CN114654485B - Manipulator device with adjustable manipulator spacing - Google Patents
Manipulator device with adjustable manipulator spacing Download PDFInfo
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- CN114654485B CN114654485B CN202210322168.9A CN202210322168A CN114654485B CN 114654485 B CN114654485 B CN 114654485B CN 202210322168 A CN202210322168 A CN 202210322168A CN 114654485 B CN114654485 B CN 114654485B
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- 230000005540 biological transmission Effects 0.000 claims description 26
- 230000007246 mechanism Effects 0.000 claims description 8
- 239000000428 dust Substances 0.000 description 11
- 239000011295 pitch Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
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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
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator device with adjustable manipulator spacing, and belongs to the field of manipulators. The manipulator device with the adjustable manipulator distance comprises a manipulator with two reciprocating plates, and further comprises: the two C-shaped blocks are symmetrically arranged and are respectively and fixedly connected to the lower ends of the two reciprocating plates, clamping blocks are slidably connected in the two C-shaped blocks, and arc-shaped grooves are formed in the opposite side walls of the two clamping blocks; the driving motor is fixedly arranged on the manipulator, and is connected with the two clamping blocks through the adjusting component; the two groups of self-adaptive components are respectively arranged on the inner walls of the two arc-shaped grooves and are connected with the adjusting components; the two clamping blocks can adjust the distance to clamp pipes with different diameters, so that the whole clamp is not required to be replaced, and the use is more flexible.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator device with adjustable manipulator spacing.
Background
The automatic manipulator is composed of three parts, i.e. an executing mechanism, a driving mechanism and a control system, and can replace heavy labor of people to realize mechanization and automation of production and can operate under harmful environment to protect personal safety, thus being widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.
The existing manipulator generally drives two clamping plates to clamp objects by two sliding blocks which can stretch out and draw back mutually, the sliding distance of the two sliding blocks is fixed, when different objects need to be clamped, for example, when pipes with different diameters need to be clamped, the clamping plates with fixed clamping distances can deform the pipes with large diameters, so that the clamping devices need to be replaced, and the use are inconvenient.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a manipulator device with adjustable manipulator spacing.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the manipulator device with the adjustable manipulator distance comprises a manipulator with two reciprocating plates, and further comprises: the two C-shaped blocks are symmetrically arranged and are respectively and fixedly connected to the lower ends of the two reciprocating plates, clamping blocks are slidably connected in the two C-shaped blocks, and arc-shaped grooves are formed in the opposite side walls of the two clamping blocks; the driving motor is fixedly arranged on the manipulator, and is connected with the two clamping blocks through the adjusting component; the two groups of self-adaptive components are respectively arranged on the inner walls of the two arc-shaped grooves and are connected with the adjusting components.
In order to enable the manipulator to clamp pipes with different diameters, preferably, the adjusting component comprises a first screw rod rotationally connected to the outer walls of two clamping blocks, two first screw holes matched with the first screw rod are formed in the outer walls of the C-shaped blocks, long rod gears are rotationally connected to the outer walls of the C-shaped blocks through rotating rods, driven gears meshed with the two long rod gears are fixedly connected to the tail ends of the first screw rods respectively, vertical plates which are symmetrically arranged are fixedly connected to the lower ends of the manipulator, a transmission shaft is rotationally connected to the two vertical plates, driving gears are fixedly connected to the two ends of the transmission shaft and meshed with the two long rod gears respectively, and driving motors are connected with the transmission shaft through worm gear mechanisms.
In order to make the terminal of a plurality of slide be in contact with the pipe outer wall even all the time, further, self-adaptation subassembly includes fixed connection at the fixed plate at arc groove both ends, the inner wall of arc groove is equipped with a plurality of evenly distributed's spout, a plurality of equal sliding connection has the slide that extends to the arc inslot in the spout, two fixed plate is the arc with the one end of a plurality of slides and distributes in the arc inslot, a plurality of the other end of slide all rotates and is connected with the second screw rod, a plurality of the equal threaded connection of outer wall of second screw rod has the screwed pipe, a plurality of the screwed pipe rotates respectively and connects on the outer wall of grip block, a plurality of the pitch of the second screw rod of intermediate position is kept away from to the second screw rod reduces in proper order, a plurality of the equal fixed mounting of outer wall of screwed pipe has drive gear, a plurality of adjacent intermeshing are connected between the drive gear, the rotation end fixedly connected with drive gear of first screw rod, drive gear and one of them drive gear meshing connection.
In order to prevent dust on the outer wall of the pipe from accumulating in the arc-shaped groove for a long time to influence the clamping effect, furthermore, a plurality of evenly distributed nozzles are fixedly arranged on the inner wall of each arc-shaped groove, a plurality of nozzles are respectively positioned in gaps of a plurality of sliding plates, and an automatic air supply assembly connected with the nozzles is arranged between each vertical plate and each reciprocating plate.
In order to enable the nozzles to be free of external air supply equipment, the automatic air supply assembly further comprises a telescopic air bag which is connected between the vertical plate and the reciprocating plate in a telescopic mode, an air suction pipe and an air exhaust pipe which are communicated with the telescopic air bag are fixedly connected to the side wall of the telescopic air bag, and the air exhaust pipe is fixedly connected with the nozzles through connecting pipes.
In order to prevent the sliding plate from scratching and impressing the outer wall of the pipe, furthermore, the fixed plate and one end of the sliding plate, which is positioned in the arc groove, are fixedly connected with elastic strips.
In order to effectively ensure the friction force and the softness of the tail end of the sliding plate, the elastic strips are made of rubber.
In order to effectively ensure the friction force between the elastic strip and the outer wall of the pipe, further, the cross section of the tail end of the elastic strip is semicircular, and the outer wall of the tail end of the elastic strip is provided with anti-skid patterns.
In order to effectively ensure the use functions of the air suction pipe and the exhaust pipe, further, check valves are fixedly arranged in the air suction pipe and the exhaust pipe.
In order to effectively ensure the efficiency of the nozzle for removing dust in the arc-shaped groove, the wind direction of the nozzle is parallel to the axial lead of the arc-shaped groove.
Compared with the prior art, the invention provides the manipulator device with the adjustable manipulator spacing, which has the following beneficial effects:
1. according to the manipulator device with the adjustable manipulator distance, the two first screw rods are driven to rotate by the driving motor, the two first screw rods can drive the two clamping blocks to be away from each other under the action of the first screw holes, so that the distance between the two clamping blocks can be increased, a pipe with a larger diameter can be clamped, the whole clamp does not need to be replaced, and the manipulator device is more flexible to use;
2. according to the manipulator device with the adjustable manipulator spacing, the first rotating screw rod drives the plurality of second threaded rods to rotate, so that the circular arcs formed by the plurality of sliding plates can be changed along with the rotation of the plurality of second threaded rods, the tail ends of the plurality of sliding plates are always in uniform contact with the outer wall of the pipe, and the pipe is prevented from being deformed due to uneven stress;
3. this manipulator interval adjustable manipulator device extrudees flexible gasbag through the reciprocal board, and flexible gasbag can be through blast pipe and connecting pipe to a plurality of nozzle air feed, and a plurality of nozzles then can blow gaseous arc wall to with the dust in the arc wall blow down, prevent that the dust of pipe outer wall from piling up in the arc wall for a long time and influencing the centre gripping effect.
Drawings
FIG. 1 is a schematic diagram of an axial measurement structure of a manipulator device with adjustable manipulator spacing according to the present invention;
FIG. 2 is a schematic diagram of a partial axis measurement structure of a manipulator device with adjustable manipulator spacing according to the present invention;
FIG. 3 is a schematic view of the structure of the second view angle of FIG. 2 of a manipulator device with adjustable manipulator spacing according to the present invention;
FIG. 4 is a schematic diagram of a front view of a manipulator device with adjustable manipulator spacing according to the present invention;
FIG. 5 is a schematic view of the partial structure of FIG. 4 of a manipulator apparatus with adjustable manipulator spacing according to the present invention;
FIG. 6 is a schematic diagram of the structure of the manipulator device in FIG. 5A with adjustable manipulator spacing according to the present invention;
fig. 7 is a schematic diagram of a structure of a manipulator device with adjustable manipulator spacing in fig. 4 according to the present invention;
fig. 8 is a schematic structural diagram of the manipulator device with adjustable manipulator spacing after deformation in fig. 4 according to the present invention.
In the figure: 1. a manipulator; 2. a shuttle plate; 3. a C-shaped block; 4. a clamping block; 5. a first screw hole; 6. a first screw; 7. a fixing plate; 8. a chute; 9. a slide plate; 10. a threaded tube; 11. a second screw; 12. a drive gear; 13. a transmission gear; 14. a vertical plate; 15. a transmission shaft; 16. a driving motor; 17. a worm gear mechanism; 18. a through hole; 19. a drive gear; 20. a long bar-shaped gear; 21. a nozzle; 22. a telescopic air bag; 23. an air suction pipe; 24. an exhaust pipe; 25. a connecting pipe; 26. a one-way valve; 27. a driven gear; 28. an elastic strip; 29. a rotating rod; 30. an arc-shaped groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Example 1:
referring to fig. 1-8, a manipulator apparatus with adjustable manipulator spacing, comprising a manipulator 1 with two shuttle plates 2, further comprising: the two symmetrically arranged C-shaped blocks 3 are respectively and fixedly connected to the lower ends of the two reciprocating plates 2, wherein clamping blocks 4 are slidably connected in the two C-shaped blocks 3, and arc-shaped grooves 30 are formed in the opposite side walls of the two clamping blocks 4; the driving motor 16 is fixedly arranged on the manipulator 1, wherein the driving motor 16 is connected with the two clamping blocks 4 through an adjusting component; the two groups of self-adaptive components are respectively arranged on the inner walls of the two arc-shaped grooves 30 and are connected with the adjusting component, when a pipe is clamped, the two C-shaped blocks 3 are driven to be close to each other by the two reciprocating plates 2, the two C-shaped blocks 3 can drive the two clamping blocks 4 to be close to each other, the two clamping blocks 4 can clamp the pipe by the arc-shaped grooves 30, when the pipe with a large diameter is required to be clamped, the driving motor 16 is started, the driving motor 16 can drive the two clamping blocks 4 to be far away from each other by the adjusting component, the distance between the two clamping blocks 4 is increased, the pipe with a larger diameter can be clamped, the whole clamp is not required to be replaced, the use is more flexible, the adjusting component in the arc-shaped grooves 30 can enable the self-adaptive components to be automatically adapted to pipes with different diameters, so that the outer wall stress of the pipe can keep uniform shape when the pipe is clamped, and the situation that the pipe is deformed can be prevented.
Example 2:
referring to fig. 1 to 5, substantially the same as in embodiment 1, further: the adjusting component comprises a first screw rod 6 which is rotationally connected with the outer walls of two clamping blocks 4, the outer walls of two C-shaped blocks 3 are respectively provided with a first screw hole 5 which is matched with the first screw rod 6, the outer walls of the two C-shaped blocks 3 are respectively rotationally connected with a long rod-shaped gear 20 through a rotating rod 29, the tail ends of the two first screw rods 6 are respectively fixedly connected with driven gears 27 which are respectively engaged with the two long rod-shaped gears 20, the lower end of the manipulator 1 is fixedly connected with a vertical plate 14 which is symmetrically arranged, the two vertical plates 14 are rotationally connected with a transmission shaft 15, the two ends of the transmission shaft 15 are respectively fixedly connected with a driving gear 19, the two driving gears 19 are respectively engaged with the two long rod-shaped gears 20, a driving motor 16 is connected with the transmission shaft 15 through a worm gear mechanism 17, the side walls of the two reciprocating plates 2 are respectively provided with through holes 18 which are matched with the transmission shaft 15, when the pipe is clamped, the two C-shaped blocks 3 are driven to be close to each other by the two reciprocating plates 2, the two C-shaped blocks 3 can drive the two clamping blocks 4 to be close to each other, the two clamping blocks 4 can clamp the pipe by the arc-shaped grooves 30, when a large-diameter pipe is required to be clamped, the driving motor 16 is started, the driving motor 16 drives the transmission shaft 15 to rotate through the worm and gear mechanism 17, the transmission shaft 15 drives the two long rod-shaped gears 20 to rotate through the two driving gears 19, the two long rod-shaped gears 20 drive the two driven gears 27 to rotate, the two driven gears 27 drive the two first screw rods 6 to rotate, the two first screw rods 6 drive the two clamping blocks 4 to be far away from each other under the action of the first screw holes 5, the distance between the two clamping blocks 4 can be increased, so that the clamping blocks can clamp pipes with larger diameters, the whole clamp does not need to be replaced, and the clamping device is more flexible to use.
Example 3:
referring to fig. 1 to 6, substantially the same as in embodiment 1, further: the self-adaptive component comprises fixing plates 7 fixedly connected with two ends of an arc-shaped groove 30, a plurality of evenly distributed sliding grooves 8 are arranged on the inner wall of the arc-shaped groove 30, sliding plates 9 extending into the arc-shaped groove 30 are connected in a sliding manner in the sliding grooves 8, two fixing plates 7 and one ends of the sliding plates 9 are distributed in the arc-shaped groove 30 in an arc manner, the other ends of the sliding plates 9 are rotationally connected with second screw rods 11, the outer walls of the second screw rods 11 are rotationally connected with threaded pipes 10, the threaded pipes 10 are respectively rotationally connected with the outer walls of the clamping blocks 4, the pitches of the second screw rods 11 which are far away from the middle position of the second screw rods 11 are sequentially reduced, transmission gears 13 are fixedly arranged on the outer walls of the threaded pipes 10, a plurality of adjacent transmission gears 13 are in meshed connection, the rotating ends of the first screw rods 6 are fixedly connected with driving gears 12, the driving gear 12 is meshed with one of the transmission gears 13, when a pipe is clamped, the two C-shaped blocks 3 are driven to be close to each other by the two reciprocating plates 2, the two C-shaped blocks 3 can drive the two clamping blocks 4 to be close to each other, the two clamping blocks 4 can clamp the pipe by the arc-shaped groove 30, when the pipe with large diameter is required to be clamped, the driving motor 16 is started, the driving motor 16 can drive the two clamping blocks 4 to be far away from each other by the adjusting component, the distance between the two clamping blocks 4 is increased, the pipe with larger diameter can be clamped without replacing the whole clamp, the clamping device is more flexible, the sliding plates 9 and the two fixing plates 7 uniformly prop against the outer wall of the pipe when the clamping blocks 4 clamp the pipe, and when the first screw 6 rotates, the first screw 6 drives the transmission gear 13 to rotate by the driving gear 12, the plurality of transmission gears 13 meshed with each other drive the plurality of second threaded rods 11 to rotate, the plurality of second threaded rods 11 drive the plurality of sliding plates 9 to slide towards the arc-shaped grooves 30 under the action of the plurality of transmission gears 13, and as the pitches of the plurality of second threaded rods 11 far away from the middle position of the plurality of second threaded rods 11 are sequentially reduced, namely the pitches of the second threaded rods 11 positioned in the middle of the arc-shaped grooves 30 are largest, and the pitches of the plurality of second threaded rods 11 positioned at two sides of the plurality of sliding plates are gradually reduced, the sliding lengths of the plurality of sliding plates 9 are different when sliding, so that the diameter of an arc formed by the tail ends of the plurality of sliding plates 9 is increased, as shown in fig. 8, the clamped pipe is larger than that of the pipe as shown in fig. 4, namely when the clamping interval between two clamping blocks 4 is adjusted, the arc formed by the plurality of sliding plates 9 is changed, so that the tail ends of the plurality of sliding plates 9 are always contacted with the outer wall of the pipe uniformly, and deformation of the pipe is prevented.
Furthermore, the elastic strips 28 are fixedly connected to the ends of the fixing plate 7 and the sliding plate 9, which are positioned in the arc-shaped groove 30, and scratches and indentations of the sliding plate 9 on the outer wall of the pipe can be prevented by the elastic strips 28.
Furthermore, the elastic strips 28 are made of rubber, so that the friction and the softness of the tail end of the sliding plate 9 can be effectively ensured by the elastic strips 28 made of rubber.
Further, the cross section of the end of the elastic strip 28 is semicircular, and the outer wall of the end of the elastic strip 28 is provided with anti-skid patterns, so that the friction force between the elastic strip 28 and the outer wall of the pipe can be effectively ensured by the anti-skid patterns.
Example 4:
referring to fig. 4, 5 and 7, substantially the same as in embodiment 1, further: the inner walls of the two arc-shaped grooves 30 are fixedly provided with a plurality of evenly distributed nozzles 21, the nozzles 21 are respectively positioned in the gaps of the sliding plates 9, an automatic air supply assembly connected with the nozzles 21 is arranged between the vertical plate 14 and the reciprocating plate 2, and during the reciprocating sliding of the reciprocating plate 2, the reciprocating plate 2 can supply air to the nozzles 21 through the automatic air supply assembly, and the nozzles 21 can blow air to the arc-shaped grooves 30, so that dust in the arc-shaped grooves 30 is blown off, and the long-term accumulation of dust on the outer wall of a pipe in the arc-shaped grooves 30 is prevented, so that the clamping effect is affected.
Furthermore, the wind direction of the nozzle 21 is parallel to the axis of the arc-shaped groove 30, so that the efficiency of the nozzle 21 for removing dust in the arc-shaped groove 30 can be effectively ensured.
Example 5:
referring to fig. 4, 5 and 7, substantially the same as in embodiment 1, further: the automatic air supply assembly comprises a telescopic air bag 22 which is telescopically connected between the vertical plate 14 and the reciprocating plate 2, an air suction pipe 23 and an air exhaust pipe 24 which are communicated with the side wall of the telescopic air bag 22 are fixedly connected, the air exhaust pipe 24 is fixedly connected with a plurality of nozzles 21 through a connecting pipe 25, the reciprocating plate 2 can squeeze and stretch the telescopic air bag 22 during reciprocating sliding of the reciprocating plate 2, the telescopic air bag 22 is compressed to supply air to the plurality of nozzles 21 through the air exhaust pipe 24 and the connecting pipe 25, the plurality of nozzles 21 can blow air to the arc-shaped groove 30, so that dust in the arc-shaped groove 30 is blown off, dust on the outer wall of the pipe is prevented from accumulating in the arc-shaped groove 30 for a long time to influence the clamping effect, and when the telescopic air bag 22 is stretched, the telescopic air bag 22 can suck outside air through the air suction pipe 23.
Furthermore, the check valves 26 are fixedly installed in the air suction pipe 23 and the air discharge pipe 24, and the use functions of the air suction pipe 23 and the air discharge pipe 24 can be effectively ensured through the check valves 26.
Working principle: in the invention, when a pipe is clamped, two C-shaped blocks 3 are driven to mutually approach through two reciprocating plates 2, two C-shaped blocks 3 drive two clamping blocks 4 to mutually approach, two clamping blocks 4 clamp the pipe through an arc groove 30, when a pipe with a large diameter is required to be clamped, a driving motor 16 is started, the driving motor 16 drives a transmission shaft 15 to rotate through a worm gear mechanism 17, the transmission shaft 15 drives two long rod-shaped gears 20 to rotate through two driving gears 19, the two long rod-shaped gears 20 drive two driven gears 27 to rotate, the two driven gears 27 drive two first screw rods 6 to rotate, the two first screw rods 6 drive the two clamping blocks 4 to mutually separate under the action of a first screw hole 5, the distance between the two clamping blocks 4 is enlarged, the pipe with a larger diameter can be clamped without replacing the whole clamp, when the clamping block 4 clamps the pipe, the sliding plates 9 and the two fixing plates 7 uniformly push against the outer wall of the pipe, when the first screw rod 6 rotates, the first screw rod 6 drives the transmission gear 13 to rotate through the driving gear 12, the plurality of meshed transmission gears 13 drive the plurality of second threaded rods 11 to rotate, the plurality of second screw rods 11 drive the plurality of sliding plates 9 to slide towards the arc-shaped grooves 30 under the action of the plurality of transmission gears 13, as the pitches of the second screw rods 11 which are far away from the middle position of the plurality of second screw rods 11 are sequentially reduced, namely, the pitches of the second screw rods 11 positioned in the middle of the arc-shaped grooves 30 are largest, and the pitches of the second screw rods 11 positioned at two sides of the second screw rods are gradually reduced, so that the sliding lengths of the sliding plates 9 are different when sliding, and the arc diameters formed by the tail ends of the plurality of sliding plates 9 are enlarged, as shown in fig. 8, the tube is larger than the tube shown in fig. 4, that is, when the clamping distance between the two clamping blocks 4 is adjusted, the arc formed by the sliding plates 9 is changed, so that the tail ends of the sliding plates 9 are uniformly contacted with the outer wall of the tube all the time, the tube is prevented from being deformed due to uneven stress, the reciprocating plate 2 can squeeze and stretch the telescopic airbag 22 during the reciprocating sliding of the reciprocating plate 2, the telescopic airbag 22 is compressed and can supply air to the nozzles 21 through the exhaust pipe 24 and the connecting pipe 25, the nozzles 21 can blow air to the arc-shaped groove 30, dust in the arc-shaped groove 30 is blown off, the dust on the outer wall of the tube is prevented from accumulating in the arc-shaped groove 30 for a long time, the clamping effect is influenced, and when the telescopic airbag 22 is stretched, the telescopic airbag 22 can suck external air through the air suction pipe 23.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (8)
1. The manipulator device with adjustable manipulator spacing comprises a manipulator (1) with two reciprocating plates (2), and is characterized by further comprising:
two symmetrically arranged C-shaped blocks (3) which are respectively and fixedly connected with the lower ends of the two reciprocating plates (2),
wherein, the two C-shaped blocks (3) are both connected with clamping blocks (4) in a sliding way, and the opposite side walls of the two clamping blocks (4) are both provided with arc grooves (30);
a driving motor (16) fixedly arranged on the manipulator (1),
wherein the driving motor (16) is connected with the two clamping blocks (4) through an adjusting component;
the two groups of self-adaptive components are respectively arranged on the inner walls of the two arc-shaped grooves (30) and are connected with the adjusting components;
the adjusting component comprises a first screw (6) rotationally connected to the outer walls of two clamping blocks (4), first screw holes (5) matched with the first screw (6) are formed in the outer walls of two C-shaped blocks (3), long-rod-shaped gears (20) are rotationally connected to the outer walls of the two C-shaped blocks (3) through rotating rods (29), driven gears (27) which are respectively in meshed connection with the two long-rod-shaped gears (20) are fixedly connected to the tail ends of the first screw (6), two vertical plates (14) which are symmetrically arranged are fixedly connected to the lower ends of the manipulator (1), transmission shafts (15) are rotationally connected to the two vertical plates (14), driving gears (19) are fixedly connected to the two ends of the transmission shafts (15), the driving gears (19) are respectively in meshed connection with the two long-rod-shaped gears (20), driving motors (16) are connected with the transmission shafts (15) through worm mechanisms (17), and through holes (18) matched with the transmission shafts (15) are formed in the side walls of the two reciprocating plates (2);
the self-adaptation subassembly includes fixed plate (7) at arc groove (30) both ends of fixed connection, the inner wall of arc groove (30) is equipped with a plurality of evenly distributed spout (8), a plurality of equal sliding connection has slide (9) that extend to in arc groove (30) in spout (8), two fixed plate (7) are arc distribution in arc groove (30) with the one end of a plurality of slide (9), a plurality of the other end of slide (9) is all rotated and is connected with second screw rod (11), a plurality of the equal threaded connection of outer wall of second screw rod (11) has screwed pipe (10), a plurality of screwed pipe (10) rotate respectively and connect on the outer wall of grip block (4), a plurality of the pitch of second screw rod (11) of intermediate position is kept away from to second screw rod (11) reduces in proper order, a plurality of screwed pipe (10) outer wall equal fixed mounting has drive gear (13), a plurality of adjacent intermeshing connects between drive gear (13), the rotation end fixedly connected with one of them (12) of first screw rod (6), drive gear (12) are connected with one of them.
2. The manipulator device with adjustable manipulator spacing according to claim 1, wherein a plurality of evenly distributed nozzles (21) are fixedly arranged on the inner walls of the two arc-shaped grooves (30), the nozzles (21) are respectively positioned in the gaps of the sliding plates (9), and an automatic air supply assembly connected with the nozzles (21) is arranged between the vertical plate (14) and the reciprocating plate (2).
3. The manipulator device with adjustable manipulator spacing according to claim 2, wherein the automatic air supply assembly comprises a telescopic air bag (22) which is telescopically connected between the vertical plate (14) and the reciprocating plate (2), the side wall of the telescopic air bag (22) is fixedly connected with an air suction pipe (23) and an air exhaust pipe (24) which are communicated with the telescopic air bag, and the air exhaust pipe (24) is fixedly connected with a plurality of nozzles (21) through connecting pipes (25).
4. The manipulator device with adjustable manipulator spacing according to claim 1, wherein the elastic strips (28) are fixedly connected to the ends of the fixed plate (7) and the sliding plate (9) located in the arc-shaped groove (30).
5. The manipulator assembly with adjustable manipulator spacing according to claim 4, wherein the elastic strip (28) is made of rubber.
6. The manipulator device with adjustable manipulator spacing according to claim 5, wherein the cross section of the end of the elastic strip (28) is semicircular, and the outer wall of the end of the elastic strip (28) is provided with anti-skid patterns.
7. A manipulator apparatus with adjustable manipulator spacing according to claim 3, characterized in that the suction pipe (23) and the exhaust pipe (24) are fixedly provided with one-way valves (26).
8. A manipulator assembly with adjustable manipulator spacing according to claim 2, characterized in that the wind direction of the nozzle (21) is parallel to the axis of the arc-shaped slot (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210322168.9A CN114654485B (en) | 2022-03-30 | 2022-03-30 | Manipulator device with adjustable manipulator spacing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210322168.9A CN114654485B (en) | 2022-03-30 | 2022-03-30 | Manipulator device with adjustable manipulator spacing |
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| Publication Number | Publication Date |
|---|---|
| CN114654485A CN114654485A (en) | 2022-06-24 |
| CN114654485B true CN114654485B (en) | 2023-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210322168.9A Active CN114654485B (en) | 2022-03-30 | 2022-03-30 | Manipulator device with adjustable manipulator spacing |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114986468B (en) * | 2022-07-18 | 2022-10-25 | 西安医学院第二附属医院 | Aseptic apparatus grabbing device |
| CN115189080B (en) * | 2022-07-19 | 2024-05-03 | 深圳海辰储能科技有限公司 | Clamping device and battery pack with same |
| CN115972183B (en) * | 2023-03-21 | 2023-05-16 | 江苏安威士智能安防有限公司 | Manipulator for intelligent bulb automatic production |
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| CN114654485A (en) | 2022-06-24 |
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