CN115805610A - Multi-degree-of-freedom manipulator extension mechanism of elastic polymer part screening and preparing machine - Google Patents
Multi-degree-of-freedom manipulator extension mechanism of elastic polymer part screening and preparing machine Download PDFInfo
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- CN115805610A CN115805610A CN202310051340.6A CN202310051340A CN115805610A CN 115805610 A CN115805610 A CN 115805610A CN 202310051340 A CN202310051340 A CN 202310051340A CN 115805610 A CN115805610 A CN 115805610A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
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Abstract
The invention discloses a multi-degree-of-freedom manipulator extension mechanism of an elastic polymer part screening preparation machine, which comprises a base, wherein the top of the base is provided with an installation column, the bottom of one end of the installation column is provided with a sliding rail, and the outer side of the sliding rail is connected with a sliding frame A in a sliding manner; according to the invention, under the coordination of the slide rail, the hinge rod B, the hinge rod A, the slide sleeve, the electric cylinder B, the hinge rod C and the installation bin, after the mechanical arm extends, the mechanical arm can be controlled to extend for a certain distance, and in the extending process, a stable state can be kept, so that a mechanical claw on the mechanical arm can conveniently grab an object, the stability can be kept in the grabbing process, the object can not shake, the object in transportation can not fall off, and in the extending-free process, the object can be stored, so that the space occupied by the equipment is reduced, the equipment does not need to be equipped with a larger position in the installation process, and further more equipment can be conveniently installed.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a multi-degree-of-freedom manipulator extension mechanism of an elastic polymer part screening and preparing machine.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling, and has wide application in the fields of industrial assembly, safety explosion prevention and the like due to unique operation flexibility, the mechanical arm is a complex system and has uncertainties such as parameter perturbation, external interference, unmodeled dynamic state and the like, so that a modeling model of the mechanical arm has uncertainty, for different tasks, the motion track of a joint space of the mechanical arm needs to be planned, and therefore the mechanical arm is cascaded to form a terminal pose, and the mechanical arm needs to be extended to grasp in the process of grasping an object;
the existing mechanical arm extension mechanism has the following inconveniences:
in the process of grabbing objects, a mechanical arm is usually used for grabbing the objects by extending, the extending distance of a common mechanical arm is short, and the objects cannot be grabbed remotely, so that grabbing of the mechanical arm is limited and cannot be adapted to some long-distance equipment, and the volume of some mechanical arms with long extending distance is large, so that the occupied area of the mechanical arms is increased, a larger field is needed in the installation process, the mechanical arms with long arm lengths are long, the mechanical arms with long extending distances are not stable in the process of grabbing the objects, violent shaking is generated, the grabbed objects can fall off, and parts are damaged; some mechanical arms cannot control the extending distance well in the extending process, and if the extending distance is long, the stable state of the mechanical arms is deteriorated if the extending distance exceeds a certain degree.
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom manipulator extension mechanism of an elastic polymer part screening and preparing machine, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the base is included, the top of base is equipped with the erection column, the bottom of erection column one end is equipped with the slide rail, the outside sliding connection of slide rail has smooth frame, one side of smooth frame articulates there is articulated rod B, the one end of articulated rod B articulates there is the sliding sleeve, the inside sliding connection of sliding sleeve has articulated rod A, the articulated rod C in top of erection column one end, the top of erection column one side is equipped with mounting panel B, mounting panel B's top articulates there is electronic jar B, electronic jar B's output links to each other with articulated rod C, articulated rod C's one end articulates there is the mounting bracket, articulated rod B articulates with the mounting bracket, the inside of mounting bracket is equipped with the main arm, the top of main arm one end is equipped with mounting panel A, the top at mounting bracket both ends articulates respectively has stiffener B, and stiffener B links to mounting panel A, the top of main arm articulates there is the installation arm, one side of main arm is equipped with electronic jar A, electronic jar A links to each other with the installation arm, one side of mounting panel A articulates there is equipped with stiffener A, one side of installation arm one end is equipped with the monitoring subassembly.
Preferably, the control subassembly comprises push rod, carriage release lever, spring A, push pedal, pressure sensor, holding down plate, mounting hole, spring B, the bottom of link one end is equipped with the installation storehouse, the top and the bottom symmetry of the inside one side in installation storehouse are equipped with spring A, one side of spring A is equipped with the push rod, one side of push rod is equipped with the push pedal, the centre of push pedal one side is equipped with the carriage release lever, one side in installation storehouse is equipped with the mounting hole, the inside of mounting hole is equipped with spring B, spring B's bottom is equipped with the holding down plate, the bottom of holding down plate is equipped with pressure sensor, the one end in installation storehouse is equipped with warning device.
Preferably, the top of mounting hole is equipped with the mounting groove, and spring B is located the inside of mounting groove, conveniently installs, is convenient for hide simultaneously.
Preferably, the top and the bottom symmetry of installation storehouse one side are equipped with the spout, the mutual adaptation of push rod and spout conveniently slides.
Preferably, the inside bilateral symmetry of sliding sleeve is equipped with the slider, the slide rail comprises the I shape, sliding sleeve and slide rail looks mutual adaptation prevent to drop.
Preferably, the bottom of the lower pressing plate is made of an inclined surface structure, the moving rod is matched with the lower pressing plate, and the lower pressing plate can be pushed in the moving process of the moving rod.
Preferably, one side of the push rod is provided with a limiting plate, and the limiting plate is positioned in the installation bin to limit the push rod.
Preferably, the output end of the electric cylinder B is provided with a fixing plate, and the fixing plate is fixed through a bolt, so that the installation stability is ensured.
Preferably, one side of the electric cylinder A is provided with a hinged plate, and the hinged plate is connected with the main arm, so that follow-up maintenance and disassembly are facilitated.
Compared with the prior art, the invention provides a multi-degree-of-freedom manipulator extension mechanism of an elastic polymer part screening preparation machine, which has the following beneficial effects:
1. according to the invention, under the coordination of the slide rail, the hinge rod B, the hinge rod A, the slide sleeve, the electric cylinder B, the hinge rod C and the installation bin, after the mechanical arm extends, the mechanical arm can be controlled to extend for a certain distance, and in the extending process, a stable state can be kept, so that a mechanical claw on the mechanical arm can conveniently grab an object, the stability can be kept in the grabbing process, the object can not shake, the object in transportation can not fall off, and in the extending-free process, the object can be stored, so that the space occupied by the equipment is reduced, the equipment does not need to be equipped with a larger position in the installation process, and further more equipment can be conveniently installed.
2. According to the invention, under the cooperation of the mounting bin, the spring A, the push rod, the push plate, the moving rod, the spring B, the lower pressing plate and the pressure sensor, the length of the mechanical arm can be controlled in the extending process of the mechanical arm, when the extending distance of the mechanical arm exceeds a certain length, a certain prompt can be carried out, the extending distance of the mechanical arm is prevented from exceeding a specified limit to influence the stability, and thus, after the prompt is carried out, the mechanical arms are monitored, and the transportation of objects is ensured.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a front view of the present invention at the mounting post;
FIG. 3 is a front cross-sectional view of the present invention at the installation of the cartridge;
FIG. 4 is an enlarged view of FIG. 3 at A of the present invention;
FIG. 5 is a front view at the mount of the present invention;
fig. 6 is a perspective view of the slide frame of the present invention.
In the figure: 1. a base; 2. mounting a column; 3. a hinge rod A; 4. a hinge lever B; 5. a mounting frame; 6. a slide rail; 7. connecting blocks; 8. a reinforcing rod A; 9. mounting an arm; 10. an electric cylinder A; 11. mounting a plate A; 12. a main arm; 13. a reinforcing rod B; 14. a hinge lever C; 15. a connecting frame; 16. an electric cylinder B; 17. mounting a plate B; 18. installing a bin; 19. a push rod; 20. a travel bar; 21. a sliding frame; 22. a sliding sleeve; 23. a spring A; 24. pushing the plate; 25. a pressure sensor; 26. a lower pressing plate; 27. mounting holes; 28. an alert device; 29. and a spring B.
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. 1-6, the present invention provides a technical solution: the multi-degree-of-freedom manipulator extending mechanism of the elastic polymer part screening preparation machine comprises a base 1, the top of the base 1 is provided with an installation column 2, the bottom of one end of the installation column 2 is provided with a sliding rail 6, the outer side of the sliding rail 6 is connected with a sliding frame 21 in a sliding mode, one side of the sliding frame 21 is hinged with a hinged rod B4, one end of the hinged rod B4 is hinged with a sliding sleeve 22, the inner portion of the sliding sleeve 22 is connected with a hinged rod A3, the top of one end of the installation column 2 is hinged with a hinged rod C14, the top of one side of the installation column 2 is provided with a mounting plate B17, the top of the mounting plate B17 is hinged with an electric cylinder B16, the output end of the electric cylinder B16 is connected with the hinged rod C14, one end of the hinged rod C14 is hinged with a mounting rack 5, the hinged rod B4 is hinged with the mounting rack 5, the inner portion of the mounting rack 5 is provided with a main arm 12, the top of one end of the main arm 12 is provided with a mounting plate A11, the tops of two ends of the mounting rack 5 are respectively hinged with a reinforcing rod B13, the reinforcing rods B13 are connected with a mounting rack A11, the reinforcing rod A7 is hinged with a mounting rack A8, one side of the mounting rack 15, one side of the mounting block 15 is provided with a connecting block, one side of the mounting block 15, one side of the mounting block 7A 8, one side of the mounting block 15 is provided with one side of the mounting block 15 connected with the mounting block, one side of the mounting block 15A 8, one side of the mounting block 15A 10 is provided with the mounting block 15.
As a preferable embodiment of the present embodiment: the monitoring assembly comprises a push rod 19, a moving rod 20, a spring A23, a push plate 24, a pressure sensor 25, a lower pressing plate 26, a mounting hole 27 and a spring B29, wherein a mounting bin 18 is arranged at the bottom of one end of the connecting frame 15, the springs A23 are symmetrically arranged at the top and the bottom of one side in the mounting bin 18, the push rod 19 is arranged at one side of the spring A23, the push plate 24 is arranged at one side of the push rod 19, the moving rod 20 is arranged in the middle of one side of the push plate 24, the mounting hole 27 is arranged at one side of the mounting bin 18, the spring B29 is arranged in the mounting hole 27, the lower pressing plate 26 is arranged at the bottom of the spring B29, the pressure sensor 25 is arranged at the bottom of the lower pressing plate 26, and a warning device 28 is arranged at one end of the mounting bin 18.
As a preferable embodiment of the present embodiment: the top of mounting hole 27 is equipped with the mounting groove, and spring B29 is located the inside of mounting groove, conveniently installs.
As a preferable embodiment of the present embodiment: the top and the bottom of one side of the installation bin 18 are symmetrically provided with sliding grooves, and the push rod 19 is matched with the sliding grooves.
As a preferable embodiment of the present embodiment: the slide blocks are symmetrically arranged on two sides inside the sliding sleeve 22, the sliding rail 6 is formed by an I shape, and the sliding sleeve 22 and the sliding rail 6 are mutually matched.
As a preferable embodiment of the present embodiment: the bottom of the lower press plate 26 is made of a slope structure, and the moving rod 20 is matched with the lower press plate 26.
As a preferable embodiment of the present embodiment: one side of the push rod 19 is provided with a limiting plate, and the limiting plate is positioned inside the mounting bin 18.
As a preferable embodiment of the present embodiment: the output end of the electric cylinder B16 is provided with a fixing plate, and the fixing plate is fixed through a bolt.
As a preferable embodiment of the present embodiment: a hinge plate is provided at one side of the electric cylinder a10, and the hinge plate is connected to the main arm 12.
The working principle is as follows: in the process of grabbing an object, firstly, the main arm 12 is controlled to overturn, in the overturning process, the electric cylinder A10 is controlled to push the installation arm 9, so that the installation arm 9 overturns again, the reinforcing rod B13 and the reinforcing rod A8 of the installation arm 9 overturn along with the installation arm 9 in the overturning process, the stability of the mechanical arm in the moving process is guaranteed, the mechanical arm is guaranteed to be stable in stretching, then the installation arm 9 drives the mechanical arm to move, the mechanical arm is grabbed, if the mechanical arm needs to be stretched, the electric cylinder B16 is controlled to move, at the moment, the electric cylinder B16 drives the hinge rod C14 to overturn, then the hinge rod C14 drives the installation frame 5 to overturn, the installation frame 5 simultaneously drives the hinge rod B4 to overturn in the overturning process, the hinge rod B4 pulls the hinge rod A3 to overturn, so that the hinge rod B4 and the hinge rod A3 slide along the slide rail 6, the whole grabbing frame 5 is overturned and pushed, and the mechanical arm extends again, and the mechanical claw can conveniently work on the object;
in the process that the arm extends, if the distance that the arm extends is overlength, the one end of hinge bar B4 and hinge bar A3 is propelling gradually forward, and then no longer extrude push pedal 24, spring A23 resets and promotes push rod 19 and push pedal 24 and remove this moment, then drive carriage release lever 20 along the outside roll-off of mounting hole 27, after carriage release lever 20 outwards shifted out a certain distance, spring B29 resets and promotes holding down plate 26 and displace downwards, pressure sensor 25 then no longer receives pressure this moment, pressure sensor 25 transmits the pressure signal for the controller, thereby control warning equipment 28 and start, the staff to the external suggestion, the mode extends the arm of overlength and monitors.
Finally, it should be noted that the above-mentioned contents are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, and that the simple modifications or equivalent substitutions of the technical solutions of the present invention by those of ordinary skill in the art can be made without departing from the spirit and scope of the technical solutions of the present invention.
Claims (9)
1. Elastic polymer part screening complete set machine's multi freedom manipulator extends mechanism, including base (1), its characterized in that: the top of base (1) is equipped with erection column (2), the bottom of erection column (2) one end is equipped with slide rail (6), the outside sliding connection of slide rail (6) has smooth frame (21), one side of smooth frame (21) articulates there is hinge bar B (4), the one end of hinge bar B (4) articulates there is sliding sleeve (22), the inside sliding connection of sliding sleeve (22) has hinge bar A (3), the top of erection column (2) one end articulates hinge bar C (14), the top of erection column (2) one side is equipped with mounting panel B (17), the top of mounting panel B (17) articulates there is electronic jar B (16), the output of electronic jar B (16) links to each other with hinge bar C (14), the one end of hinge bar C (14) articulates there is mounting bracket (5), hinge bar B (4) articulates with mounting bracket (5), the inside of mounting bracket (5) is equipped with main arm (12), the top of main arm (12) one end is equipped with mounting panel A (11), the top at main arm (12) both ends is articulated respectively articulated to have stiffener B (13), mounting bracket (13) and the top of electronic jar (12) is articulated to be equipped with reinforcing bar A (13), main arm (12), electronic jar A (10) link to each other with installation arm (9), one side of installation panel A (11) articulates there is stiffener A (8), one side of installation arm (9) one end is equipped with connecting block (7), connecting block (7) and stiffener A (8) are articulated each other, one side of erection column (2) is equipped with link (15), the one end of link (15) is equipped with the control subassembly.
2. The multi-degree-of-freedom manipulator extension mechanism of the elastic polymer part screening and preparing machine according to claim 1, characterized in that: the monitoring assembly comprises push rod (19), carriage release lever (20), spring A (23), push pedal (24), pressure sensor (25), holding down plate (26), mounting hole (27), spring B (29), the bottom of link (15) one end is equipped with installation storehouse (18), the top and the bottom symmetry of the inside one side of installation storehouse (18) are equipped with spring A (23), one side of spring A (23) is equipped with push rod (19), one side of push rod (19) is equipped with push pedal (24), the centre of push pedal (24) one side is equipped with carriage release lever (20), one side of installation storehouse (18) is equipped with mounting hole (27), the inside of mounting hole (27) is equipped with spring B (29), the bottom of spring B (29) is equipped with holding down plate (26), the bottom of holding down plate (26) is equipped with pressure sensor (25), the one end of installation storehouse (18) is equipped with warning equipment (28).
3. The multi-degree-of-freedom manipulator extension mechanism of the elastic polymer part screening preparation machine according to claim 2, characterized in that: the top of the mounting hole (27) is provided with a mounting groove, and the spring B (29) is positioned in the mounting groove.
4. The multi-degree-of-freedom manipulator extension mechanism of the elastic polymer part screening preparation machine according to claim 2, characterized in that: the top and the bottom of one side of the installation bin (18) are symmetrically provided with sliding grooves, and the push rod (19) is matched with the sliding grooves.
5. The multi-degree-of-freedom manipulator extension mechanism of the elastic polymer part screening and preparing machine according to claim 1, characterized in that: the sliding sleeve is characterized in that sliding blocks are symmetrically arranged on two sides of the interior of the sliding sleeve (22), the sliding rail (6) is formed by an I-shaped structure, and the sliding sleeve (22) is matched with the sliding rail (6) mutually.
6. The multi-degree-of-freedom manipulator extension mechanism of the elastic polymer part screening preparation machine according to claim 2, characterized in that: the bottom of the lower pressing plate (26) is made of an inclined surface structure, and the moving rod (20) is matched with the lower pressing plate (26).
7. The multi-degree-of-freedom manipulator extension mechanism of the elastic polymer part screening preparation machine according to claim 2, characterized in that: one side of the push rod (19) is provided with a limiting plate, and the limiting plate is positioned in the mounting bin (18).
8. The multi-degree-of-freedom manipulator extension mechanism of the elastic polymer part screening preparation machine according to claim 1, characterized in that: the output end of the electric cylinder B (16) is provided with a fixing plate, and the fixing plate is fixed through a bolt.
9. The multi-degree-of-freedom manipulator extension mechanism of the elastic polymer part screening and preparing machine according to claim 1, characterized in that: and a hinged plate is arranged on one side of the electric cylinder A (10) and is connected with the main arm (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310051340.6A CN115805610B (en) | 2023-02-02 | 2023-02-02 | Multi-degree-of-freedom manipulator extension mechanism of elastic polymer part screening preparation machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310051340.6A CN115805610B (en) | 2023-02-02 | 2023-02-02 | Multi-degree-of-freedom manipulator extension mechanism of elastic polymer part screening preparation machine |
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| CN115805610A true CN115805610A (en) | 2023-03-17 |
| CN115805610B CN115805610B (en) | 2023-04-14 |
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| CN202310051340.6A Active CN115805610B (en) | 2023-02-02 | 2023-02-02 | Multi-degree-of-freedom manipulator extension mechanism of elastic polymer part screening preparation machine |
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| CN101444919A (en) * | 2007-05-23 | 2009-06-03 | 西门子公司 | Shoulder joint |
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| CN107914285A (en) * | 2017-11-15 | 2018-04-17 | 佛山市禾才科技服务有限公司 | A kind of straight-bar cone of mechanical arm |
| CN108145744A (en) * | 2017-12-25 | 2018-06-12 | 佛山市禾才科技服务有限公司 | A kind of quasi-truss formula machinery arm configuration |
| CN111890347A (en) * | 2020-08-07 | 2020-11-06 | 杨明清 | Intelligent multifunctional manipulator |
| CN214604377U (en) * | 2020-12-11 | 2021-11-05 | 湖北永喆机械制造有限公司 | Liftable arm mechanism |
| CN215408522U (en) * | 2021-08-02 | 2022-01-04 | 兰州兰石石油装备工程股份有限公司 | Electric drive drill table-board translation righting mechanical arm |
| CN115234189A (en) * | 2022-07-26 | 2022-10-25 | 合力（天津）能源科技股份有限公司 | Intelligent blowout prevention robot |
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2023
- 2023-02-02 CN CN202310051340.6A patent/CN115805610B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101444919A (en) * | 2007-05-23 | 2009-06-03 | 西门子公司 | Shoulder joint |
| US20090088912A1 (en) * | 2007-09-28 | 2009-04-02 | Anorad Corporation | Linear driven x-z robot |
| CN106737568A (en) * | 2015-11-19 | 2017-05-31 | 佛山市禾才科技服务有限公司 | A kind of T-shaped manipulator |
| CN107914285A (en) * | 2017-11-15 | 2018-04-17 | 佛山市禾才科技服务有限公司 | A kind of straight-bar cone of mechanical arm |
| CN108145744A (en) * | 2017-12-25 | 2018-06-12 | 佛山市禾才科技服务有限公司 | A kind of quasi-truss formula machinery arm configuration |
| CN111890347A (en) * | 2020-08-07 | 2020-11-06 | 杨明清 | Intelligent multifunctional manipulator |
| CN214604377U (en) * | 2020-12-11 | 2021-11-05 | 湖北永喆机械制造有限公司 | Liftable arm mechanism |
| CN215408522U (en) * | 2021-08-02 | 2022-01-04 | 兰州兰石石油装备工程股份有限公司 | Electric drive drill table-board translation righting mechanical arm |
| CN115234189A (en) * | 2022-07-26 | 2022-10-25 | 合力（天津）能源科技股份有限公司 | Intelligent blowout prevention robot |
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| CN115805610B (en) | 2023-04-14 |
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