with an external power supply, the bidirectional electric push rod 103 pushes the clamping plates 102 towards two sides, the clamping plates 102 are pushed by the bidirectional electric push rod 103 to rotate on two sides of the mounting frame 101, the supporting plates 201 are fixedly arranged at the lower ends of the clamping plates 102, the supporting plates 201 move along with the clamping plates 102, the two groups of supporting plates 201 move towards opposite directions, the position of the mounting frame 101 can be adjusted by arranging the manipulator body 1, so that an irregular object to be taken is positioned between the two groups of supporting plates 201, at the moment, the bidirectional electric push rod 103 contracts inwards to drive the two groups of supporting plates 201 to approach each other, when the supporting plates 201 approach, the rubber blocks 208 firstly contact with the object, and as the rubber blocks 208 are made of flexible materials, the object pushes the rubber blocks 208 to deform, and then pulls the two groups of oil tanks 205 to approach each other, and the oil tanks 205 are connected with the sleeve 203 in a sliding manner, further pulling the sleeve 203 to approach each other in the cavity 202, the sleeve 203 will press the cavity 202 while approaching each other, when the suction cup 207 contacts with the object, the suction cup 207 is movably connected with the hollow sphere 206, so the suction cup 207 can be adjusted to a proper angle according to the shape of the surface of the object, the suction cup 207 can be attached to the surface of the object, the support plate 201 continues to approach towards the object, the object pushes the oil tank 205 to press the second spring 301, and slides in the sleeve 203, at this time, the air in the sleeve 203 is pressed into the oil tank 205 through the first check valve 302, and pushes the push plate 303 to move towards the object in the first spring 204, it should be noted that the oil tank 205 is the prior art, and has a feed port, before use, the lubricating oil needs to be injected into the oil tank 205 and seals the feed port, while the push plate 303 moves, lubricating oil in the oil tank 205 is squeezed to enter the oil pipe 304, the lubricating oil drives the baffle plate 308 to contact with the mounting plate 309 under the action of pressure, the baffle plate 308 and the mounting plate 309 can be regarded as a whole, the baffle plate 308 and the mounting plate 309 synchronously slide in the oil groove 305, the lubricating oil in the oil groove 305 is pushed into the hollow sphere 206 through the second check valve 310, the lubricating oil passes through the hollow sphere 206 and is squeezed between the hollow sphere 206 and the suction cup 207, the suction cup 207 can smear the lubricating oil when rotating, meanwhile, under the cooperation of the brush 4, the suction cup 207 can drive the brush 4 to clean the surface of the hollow sphere 206 when rotating, dust attached to the surface of the sleeve 203 is cleaned, after the pressure of the baffle plate 308 is lost, under the action of the elastic force of the elastic rope 307, the elastic rope 307 pulls the baffle plate 308 to move towards the direction of the fixing block 306, after the baffle 308 moves for a certain distance, the mounting plate 309 is pulled to slide in the oil groove 305, at this time, the lubricating oil on the left side of the baffle 308 can pass through the mounting plate 309 to reach the right side of the mounting plate 309, when the elastic rope 307 reaches the inside of the oil pipe 304, the inside of the oil groove 305 is still in a state of being filled with the lubricating oil, and the lubricating oil cannot leak out from the inside of the oil groove 305, when the device does not clamp an object, under the elastic force action of the cavity 202 and the second spring 301, the device is driven to reset, by arranging the clamping mechanism 2, an irregular object with a smooth surface can be clamped, during clamping, the rubber block 208 wraps the outer surface of the object, meanwhile, the suction cup 207 can be tightly attached to the outer surface of the object, the clamping stability is increased, under the matching of the lubricating mechanism 3 and the brush 4, the connection between the hollow ball 206 and the suction cup 207 can be lubricated, can reduce the dust simultaneously and get into the junction of hollow spheroid 206 and sucking disc 207, be favorable to improving sucking disc 207 pivoted effect, make sucking disc 207 can be timely according to the angle of the shape adjustment oneself of object surface, also avoid sucking disc 207 to increase with the frictional force between hollow spheroid 206 after long-term the use simultaneously, thereby avoid influencing sucking disc 207's rotation effect, and can add lubricating oil by ration, avoid extravagant lubricating oil, be favorable to keeping the device clean and tidy.
As an embodiment of the present invention, as shown in fig. 2 to 4, the air extracting mechanism 5 includes a cylinder 501, a hose 502, a screw rod 503, a threaded rod 504 and a fixing plate 505, the cylinder 501 movably penetrates through the front end of the sleeve 203 near one side of the oil tank 205, the cylinder 501 is fixedly connected with the oil tank 205, the hose 502 is fixedly installed at one end of the cylinder 501 near the suction cup 207, the hose 502 is communicated with the suction cup 207, the screw rod 503 is rotatably inserted into the cylinder 501, the threaded rod 504 is fixedly installed at one end of the screw rod 503 near the sleeve 203, the fixing plate 505 is fixedly inserted into the sleeve 203, and the fixing plate 505 is in threaded connection with the threaded rod 504;
during operation, under the cooperation of fixture 2, when oil tank 205 inwards extrudees in the inside of sleeve 203, oil tank 205 drives drum 501 and extrudes to the inside of sleeve 203, drum 501 is when removing, because fixed plate 505 and threaded rod 504 threaded connection, threaded rod 504 can drive hob 503 and rotate in drum 501's inside, thereby extract the inside air of sucking disc 207 through hose 502, extract the inside air of sucking disc 207 to the inside of sleeve 203 through drum 501 and hose 502, through setting up air extraction mechanism 5, can reduce the air between sucking disc 207 and the object, increase the area of contact between sucking disc 207 and the object, make the contact between object and sucking disc 207 inseparabler, stability when further having increased the centre gripping object.
As an embodiment of the present invention, as shown in fig. 5 and fig. 6, the stabilizing mechanism 6 includes a corrugated tube 601, an air tube 602, an air bag 603, a supporting frame 604, a one-way shaft 605 and a limiting block 606, the corrugated tube 601 is movably sleeved on two sides of the outer surface of the bidirectional electric push rod 103, the air tube 602 is fixedly installed at the lower end of the outer surface of the corrugated tube 601, the air bag 603 is movably inserted into the upper end of the interior of the cavity 202, the air bag 603 is communicated with the air tube 602 and the corrugated tube 601, the supporting frame 604 is fixedly installed at the lower end of the air bag 603, the supporting frame 604 is slidably connected with the cavity 202, the one-way shaft 605 is uniformly and fixedly inserted into the supporting frame 604, and the limiting block 606 is movably sleeved on the outer surface of the one-way shaft 605;
when the clamping device works, when an object is clamped, the bidirectional electric push rod 103 retracts inwards, the corrugated pipe 601 is driven to stretch, at the moment, the corrugated pipe 601 extracts air in the air bag 603 through the air pipe 602, the bidirectional electric push rod 103 pushes outwards under the matching of the clamping mechanism 2, at the moment, the corrugated pipe 601 is squeezed, the air in the corrugated pipe 601 is injected into the air bag 603 through the air pipe 602, the size of the air bag 603 is increased, the support frame 604, the one-way shaft 605 and the limiting block 606 are pushed to slide downwards in the cavity 202, so that the support frame 604 extends to the lower end of the cavity 202, when the two groups of sleeves 203 approach each other, the sleeves 203 push the limiting block 606 to rotate under the action of the one-way shaft 605, when the sleeves 203 move to be out of contact with the limiting block 606, the limiting block 606 resets under the action of gravity, at the moment, the two groups of sleeves 203 cannot move in opposite directions under the action of the elastic force of the first spring 204, when not needing to carry out the centre gripping to the object, the inside air of gasbag 603 then gets into the inside of bellows 601 through trachea 602, and then drive support frame 604, one-way shaft 605 and stopper 606 move the inside of cavity 202, sleeve 203 can reset under the spring action of spring 204 this moment, through setting up stabilizing mean 6, can increase the stability of clamping in-process sleeve 203, make sleeve 203 can not be at the inside back-and-forth movement of cavity 202, and then avoid when the centre gripping object, object and the device take place to rock, the safety of article has further been guaranteed, avoid at the in-process that removes, the object drops from the device.
The working principle is as follows:
when the manipulator is in operation, the bidirectional electric push rod 103 is connected with an external power supply, the bidirectional electric push rod 103 pushes the clamping plates 102 towards two sides, the clamping plates 102 are pushed by the bidirectional electric push rod 103 to rotate on two sides of the mounting frame 101, the supporting plates 201 are fixedly arranged at the lower ends of the clamping plates 102, the supporting plates 201 move along with the clamping plates 102, the two groups of supporting plates 201 move towards opposite directions, the position of the mounting frame 101 can be adjusted by arranging the manipulator body 1, so that an irregular object to be taken is positioned between the two groups of supporting plates 201, at the moment, the bidirectional electric push rod 103 contracts inwards to drive the two groups of supporting plates 201 to approach each other, when the supporting plates 201 approach, the rubber blocks 208 firstly contact with the object, and as the rubber blocks 208 are made of flexible materials, the object pushes the rubber blocks 208 to deform, and then pulls the two groups of oil tanks 205 to approach each other, and the oil tanks 205 are connected with the sleeve 203 in a sliding manner, further pulling the sleeve 203 to approach each other in the cavity 202, the sleeve 203 will press the cavity 202 while approaching each other, when the suction cup 207 contacts with the object, the suction cup 207 is movably connected with the hollow sphere 206, so the suction cup 207 can be adjusted to a proper angle according to the shape of the surface of the object, the suction cup 207 can be attached to the surface of the object, the support plate 201 continues to approach towards the object, the object pushes the oil tank 205 to press the second spring 301, and slides in the sleeve 203, at this time, the air in the sleeve 203 is pressed into the oil tank 205 through the first check valve 302, and pushes the push plate 303 to move towards the object in the first spring 204, it should be noted that the oil tank 205 is the prior art, and has a feed port, before use, the lubricating oil needs to be injected into the oil tank 205 and seals the feed port, while the push plate 303 moves, lubricating oil in the oil tank 205 is squeezed to enter the oil pipe 304, the lubricating oil drives the baffle plate 308 to contact with the mounting plate 309 under the action of pressure, the baffle plate 308 and the mounting plate 309 can be regarded as a whole, the baffle plate 308 and the mounting plate 309 synchronously slide in the oil groove 305, the lubricating oil in the oil groove 305 is pushed into the hollow sphere 206 through the second check valve 310, the lubricating oil passes through the hollow sphere 206 and is squeezed between the hollow sphere 206 and the suction cup 207, the suction cup 207 can smear the lubricating oil when rotating, meanwhile, under the cooperation of the brush 4, the suction cup 207 can drive the brush 4 to clean the surface of the hollow sphere 206 when rotating, dust attached to the surface of the sleeve 203 is cleaned, after the pressure of the baffle plate 308 is lost, under the action of the elastic force of the elastic rope 307, the elastic rope 307 pulls the baffle plate 308 to move towards the direction of the fixing block 306, after the baffle 308 moves for a certain distance, the mounting plate 309 is pulled to slide in the oil groove 305, at this time, the lubricating oil on the left side of the baffle 308 can pass through the mounting plate 309 to reach the right side of the mounting plate 309, when the elastic rope 307 reaches the inside of the oil pipe 304, the inside of the oil groove 305 is still in a state of being filled with the lubricating oil, and the lubricating oil cannot leak from the inside of the oil groove 305, when the device does not clamp an object, the device is driven to reset under the elastic force of the cavity 202 and the second spring 301, under the cooperation of the clamping mechanism 2, when the oil tank 205 is pressed inwards in the sleeve 203, the oil tank 205 drives the cylinder 501 to press towards the inside of the sleeve 203, when the cylinder 501 moves, because the fixing plate 505 is in threaded connection with the threaded rod 504, the threaded rod 504 can drive the screw rod 503 to rotate in the cylinder 501, so that the air in the sucker 207 is sucked through the hose 502, air in the sucker 207 is pumped into the sleeve 203 through the cylinder 501 and the hose 502, when an object is clamped, the two-way electric push rod 103 contracts inwards to drive the corrugated pipe 601 to stretch, at the moment, the corrugated pipe 601 pumps air in the air bag 603 through the air pipe 602, under the cooperation of the clamping mechanism 2, the two-way electric push rod 103 pushes outwards, at the moment, the corrugated pipe 601 is squeezed, the air in the corrugated pipe 601 is injected into the air bag 603 through the air pipe 602, the volume of the air bag 603 is increased, the support frame 604, the one-way shaft 605 and the limit block 606 are pushed to slide downwards in the cavity 202, so that the support frame 604 extends to the lower end of the cavity 202, when the two groups of sleeves 203 approach each other, under the action of the one-way shaft 605, the sleeve 203 pushes the limit block 606 to rotate, when the sleeve 203 moves to be out of contact with the limit block 606, stopper 606 resets under the effect of gravity, and two sets of sleeves 203 then can't move to opposite direction under the spring action of spring 204 this moment, and when not needing to carry out the centre gripping to the object, the inside air of gasbag 603 then gets into the inside of bellows 601 through trachea 602, and then drives support frame 604, one-way shaft 605 and stopper 606 and move the inside of cavity 202, and sleeve 203 can reset under the spring action of spring 204 this moment.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The Delta parallel four-shaft type mechanical arm comprises a mechanical arm body (1) and is characterized in that a mounting frame (101) is rotatably mounted at the front end of the mechanical arm body (1), clamping plates (102) are rotatably mounted at the lower ends of two sides of the mounting frame (101), two groups of clamping plates (102) are jointly and fixedly mounted at the upper ends of the adjacent sides, a two-way electric push rod (103) is movably arranged at the lower end of each clamping plate (102), each clamping mechanism (2) comprises a supporting plate (201), a cavity (202), a sleeve (203), a first spring (204), an oil tank (205), a hollow sphere (206), a sucker (207) and a rubber block (208), the supporting plate (201) is fixedly mounted at the lower end of each clamping plate (102), the cavity (202) is arranged at the adjacent sides of the two groups of supporting plates (201), and the sleeve (203) is slidably inserted at the front end and the rear end inside the cavity (202), a spring (204) activity cartridge is inside cavity (202), and a spring (204) fixed mounting is between two sets of sleeves (203), backup pad (201) one side is kept away from in sleeve (203) to oil tank (205) slip cartridge, sleeve (203) one side center department is kept away from in oil tank (205) to the fixed cartridge of hollow spheroid (206), the surface at hollow spheroid (206) is established in sucking disc (207) activity cover, rubber block (208) fixed mounting is between two sets of sucking discs (207) the inside activity of oil tank (205) is provided with lubricated mechanism (3), one side activity that is close to oil tank (205) of sleeve (203) is provided with air exhaust mechanism (5), and the both sides of two-way electric putter (103) are all moved and are provided with stabilizing mean (6).
2. The Delta parallel four-axis manipulator according to claim 1, characterized in that the lubricating mechanism (3) comprises a second spring (301), a first check valve (302), a push plate (303), an oil pipe (304), an oil groove (305), a fixed block (306), a stretch rope (307), a baffle (308), a mounting plate (309) and a second check valve (310), the second spring (301) is movably mounted between the sleeve (203) and the first spring (204), the first check valve (302) is movably inserted in the center of one side of the oil tank (205) close to the second spring (301), the push plate (303) is slidably inserted in one side of the oil tank (205) close to the first check valve (302), the oil pipe (304) is fixedly mounted on one side of the hollow sphere (206) far away from the sucker (207), and the oil pipe (304) is communicated with the hollow sphere (206) and communicated with the oil tank (205), oil pipe (304) surface middle part is established to oil groove (305), and the diameter of oil groove (305) is greater than the diameter of oil pipe (304), oil groove (305) one end is kept away from in oil pipe (304) inside to fixed cartridge of fixed block (306), one side movable mounting that fixed block (306) are close to oil groove (305) has stretch cord (307) and baffle (308), and stretch cord (307) and baffle (308) fixed connection, the surface at baffle (308) is established in mounting panel (309) activity cover, and mounting panel (309) and oil groove (305) sliding connection, No. two check valve (310) activity cover is established at the surface of oil pipe (304) one side, and No. two check valve (310) are located between oil pipe (304) and hollow sphere (206).
3. A Delta parallel four axis robot as claimed in claim 2 wherein the baffle (308) is dumbbell shaped and the diameter of the end of the baffle (308) near the bungee cord (307) is greater than the diameter of the end of the baffle remote from the bungee cord (307) and the mounting plate (309) is circular.
4. The Delta parallel four-axis manipulator according to claim 1, characterized in that a brush (4) is fixedly installed at one end of the suction cup (207) close to the hollow sphere (206), the brush (4) is in a ring shape, and the brush (4) is in contact with the outer surface of the hollow sphere (206).
5. The Delta parallel four-axis manipulator according to claim 1, characterized in that the air exhaust mechanism (5) comprises a cylinder (501), a hose (502), a screw rod (503), a threaded rod (504) and a fixing plate (505), the cylinder (501) movably penetrates through the front end of one side of the sleeve (203) close to the oil tank (205), the cylinder (501) is fixedly connected with the oil tank (205), the hose (502) is fixedly installed at one end of the cylinder (501) close to the suction cup (207), the hose (502) is communicated with the suction cup (207), the screw rod (503) is rotatably inserted into the cylinder (501), the threaded rod (504) is fixedly installed at one end of the screw rod (503) close to the sleeve (203), the fixing plate (505) is fixedly inserted into the sleeve (203), and the fixing plate (505) is in threaded connection with the threaded rod (504).
6. A Delta parallel four-axis robot as claimed in claim 1 where, the stabilizing mechanism (6) comprises a corrugated pipe (601), an air pipe (602), an air bag (603), a supporting frame (604), a one-way shaft (605) and a limiting block (606), the corrugated pipe (601) is movably sleeved on two sides of the outer surface of the bidirectional electric push rod (103), the air pipe (602) is fixedly arranged at the lower end of the outer surface of the corrugated pipe (601), the air bag (603) is movably inserted at the upper end inside the cavity (202), the air bag (603) is communicated with the air pipe (602) and the corrugated pipe (601), the supporting frame (604) is fixedly arranged at the lower end of the air bag (603), the supporting frame (604) is connected with the cavity (202) in a sliding way, the one-way shafts (605) are uniformly fixed and inserted in the supporting frame (604), the limiting block (606) is movably sleeved on the outer surface of the one-way shaft (605).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210015246.0A CN114193441A (en) | 2022-01-07 | 2022-01-07 | Delta parallel four-shaft type manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210015246.0A CN114193441A (en) | 2022-01-07 | 2022-01-07 | Delta parallel four-shaft type manipulator |
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| CN114193441A true CN114193441A (en) | 2022-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210015246.0A Pending CN114193441A (en) | 2022-01-07 | 2022-01-07 | Delta parallel four-shaft type manipulator |
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