CN116175528A

CN116175528A - Adaptive manipulator

Info

Publication number: CN116175528A
Application number: CN202310098195.7A
Authority: CN
Inventors: 项翔; 徐冬梅
Original assignee: Haining Zhongyuan Power Construction Co ltd
Current assignee: Haining Zhongyuan Power Construction Co ltd
Priority date: 2023-01-13
Filing date: 2023-01-13
Publication date: 2023-05-30

Abstract

The invention provides an adaptive manipulator, and belongs to the technical field of machinery. It has solved the problem that prior art exists the suitability poor. The adaptive manipulator comprises a base, and further comprises a first cylinder, a second cylinder, a frame, a sliding block and a clamping piece, wherein the lower end of the frame is hinged with the base, the first cylinder is arranged between the base and the frame, the first cylinder can drive the frame to swing around the hinged position of the first cylinder, a lifting assembly is arranged between the sliding block and the frame, the sliding block can be positioned after moving up and down along the frame under the action of the lifting assembly, the clamping piece is connected to the sliding block, the second cylinder is connected between the frame and the sliding block, and the second cylinder can drive the sliding block to move up and down along the frame. The adaptability manipulator is high in applicability.

Description

Adaptive manipulator

Technical Field

The invention belongs to the technical field of machinery, and relates to an adaptive manipulator.

Background

A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The method is characterized in that various expected operations can be completed through programming, and the method has the advantages of both human and manipulator machines in terms of construction and performance.

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 existing manipulator can only grasp the workpiece at the fixed position according to the set program, and if the workpiece position changes, the existing manipulator cannot be applied, so that the applicability is poor.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provide an adaptive manipulator which has high applicability and compact structure.

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

the utility model provides an adaptability manipulator, includes the base, and its characterized in that still includes first, second, frame, slider and holder of cylinder, and above-mentioned frame lower extreme is articulated with the base, first setting of cylinder can drive the frame and swing around its articulated department between base and frame, has lifting unit between above-mentioned slider and the frame, can make the slider obtain the location after the frame reciprocates under lifting unit's effect, and above-mentioned holder is connected on the slider, and above-mentioned second connection of cylinder is between frame and slider and second can drive the slider along the frame reciprocates.

The adaptive manipulator creatively drives the clamping piece to move up and down through the first air cylinder, and drives the clamping piece to swing through the second air cylinder, so that a workpiece can be stably clamped.

Because the clamping piece is connected to the sliding block, a lifting assembly is arranged between the sliding block and the frame, so that the clamping piece can be stably moved up and down finally, and the piece taking stability is improved.

In the above-mentioned adaptability manipulator, lifting unit includes guide cylinder and guide bar, and the vertical linking firmly in the frame of above-mentioned guide bar, and above-mentioned guide cylinder links firmly in slider lateral part and guide cylinder cover on the guide bar, and the cylinder body of above-mentioned cylinder one links firmly in the frame upper end, and the piston rod of cylinder one is connected with the slider.

The guide cylinder and the guide rod are matched to enable the sliding block to stably move up and down.

In the above-mentioned adaptability manipulator, the quantity of guide bar is two, have two guide cylinders on the slider, above-mentioned guide bar and guide cylinder one-to-one set up.

The two groups of guide rods and the guide cylinder can further improve the connection stability between the sliding block and the frame.

In the above adaptive manipulator, the clamping member is a claw.

The adaptive manipulator further comprises a connecting plate, wherein the inner end of the connecting plate is connected with the guide rod, the cylinder body of the second cylinder is hinged on the base, and the piston rod of the second cylinder is hinged with the edge of the outer end of the connecting plate.

The arrangement of the connecting plate can enable the piston rod of the second cylinder to be stably connected with the frame.

In the above-mentioned adaptive manipulator, the outer end of the connecting plate has a positioning slot with an arc track, and the piston rod of the cylinder II is axially and fixedly connected to the positioning slot.

After the piston rod is connected to different positions of the positioning groove, the rack can be positioned at different initial positions, so that the applicability of the manipulator is improved.

In the adaptive manipulator, the outer end of the piston rod of the second cylinder is axially fixedly connected with a positioning rod, a convex blocking edge is arranged in the middle of the positioning rod, the upper end of the positioning rod is in threaded connection with a positioning nut, the positioning rod is arranged at the positioning groove in a penetrating mode, and the outer end of the connecting plate is tightly pressed between the positioning nut and the blocking edge.

The structure can enable the outer end of the air cylinder to be firmly connected with the positioning groove of the connecting plate.

Of course, the frame can also be swung stably relative to the base.

In the adaptive manipulator, the inner end of the connecting plate is provided with two positioning holes, and each positioning hole is connected with a corresponding guide rod.

The structure can effectively improve the connection stability of the connecting plate and the frame.

The adaptive manipulator further comprises a connecting shaft, wherein the upper end of the connecting shaft is fixedly connected with the inner end of the connecting plate, and the lower end of the connecting shaft is axially fixed on the base.

The whole frame is stably hinged at the base through a connecting shaft.

In the adaptive manipulator, the guide rod is fixed with the limiting block through the fastening piece, and the sliding block can be abutted against the limiting block when moving downwards.

The position of the limiting block can be adjusted after the fastener is loosened, that is, the lowest height of the sliding block can be set, and the stability and safety of the manipulator are improved.

Compared with the prior art, the adaptive manipulator can drive the clamping piece to move up and down and can swing the clamping piece due to the sliding block, so that workpieces at different positions can be clamped, the applicability is higher, and the stability is higher.

Meanwhile, the initial position of the frame can be changed, so that the applicability of the frame is further improved, and the frame has high practical value.

In addition, the frame is hinged on the base through the connecting plate, the structure is compact, and the assembly and the disassembly are convenient.

Drawings

Fig. 1 is a schematic perspective view of the adaptive manipulator.

In the figure, 1, a base; 2. a first cylinder; 3. a second cylinder; 4. a frame; 5. a slide block; 6. a clamping member; 7. a guide cylinder; 8. a guide rod; 9. a connecting plate; 9a, positioning grooves; 10. a positioning rod; 10a, a blocking edge; 11. positioning a nut; 12. a connecting shaft; 13. and a limiting block.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.

It is noted that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1, the adaptive manipulator comprises a base 1, and further comprises a first cylinder 2, a second cylinder 3, a frame 4, a sliding block 5 and a clamping piece 6, wherein the lower end of the first cylinder 4 is hinged with the base 1, the first cylinder 2 is arranged between the base 1 and the frame 4, the first cylinder 2 can drive the frame 4 to swing around the hinged position, a lifting assembly is arranged between the sliding block 5 and the frame 4, the sliding block 5 can be positioned after moving up and down along the frame 4 under the action of the lifting assembly, the clamping piece 6 is connected to the sliding block 5, the second cylinder 3 is connected between the frame 4 and the sliding block 5, and the second cylinder 3 can drive the sliding block 5 to move up and down along the frame 4.

The lifting assembly comprises a guide cylinder 7 and a guide rod 8, the guide rod 8 is vertically and fixedly connected to the frame 4, the guide cylinder 7 is fixedly connected to the side part of the sliding block 5, the guide cylinder 7 is sleeved on the guide rod 8, the cylinder body of the first cylinder 2 is fixedly connected to the upper end of the frame 4, and the piston rod of the first cylinder 2 is connected with the sliding block 5.

The number of the guide rods 8 is two, the slide block 5 is provided with two guide cylinders 7, and the guide rods 8 and the guide cylinders 7 are arranged in one-to-one correspondence.

The clamping piece 6 is a claw.

The cylinder body of the second cylinder 3 is hinged on the base 1, and a piston rod of the second cylinder 3 is hinged with the edge of the outer end of the connecting plate 9.

The outer end of the connecting plate 9 is provided with a positioning groove 9a with an arc track, and the piston rod of the cylinder II 3 is axially and fixedly connected to the positioning groove 9 a.

The outer end of a piston rod of the second air cylinder 3 is axially fixedly connected with a positioning rod 10, a convex blocking edge 10a is arranged in the middle of the positioning rod 10, the upper end of the positioning rod 10 is in threaded connection with a positioning nut 11, the positioning rod 10 is arranged at the position of a positioning groove 9a in a penetrating mode, and the outer end of the connecting plate 9 is tightly pressed between the positioning nut 11 and the blocking edge 10 a.

The inner end of the connecting plate 9 is provided with two positioning holes, and each positioning hole is connected with a corresponding guide rod 8.

The device also comprises a connecting shaft 12, the upper end of the connecting shaft 12 is fixedly connected with the inner end of the connecting plate 9, and the lower end of the connecting shaft 12 is axially fixed on the base 1.

A limiting block 13 is fixed on the guide rod 8 through a fastener, and the sliding block 5 can be abutted against the limiting block 13 when moving downwards.

The technical features of the above-described embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above-described embodiments are not described, however, all of the combinations of the technical features should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

It will be appreciated by persons skilled in the art that the above embodiments have been provided for the purpose of illustrating the invention and are not to be construed as limiting the invention, and that suitable modifications and variations of the above embodiments are within the scope of the invention as claimed.

Claims

1. The utility model provides an adaptability manipulator, includes the base, and its characterized in that still includes first, second, frame, slider and holder of cylinder, and above-mentioned frame lower extreme is articulated with the base, first setting of cylinder can drive the frame and swing around its articulated department between base and frame, has lifting unit between above-mentioned slider and the frame, can make the slider obtain the location after the frame reciprocates under lifting unit's effect, and above-mentioned holder is connected on the slider, and above-mentioned second connection of cylinder is between frame and slider and second can drive the slider along the frame reciprocates.

2. The adaptive manipulator according to claim 1, wherein the lifting assembly comprises a guide cylinder and a guide rod, the guide rod is vertically and fixedly connected to the frame, the guide cylinder is fixedly connected to the side portion of the slide block and is sleeved on the guide rod, the cylinder body of the first cylinder is fixedly connected to the upper end of the frame, and the piston rod of the first cylinder is connected with the slide block.

3. The adaptive manipulator according to claim 2, wherein the number of the guide rods is two, and the slide block is provided with two guide cylinders, and the guide rods are arranged in one-to-one correspondence with the guide cylinders.

4. A conformable robot as in claim 3, wherein the gripping members are jaws.

5. The adaptive manipulator according to claim 4, further comprising a connecting plate, wherein the inner end of the connecting plate is connected to the guide rod, the cylinder body of the second cylinder is hinged to the base, and the piston rod of the second cylinder is hinged to the edge of the outer end of the connecting plate.

6. The adaptive manipulator according to claim 5, wherein the outer end of the connecting plate has a positioning groove with an arc track, and the piston rod of the second cylinder is axially and fixedly connected to the positioning groove.

7. The adaptive manipulator according to claim 6, wherein a positioning rod is axially and fixedly connected to the outer end of the piston rod of the second cylinder, a protruding blocking edge is arranged in the middle of the positioning rod, a positioning nut is connected to the upper end of the positioning rod in a threaded manner, the positioning rod is arranged at the positioning groove in a penetrating manner, and the outer end of the connecting plate is tightly pressed between the positioning nut and the blocking edge.

8. The adaptive manipulator of claim 7, wherein the inner end of the web has two locating holes, each locating hole being connected to a corresponding guide bar.

9. The adaptive manipulator of claim 8, further comprising a connecting shaft, wherein an upper end of the connecting shaft is fixedly connected to the inner end of the connecting plate, and a lower end of the connecting shaft is axially fixed to the base.

10. The adaptive manipulator of claim 9, wherein the guide bar is secured with a stop block by a fastener, and the slide block is adapted to abut against the stop block when moved downwardly.