CN114407000B

CN114407000B - Single-section double-arm manipulator capable of being clamped in multiple directions

Info

Publication number: CN114407000B
Application number: CN202210076324.8A
Authority: CN
Inventors: 李文军
Original assignee: Anhui Zhimary Robot Co ltd
Current assignee: Anhui Zhimary Robot Co ltd
Priority date: 2022-01-21
Filing date: 2022-01-21
Publication date: 2023-08-22
Anticipated expiration: 2042-01-21
Also published as: CN114407000A

Abstract

The invention provides a single-section double-arm manipulator capable of being clamped in multiple directions, belongs to the technical field of manipulators, and is used for solving the problem that the single-section double-arm manipulator cannot clamp goods in multiple angles. The device comprises a bottom plate and two adjusting components, wherein a supporting column is fixed on the bottom plate, a moving component is arranged above the supporting column, the adjusting components comprise a connecting plate, the connecting plate is fixed below the moving component at a corresponding position, an adjusting motor is fixed on the side face of the connecting plate, a rotating plate is fixed on an output shaft of the adjusting motor, a third electric push rod is fixed on the rotating plate, a hinged plate is fixed at the end part of the third electric push rod, an adjusting rod is hinged on the hinged plate, an adjusting plate is fixed below the connecting plate, a rotating disc is rotatably arranged on the adjusting plate, the end part of the adjusting rod is hinged on the rotating disc, and a clamping component is fixed at the end part of the adjusting rod; according to the invention, the moving assembly is matched with the adjusting assembly, so that the goods can be clamped from various angles, and the goods can be clamped conveniently.

Description

Single-section double-arm manipulator capable of being clamped in multiple directions

Technical Field

The invention belongs to the technical field of manipulators, and relates to a multi-directional clamping single-section double-arm manipulator.

Background

The manipulator can simulate certain action functions of a human hand and an arm, and is used for grabbing and carrying objects or operating an automatic operating device of a tool according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.

The single-section double-arm manipulator is an advanced manipulator, can clamp the goods of any point in the range through X axis, Y axis and Z axis, simultaneously, the double-arm manipulator can clamp the goods through the double arms, but the single-section double-arm manipulator still has the limitation, and the single-section double-arm manipulator can only go straight up directly down, can not adjust the angle of centre gripping, leads to the inconvenient clamp of goods to get, consequently, we propose a single-section double-arm manipulator that can multidirectional centre gripping.

Disclosure of Invention

The invention aims at solving the problems in the prior art, and provides a multi-directional clamping single-section double-arm manipulator, which aims at solving the technical problems that: how to make single-section double-arm mechanical arm clamp goods at multiple angles.

The aim of the invention can be achieved by the following technical scheme:

the utility model provides a but multidirectional centre gripping's single-section both arms manipulator, including bottom plate and two adjusting part, be fixed with the support column on the bottom plate, the top of support column is provided with the removal subassembly, be provided with two first electric putter on the removal subassembly, adjusting part includes the connecting plate, the connecting plate is L type, the connecting plate is fixed in the first electric putter below of corresponding position, the side of connecting plate is fixed with accommodate motor, accommodate motor's output shaft runs through and stretches out the connecting plate, be fixed with the rotor plate on accommodate motor's the output shaft, the rotor plate is L type, be fixed with the third electric putter on the rotor plate, the tip of third electric putter is fixed with the hinged plate, the hinged plate is U style of calligraphy, the articulated pole that has on the hinged plate, the below of connecting plate is fixed with the adjusting plate, rotate on the adjusting plate and be provided with the rolling disc, the articulated hole has been seted up on the rolling disc, the tip of adjusting lever articulates on the articulated hole, the tip of adjusting lever is fixed with clamping part, clamping part's both sides all are fixed with electronic clamping jaw.

The working principle of the invention is as follows: the moving assembly drives the connecting plate to move to the goods department, the third electric putter drives the articulated slab and moves, the articulated slab drives the regulation pole and moves, adjust the pole and rotate in the inside of hinge hole, thereby preliminary angle regulation, accommodate motor passes through the output shaft and drives the rotor plate and rotate, the rotor plate drives the third electric putter and rotates, the third electric putter drives the articulated slab and rotates, the articulated slab drives and adjusts the pole and rotates, it drives the rotor plate and rotates to adjust the pole, the rotor plate drives the clamping component and rotates, thereby carry out the multi-angle to the clamping component and adjust, make things convenient for the clamping component to press from both sides getting the goods, the moving assembly drives the clamping component and presss from both sides getting the goods.

The movable assembly comprises a first mounting frame, the first mounting frame is fixed above the supporting column, a first threaded rod is arranged in the first mounting frame in a rotating mode, a first sliding block is connected to the first threaded rod in a threaded mode, the first sliding block is arranged in the first mounting frame in a sliding mode, a first motor is fixed to the end portion of the first mounting frame, and an output shaft of the first motor is connected with the first threaded rod through a coupling.

By adopting the structure, the first motor drives the first threaded rod to rotate through the output shaft, and the first threaded rod drives the first sliding block to move.

The movable assembly further comprises a mounting plate, the mounting plate is L-shaped, a second mounting frame is fixed on the side face of the mounting plate, a second threaded rod is arranged in the second mounting frame in a rotating mode, the second threaded rod is a two-way threaded rod, two second sliding blocks are connected to the second threaded rod in a threaded mode, two first electric push rods are respectively fixed to the second sliding blocks in corresponding positions, a second motor is fixed to the mounting plate, and an output shaft of the second motor is connected with the second threaded rod through a coupling.

By adopting the structure, the first sliding block drives the mounting plate to move, the second motor drives the second threaded rod to rotate through the output shaft, the second threaded rod drives the second sliding block to move, the second sliding block drives the first electric push rod to move, and the first electric push rod drives the connecting plate to move.

The clamping assembly comprises a sliding rod and a hanging plate, the hanging plate is fixed at the end part of the adjusting rod, an installation box is fixed at the end part of the hanging plate, a plurality of buffer holes are formed in the installation box, a fixed plate is fixed in the installation box, a plurality of sliding holes are formed in the fixed plate, the inside of the installation box is divided into a spring bin and a locking bin by the fixed plate, two tension spring loop bars are fixed at the bottom of the locking bin, an installation clamping plate is fixed above the tension spring loop bars, a second spring is arranged between the top of the installation clamping plate and the top of the locking bin, a plurality of limit clamping strips are fixed between the two installation clamping plates, the sliding rod is arranged on the installation box in a sliding mode, the lower end of the sliding rod is fixed on the limit clamping strip at the uppermost side, a second electric push rod is fixed above the installation box, a pressing plate is fixed at the end part of the second electric push rod, and the pressing plate is fixed above the sliding rod.

By adopting the structure, the second electric push rod drives the pressing plate to rise, the pressing plate drives the sliding rod to rise, and the sliding rod drives the limiting clamping strip to rise, so that the limiting of the clamping assembly is relieved.

The clamping assembly further comprises a plurality of extrusion columns, the extrusion columns are all arranged on the mounting box in a sliding mode, a circular plate is fixed at the end portion of each extrusion column and located in the spring bin, a limiting rod is fixed on the side face of each circular plate and arranged on a sliding hole in the corresponding position in a sliding mode, a first spring is sleeved on each limiting rod, and a plurality of limiting grooves are formed in the limiting rods between the fixing plates and the circular plates.

By adopting the structure, when the extrusion column extrudes cargoes, the extrusion column drives the circular plate to move when the extrusion column is abutted against the cargoes, the circular plate extrudes the first spring, meanwhile, the circular plate drives the limiting rod to move, the limiting rod extrudes the limiting clamping strip, the limiting clamping strip drives the installation clamping plate to rise, the installation clamping plate extrudes the second spring, the installation clamping plate pulls the tension spring sleeve rod, and accordingly the limiting clamping strip is driven to rise, and then the limiting clamping strip and the limiting groove are matched to limit the limiting rod.

Compared with the prior art, the multi-directional clamping single-section double-arm manipulator has the following advantages:

1. through the cooperation of the moving component and the adjusting component, the goods can be clamped from various angles, so that the goods can be clamped conveniently;

2. the clamping assembly is matched with the adjusting assembly, and the goods with different shapes can be limited through the extrusion columns, so that the goods with different shapes are clamped, and the applicability is improved.

Drawings

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

FIG. 2 is a schematic top view of a clamping assembly of the present invention;

FIG. 3 is a schematic cross-sectional view of the clamping assembly B-B of the present invention;

FIG. 4 is a schematic cross-sectional view of the clamping assembly A-A of the present invention;

FIG. 5 is a schematic perspective view of an adjustment assembly according to the present invention;

in the figure: 1. a first motor; 2. a first threaded rod; 3. a first mounting frame; 4. a second motor; 5. a first slider; 6. a mounting plate; 7. a second slider; 8. a bottom plate; 9. an electric clamping jaw; 10. adjusting a motor; 11. a connecting plate; 12. a first electric push rod; 13. a second mounting frame; 14. a second threaded rod; 15. a support column; 16. an extrusion column; 17. a mounting box; 18. a first spring; 19. a second electric push rod; 20. a pressing plate; 21. an adjusting plate; 22. a slide bar; 23. a hanging plate; 24. limiting clamping strips; 25. installing a clamping plate; 26. a fixing plate; 27. a limit groove; 28. a limit rod; 29. a circular plate; 30. a second spring; 31. a tension spring loop bar; 32. a sliding hole; 33. an adjusting rod; 34. a hinged plate; 35. a rotating disc; 36. a third electric push rod; 37. a rotating plate; 38. and a hinge hole.

Detailed Description

The technical scheme of the patent is further described in detail below with reference to the specific embodiments.

Embodiments of the present patent are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present patent and are not to be construed as limiting the present patent.

In the description of this patent, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the patent and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be configured and operated in a particular orientation, and are therefore not to be construed as limiting the patent.

In the description of this patent, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "disposed" are to be construed broadly, and may be fixedly connected, disposed, detachably connected, disposed, or integrally connected, disposed, for example. The specific meaning of the terms in this patent will be understood by those of ordinary skill in the art as the case may be.

Referring to fig. 1-5, the embodiment provides a multi-directional clamping single-section double-arm manipulator, which comprises a bottom plate 8 and two adjusting components, wherein a support column 15 is fixed on the bottom plate 8, a moving component is arranged above the support column 15, two first electric push rods 12 are arranged on the moving component, the adjusting components comprise a connecting plate 11, the connecting plate 11 is in an L shape, the connecting plate 11 is fixed below the first electric push rods 12 at corresponding positions, an adjusting motor 10 is fixed on the side surface of the connecting plate 11, an output shaft of the adjusting motor 10 penetrates through the connecting plate 11, a rotating plate 37 is fixed on the output shaft of the adjusting motor 10, the rotating plate 37 is in an L shape, a third electric push rod 36 is fixed on the rotating plate 37, the end part of the third electric push rod 36 is fixed with a hinge plate 34, the hinge plate 34 is in a U shape, an adjusting rod 33 is hinged on the hinge plate 34, an adjusting plate 21 is fixed below the connecting plate 11, a rotating disc 35 is rotatably arranged on the rotating disc 35, the end part of the adjusting rod 33 is hinged on the hinge hole 38, the end part of the adjusting rod 33 is fixed with a clamping component, and two sides of the clamping component are fixed with electric clamping jaws 9; the moving assembly drives the connecting plate 11 to move to the goods, the third electric push rod 36 drives the hinged plate 34 to move, the hinged plate 34 drives the adjusting rod 33 to move, the adjusting rod 33 rotates in the inside of the hinged hole 38, and therefore the angle is initially adjusted, the adjusting motor 10 drives the rotating plate 37 to rotate through the output shaft, the rotating plate 37 drives the third electric push rod 36 to rotate, the third electric push rod 36 drives the hinged plate 34 to rotate, the hinged plate 34 drives the adjusting rod 33 to rotate, the adjusting rod 33 drives the rotating disc 35 to rotate, the rotating disc 35 drives the clamping assembly to rotate, and therefore the clamping assembly is adjusted at multiple angles, the clamping assembly is convenient to clamp the goods, and the moving assembly drives the clamping assembly to clamp the goods.

The moving assembly comprises a first mounting frame 3, the first mounting frame 3 is fixed above a supporting column 15, a first threaded rod 2 is rotatably arranged in the first mounting frame 3, a first sliding block 5 is connected to the first threaded rod 2 in a threaded mode, the first sliding block 5 is arranged in the first mounting frame 3 in a sliding mode, a first motor 1 is fixed to the end portion of the first mounting frame 3, and an output shaft of the first motor 1 is connected with the first threaded rod 2 through a coupling; the first motor 1 drives the first threaded rod 2 to rotate through the output shaft, and the first threaded rod 2 drives the first sliding block 5 to move.

The moving assembly further comprises a mounting plate 6, the mounting plate 6 is L-shaped, a second mounting frame 13 is fixed on the side face of the mounting plate 6, a second threaded rod 14 is rotatably arranged in the second mounting frame 13, the second threaded rod 14 is a bidirectional threaded rod, two second sliding blocks 7 are connected to the second threaded rod 14 in a threaded manner, two first electric push rods 12 are respectively fixed on the second sliding blocks 7 at corresponding positions, a second motor 4 is fixed on the mounting plate 6, and an output shaft of the second motor 4 is connected with the second threaded rod 14 through a coupling; the first sliding block 5 drives the mounting plate 6 to move, the second motor 4 drives the second threaded rod 14 to rotate through the output shaft, the second threaded rod 14 drives the second sliding block 7 to move, the second sliding block 7 drives the first electric push rod 12 to move, and the first electric push rod 12 drives the connecting plate 11 to move.

The clamping assembly comprises a sliding rod 22 and a hanging plate 23, the hanging plate 23 is fixed at the end part of an adjusting rod 33, an installation box 17 is fixed at the end part of the hanging plate 23, a plurality of buffer holes are formed in the installation box 17, a fixed plate 26 is fixed in the installation box 17, a plurality of sliding holes 32 are formed in the fixed plate 26, the inside of the installation box 17 is divided into a spring bin and a locking bin by the fixed plate 26, two tension spring sleeve rods 31 are fixed at the bottom of the locking bin, an installation clamping plate 25 is fixed above the tension spring sleeve rods 31, a second spring 30 is arranged between the upper part of the installation clamping plate 25 and the top of the locking bin, a plurality of limit clamping strips 24 are fixed between the two installation clamping plates 25, the sliding rod 22 is arranged on the installation box 17 in a sliding mode, the lower end of the sliding rod 22 is fixed on the limit clamping strip 24 at the uppermost side, a second electric push rod 19 is fixed above the installation box 17, a pressing plate 20 is fixed at the end part of the second electric push rod 19, and the pressing plate 20 is fixed above the sliding rod 22; the second electric push rod 19 drives the pressing plate 20 to ascend, the pressing plate 20 drives the sliding rod 22 to ascend, and the sliding rod 22 drives the limiting clamping strip 24 to ascend, so that the limiting of the clamping assembly is relieved.

The clamping assembly further comprises a plurality of extrusion columns 16, the extrusion columns 16 are arranged on the mounting box 17 in a sliding mode, a circular plate 29 is fixed at the end of each extrusion column 16, the circular plate 29 is positioned in the spring bin, a limiting rod 28 is fixed on the side face of the circular plate 29, the limiting rod 28 is arranged on a sliding hole 32 in a corresponding position in a sliding mode, a first spring 18 is sleeved on the limiting rod 28, and a plurality of limiting grooves 27 are formed in the limiting rod 28, located between the fixing plate 26 and the circular plate 29, of the first spring 18; when the extrusion column 16 extrudes goods, when the extrusion column 16 is in conflict with the goods, the extrusion column 16 drives the circular plate 29 to move, the circular plate 29 extrudes the first spring 18, meanwhile, the circular plate 29 drives the limiting rod 28 to move, the limiting rod 28 extrudes the limiting clamping strip 24, the limiting clamping strip 24 drives the installation clamping plate 25 to ascend, the installation clamping plate 25 extrudes the second spring 30, the installation clamping plate 25 pulls the tension spring sleeve rod 31, and accordingly the limiting clamping strip 24 is driven to ascend, and then the limiting clamping strip 24 is matched with the limiting groove 27 to limit the limiting rod 28.

In this embodiment, the above fixing methods are the simplest common fixing methods in the field, such as welding and bolting; in this embodiment, the electrical devices, such as the first motor 1 and the first electric push rod 12, are all products in the prior art, and can be directly purchased and used, and the specific principles are not repeated.

The working principle of the invention is as follows:

the first motor 1 drives the first threaded rod 2 to rotate through the output shaft, the first threaded rod 2 drives the first sliding block 5 to move, the first sliding block 5 drives the mounting plate 6 to move, the second motor 4 drives the second threaded rod 14 to rotate through the output shaft, the second threaded rod 14 drives the two second sliding blocks 7 to be close to each other, the two second sliding blocks 7 drive the two first electric push rods 12 to be close to each other, the two first electric push rods 12 drive the two connecting plates 11 to move to the goods to be clamped, the third electric push rod 36 drives the hinge plates 34 to move, the hinge plates 34 drive the adjusting rods 33 to move, the adjusting rods 33 rotate in the hinge holes 38, the angles of the adjusting rods 33 are adjusted up and down, the adjusting rods 33 adjust the angles of the hanging plates 23, the hanging plates 23 drive the mounting boxes 17 to rotate, the pitching angles are adjusted preliminarily, the adjusting motor 10 drives the rotating plates 37 to rotate through the output shaft, the rotating plate 37 drives the third electric push rod 36 to rotate, the third electric push rod 36 drives the hinged plate 34 to rotate, the hinged plate 34 drives the adjusting rod 33 to rotate, the adjusting rod 33 drives the rotating disc 35 to rotate, the rotating disc 35 drives the adjusting rod 33 to rotate, thereby driving the adjusting rod 33 with the adjusted pitching angle to rotate, the adjusting rod 33 drives the hanging plate 23 to rotate, the hanging plate 23 drives the mounting box 17 to rotate, thereby increasing the adjusting angle of the adjusting rod 33, the goods are convenient to clamp, the first motor 1 drives the first threaded rod 2 to rotate through the output shaft, the first threaded rod 2 drives the first sliding block 5 to move, the first sliding block 5 drives the mounting plate 6 to move, the second motor 4 drives the second threaded rod 14 to rotate through the output shaft, the second threaded rod 14 drives the second sliding block 7 to move, the second sliding block 7 drives the first electric push rod 12 to move, when the first electric push rod 12 drives the connecting plate 11 to extrude the column 16 to extrude the goods, when the column 16 is abutted against the goods, the column 16 drives the circular plate 29 to move, the circular plate 29 extrudes the first spring 18, meanwhile, the circular plate 29 drives the limiting rod 28 to move, the limiting rod 28 extrudes the limiting clamping strip 24, the limiting clamping strip 24 drives the mounting clamping plate 25 to ascend, the mounting clamping plate 25 extrudes the second spring 30, the mounting clamping plate 25 pulls the tension spring sleeve rod 31, so that the limiting clamping strip 24 is driven to ascend, and then the limiting clamping strip 24 and the limiting groove 27 are matched to limit the limiting rod 28, so that the goods are clamped.

In conclusion, the moving assembly and the adjusting assembly are matched, so that the goods can be clamped from various angles, and the goods can be clamped conveniently; the clamping assembly and the adjusting assembly are matched, and the goods with different shapes can be limited through the extrusion columns 16, so that the goods with different shapes are clamped, and the applicability is improved.

While the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes may be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. The utility model provides a but single-section both arms manipulator of multidirectional centre gripping, including bottom plate (8) and two regulation subassemblies, a serial communication port, be fixed with support column (15) on bottom plate (8), the top of support column (15) is provided with the removal subassembly, be provided with two first electric putter (12) on the removal subassembly, the regulation subassembly includes connecting plate (11), connecting plate (11) are L type, connecting plate (11) are fixed in first electric putter (12) below of corresponding position, the side of connecting plate (11) is fixed with accommodate motor (10), the output shaft of accommodate motor (10) runs through and stretches out connecting plate (11), be fixed with on the output shaft of accommodate motor (10) rotating plate (37), rotating plate (37) are L type, be fixed with third electric putter (36) on rotating plate (37), the tip of third electric putter (36) is fixed with hinged plate (34), hinged plate (34) are U style of calligraphy, the articulated plate (34) are articulated on hinged plate (33), the below of adjusting plate (21) is fixed with regulating plate (21), rotate on rotating plate (35) and be provided with rotating plate (35), the tip (38) on articulated plate (33) are articulated plate (38) are offered on the tip of articulated plate (38), both sides of the clamping component are fixed with electric clamping jaws (9).

2. The multi-directional clamping single-section double-arm manipulator according to claim 1, wherein the moving assembly comprises a first mounting frame (3), the first mounting frame (3) is fixed above a supporting column (15), a first threaded rod (2) is rotatably arranged in the first mounting frame (3), a first sliding block (5) is connected to the first threaded rod (2) in a threaded manner, the first sliding block (5) is arranged in the first mounting frame (3) in a sliding manner, a first motor (1) is fixed at the end part of the first mounting frame (3), and an output shaft of the first motor (1) is connected with the first threaded rod (2) through a coupling.

3. The multi-directional clamping single-section double-arm manipulator according to claim 2, wherein the moving assembly further comprises a mounting plate (6), the mounting plate (6) is L-shaped, a second mounting frame (13) is fixed on the side face of the mounting plate (6), a second threaded rod (14) is arranged in the second mounting frame (13) in a rotating mode, the second threaded rod (14) is a two-way threaded rod, two second sliding blocks (7) are connected to the second threaded rod (14) in a threaded mode, two first electric pushing rods (12) are respectively fixed on the second sliding blocks (7) in corresponding positions, a second motor (4) is fixed on the mounting plate (6), and an output shaft of the second motor (4) is connected with the second threaded rod (14) through a coupling.

4. The multi-directional clamping single-section double-arm manipulator according to claim 1, wherein the clamping assembly comprises a sliding rod (22) and a hanging plate (23), the hanging plate (23) is fixed at the end part of the adjusting rod (33), the end part of the hanging plate (23) is fixedly provided with a mounting box (17), a plurality of buffer holes are formed in the mounting box (17), a fixed plate (26) is fixedly arranged in the mounting box (17), a plurality of sliding holes (32) are formed in the fixed plate (26), the inside of the mounting box (17) is divided into a spring bin and a locking bin by the fixed plate (26), two tension spring sleeve rods (31) are fixedly arranged at the bottom of the locking bin, a second spring (30) is arranged between the upper part of the tension spring sleeve rods (31) and the top of the locking bin, a plurality of limit clamping bars (24) are fixedly arranged between the two mounting clamping plates (25), the sliding rod (22) is slidingly arranged on the mounting box (17), the lower end of the sliding rod (22) is fixedly arranged on the uppermost limit clamping bar (24), and the second pressing plate (19) is fixedly arranged on the upper end part of the electric push rod (19).

5. The multi-directional clamping single-section double-arm manipulator according to claim 4, wherein the clamping assembly further comprises a plurality of extrusion columns (16), the extrusion columns (16) are all arranged on the mounting box (17) in a sliding mode, a circular plate (29) is fixed at the end portion of each extrusion column (16), the circular plate (29) is located in the spring bin, a limiting rod (28) is fixed on the side face of the circular plate (29), the limiting rod (28) is arranged on a sliding hole (32) in the corresponding position in a sliding mode, a first spring (18) is sleeved on the limiting rod (28), the first spring (18) is located between the fixing plate (26) and the circular plate (29), and a plurality of limiting grooves (27) are formed in the limiting rod (28).