CN115284322A - Automatic clamping manipulator for irregular materials such as electric power fittings - Google Patents

Abstract

The invention belongs to the technical field of manipulators, in particular to an automatic gripping manipulator for irregular materials such as electric power fittings. Aiming at the existing problem that it is inconvenient to pick and place distant materials, the following solution is proposed, which includes a base, and the base A first motor is fixedly installed on it, a turntable is fixedly installed on the output shaft of the first motor, the turntable is rotatably connected with the base, a lifting cylinder is arranged on the turntable, and a stretching frame is fixedly installed on the telescopic rod of the lifting cylinder, and a stretching frame is arranged in the stretching frame. Telescopic mechanism, the telescopic mechanism includes a second motor, a rotating rod is fixedly installed on the output shaft of the second motor, a first bevel gear is fixedly installed on the rotating rod, and a second bevel gear is fixedly installed on the first bevel gear. Taking materials of different shapes, it can stretch longer and grip materials farther away. It has a wide range of applications, good stability, simple use and convenient operation.

Description

An automatic clamping manipulator for irregular materials such as electric power fittings

technical field

The invention relates to the technical field of manipulators, in particular to a manipulator for automatically gripping irregular materials such as electrical fittings.

Background technique

Manipulator refers to an automatic operating device that can imitate certain movement functions of human hands and arms to grab, carry objects or operate tools according to a fixed program. It is mainly composed of three parts: executive mechanism, driving mechanism and control system. The authorized announcement number is CN114714384A, which discloses a manipulator for automatic gripping of irregular materials such as electric fittings. The top surface of the fixed plate is provided with a moving block, the left and right sides of the moving block are respectively provided with clamping blocks, and the top surface of the fixed plate is connected with a stable block; the clamping assembly is arranged inside the clamping block for clamping Irregular materials, but this manipulator cannot stretch the arm, it is inconvenient to pick and place materials far away, and when picking up heavy objects, due to the shift of the center of gravity, it is easy to cause the telescopic rod of the lifting cylinder to bend and deform. For this reason, we proposed The utility model relates to an automatic clamping manipulator for irregular materials such as electrical fittings.

Contents of the invention

The purpose of the present invention is to solve the disadvantages of the prior art that it is inconvenient to pick and place materials far away, and proposes a manipulator for automatically gripping irregular materials such as electrical fittings.

In order to achieve the above object, the present invention adopts the following technical solutions:

A manipulator for automatically gripping irregular materials such as electrical fittings, including a base, on which a first motor is fixedly installed, and a turntable is fixedly installed on the output shaft of the first motor, the turntable is rotatably connected to the base, and the turntable is provided with a lift The telescoping rod of the cylinder and the lifting cylinder is fixedly equipped with a stretching frame, and a telescopic mechanism is arranged in the stretching frame. The telescoping mechanism includes a second motor. Gears, the second bevel gear is fixedly installed on the first bevel gear, the telescopic screw and the push screw are fixedly installed on the second bevel gear, the telescopic arm is threadedly connected with the telescopic arm, the rotary box is fixedly installed on the telescopic arm, and the push screw is fixed on the telescopic arm. A push plate is threadedly connected, a winch is arranged on the turntable, a wire rope is arranged on the winch, one end of the wire rope is fixedly connected with the push plate, a pulley is installed on the push plate, the wire rope is movably connected with the pulley, and a third motor is arranged in the rotating box. A clamping mechanism is arranged on the rotary box, and the clamping mechanism includes a horizontal frame, which is fixedly connected with the output shaft of the third motor, and which is rotationally connected with the rotary box. There are two clamping screws fixedly installed on the shaft, and the two clamping screws are threadedly connected with expansion plates, and the two expansion plates are fixedly installed with splints, and multiple clamping springs are arranged in the two splints. Clamping rods are fixedly installed on the clamping springs, and multiple clamping rods are slidably connected with the two splints.

Preferably, a bearing is arranged inside the stretching frame, and the inner ring of the bearing is fixedly connected with the pushing screw.

Preferably, the base is provided with a first circular rail, the turntable is provided with a first leg, and the first leg is slidably connected with the first circular rail.

Preferably, a horizontal rail is arranged inside the extension frame, and both the telescopic arm and the push plate are slidably connected to the horizontal rail.

Preferably, a plurality of groove rails are arranged in the two splints, and the plurality of groove rails are slidably connected with the plurality of clamping rods.

Preferably, the rotary box is provided with a second circular rail, the horizontal frame is provided with a second leg, and the second leg is slidably connected with the second circular rail.

Preferably, the horizontal frame is provided with a longitudinal rail, and the two expansion boards are both slidably connected to the longitudinal rail.

In the present invention, the beneficial effect of the automatic clamping manipulator for irregular materials such as electric power fittings: the cooperation of the second motor, the rotating rod, the first bevel gear, the second bevel gear, the telescopic screw rod and the telescopic arm in the telescopic mechanism can Push the rotary box to move, and then drive the clamping mechanism to move, which can pick and place materials farther away, and has a wider application range. The settings of the push screw, push plate, hoist and wire rope can pull the clamping mechanism in reverse to avoid heavy clamping The shifting of the center of gravity of the item causes the bending and deformation of the telescopic rod of the lifting cylinder, which affects the normal lifting. The combination of the horizontal frame, the biaxial motor, the clamping screw, the expansion plate and the splint in the clamping mechanism can clamp the material. Multiple springs and clamps The matching setting of the rod can change the stress point of the material, can clamp materials of different shapes, and has a wider application range.

The invention can clamp materials of different shapes, can stretch longer, can clamp materials at farther positions, has wide application range, good stability, simple use and convenient operation.

Description of drawings

Fig. 1 is a three-dimensional structure schematic diagram of a manipulator for automatically gripping irregular materials such as electric power fittings proposed by the present invention;

Fig. 2 is a schematic cross-sectional structure diagram of Embodiment 1 of a manipulator for automatically gripping irregular materials such as electric power fittings proposed by the present invention;

Fig. 3 is an enlarged structural schematic diagram of part A in Fig. 2 of a manipulator for automatically gripping irregular materials such as electric power fittings proposed by the present invention;

Fig. 4 is a structural schematic diagram of a clamping mechanism of a manipulator for automatically clamping irregular materials such as electric power fittings proposed by the present invention;

Fig. 5 is a schematic cross-sectional structure diagram of Embodiment 2 of a manipulator for automatically gripping irregular materials such as electrical fittings proposed by the present invention.

In the figure: 1. base; 2. first motor; 3. turntable; 4. lift cylinder; 5. extension frame; 6. second motor; 7. rotating rod; 8. first bevel gear; 9. second cone Gear; 10, telescopic screw; 11, push screw; 12, telescopic arm; 13, rotating box; 14, push plate; 15, hoist; 16, wire rope; 17, pulley; 18, third motor; 19, horizontal frame; 20. Biaxial motor; 21. Clamping screw; 22. Stretching plate; 23. Clamping plate; 24. Clamping spring; 25. Clamping rod; 26. Fixing plate; 27. Fixing hole.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

Embodiment one

Referring to Fig. 1-3, a manipulator for automatically gripping irregular materials such as electrical fittings includes a base 1, a first motor 2 is fixedly installed on the base 1, a turntable 3 is fixedly installed on the output shaft of the first motor 2, and a turntable 3 It is rotatably connected with the base 1, and the turntable 3 is provided with a lifting cylinder 4, and a stretching frame 5 is fixedly installed on the telescopic rod of the lifting cylinder 4, and a telescopic mechanism is arranged in the stretching frame 5, and the telescopic mechanism includes a second motor 6, a second motor 6 Rotating rod 7 is fixedly installed on the output shaft of the rotating rod 7, and the first bevel gear 8 is fixedly installed on the rotating rod 7, and the second bevel gear 9 is fixedly installed on the first bevel gear 8, and the telescopic screw rod 10 is fixedly installed on the second bevel gear 9. And push screw rod 11, telescopic arm 12 is threadedly connected on telescoping screw rod 10, and rotating box 13 is fixedly installed on telescoping arm 12, and push plate 14 is threadedly connected on pushing screw rod 11, and hoisting machine 15 is arranged on rotating disk 3, and hoisting machine 15 is provided with Steel wire rope 16 is arranged, and one end of steel wire rope 16 is fixedly connected with push pedal 14, and pulley 17 is installed in rotation on push pedal 14, and steel wire rope 16 is movably connected with pulley 17, and the third motor 18 is arranged in the rotary box 13, and the rotary box 13 is provided with clamping mechanism.

With reference to Fig. 2-4, clamping mechanism comprises horizontal frame 19, and horizontal frame 19 is fixedly connected with the output shaft of the 3rd motor 18, and horizontal frame 19 is connected with rotating box 13 in rotation, and biaxial motor 20 is arranged in horizontal frame 19, and biaxial Two clamping screw rods 21 are fixedly installed on the output shaft of the shaft motor 20, and stretching plates 22 are screwed on the two clamping screw rods 21, and splints 23 are fixedly installed on the two stretching plates 22, and the inside of the two splints 23 Each is provided with a plurality of clamping springs 24 , and clamping rods 25 are fixedly mounted on the plurality of clamping springs 24 , and the plurality of clamping rods 25 are slidably connected with the two splints 23 .

Referring to Fig. 2, the base 1 is provided with a first circular rail, the turntable 3 is provided with a first leg, the first leg is slidably connected with the first circular rail, and the cooperation between the first circular rail and the first leg can make the turntable 3 Steady rotation on the base 1.

2-3, the extension frame 5 is provided with a cross rail, the telescopic arm 12 and the push plate 14 are slidingly connected with the cross rail, and the cross rail can make the telescopic arm 12 and the push plate 14 slide in the extension frame 5 without rotation.

Referring to Figures 2-4, the rotary box 13 is provided with a second circular rail, the horizontal frame 19 is provided with a second leg, and the second leg is slidably connected to the second circular rail, and the cooperation between the second leg and the second circular rail can make The horizontal frame 19 rotates stably on the rotating box 13 .

Referring to FIG. 4 , the horizontal frame 19 is provided with a longitudinal rail, and the two extension plates 22 are slidably connected with the longitudinal rail, and the vertical rail can make the two extension plates 22 slide on the horizontal frame 19 .

Referring to FIG. 3 , a bearing is arranged inside the stretching frame 5 , the inner ring of the bearing is fixedly connected with the push screw 11 , and the bearing can make the push screw 11 rotate at a fixed position.

Referring to FIG. 4 , multiple groove rails are provided inside the two splints 23 , and the multiple groove rails are slidably connected with the multiple clamping rods 25 .

In this embodiment, when clamping the material, the first motor 2 can be started, and then the turntable 3 can be driven to rotate, so that the splint 23 can be rotated to the position of the material, and the lifting cylinder 4 can be used to control the lifting of the splint 23 to pick and place the material. Start the second motor 6, and then drive the rotating rod 7 to rotate, and the rotating rod 7 rotates, and then drives the first bevel gear 8 to rotate, and the first bevel gear 8 rotates, and then drives the second bevel gear 9 to rotate, and the second bevel gear 9 rotates, Then drive the telescopic screw 10 and the push screw 11 to rotate, the telescopic screw 10 rotates, and then drives the telescopic arm 12 to slide, which is convenient for picking materials at different positions, pushes the screw 11 to rotate, and then drives the push plate 14 to move, increasing the pulling force and avoiding the center of gravity Offset causes the lifting cylinder 4 to bend and deform. When the lifting cylinder 4 is lifted and the push plate 14 moves, the hoist 15 rotates and retracts the steel wire rope 16 to keep the pulling state and avoid the center of gravity shifting. The direction of the splint 23 can be rotated by the third motor 18 , to clamp materials from different positions, you can start the double-axis motor 20, and then drive the two clamping screws 21 to rotate, because the threads of the two clamping screws 21 are opposite, so the two clamping screws 21 rotate, and then drive the two stretching plates 22 are close to each other, so that the two clamping plates 23 are close to each other to clamp the material. When the material is irregular, under the elastic force of multiple clamping springs 24, multiple clamping rods 25 are in contact with the material, which can stably clamp the material.

Embodiment two

Referring to Fig. 5, the difference between the present embodiment and the first embodiment is that a plurality of fixing plates 26 are fixedly installed on the base 1, and fixing holes 27 are provided on the plurality of fixing plates 26. During use, the base can be fixed on the base by bolts. Over other equipment on the ground to avoid tipping and improve stability.

Claims (8)

1. An automatic clamping manipulator for irregular materials such as electric power fittings comprises a base (1) and is characterized in that a first motor (2) is fixedly installed on the base (1), a rotary table (3) is fixedly installed on an output shaft of the first motor (2), the rotary table (3) is rotatably connected with the base (1), a lifting cylinder (4) is arranged on the rotary table (3), an extension frame (5) is fixedly installed on an extension rod of the lifting cylinder (4), a telescopic mechanism is arranged in the extension frame (5) and comprises a second motor (6), a rotary rod (7) is fixedly installed on an output shaft of the second motor (6), a first bevel gear (8) is fixedly installed on the rotary rod (7), a second bevel gear (9) is fixedly installed on the first bevel gear (8), a telescopic screw (10) and a pushing screw (11) are fixedly installed on the second bevel gear (9), a telescopic arm (12) is in threaded connection with the telescopic screw (10), a rotating box (13) is fixedly installed on the telescopic arm (12), a push plate (14) is connected with the pushing screw (11), a steel wire rope (15) is arranged on the rotary table (3), and a hoisting pulley (16) is connected with a hoisting pulley (16), the steel wire rope (16) is movably connected with the pulley (17), a third motor (18) is arranged in the rotating box (13), and a clamping mechanism is arranged on the rotating box (13).

2. The automatic clamping manipulator for the irregular materials in the electric power fittings according to claim 1, wherein the clamping mechanism comprises a cross frame (19), the cross frame (19) is fixedly connected with an output shaft of a third motor (18), the cross frame (19) is rotatably connected with a rotating box (13), a double-shaft motor (20) is arranged in the cross frame (19), two clamping screws (21) are fixedly mounted on the output shaft of the double-shaft motor (20), extending plates (22) are in threaded connection with the two clamping screws (21), clamping plates (23) are fixedly mounted on the two extending plates (22), a plurality of clamping springs (24) are arranged in the two clamping plates (23), clamping rods (25) are fixedly mounted on the clamping springs (24), and the clamping rods (25) are slidably connected with the two clamping plates (23).

3. The automatic clamping manipulator for the irregular materials of electric power fittings according to claim 1, wherein a first circular rail is arranged on the base (1), a first support leg is arranged on the turntable (3), and the first support leg is slidably connected with the first circular rail.

4. The automatic clamping manipulator for the irregular materials of electric power fittings according to claim 1, characterized in that a cross rail is arranged in the extending frame (5), and the telescopic arm (12) and the push plate (14) are both connected with the cross rail in a sliding manner.

5. The automatic clamping manipulator for the irregular materials of the electric power fittings as claimed in claim 2, wherein a second circular rail is arranged on the rotating box (13), a second support leg is arranged on the cross frame (19), and the second support leg is slidably connected with the second circular rail.

6. The automatic clamping manipulator for the irregular materials of electric power fittings as claimed in claim 2, wherein a longitudinal rail is arranged on the cross frame (19), and the two stretching plates (22) are both connected with the longitudinal rail in a sliding manner.

7. The automatic clamping manipulator for the irregular materials of electric power fittings according to claim 1, wherein a bearing is arranged in the extending frame (5), and an inner ring of the bearing is fixedly connected with the pushing screw rod (11).

8. The automatic clamping manipulator for the irregular materials of electric power fittings as claimed in claim 2, wherein a plurality of grooved rails are arranged in each of the two clamping plates (23) and are slidably connected with the clamping rods (25).

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