CN116423551A - Manipulator with safeguard function - Google Patents
Manipulator with safeguard function Download PDFInfo
- Publication number
- CN116423551A CN116423551A CN202310529323.9A CN202310529323A CN116423551A CN 116423551 A CN116423551 A CN 116423551A CN 202310529323 A CN202310529323 A CN 202310529323A CN 116423551 A CN116423551 A CN 116423551A
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- Prior art keywords
- fixedly connected
- fixed
- side wall
- plate
- block
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- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 238000007664 blowing Methods 0.000 claims abstract description 13
- 238000003491 array Methods 0.000 claims abstract description 5
- 238000007789 sealing Methods 0.000 claims description 16
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 14
- 229910052742 iron Inorganic materials 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 claims 5
- 230000009993 protective function Effects 0.000 claims 5
- 230000000694 effects Effects 0.000 abstract description 11
- 239000012535 impurity Substances 0.000 abstract description 7
- 238000001179 sorption measurement Methods 0.000 abstract description 6
- 238000010521 absorption reaction Methods 0.000 abstract description 5
- 241000252254 Catostomidae Species 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator with a protection function, and relates to the technical field of manipulators. This kind of manipulator with safeguard function, including setting up the arm on the manipulator body, the lower extreme of arm is connected with the dwang that a plurality of arrays set up through slewing mechanism rotation, and the lower extreme fixedly connected with first fixed block of dwang, the lateral wall of first fixed block is connected with the gyro wheel through the axis of rotation, and the lateral wall cover of axis of rotation is equipped with the U-shaped board, the fixed pipe that has inserted of bottom of U-shaped board, and the lateral wall of fixed pipe is equipped with the sucking disc through the mobile mechanism cover. This kind of manipulator with safeguard function is convenient for adjust the distance of a plurality of sucking discs from the work piece center according to the size of work piece to before adsorbing the work piece, can carry out automatic clearance of blowing to impurity such as piece on work piece surface, guarantee the adsorption effect of sucking disc, make the absorption to the work piece more reliable and stable, the protection effect is better.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator with a protection function.
Background
After polishing is finished, a manipulator is often used for replacing a human hand to carry out blanking, so that the production efficiency is improved, and when the manipulator carries out blanking, a pneumatic sucker is usually used for sucking the workpiece.
However, when the existing manipulator is used, the distance of each pneumatic sucker is inconvenient to adjust according to the size of a workpiece, when the size of the workpiece is large, if the pneumatic sucker is concentrated at the central position of the workpiece, the pneumatic sucker is not stable and reliable enough when the workpiece is adsorbed and moved, and impurities such as scraps are easily attached to the surface of the workpiece, so that the sucker is not tightly attached, the adsorption firmness of the sucker is affected, the sucker is easy to drop, and the protection effect on the workpiece is poorer.
Disclosure of Invention
The present invention is directed to a manipulator with a protection function, so as to solve the problems set forth in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a manipulator with safeguard function, includes the arm that sets up on the manipulator body, the lower extreme of arm is connected with the dwang that a plurality of arrays set up through slewing mechanism rotation, and the first fixed block of lower extreme fixedly connected with of dwang, the lateral wall of first fixed block is connected with the gyro wheel through the axis of rotation, and the lateral wall cover of axis is equipped with the U-shaped board, the fixed pipe that inserts in bottom of U-shaped board, and the lateral wall of fixed pipe is equipped with the sucking disc through the moving mechanism cover, the L-shaped board of two symmetry settings of bottom fixedly connected with of U-shaped board, and the lateral wall fixedly connected with cylinder of L-shaped board, the flexible end of cylinder runs through to in the fixed pipe and fixedly connected with piston, be provided with the mechanism of blowing that is used for blowing the piece on work piece surface in the fixed pipe, and the lateral wall of fixed pipe is provided with air inlet mechanism.
Preferably, the rotating mechanism comprises a second fixed block fixedly connected to the upper end of each rotating rod, the side wall of the second fixed block is rotationally connected with two symmetrically arranged connecting plates through a first rotating shaft, the connecting plates are fixed to the lower ends of the arms, gears are fixedly sleeved on the side wall of the first rotating shaft, two symmetrically arranged third fixed blocks are fixedly connected to the side wall of the connecting plates, two symmetrically arranged guide rods are fixedly connected to the side wall of the third fixed blocks, a first spring is sleeved on the side wall of each guide rod, racks are sleeved on the side wall of each guide rod, the racks are meshed with the gears, and a limiting mechanism used for limiting the first rotating shaft is arranged on the side wall of the connecting plate.
Preferably, the limiting mechanism comprises a plurality of slots arranged in an array on the side wall of the first rotating shaft, the side wall of the connecting plate is connected with a moving block through a moving assembly, and the lower side wall of the moving block is fixedly connected with an inserting block.
Preferably, the movable assembly comprises a fixed plate fixedly connected to the side wall of the connecting plate, the upper side wall of the fixed plate is fixedly connected with two symmetrically arranged loop bars, the side wall of the loop bars is sleeved with a sleeve, the upper end of the sleeve is fixedly connected with the movable plate, the movable block is fixed to the side wall of the movable plate, the side wall of the sleeve is sleeved with a second spring, the bottom of the movable plate is fixedly connected with an iron block, and the top of the fixed plate is fixedly connected with an electromagnet.
Preferably, the moving mechanism comprises a first supporting block fixedly connected to the upper end of the fixed pipe, the side wall of the first supporting block is rotationally connected with a rotating plate through a second rotating shaft, a first sliding groove and a second sliding groove are formed in the side wall of the rotating plate, the side wall of the telescopic end is fixedly connected with a second supporting block, the side wall of the second supporting block is fixedly connected with a first connecting pin, the first connecting pin slides in the first sliding groove, a moving rod is inserted into the bottom of the U-shaped plate, the lower end of the moving rod is fixed to the top of the sucker, the side wall of the moving rod is fixedly connected with a second connecting pin, and the second connecting pin slides in the second sliding groove.
Preferably, the blowing mechanism comprises a supporting plate fixedly connected in the fixed pipe, the lower side wall of the supporting plate is rotationally connected with a fan through a third rotating shaft, and the rotation of the third rotating shaft is driven by a driving mechanism.
Preferably, the driving mechanism comprises a driven bevel gear fixedly connected to the upper end of the third rotating shaft, the side wall of the fixed pipe is rotatably connected with a driving bevel gear through a fourth rotating shaft, the driving bevel gear is meshed with the driven bevel gear, and the third rotating shaft and the rotating shaft are in transmission through a belt.
Preferably, the air inlet mechanism comprises a connecting pipe fixedly inserted into the side wall of the fixed pipe, the other end of the connecting pipe is fixedly connected with a fixed cover, the side wall of the fixed cover is fixedly connected with an air inlet pipe, the fixed cover is internally provided with a sealing plate through a resetting mechanism in a sliding manner, the side wall of the sealing plate is provided with a round hole, and the movement of the sealing plate is pushed by a pushing mechanism.
Preferably, the reset mechanism comprises a first connecting block fixedly connected to two symmetrical parts of the side wall of the fixed cover, two symmetrically arranged T-shaped guide rods are inserted into the lower side wall of the first connecting block, the lower ends of the T-shaped guide rods are fixedly connected with a second connecting block, the second connecting block is fixed to the side wall of the sealing plate, and a third spring is sleeved on the side wall of the T-shaped guide rod.
Preferably, the pushing mechanism comprises an L-shaped rod fixedly connected to the side wall of the telescopic end, the lower end of the L-shaped rod is fixedly connected with a pushing block, and the pushing block abuts against the bottom of the sealing plate.
Compared with the prior art, the invention has the beneficial effects that:
this kind of manipulator with safeguard function through setting up slewing mechanism and stop gear etc. makes the arm remove to the center top of work piece through the manipulator body, then, make the arm move down, when the gyro wheel offsets with the upper surface of work piece, make the gyro wheel slide along the upper surface of work piece, simultaneously, make the dwang rotate, the synchronous rotation of rotation drive gear of first pivot, and make the rack slide along the guide bar, first spring is compressed, thereby be convenient for adjust the distance between a plurality of sucking discs according to the size of work piece, the distance of a plurality of sucking discs apart from the work piece center is adjusted promptly, the work piece is bigger, the distance of sucking disc apart from the work piece center is bigger, make the absorption to the work piece more reliable and stable, the guard effect is better, after waiting to adjust, make the electro-magnet switch on, attract the iron plate after the electro-magnet circular telegram, make the movable plate move down, thereby insert the slot in, carry out spacingly to first pivot and dwang, more reliable and stable.
This kind of manipulator with safeguard function, through setting up mechanism etc. when the gyro wheel rolls, drive the axis of rotation and rotate in step, the rotation of axis of rotation passes through the rotation of belt drive fourth pivot and initiative bevel gear, and then drive the rotation of third pivot and fan, thereby can be when the gyro wheel rolls, the impurity such as the piece on work piece carries out automatic clearance of blowing, and it admits air through the intake pipe, round hole and connecting pipe, when needs adsorb, start the cylinder, drive the piston upward movement through the flexible end, at the same time, when the flexible end upwards moves, drive the rotor plate and rotate, and drive the movable rod and move down, thereby make the sucking disc move down and offset with the surface of work piece, and, when the flexible end upwards moves, drive the kicking block upward movement, and promote the closing plate upward movement, the third spring is compressed, make round hole and connecting pipe and intake pipe stagger, at this moment, outside air can not get into in the fixed pipe through the intake pipe, thereby can be when the piston upwards move, can make the sucking disc form the negative pressure, accomplish the absorption to the work piece, thereby before adsorbing the work piece, can adsorb the piece surface automatic piece, guarantee the piece and absorb the piece, the effect of absorbing of impurity, the work piece is more stable, the effect of protecting the work piece is guaranteed.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the whole structure of the rotating rod in the present invention;
FIG. 3 is a schematic view of the overall structure of the U-shaped plate of the present invention;
FIG. 4 is a schematic view of the overall structure of another view of the U-shaped plate of the present invention;
FIG. 5 is a schematic view of a part of a sectional structure of a fixing tube and a suction cup according to the present invention;
FIG. 6 is an enlarged schematic view of the structure shown at A in FIG. 1;
FIG. 7 is an enlarged schematic view of the structure shown at B in FIG. 2;
FIG. 8 is an enlarged schematic view of FIG. 4C;
FIG. 9 is an enlarged schematic view of the structure of FIG. 5D;
fig. 10 is an enlarged schematic view of the structure at E in fig. 6.
In the figure: 1. a robot body; 101. an arm; 2. an air blowing mechanism; 201. a support plate; 202. a third rotating shaft; 203. a fan; 3. a driving mechanism; 301. a driven bevel gear; 302. a fourth rotating shaft; 303. a drive bevel gear; 304. a belt; 4. an air inlet mechanism; 401. a connecting pipe; 402. a fixed cover; 403. an air inlet pipe; 404. a sealing plate; 405. a round hole; 5. a reset mechanism; 501. a first connection block; 502. a T-shaped guide rod; 503. a second connection block; 504. a third spring; 6. a pushing mechanism; 601. an L-shaped rod; 602. a pushing block; 7. a moving mechanism; 701. a second support block; 702. a first connecting pin; 703. a first support block; 704. a second rotating shaft; 705. a rotating plate; 706. a first chute; 707. a moving rod; 708. a second connecting pin; 709. a second chute; 8. a rotating mechanism; 801. a second fixed block; 802. a first rotating shaft; 803. a connecting plate; 804. a third fixed block; 805. a rack; 806. a guide rod; 807. a first spring; 808. a gear; 9. a limiting mechanism; 901. a slot; 902. a moving block; 903. inserting blocks; 10. a moving assembly; 1001. a fixing plate; 1002. a loop bar; 1003. a sleeve; 1004. a second spring; 1005. iron blocks; 1006. an electromagnet; 1007. a moving plate; 11. a rotating lever; 12. a first fixed block; 13. a rotating shaft; 14. a roller; 15. a U-shaped plate; 16. a fixed tube; 17. a suction cup; 18. an L-shaped plate; 19. a cylinder; 1901. a telescoping end; 20. and (3) a piston.
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. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 10, the present invention provides a technical solution: the utility model provides a manipulator with safeguard function, including setting up arm 101 on manipulator body 1, the lower extreme of arm 101 rotates through slewing mechanism 8 and is connected with the dwang 11 that a plurality of arrays set up, and the lower extreme fixedly connected with first fixed block 12 of dwang 11, the lateral wall of first fixed block 12 rotates through axis of rotation 13 and is connected with gyro wheel 14, and axis of rotation 13's lateral wall cover is equipped with U-shaped plate 15, fixed pipe 16 is inserted to U-shaped plate 15's bottom is fixed, and fixed pipe 16's lateral wall is equipped with sucking disc 17 through moving mechanism 7 cover, U-shaped plate 15's bottom fixedly connected with L-shaped plate 18 that two symmetries set up, and L-shaped plate 18's lateral wall fixedly connected with cylinder 19, cylinder 19's flexible end 1901 runs through to fixed pipe 16 in and fixedly connected with piston 20, be provided with in the fixed pipe 16 and be used for carrying out the mechanism 2 of blowing the clearance to work piece surface's piece, and fixed pipe 16's lateral wall is provided with air inlet mechanism 4, be convenient for adjust a plurality of sucking disc 17 distance from work piece center according to the size of work piece, and before adsorbing the work piece, can carry out automatic sucking disc 17's the clearance to the piece, the effect of guaranteeing to blow the piece surface automatically, the effect of protecting and the work piece is more stable.
The rotating mechanism 8 comprises a second fixing block 801 fixedly connected to the upper end of each rotating rod 11, two symmetrically arranged connecting plates 803 are rotatably connected to the side walls of the second fixing blocks 801 through first rotating shafts 802, the connecting plates 803 are fixed to the lower ends of the arms 101, gears 808 are fixedly sleeved on the side walls of the first rotating shafts 802, two symmetrically arranged third fixing blocks 804 are fixedly connected to the side walls of the connecting plates 803, two symmetrically arranged guide rods 806 are fixedly connected to the side walls of the third fixing blocks 804, first springs 807 are sleeved on the side walls of the guide rods 806, racks 805 are sleeved on the side walls of the guide rods 806, the racks 805 are meshed with the gears 808, limiting mechanisms 9 used for limiting the first rotating shafts 802 are arranged on the side walls of the connecting plates 803, when the idler wheels 14 are abutted to the upper surfaces of workpieces, the idler wheels 14 slide along the upper surfaces of the workpieces, meanwhile, the rotating rods 11 rotate, the rotation of the first rotating shafts 802 drive the gears 808 to synchronously rotate, the guide rods 805 slide along the guide rods, and the first springs 807 are compressed, and the rotation guide rods 11 and reset the racks 805.
The spacing mechanism 9 is including seting up the slot 901 that sets up at a plurality of arrays of first pivot 802 lateral wall, and the lateral wall of connecting plate 803 is connected with movable block 902 through moving the subassembly 10, and the lower lateral wall fixedly connected with inserted block 903 of movable block 902, after waiting to adjust, makes the movable plate 1007 move down through moving the subassembly 10 to insert the inserted block 903 in the slot 901, carry out spacing to first pivot 802 and dwang 11, more reliable and stable.
The moving assembly 10 comprises a fixed plate 1001 fixedly connected to the side wall of the connecting plate 803, the upper side wall of the fixed plate 1001 is fixedly connected with two symmetrically arranged loop bars 1002, a sleeve 1003 is sleeved on the side wall of the loop bars 1002, the upper end of the sleeve 1003 is fixedly connected with a moving plate 1007, the moving block 902 is fixed to the side wall of the moving plate 1007, a second spring 1004 is sleeved on the side wall of the sleeve 1003, the bottom of the moving plate 1007 is fixedly connected with an iron block 1005, and the top of the fixed plate 1001 is fixedly connected with an electromagnet 1006, after adjustment is completed, the electromagnet 1006 is electrified, the electromagnet 1006 attracts the iron block 1005 after the electromagnet 1006 is electrified, and the moving plate 1007 moves downwards.
The moving mechanism 7 comprises a first supporting block 703 fixedly connected to the upper end of the fixed pipe 16, the side wall of the first supporting block 703 is rotatably connected with a rotating plate 705 through a second rotating shaft 704, a first sliding groove 706 and a second sliding groove 709 are formed in the side wall of the rotating plate 705, the side wall of a telescopic end 1901 is fixedly connected with the second supporting block 701, a first connecting pin 702 is fixedly connected to the side wall of the second supporting block 701, the first connecting pin 702 slides in the first sliding groove 706, a moving rod 707 is inserted into the bottom of the U-shaped plate 15, the lower end of the moving rod 707 is fixed to the top of the sucker 17, a second connecting pin 708 is fixedly connected to the side wall of the moving rod 707, the second connecting pin 708 slides in the second sliding groove 709, and when the telescopic end 1901 moves upwards, the rotating plate 705 is driven to rotate, and the moving rod 707 is driven to move downwards, and the sucker 17 moves downwards and abuts against the surface of a workpiece.
The blowing mechanism 2 comprises a supporting plate 201 fixedly connected in the fixed pipe 16, the lower side wall of the supporting plate 201 is rotatably connected with a fan 203 through a third rotating shaft 202, the rotation of the third rotating shaft 202 is driven by a driving mechanism 3, and when the roller 14 rolls, the third rotating shaft 202 and the fan 203 are rotated through the driving mechanism 3, so that the dust and other impurities on the surface of a workpiece can be automatically blown and cleaned while the roller 14 rolls.
The driving mechanism 3 comprises a driven bevel gear 301 fixedly connected to the upper end of the third rotating shaft 202, a driving bevel gear 303 is rotatably connected to the side wall of the fixed tube 16 through a fourth rotating shaft 302, the driving bevel gear 303 is meshed with the driven bevel gear 301, the third rotating shaft 202 and the rotating shaft 13 are driven through a belt 304, when the roller 14 rolls, the rotating shaft 13 is driven to synchronously rotate, the fourth rotating shaft 302 and the driving bevel gear 303 are driven to rotate through the belt 304 by the rotation of the rotating shaft 13, and then the third rotating shaft 202 and the fan 203 are driven to rotate.
The air inlet mechanism 4 comprises a connecting pipe 401 fixedly inserted into the side wall of the fixed pipe 16, the other end of the connecting pipe 401 is fixedly connected with a fixed cover 402, the side wall of the fixed cover 402 is fixedly connected with an air inlet pipe 403, a sealing plate 404 is slidably connected in the fixed cover 402 through a reset mechanism 5, a round hole 405 is formed in the side wall of the sealing plate 404, the sealing plate 404 is moved through a pushing mechanism 6 to push, when air blowing cleaning is carried out, outside air can enter the fixed pipe 16 through the air inlet pipe 403, the round hole 405 and the connecting pipe 401, when the telescopic end 1901 moves upwards during adsorption, the sealing plate 404 is pushed to move upwards through the pushing mechanism 6, a third spring 504 is compressed, the round hole 405 is staggered with the connecting pipe 401 and the air inlet pipe 403, and at the moment, outside air cannot enter the fixed pipe 16 through the air inlet pipe 403.
The reset mechanism 5 comprises a first connecting block 501 fixedly connected to the side wall of the fixed cover 402 and symmetrically arranged, two symmetrically arranged T-shaped guide rods 502 are inserted into the lower side wall of the first connecting block 501, the lower ends of the T-shaped guide rods 502 are fixedly connected with a second connecting block 503, the second connecting block 503 is fixed to the side wall of the sealing plate 404, a third spring 504 is sleeved on the side wall of the T-shaped guide rod 502, and the movement of the sealing plate 404 is guided and reset.
The pushing mechanism 6 comprises an L-shaped rod 601 fixedly connected to the side wall of the telescopic end 1901, the lower end of the L-shaped rod 601 is fixedly connected with a pushing block 602, the pushing block 602 abuts against the bottom of the sealing plate 404, and when the telescopic end 1901 moves upwards, the pushing block 602 is driven to move upwards through the L-shaped rod 601 and the sealing plate 404 is pushed to move upwards.
Working principle: when the manipulator is used, firstly, the manipulator body 1 moves the arm 101 to the position above the center of a workpiece, then, the arm 101 moves downwards, when the roller 14 is propped against the upper surface of the workpiece, the roller 14 slides along the upper surface of the workpiece, meanwhile, the rotating rod 11 rotates, the rotation of the first rotating shaft 802 drives the synchronous rotation of the gear 808, the rack 805 slides along the guide rod 806, the first spring 807 is compressed, so that the distance between the plurality of suckers 17 is convenient to adjust according to the size of the workpiece, namely, the distance between the plurality of suckers 17 and the center of the workpiece is adjusted, the larger the distance between the suckers 17 and the center of the workpiece is, the more stable and reliable adsorption to the workpiece is achieved, the protection effect is better, after the adjustment is finished, the electromagnet 1006 is electrified, the electromagnet 1006 attracts the iron block 1005, the moving plate 1007 moves downwards, the inserting block 903 is inserted into the inserting groove 901, and the first rotating shaft 802 and the rotating rod 11 are limited, and the workpiece is more stable and reliable;
meanwhile, when the roller 14 rolls, the rotating shaft 13 is driven to synchronously rotate, the rotation of the rotating shaft 13 drives the fourth rotating shaft 302 and the drive bevel gear 303 to rotate through the belt 304, and then the third rotating shaft 202 and the fan 203 are driven to rotate, so that the impurities such as scraps on the surface of a workpiece can be automatically blown and cleaned while the roller 14 rolls, and air is introduced through the air inlet pipe 403, the round hole 405 and the connecting pipe 401;
when adsorption is needed, the cylinder 19 is started, the piston 20 is driven to move upwards through the telescopic end 1901, meanwhile, when the telescopic end 1901 moves upwards, the rotating plate 705 is driven to rotate, the moving rod 707 is driven to move downwards, and therefore the sucking disc 17 moves downwards and abuts against the surface of a workpiece;
and, when flexible end 1901 upwards moves, drive through L shape pole 601 and promote the piece 602 and upwards move, and promote closing plate 404 upwards move, third spring 504 is compressed, make round hole 405 stagger with connecting pipe 401 and intake pipe 403, at this moment, outside air can not get into in the fixed pipe 16 through intake pipe 403, thereby can form the negative pressure in the sucking disc 17 when piston 20 upwards moves, accomplish the absorption to the work piece, thereby before adsorbing the work piece, can carry out automatic blowing clearance to the impurity such as piece surface of the work piece, guarantee the adsorption effect of sucking disc 17, make the absorption to the work piece more reliable and stable, the protection effect is better.
Claims (10)
1. Manipulator with safeguard function, including setting up arm (101) on manipulator body (1), its characterized in that: the lower extreme of arm (101) is connected with dwang (11) that a plurality of arrays set up through slewing mechanism (8) rotation, and the lower extreme fixedly connected with first fixed block (12) of dwang (11), the lateral wall of first fixed block (12) is connected with gyro wheel (14) through axis of rotation (13) rotation, and the lateral wall cover of axis of rotation (13) is equipped with U-shaped board (15), fixed tub (16) are inserted in the bottom of U-shaped board (15), and the lateral wall of fixed tub (16) is equipped with sucking disc (17) through shifter (7) cover, the bottom fixedly connected with L-shaped board (18) of two symmetries settings of U-shaped board (15), and the lateral wall fixedly connected with cylinder (19) of L-shaped board (18), flexible end (1901) of cylinder (19) run through in fixed tub (16) and fixedly connected with piston (20), be provided with in fixed tub (16) and be used for carrying out the mechanism (2) of blowing to the piece surface of blowing of piece, and the lateral wall of fixed tub (16) is provided with mechanism (4).
2. The manipulator with a protective function according to claim 1, wherein: the rotating mechanism (8) comprises a second fixed block (801) fixedly connected to the upper end of each rotating rod (11), two symmetrically arranged connecting plates (803) are rotatably connected to the side walls of the second fixed block (801) through first rotating shafts (802), the connecting plates (803) are fixed to the lower ends of the arms (101), gears (808) are fixedly sleeved on the side walls of the first rotating shafts (802), two symmetrically arranged third fixed blocks (804) are fixedly connected to the side walls of the connecting plates (803), two symmetrically arranged guide rods (806) are fixedly connected to the side walls of the third fixed blocks (804), first springs (807) are sleeved on the side walls of the guide rods (806), racks (805) are meshed with the gears (808), and limiting mechanisms (9) used for limiting the first rotating shafts (802) are arranged on the side walls of the connecting plates.
3. A manipulator with protection function according to claim 2, characterized in that: the limiting mechanism (9) comprises a plurality of slots (901) formed in the side wall of the first rotating shaft (802) in an array mode, the side wall of the connecting plate (803) is connected with a moving block (902) through a moving assembly (10), and the lower side wall of the moving block (902) is fixedly connected with an inserting block (903).
4. A manipulator with protective function according to claim 3, characterized in that: the movable assembly (10) comprises a fixed plate (1001) fixedly connected to the side wall of the connecting plate (803), two symmetrically arranged loop bars (1002) are fixedly connected to the upper side wall of the fixed plate (1001), a sleeve (1003) is sleeved on the side wall of the loop bars (1002), a movable plate (1007) is fixedly connected to the upper end of the sleeve (1003), the movable block (902) is fixed to the side wall of the movable plate (1007), a second spring (1004) is sleeved on the side wall of the sleeve (1003), an iron block (1005) is fixedly connected to the bottom of the movable plate (1007), and an electromagnet (1006) is fixedly connected to the top of the fixed plate (1001).
5. The manipulator with a protective function according to claim 1, wherein: the moving mechanism (7) comprises a first supporting block (703) fixedly connected to the upper end of a fixed pipe (16), a rotating plate (705) is rotatably connected to the side wall of the first supporting block (703) through a second rotating shaft (704), a first sliding groove (706) and a second sliding groove (709) are formed in the side wall of the rotating plate (705), a second supporting block (701) is fixedly connected to the side wall of a telescopic end (1901), a first connecting pin (702) is fixedly connected to the side wall of the second supporting block (701), the first connecting pin (702) slides in the first sliding groove (706), a moving rod (707) is inserted into the bottom of the U-shaped plate (15), the lower end of the moving rod (707) is fixed to the top of a sucker (17), a second connecting pin (708) is fixedly connected to the side wall of the moving rod (707), and the second connecting pin (708) slides in the second sliding groove (709).
6. The manipulator with a protective function according to claim 1, wherein: the blowing mechanism (2) comprises a supporting plate (201) fixedly connected in the fixed pipe (16), the lower side wall of the supporting plate (201) is rotatably connected with a fan (203) through a third rotating shaft (202), and the rotation of the third rotating shaft (202) is driven by a driving mechanism (3).
7. The manipulator with protection function according to claim 6, wherein: the driving mechanism (3) comprises a driven bevel gear (301) fixedly connected to the upper end of the third rotating shaft (202), a driving bevel gear (303) is rotatably connected to the side wall of the fixed tube (16) through a fourth rotating shaft (302), the driving bevel gear (303) is meshed with the driven bevel gear (301), and the third rotating shaft (202) and the rotating shaft (13) are in transmission through a belt (304).
8. The manipulator with a protective function according to claim 1, wherein: the utility model discloses a fixed pipe, including fixed connecting pipe (401) of establishing in fixed pipe (16) lateral wall, and the other end fixedly connected with fixed cover (402) of connecting pipe (401), the lateral wall fixedly connected with intake pipe (403) of fixed cover (402), and have closing plate (404) through canceling release mechanical system (5) sliding connection in fixed cover (402), round hole (405) have been seted up to the lateral wall of closing plate (404), and the removal of closing plate (404) promotes through pushing mechanism (6).
9. The manipulator with protection function according to claim 8, wherein: the reset mechanism (5) comprises a first connecting block (501) fixedly connected to the side wall of the fixed cover (402) and symmetrically arranged, two symmetrically arranged T-shaped guide rods (502) are inserted into the lower side wall of the first connecting block (501), the lower ends of the T-shaped guide rods (502) are fixedly connected with second connecting blocks (503), the second connecting blocks (503) are fixed to the side wall of the sealing plate (404), and a third spring (504) is sleeved on the side wall of the T-shaped guide rods (502).
10. The manipulator with protection function according to claim 8, wherein: the pushing mechanism (6) comprises an L-shaped rod (601) fixedly connected to the side wall of the telescopic end (1901), the lower end of the L-shaped rod (601) is fixedly connected with a pushing block (602), and the pushing block (602) abuts against the bottom of the sealing plate (404).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310529323.9A CN116423551A (en) | 2023-05-11 | 2023-05-11 | Manipulator with safeguard function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310529323.9A CN116423551A (en) | 2023-05-11 | 2023-05-11 | Manipulator with safeguard function |
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| Publication Number | Publication Date |
|---|---|
| CN116423551A true CN116423551A (en) | 2023-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310529323.9A Withdrawn CN116423551A (en) | 2023-05-11 | 2023-05-11 | Manipulator with safeguard function |
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| CN (1) | CN116423551A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117921723A (en) * | 2024-03-22 | 2024-04-26 | 长春职业技术学院 | Manipulator for intelligent manufacturing |
-
2023
- 2023-05-11 CN CN202310529323.9A patent/CN116423551A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117921723A (en) * | 2024-03-22 | 2024-04-26 | 长春职业技术学院 | Manipulator for intelligent manufacturing |
| CN117921723B (en) * | 2024-03-22 | 2024-05-17 | 长春职业技术学院 | Manipulator for intelligent manufacturing |
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Application publication date: 20230714 |
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