CN117182880A

CN117182880A - Manipulator and use method

Info

Publication number: CN117182880A
Application number: CN202311469258.1A
Authority: CN
Inventors: 孙翔
Original assignee: Dingxian Intelligent Equipment Technology Suqian Co ltd
Current assignee: Dingxian Intelligent Equipment Technology Suqian Co ltd
Priority date: 2023-11-07
Filing date: 2023-11-07
Publication date: 2023-12-08
Anticipated expiration: 2043-11-07
Also published as: CN117182880B

Abstract

The invention provides a manipulator and a using method thereof. Relates to the technical field of mechanical arms. The manipulator comprises a supporting table and a mechanical arm, two support plates are fixedly arranged at the top of the supporting table, one screw rod I is rotatably arranged on the two support plates, a sliding table is arranged on the screw rod I in a threaded mode, a connecting plate is fixedly arranged on one side of the sliding table, one motor I is fixedly arranged on one support plate, an output shaft of the motor I is fixedly connected with one end of the screw rod I, a mounting plate is fixedly arranged on the connecting plate, a concave seat I is fixedly arranged on the mounting plate, and the screw rod II is rotatably arranged on the concave seat I. The manipulator and the use method provided by the invention have the advantages that the same number of chucks can be used according to actual demands, the distance between two adjacent chucks can be adjusted, and workpieces can be prevented from falling on the ground.

Description

Manipulator and use method

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator and a using method thereof.

Background

The manipulator is an automatic operation device for grabbing and carrying objects or operation tools according to fixed procedures, can replace heavy labor of people to realize mechanization and automation of production, can be operated under harmful environments to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.

For example, in patent document CN109664261B, a manipulator is proposed, including a transverse beam, on which an X transverse block is slidably connected, on which two parallel brackets are slidably connected, the brackets are perpendicular to the transverse beam, two ends of each bracket are fixedly connected with a fixed block, an adjusting screw is rotatably connected between the fixed blocks of each bracket, two ends of the adjusting screw are rotatably connected with the corresponding fixed blocks, an adjusting bush is sleeved on each adjusting screw, each adjusting bush is fixedly connected on the X transverse block, each adjusting screw is in threaded fit with the corresponding adjusting bush, a first driving machine for driving the X transverse block to slide on the transverse beam is arranged on the X transverse block, a connecting block is fixedly connected on the brackets, and a mechanical arm is slidably connected on the connecting block; the invention can adjust the position of the mechanical arm.

However, most of the manipulators including the above-mentioned invention find that, in order to accelerate production efficiency in the mechanical precision machining process, it is sometimes necessary to machine a plurality of workpieces through a plurality of devices at the same time, but the conventional manipulator generally only has one manipulator to grasp the workpieces, which results in poor applicability and failing to satisfy the efficient production and machining.

Therefore, it is necessary to provide a new manipulator and a use method thereof to solve the above technical problems.

Disclosure of Invention

The invention solves the technical problem of providing the manipulator and the use method, wherein the manipulator can use the chucks with the same number according to actual demands, can adjust the distance between two adjacent chucks and can prevent workpieces from falling on the ground.

In order to solve the above technical problems, the manipulator provided by the present invention includes: the device comprises a supporting table and a mechanical arm, wherein two frame plates are fixedly arranged at the top of the supporting table, one screw rod I is rotatably arranged on the frame plates, a sliding table is arranged on the screw rod I, one connecting plate is fixedly arranged on one side of the sliding table, one motor I is fixedly arranged on the frame plates, an output shaft of the motor I is fixedly connected with one end of the screw rod I, a mounting plate is fixedly arranged on the connecting plate, a concave seat I is fixedly arranged on the mounting plate, a screw rod II is rotatably arranged in the concave seat I, a transverse moving table is arranged on the screw rod II in a threaded manner, a concave seat II is fixedly arranged on the transverse moving table, a screw rod III is rotatably arranged on the screw rod III, a lifting table is fixedly connected with the mechanical arm, a connecting frame is arranged below the mechanical arm, a grabbing mechanism is arranged in the connecting frame, a fixing column in the grabbing mechanism is fixedly connected with the inner wall of the top of the connecting frame, a fastening mechanism is arranged on the connecting frame, a concave seat I is fixedly connected with the motor, a concave seat II is fixedly arranged on the outer wall of the motor, and is fixedly connected with the top of the screw rod II, and the other end of the screw rod II.

Preferably, the bottom of arm with link fixed connection, snatch the mechanism and include the fixed column, finger cylinder one, a plurality of finger cylinder two, a plurality of chuck, beam rod, a plurality of slider, a plurality of connecting frame, a plurality of screw rod and scale, finger cylinder one fixed mounting is in the bottom of fixed column, a plurality of finger cylinder two all set up finger cylinder one side, a plurality of chuck fixed mounting is in finger cylinder one and a plurality of finger cylinder two on, beam rod fixed mounting is in the link, just the beam rod runs through the fixed column and with fixed column fixed connection, a plurality of slider all slidable mounting is in on the beam rod, a plurality of connecting frame respectively fixed mounting is in a plurality of the bottom of slider, a plurality of screw rod respectively threaded mounting is in a plurality of the bottom of connecting frame, and a plurality of the bottom of screw rod respectively with a plurality of finger cylinder two rotate to be connected, scale fixed mounting is in the link, scale runs through the fixed column and runs through a plurality of slider and a plurality of slider fixed connection.

Preferably, the fastening mechanism comprises a pressing plate, a plurality of anti-slip conical heads, two linkage rods, two wedge blocks, a fixing frame, two sliding rods, two locating frames and two rollers, wherein the pressing plate is arranged above the sliding blocks, the anti-slip conical heads are fixedly installed at the bottoms of the pressing plate, the two linkage rods are slidably installed on the connecting frames, the bottoms of the linkage rods are fixedly connected with the pressing plate, the two wedge blocks are fixedly installed at the tops of the two linkage rods respectively, the fixing frame is fixedly installed at the tops of the connecting frames, the two sliding rods are slidably installed at the two sides of the fixing frame respectively, the two locating frames are fixedly installed at the ends of the two sliding rods, which are close to each other, the two rollers are rotatably installed in the two locating frames respectively, and the two rollers are tangential with the oblique sides of the two wedge blocks respectively.

Preferably, the top fixed mounting of mount has two risers, two equal slidable mounting has the company pole on the riser, two equal fixed mounting of one end that company pole kept away from each other has the sideboard, two one side that the sideboard is close to each other respectively with two slide bar fixed connection, two all overlap on the company pole and be equipped with the spring three, two the one end that the spring three is close to each other respectively with two riser fixed connection, two the one end that the spring three kept away from each other respectively with two sideboard fixed connection, the top fixed mounting of mount has the backplate, rotate on the backplate and install the hand rocker, the tip fixed mounting of hand rocker has the carousel, fixed mounting has two eccentric bars of symmetry on the carousel, two all articulate on the eccentric bar has the articulated rod, two the one end that the articulated rod kept away from each other is articulated with two respectively with the company pole mutually.

Preferably, the caulking groove has been seted up at the top of mount, the storage groove has been seted up on the carousel, storage inslot fixed mounting has the spring four, the bottom fixed mounting of spring four has the embedded head, the bottom of embedded head extends to in the caulking groove, fixed mounting has the support frame on the top inner wall of mount, the bottom slidable mounting of support frame has the tamper, the tamper is located under the caulking groove, just the tamper with the embedded head looks adaptation, the bottom fixed mounting of tamper has the baffle, the cover is equipped with the spring five on the tamper, the both ends of spring five respectively with support frame and baffle fixed connection.

Preferably, the bottoms of the connecting frames are respectively provided with two first limiting rods in a sliding mode, and the bottoms of the corresponding two first limiting rods are respectively fixedly connected with the corresponding second finger cylinder.

Preferably, the portal frame is arranged outside the mechanical arm, a box body is fixedly arranged on one side of the mechanical arm, a screw rod IV is rotatably arranged in the box body, a displacement block is arranged on one side of the screw rod IV in a threaded manner, one side of the displacement block is fixedly connected with one side inner wall of the portal frame, two contact falling-preventing trays are arranged below the first finger cylinder and the second finger cylinders, rubber pads are fixedly arranged on the inner walls of the falling-preventing trays, two transmission rods I are rotatably arranged in the portal frame, a connecting frame is fixedly sleeved on each transmission rod I, two connecting frames are respectively arranged on one sides of the connecting frames, which are close to each other, of the two connecting frames, a motor IV is fixedly arranged at the top of the box body, and an output shaft of the motor IV is fixedly connected with the top end of the screw rod IV.

Preferably, the top fixed mounting of portal frame has two rigid coupling boards, two the same transfer line two is installed in the rotation on the rigid coupling board, the top of portal frame rotates and installs two transfer lines three, fixed cover is equipped with two awl teeth one on the transfer line two the equal fixed mounting in top of transfer line three has awl teeth two, two awl teeth one respectively with two awl teeth two engaged, two equal fixed mounting in bottom of transfer line three has awl teeth three, two equal fixed cover is equipped with awl teeth four on the transfer line one, two awl teeth three respectively with two awl teeth four engaged, and two awl teeth four are in two respectively in the linking frame.

Preferably, the top fixed mounting of portal frame has motor five, motor five's output shaft with all fixed cover is equipped with the button tooth on the transfer line two the button tooth meshes mutually, fixed mounting has two reinforcing plates in the portal frame, two transfer line three respectively run through two the reinforcing plate and with corresponding the reinforcing plate rotates to be connected, one side fixed mounting of arm has the boss, slidable mounting has gag lever post two on the boss, gag lever post two's top with the top inner wall fixed connection of portal frame, just the bottom fixed mounting of gag lever post two has the spacing piece.

The invention also provides a using method of the manipulator, which comprises the following steps:

s1, adjusting the number of the finger air cylinders II: firstly pushing the tamping rod upwards to push out the embedding head from the embedding groove, moving the two side connecting plates in the direction away from each other, finally taking the two rollers away from the two wedge blocks, stirring the corresponding number of sliding blocks according to the number requirement, observing the positions of the sliding blocks on the graduated scale when stirring, adjusting the distance between the first finger cylinder and the second finger cylinder and the distance between the two adjacent finger cylinders, and after the adjustment is finished, rotating the corresponding number of screw rods to adjust the corresponding number of the second finger cylinders to be flush with the first finger cylinder;

s2, carrying out anti-skid treatment on the sliding block: when the hand rocker is rotated, the two connecting rods move in the direction of approaching each other, when the embedded heads in the accommodating grooves are contacted with the top end face of the fixing frame, the spring IV in the accommodating grooves automatically contracts and brings the embedded heads to contract together, when the embedded heads rotate to correspond up and down with the embedded grooves, the spring IV automatically ejects the embedded heads into the embedded grooves to form clamping, and at the moment, the idler wheels tightly abut against the inclined edges of the wedge-shaped blocks, so that the anti-slip conical heads also tightly abut against the sliding blocks, and the sliding blocks cannot be loosened easily;

S3, grabbing a workpiece: the first motor is started, the second motor is started together after the mechanical arm is moved to a longitudinally designated position, the transverse moving platform carries out transverse horizontal movement by taking the mechanical arm to the transversely designated position, the second motor is closed, the third motor is started in a forward direction, the lifting platform descends by taking the mechanical arm, after the finger cylinder descends to the designated height, the clamping head is used for clamping the mechanical arm, the fourth motor is started firstly, the two falling-preventing trays are brought down to the lower side of a workpiece, the fifth motor is started, the first transmission rod rotates, the two falling-preventing trays are in contact, a bottom supporting function is formed on the workpiece from the lower side, the third motor is started reversely, the workpiece is lifted up, the first motor is started to be brought to the upper side of another device, the fifth motor is started, the two falling-preventing trays are rotated to be opened, the fourth motor is started, the falling-preventing trays are driven to be driven up, and the third motor is started in a forward direction, and the workpiece is lowered to the platform is released.

Compared with the related art, the manipulator and the using method provided by the invention have the following beneficial effects:

The invention provides a manipulator and a use method, wherein the use number of a second finger cylinder can be adjusted according to the actual processing number requirement through a plurality of second finger cylinders, and in the use process, other unused second finger cylinders are in a contracted state, so that normal clamping work of the first finger cylinder and the other used second finger cylinders is not hindered, in addition, the distance between the first finger cylinder and the first second finger cylinder and the distance between two adjacent second finger cylinders can be accurately adjusted through a set graduated scale, in addition, the situation that the second finger cylinder is loose easily after the position is adjusted can be ensured through the set anti-slip cone head which can tightly abut against a sliding block, and the stability after the distance adjustment is ensured;

and in order to prevent that the work piece from accidentally dropping because of the wearing and tearing of chuck seriously and leading to the in-process of transportation is snatched the work piece, alright in the transportation in-process, form a function of accepting to the work piece through two anti-drop trays that set up in the chuck below to when the work piece drops from the chuck, can directly fall on the rubber pad in the anti-drop tray, thereby can avoid the work piece directly to drop ground and appear the damage, improved the production quality of work piece, reduced the defective rate of work piece then.

Drawings

Fig. 1 is a schematic perspective view of a first embodiment of a manipulator according to the present invention;

FIG. 2 is a schematic view of an installation structure of a traverse table in a first embodiment of a manipulator according to the present invention;

fig. 3 is a schematic diagram of a connection structure of a connection frame and a fixing frame in a first embodiment of a manipulator according to the present invention;

fig. 4 is a schematic diagram of a connection structure of a second finger cylinder and a connection frame in the first embodiment of the manipulator according to the present invention;

fig. 5 is a schematic diagram of a matching state of a wedge block and a roller in a first embodiment of a manipulator according to the present invention;

fig. 6 is a schematic diagram of a rear view structure of a rotor in the first embodiment of the manipulator according to the present invention;

fig. 7 is a schematic diagram of a slot opening structure in a first embodiment of a manipulator according to the present invention;

fig. 8 is a schematic cross-sectional view of a transfer mechanism in a first embodiment of a manipulator according to the present invention;

fig. 9 is a schematic perspective view of a second embodiment of a manipulator according to the present invention;

fig. 10 is a schematic front view of a second embodiment of a manipulator according to the present invention;

FIG. 11 is a schematic side view of a second embodiment of a manipulator according to the present invention;

fig. 12 is a schematic structural view of a gantry in a second embodiment of the manipulator according to the present invention;

FIG. 13 is a schematic side view and cross-sectional view of a gantry in a second embodiment of a robot;

fig. 14 is a schematic view of the internal structure of a case in the second embodiment of the manipulator according to the present invention;

fig. 15 is a schematic view illustrating a matching state of two anti-falling trays in a second embodiment of a manipulator according to the present invention;

fig. 16 is a schematic perspective view of a third embodiment of a manipulator according to the present invention;

fig. 17 is a schematic bottom view of a mechanical arm in a third embodiment of the mechanical arm according to the present invention;

fig. 18 is a schematic view of a connection structure of a connection frame and a socket in a third embodiment of a manipulator according to the present invention;

fig. 19 is a schematic cross-sectional view of a socket in a third embodiment of the manipulator according to the present invention;

fig. 20 is a schematic cross-sectional view of a manipulator according to a third embodiment of the present invention.

Reference numerals in the drawings: 1. a support table; 2. a bridging plate; 3. a first lead screw; 4. a sliding table; 5. a connecting plate; 6. a mounting plate; 7. a concave seat I; 8. a second lead screw; 9. a traversing table; 10. a concave seat II; 11. a screw rod III; 12. a lifting table; 13. a mechanical arm; 14. a connecting frame; 15. fixing the column; 16. a first finger cylinder; 17. a second finger cylinder; 18. a chuck; 19. a beam; 20. a slide block; 21. a connection frame; 22. a screw; 23. a pressing plate; 24. an anti-slip cone head; 25. a linkage rod; 26. wedge blocks; 27. a fixing frame; 28. a slide bar; 29. a positioning frame; 30. a roller; 31. a tie rod; 32. a lateral connecting plate; 33. a turntable; 34. a hinge rod; 35. a graduated scale; 36. a portal frame; 37. a case body; 38. a screw rod IV; 39. a displacement block; 40. an anti-falling tray; 41. a transmission rod I; 42. a connecting frame; 43. a transmission rod II; 44. a transmission rod III; 45. a first bevel gear; 46. a second bevel gear; 47. bevel teeth III; 48. a bevel gear IV; 49. a slot; 50. a socket; 51. a buckling groove; 52. a telescopic slot; 53. a buckling block; 54. a first spring; 55. a fixed rod; 56. pinching the plate; 57. pushing the sheet; 58. and a second spring.

Detailed Description

The invention will be further described with reference to the drawings and embodiments.

First embodiment:

referring to fig. 1 to 8 in combination, in a first embodiment of the present invention, a robot includes: the support table 1 and the mechanical arm 13, two frame connecting plates 2 are fixed on the top of the support table 1, the same first screw rod 3 is rotatably arranged on the two frame connecting plates 2, a sliding table 4 is arranged on the first screw rod 3 in a threaded manner for longitudinal horizontal movement, a connecting plate 5 is fixed on one side of the sliding table 4, a first motor is fixed on one frame connecting plate 2, an output shaft of the first motor is fixedly connected with one end of the first screw rod 3, a mounting plate 6 is fixed on the connecting plate 5, a first concave seat 7 is fixed on the mounting plate 6, a second screw rod 8 is rotatably arranged in the first concave seat 7, a traversing table 9 is arranged on the second screw rod 8 in a threaded manner for transverse horizontal movement, a second motor is fixed on the outer wall of one side of the first concave seat 7, an output shaft of the second motor is fixedly connected with one end of the second screw rod 8, a second concave seat 10 is fixed on the second screw rod 9, the screw rod III 11 is rotatably arranged in the mechanical arm II, the lifting table 12 is arranged on the screw rod III 11 in a threaded manner, the lifting table 12 is fixedly connected with the mechanical arm 13, so that the mechanical arm 13 can move in the vertical direction, the mechanical arm 13 at the moment has the moving functions of X, Y and Z, the motor III is fixed at the top of the concave seat II 10, the output shaft of the motor III is fixedly connected with the top end of the screw rod III 11, the connecting frame 14 is arranged below the mechanical arm 13, the grabbing mechanism is arranged in the connecting frame 14, the fixed column 15 in the grabbing mechanism is fixedly connected with the inner wall of the top of the connecting frame 14, the fastening mechanism is arranged on the connecting frame 14, the anti-slip cone head 24 in the fastening mechanism is in contact with the sliding block 20 in the grabbing mechanism, so that the finger cylinder II 17 is prevented from easily loosening, and the position adjustment of the finger cylinder II is ensured.

In the above manner, the bottom of the mechanical arm 13 is fixedly connected with the connecting frame 14, and the gripping mechanism comprises a fixed column 15, a first finger cylinder 16, a second plurality of finger cylinders 17, a plurality of chucks 18, a beam 19, a plurality of sliders 20, a plurality of connecting frames 21, a plurality of screws 22 and a scale 35, the first finger cylinder 16 is fixed at the bottom of the fixed column 15, the second plurality of finger cylinders 17 are all arranged at one side of the first finger cylinder 16, and in the initial state, the bottom of the first finger cylinder 16 is lower than the second finger cylinder 17, so that when the first finger cylinder 16 is used alone, the second finger cylinder 17 does not obstruct the use of the first finger cylinder 16, the chucks 18 are fixed on the first finger cylinder 16 and the second finger cylinder 17, the beam 19 is fixed in the connecting frame 14, and the beam 19 penetrates through the fixed column 15 and is fixedly connected with the fixed column 15, the plurality of sliding blocks 20 are all slidably mounted on the beam 19, the plurality of connecting frames 21 are respectively fixed at the bottoms of the plurality of sliding blocks 20, the plurality of screw rods 22 are respectively and threadedly mounted at the bottoms of the plurality of connecting frames 21, the bottom ends of the plurality of screw rods 22 are respectively and rotationally connected with the plurality of finger cylinders II 17, the bottom ends of the corresponding two limiting rods I are respectively and slidably mounted at the bottoms of the connecting frames 21 and fixedly connected with the corresponding finger cylinders II 17, so that the finger cylinders II 17 can be adjusted to be flush with the finger cylinders II 16 in a way of rotating the screw rods 22 to ensure that the finger cylinders II can be normally used, the graduated scale 35 is fixed in the connecting frame 14, the graduated scale 35 penetrates through the fixed column 15 and is fixedly connected with the fixed column 15, the graduated scale 35 penetrates through the plurality of sliding blocks 20 and is slidably connected with the plurality of sliding blocks 20, through the arrangement of the graduated scale 35, the distance between the first finger cylinder 16 and the second finger cylinder 17 and the distance between the two adjacent finger cylinders 17 can be adjusted, and the adjustment accuracy is high.

In the above mentioned fastening mechanism, the fastening mechanism comprises a pressing plate 23, a plurality of anti-slip conical heads 24, two linkage rods 25, two wedge blocks 26, a fixing frame 27, two sliding rods 28, two positioning frames 29 and two rollers 30, wherein the pressing plate 23 is arranged above the sliding blocks 20, the anti-slip conical heads 24 are all fixed at the bottom of the pressing plate 23, the sliding blocks 20 cannot be easily loosened by utilizing the degree of interference between the anti-slip conical heads 24 and the sliding blocks 20, the two linkage rods 25 are all slidably mounted on the connecting frame 14, the bottom ends of the two linkage rods 25 are fixedly connected with the pressing plate 23, the two wedge blocks 26 are respectively fixed at the top ends of the two linkage rods 25, the fixing frame 27 is fixed at the top of the connecting frame 14, the two sliding rods 28 are respectively slidably mounted at two sides of the fixing frame 27, the two positioning frames 29 are respectively fixed at one ends of the two sliding rods 28 close to each other, the two rollers 30 are respectively rotatably mounted in the two positioning frames 29, the two rollers 30 are respectively tangent to the oblique sides of the two wedge blocks 26, the degree of interference between the two wedge blocks 26 and the two rollers 30 and the oblique sides of the two wedge blocks 26 are ensured, the degree of interference between the two wedge blocks 24 and the degree of the anti-slip conical heads 24 is ensured by the degree of interference between the rollers 30 and the wedge blocks 26.

In this mode, in order to guarantee that can form the conflict relation of fastening between gyro wheel 30 and the wedge 26, be fixed with two risers at the top of mount 27, equal slidable mounting has joint bar 31 on two risers, and the one end that two joint bars 31 kept away from each other all is fixed with the side joint bar 32, one side that two side joint bars 32 are close to each other respectively with two slide bar 28 fixed connection, and all overlap on two joint bars 31 and be equipped with the spring three, the one end that two springs three are close to each other respectively with two riser fixed connection, the one end that two springs three kept away from each other respectively with two side joint bar 32 fixed connection, in addition, be fixed with the backplate at the top of mount 27, rotate on the backplate and install the hand rocker, the end fixing of hand rocker has carousel 33, and be fixed with symmetrical two eccentric bars on carousel 33, two eccentric bars are all articulated mutually with corresponding joint bar 31 through articulated bar 34, so alright drive two joint bars 31 simultaneously.

As shown in fig. 7 and 8, a caulking groove is formed in the top of the fixing frame 27, a storage groove is formed in the turntable 33, a spring four is fixed in the caulking groove, a caulking head is fixed at the bottom end of the spring four, the bottom of the caulking head extends into the caulking groove, the turntable 33 can be limited to be prevented from rotating any more, a supporting frame is fixed on the inner wall of the top of the fixing frame 27 in order to enable the turntable 33 to be in a rotatable state again, a tamping rod is slidably mounted at the bottom of the tamping frame, the tamping rod is located under the caulking groove and can be used for ejecting the caulking head out of the caulking groove upwards, a baffle is fixed at the bottom end of the tamping rod, a spring five is sleeved on the tamping rod, two ends of the spring five are fixedly connected with the supporting frame and the baffle respectively, and after the tamping rod is used, the tamping rod can be automatically rebounded to an original state through elasticity of the spring five, and the tamping rod is convenient to continue to be used next time.

In this embodiment:

in the initial state, the two springs III are in a compressed state;

when a workpiece is required to be grabbed, a first motor is started, an output shaft of the first motor drives a first screw rod 3 to rotate, at the moment, the first screw rod 3 and a sliding table 4 are in threaded relation, the sliding table 4 can move longitudinally and horizontally, so that the sliding table 4 can move together with a connecting plate 5 and a mounting plate 6, after a mechanical arm 13 is moved to a longitudinally designated position, the first motor is closed, then the second motor is started, the output shaft of the second motor drives a second screw rod 8 to rotate, at the moment, the second screw rod 8 and a traversing table 9 are in threaded relation, the traversing table 9 carries out transverse horizontal movement with the mechanical arm 13 until the mechanical arm 13 is brought to the transversely designated position, the second motor is closed, then the third motor is started in a forward direction, the output shaft of the third screw rod is driven to rotate, at the moment, a lifting table 12 carries the mechanical arm 13 to descend, after a first finger cylinder 16 descends to the designated height, namely, the workpiece is clamped by a chuck 18 on the lifting table, the workpiece is then started up in a reverse direction, the first motor is driven by another table, the workpiece is driven by another table, after the second motor is brought to the designated position, the third motor is started, the workpiece is moved to the designated position, and the workpiece is transferred to the first chuck 18, and the workpiece is released;

In the subsequent use, if a plurality of workpieces need to be clamped at the same time, the tamping rod is pushed upwards firstly, when the top end of the tamping rod enters the caulking groove and contacts with the caulking head in the caulking groove, the tamping rod starts to move upwards against the caulking head until the caulking head is ejected out of the caulking groove, the compressed spring III releases elastic force, the two side plates 32 move in the directions away from each other, so that the two rollers 30 are brought away from the two wedge-shaped blocks 26, at the moment, the clamping force of the external force is lost between the pressing plate 23 and the anti-skid cone head 24 and the sliding block 20, so that the anti-skid cone head 24 does not provide extrusion force for the sliding block 20 any more, then the sliding block 20 with corresponding quantity can be shifted according to the quantity requirement, and when the tamping rod is shifted, the position on the graduated scale 35 is observed, the distance between the first finger cylinder 16 and the first finger cylinder 17 and the distance between the second finger cylinder 17 are adjusted, after the adjustment, the corresponding quantity of screw rods 22 are moved away from each other, and the corresponding finger cylinder 17 is finally lowered to be flush with the finger cylinder 16 through the screw thread relation between the screw rods 22 and the bottom of the connecting frame 21;

then, the hand rocker is rotated, which drives the turntable 33 to rotate, the eccentric rod and the two hinging rods 34 drive the two connecting rods 31 to move towards the directions close to each other, while rotating, the two springs III start to compress, when the embedded heads in the accommodating grooves contact the top end face of the fixing frame 27, the springs IV in the accommodating grooves automatically shrink and shrink together with the embedded heads, and when the embedded heads rotate to correspond to the embedded grooves up and down along with the rotation of the turntable 33, the compressed springs IV release elasticity to automatically spring the embedded heads into the embedded grooves, so that clamping is formed, the hand rocker can be loosened, the roller 30 at the moment also tightly abuts against the inclined edges of the wedge-shaped blocks 26, and meanwhile, the anti-slip conical heads 24 tightly abut against the sliding blocks 20, so that the sliding blocks 20 cannot easily loosen, and the positions of the finger cylinders II 17 can be kept.

Compared with the related art, the manipulator provided by the application has the following beneficial effects:

in this embodiment, the number of the finger cylinders 17 can be adjusted according to the actual processing number of the plurality of finger cylinders 17, and in the use process, the other unused finger cylinders 17 are in a contracted state, so that the normal clamping operation of the finger cylinders 16 and the other used finger cylinders 17 is not hindered, in addition, the distance between the finger cylinders 16 and the first finger cylinder 17 and the distance between the two adjacent finger cylinders 17 can be accurately adjusted through the set scale 35, in addition, the situation that the finger cylinders 17 loose easily after the adjustment of the positions can be ensured through the set anti-slip cone 24 which can tightly abut against the sliding block 20 is ensured, and the stability after the distance adjustment is ensured.

Second embodiment:

based on the manipulator provided by the first embodiment of the present application, the second embodiment of the present application proposes another manipulator. The second embodiment is merely a preferred manner of the first embodiment, and implementation of the second embodiment does not affect the implementation of the first embodiment alone.

A second embodiment of the present invention will be further described with reference to the drawings and embodiments.

Referring to fig. 9-15, the manipulator further includes a gantry 36, the gantry 36 is disposed outside the mechanical arm 13, a box 37 is fixed on one side of the mechanical arm 13, a screw rod four 38 is rotatably mounted on the mechanical arm 13, a displacement block 39 is mounted on the screw rod four 38 in a threaded manner, one side of the displacement block 39 is fixedly connected with one side inner wall of the gantry 36, a motor four is fixed on the top of the box 37, an output shaft of the displacement block is fixedly connected with the top of the screw rod four 38, thus the gantry 36 can move up and down through the operation of the motor four, and in order to ensure that the gantry 36 can only move linearly, a boss is fixed on one side of the mechanical arm 13, a limiting rod two is slidably mounted on the boss, the top of the limiting rod two is fixedly connected with the top inner wall of the gantry 36, a limiting plate is fixed on the bottom of the limiting rod two, two anti-falling trays 40 which are in contact are arranged below the finger cylinder one 16 and the plurality of finger cylinders two 17, rubber pads are fixed on the inner walls of the two anti-falling trays 40, so that the two anti-falling trays 42 are fixedly connected with the two anti-falling trays 40, and the two anti-falling trays 42 are fixedly connected with the two driving rods 42, and the two anti-falling trays 41 are fixedly connected with one side of the two driving rods 42.

In the above manner, in order to enable the two anti-falling trays 40 to rotate, thereby enabling the lower side of the workpiece to be free of shielding objects, the workpiece is well put down, two fixedly connected plates are fixed at the top of the portal frame 36, the same transmission rod II 43 is rotatably installed on the two fixedly connected plates, the two transmission rods III 44 are rotatably installed at the top of the portal frame 36, two first bevel gears 45 are fixedly sleeved on the transmission rods II 43, the top ends of the two transmission rods III 44 are respectively fixed with the first bevel gears 45, the first bevel gears 45 are respectively meshed with the second bevel gears 46, the bottom ends of the two transmission rods III 44 are respectively fixed with third bevel gears 47, the two transmission rods III 41 are respectively fixedly sleeved with fourth bevel gears 48, and the two third bevel gears 47 are respectively meshed with the fourth bevel gears 48, and are respectively located in the two connecting frames 42, so that the two transmission rods III 4 can be driven by the rotation of the transmission rods II, the first bevel gears 45, the second bevel gears 46, the third bevel gears 47 and the fourth bevel gears 48 are rotatably driven by the first bevel gears 48, the corresponding to the two reinforcing plates III bevel gears 43, the two reinforcing plates can be rotatably driven by the transmission rods III, the two reinforcing plates 43 can be rotatably driven by the corresponding to the two reinforcing plates 43, the two reinforcing plates can be rotatably driven by the two reinforcing plates 43, the two reinforcing plates can be rotatably and correspondingly meshed with the two reinforcing plates 43, the two reinforcing plates can be rotatably driven by the reinforcing plates 43, and the two reinforcing plates can be rotatably and fixedly connected with the two reinforcing plates 44 for the two reinforcing plates, and the two reinforcing plates are correspondingly meshed by the 4.

In this embodiment:

in the process of grabbing and transferring the workpiece, in order to prevent the workpiece from falling accidentally due to serious abrasion of the chuck 18, a receiving function can be formed on the workpiece through two falling prevention trays 40 arranged below the chuck 18 in the transferring process, so that the workpiece can directly fall on a rubber pad in the falling prevention tray 40 when falling off from the chuck 18, damage caused by the fact that the workpiece directly falls on the ground can be avoided, the production quality of the workpiece is improved, and the defective rate of the workpiece is reduced;

after the workpiece is transferred to a designated position, the motor five can be started positively, the transmission rod two 43 can be driven to rotate through the engagement between the two circular teeth, at the moment, the two transmission rods three 44 can be driven to rotate through the engagement between the circular teeth one 45 and the circular teeth two 46, and similarly, the two transmission rods one 41 can be driven to rotate through the engagement between the circular teeth three 47 and the circular teeth four 48, at the moment, the two transmission rods one 41 form a rotating form in opposite directions, so that the two falling-preventing trays 40 are opened in a rotating way, the motor five is closed until the falling-preventing trays 40 rotate 180 degrees, then the motor four is started positively, the output shaft drives the screw four 38 to rotate, at the moment, the portal frame 36 is enabled to be connected with the two falling-preventing trays 40 to rise by utilizing the threaded relation between the screw four 38 and the displacement block 39, after a distance rising, the motor four is closed, at the moment, a shielding object is convenient to be left under the workpiece, and then the workpiece can be put down;

Similarly, after the next workpiece is gripped, the above steps are reversed, the drop-off prevention trays 40 are brought down under the workpiece, and then the two drop-off prevention trays 40 are rotated into contact, so that the support is again formed.

Third embodiment:

based on the robots provided in the first and second embodiments of the present application, a third embodiment of the present application proposes another robot. The third embodiment is merely a preferred manner of the first and second embodiments, and implementation of the third embodiment does not affect the separate implementation of the first or second embodiments.

A third embodiment of the present application will be further described with reference to the drawings and embodiments.

Referring to fig. 16-20, in a third embodiment of the manipulator according to the present application: the mechanical arm 13 is only contacted with the connecting frame 14, the slot 49 is formed in the bottom of the mechanical arm 13, the socket 50 is arranged in the slot 49, the two sides of the mechanical arm 13 are respectively provided with the buckling grooves 51 communicated with the slot 49, the two sides of the socket 50 are respectively provided with the telescopic grooves 52, the two telescopic grooves 52 are respectively internally provided with the first springs 54, the buckling blocks 53 are respectively and slidably arranged in the two telescopic grooves 52, one ends of the first springs 54, which are mutually far away, are respectively and fixedly connected with the two buckling blocks 53, one sides of the two buckling blocks 53, which are mutually far away, are respectively extended into the two buckling grooves 51, the tops of the two buckling blocks 53 are respectively provided with inclined sliding surfaces, the mechanical arm 13 is fixedly provided with the fixing rod 55, the two buckling plates 56 are slidably arranged on the fixing rod 55, one sides of the two buckling plates 56, which are mutually close to each other, the two pushing plates 57 are respectively corresponding to the two buckling blocks 53, the two springs 58 are sleeved on the fixing rod 55, one ends of the two springs 58, which are mutually close to each other, are respectively fixedly connected with the two buckling plates 58, two ends of the two buckling plates 56, and one end, which are mutually far away from each other, are fixedly connected with the three limiting rods 56, and the two limiting rods 13 are fixedly connected with the two limiting rods and the two limiting rods 56.

In this embodiment:

when different clamping heads 18 need to be replaced according to different processed workpieces, two pinching plates 56 can be directly pressed in the direction of approaching each other, at this time, two push pieces 57 move in the direction of approaching each other, two springs 58 are stressed to be in a compressed state, when two push pieces 57 respectively contact corresponding buckling pieces 53, the buckling pieces 53 are pushed, the buckling pieces 53 are retracted into the corresponding telescopic slots 52, and when the buckling pieces 53 are retracted, the two springs 54 are stressed to be in a compressed state, until any restriction is lost before the socket 50 and the slot 49 at this time after the two buckling pieces 53 are pushed out of the corresponding buckling slots 51, then the socket 50 is directly pulled out, so that the whole connecting frame 14 is detached, the pinching plates 56 are released, the compressed springs 58 release elasticity, the two pinching plates 56 are brought back to the original positions, then the socket 50 on the connecting frame 14 provided with the different chucks 18 is inserted into the slot 49 from bottom to top, in the inserting process, the top oblique sliding surface of the upper buckling block 53 firstly contacts with the edge of the slot 49, at the moment, the two buckling blocks 53 are propped into the telescopic slots 52 when the two buckling blocks are in contact with each other, at the moment, the corresponding first springs 54 are in a compressed state, and along with the continued insertion of the socket 50, the lower buckling blocks 53 are propped into the corresponding telescopic slots 52 until the socket 50 is inserted into place, the two buckling blocks 53 respectively correspond to the two buckling slots 51, and the two compressed first springs 54 release the elastic force to bring the two buckling blocks 53 into the corresponding buckling slots 51 again, so that the replacement of the chucks 18 is completed.

s1, adjusting the number of the second finger air cylinders 17: firstly, pushing up the tamping rod to push out the embedding head from the embedding groove, moving the two side plates 32 in the direction away from each other, finally taking the two rollers 30 away from the two wedge blocks 26, then stirring the corresponding number of sliding blocks 20 according to the number requirement, observing the positions of the sliding blocks on the graduated scale 35 during stirring, adjusting the distance between the first finger cylinder 16 and the first finger cylinder 17 and the distance between the second finger cylinders 17, and after the adjustment, rotating the corresponding number of screws 22 to adjust the corresponding number of the second finger cylinders 17 to be level with the first finger cylinder 16;

s2, performing anti-skid treatment on the sliding block 20: when the hand rocker is rotated, the two connecting rods 31 move towards the directions close to each other, when the embedded heads in the accommodating grooves are contacted with the top end face of the fixing frame 27, the spring IV in the accommodating grooves automatically contracts and brings the embedded heads together, when the embedded heads rotate to correspond to the embedded grooves up and down, the spring IV automatically ejects the embedded heads into the embedded grooves to form clamping, and at the moment, the roller 30 tightly abuts against the inclined edges of the wedge-shaped blocks 26, so that the anti-slip conical heads 24 also tightly abut against the sliding blocks 20, and the sliding blocks 20 cannot be loosened easily;

S3, grabbing a workpiece: the first motor is started, the sliding table 4 starts to longitudinally and horizontally move, after the mechanical arm 13 is moved to a longitudinally designated position, the second motor is started together, the transverse moving table 9 carries the mechanical arm 13 to transversely and horizontally move until the mechanical arm 13 is carried to the transversely designated position, the second motor is closed, the third motor is started in a forward direction, the lifting table 12 carries the mechanical arm 13 to descend, after the first finger cylinder 16 descends to a designated height, the first finger cylinder 16 clamps the first finger cylinder by using the clamping head 18 on the first finger cylinder, after clamping, the fourth motor is started, the two falling prevention trays 40 are carried down to the lower side of a workpiece, the fifth motor is started, the first two transmission rods 41 are rotated, the two falling prevention trays 40 are in contact, a bottom supporting function is formed for the workpiece from the lower side, the third motor is started in a reverse direction, the workpiece is lifted up, the first motor is started, the first motor is carried to the upper side of another device, the fifth motor is started, the two falling prevention trays 40 are rotated to open, the fourth motor is started, the falling prevention trays 40 are driven up to the upper side, and the third falling prevention tray 40 is driven to the forward chuck 18, and the workpiece can be released.

The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.

Claims

1. The manipulator comprises a supporting table (1) and a manipulator (13), wherein two support plates (2) are fixedly arranged at the top of the supporting table (1), one screw rod I (3) is rotatably arranged on the two support plates (2), a sliding table (4) is arranged on the screw rod I (3) in a threaded manner, a connecting plate (5) is fixedly arranged on one side of the sliding table (4), one support plate (2) is fixedly provided with a motor I, an output shaft of the motor I is fixedly connected with one end of the screw rod I (3), the manipulator is characterized in that a mounting plate (6) is fixedly arranged on the connecting plate (5), a concave seat I (7) is fixedly arranged on the mounting plate (6), a screw rod II (8) is rotatably arranged on the concave seat I (7), a transverse moving table (9) is arranged on the transverse moving table (9) in a threaded manner, a screw rod III (11) is rotatably arranged on one side of the concave seat II (10), a lifting mechanism (14) is fixedly arranged on the lifting table (12), and the lifting mechanism (14) is fixedly connected with the lifting mechanism (14) under the lifting mechanism (13), fixed column (15) in snatching the mechanism with the top inner wall fixed connection of link (14), be equipped with fastening mechanism on link (14), antiskid conical head (24) in the fastening mechanism with slider (20) in snatching the mechanism are inconsistent, fixed mounting has motor two on the outer wall of one side of spill seat one (7), motor two's output shaft with the one end fixed connection of lead screw two (8), the top fixed mounting of spill seat two (10) has motor three, motor three's output shaft with the top fixed connection of lead screw three (11).

2. The manipulator according to claim 1, wherein the bottom of the manipulator (13) is fixedly connected to the connecting frame (14), the gripping mechanism comprises a fixed column (15), a first finger cylinder (16), a second plurality of finger cylinders (17), a plurality of chucks (18), a beam (19), a plurality of sliders (20), a plurality of connecting frames (21), a plurality of screws (22) and a scale (35), the first finger cylinder (16) is fixedly mounted at the bottom of the fixed column (15), the second plurality of finger cylinders (17) are all arranged at one side of the first finger cylinder (16), the chucks (18) are fixedly mounted on the first finger cylinder (16) and the second plurality of finger cylinders (17), the beam (19) is fixedly mounted in the connecting frame (14), the beam (19) penetrates through the fixed column (15) and is fixedly connected with the fixed column (15), the sliders (20) are all slidably mounted on the beam (19), the plurality of sliders (21) are fixedly mounted at the bottom of the connecting frames (21) and are respectively screwed to the bottoms of the screws (22), the scale (35) is fixedly installed in the connecting frame (14), the scale (35) penetrates through the fixed columns (15) and is fixedly connected with the fixed columns (15), and the scale (35) penetrates through the sliding blocks (20) and is in sliding connection with the sliding blocks (20).

3. The manipulator according to claim 2, wherein the fastening mechanism comprises a pressing plate (23), a plurality of anti-slip conical heads (24), two linkage rods (25), two wedge-shaped blocks (26), a fixing frame (27), two sliding rods (28), two positioning frames (29) and two rollers (30), wherein the pressing plate (23) is arranged above the sliding blocks (20), the anti-slip conical heads (24) are fixedly arranged at the bottoms of the pressing plate (23), the two linkage rods (25) are slidably arranged on the connecting frame (14), the bottoms of the two linkage rods (25) are fixedly connected with the pressing plate (23), the two wedge-shaped blocks (26) are fixedly arranged at the top ends of the two linkage rods (25) respectively, the fixing frame (27) is fixedly arranged at the top of the connecting frame (14), the two sliding rods (28) are slidably arranged at two sides of the fixing frame (27) respectively, the two positioning frames (29) are fixedly arranged at the two ends of the two sliding rods (28) close to each other, and the two sliding rods (30) are rotatably arranged in the two wedge-shaped blocks (26) respectively.

4. A manipulator according to claim 3, characterized in that the top of the fixing frame (27) is fixedly provided with two vertical plates, two vertical plates are respectively provided with a connecting rod (31) in a sliding manner, two connecting rods (31) are respectively fixedly provided with a side connecting plate (32) at one end far away from each other, two side connecting plates (32) are respectively fixedly connected with two sliding rods (28) at one side close to each other, two connecting rods (31) are respectively sleeved with a spring three, one ends of the springs three close to each other are respectively fixedly connected with two vertical plates, two ends of the springs three far away from each other are respectively fixedly connected with two side connecting plates (32), the top of the fixing frame (27) is fixedly provided with a backboard, a hand rocker is rotatably arranged on the backboard, a turntable (33) is fixedly provided with two symmetrical eccentric rods at the end part, two eccentric rods are respectively hinged with a hinging rod (34), and two hinging rods (34) are respectively hinged with one ends of the connecting rods (31) far away from each other.

5. The manipulator according to claim 4, wherein the caulking groove is formed in the top of the fixing frame (27), the rotary table (33) is provided with a containing groove, a spring four is fixedly installed in the containing groove, a head is fixedly installed at the bottom end of the spring four, the bottom of the head extends into the caulking groove, a supporting frame is fixedly installed on the inner wall of the top of the fixing frame (27), a tamper is slidably installed at the bottom of the supporting frame and is located under the caulking groove, the tamper is matched with the head, a baffle is fixedly installed at the bottom end of the tamper, a spring five is sleeved on the tamper, and two ends of the spring five are fixedly connected with the supporting frame and the baffle respectively.

6. The manipulator according to claim 5, wherein two first limit rods are slidably mounted at bottoms of the plurality of connection frames (21), and bottom ends of the corresponding two first limit rods are fixedly connected with the corresponding second finger cylinder (17).

7. The manipulator according to claim 6, wherein a portal frame (36) is arranged outside the manipulator (13), a box body (37) is fixedly arranged on one side of the manipulator (13), a screw rod four (38) is rotatably arranged on one side of the box body (37), a displacement block (39) is arranged on the screw rod four (38) in a threaded manner, one side of the displacement block (39) is fixedly connected with one side inner wall of the portal frame (36), two contact falling prevention trays (40) are arranged below the first finger cylinder (16) and the second plurality of finger cylinders (17), rubber pads are fixedly arranged on the inner walls of the two falling prevention trays (40), two transmission rods one (41) are rotatably arranged on the portal frame (36), a connecting frame (42) is fixedly sleeved on each transmission rod one (41), one side, close to each other, of the two connection frames (42) is fixedly connected with the two falling prevention trays (40), and an output shaft four of the motor (37) is fixedly connected with the screw rod four.

8. The manipulator according to claim 7, wherein two fixed connection plates are fixedly installed at the top of the portal frame (36), one and the same transmission rod two (43) are rotatably installed on the fixed connection plates, two transmission rods three (44) are rotatably installed at the top of the portal frame (36), two first conical teeth (45) are fixedly sleeved on the transmission rods two (43), two second conical teeth (46) are fixedly installed at the top ends of the two transmission rods three (44), the two first conical teeth (45) are respectively meshed with the two second conical teeth (46), three conical teeth (47) are fixedly installed at the bottom ends of the two transmission rods three (44), four conical teeth (48) are fixedly sleeved on the two transmission rods one (41), the two third conical teeth (47) are respectively meshed with the two fourth conical teeth (48), and the two fourth conical teeth (48) are respectively connected in the two frames (42).

9. The manipulator according to claim 8, wherein a motor five is fixedly installed at the top of the gantry (36), round teeth are fixedly sleeved on an output shaft of the motor five and the second transmission rod (43), the two round teeth are meshed, two reinforcing plates are fixedly installed in the gantry (36), the three transmission rods (44) penetrate through the two reinforcing plates and are in rotary connection with the corresponding reinforcing plates, a boss is fixedly installed at one side of the manipulator (13), a second limit rod is slidably installed on the boss, the top end of the second limit rod is fixedly connected with the inner wall of the top of the gantry (36), and a limit plate is fixedly installed at the bottom end of the second limit rod.

10. A method of using the manipulator of claim 9, comprising the steps of:

s1, adjusting the number of finger cylinders II (17): firstly pushing up the tamping rod to push out the embedding head from the embedding groove, moving the two side connecting plates (32) in the direction away from each other, finally taking the two rollers (30) away from the two wedge blocks (26), then stirring the corresponding number of sliding blocks (20) according to the number of requirements, observing the positions of the sliding blocks on the graduated scale (35) when stirring, adjusting the distance between the first finger cylinder (16) and the first finger cylinder (17) and the distance between the two adjacent finger cylinders (17), and after the adjustment, rotating the corresponding number of screws (22) to adjust the corresponding number of the second finger cylinders (17) to be level with the first finger cylinder (16);

s2, performing anti-skid treatment on the sliding block (20): when the hand rocker is rotated, the two connecting rods (31) move towards the directions close to each other, when the embedded heads in the accommodating grooves are contacted with the top end face of the fixing frame (27), the spring IV in the accommodating grooves automatically contracts and brings the embedded heads to contract together, when the embedded heads rotate to correspond to the embedded grooves up and down, the spring IV automatically ejects the embedded heads into the embedded grooves to form clamping, and the roller (30) tightly abuts against the inclined edges of the wedge-shaped blocks (26), so that the anti-slip conical heads (24) also tightly abut against the sliding blocks (20), and the sliding blocks (20) cannot be loosened easily;

S3, grabbing a workpiece: the first motor is started, the sliding table (4) starts to longitudinally and horizontally move, after the mechanical arm (13) is moved to a longitudinally designated position, the second motor is started together, the transverse moving table (9) brings the mechanical arm (13) to transversely and horizontally move until the mechanical arm (13) is brought to the transversely designated position, the second motor is closed, then the third motor is started in the forward direction, the lifting table (12) descends with the mechanical arm (13), after the first finger cylinder (16) descends to the designated height, the first motor is started, the clamping head (18) clamps the first finger cylinder, after clamping, the fourth motor is started, the two anti-falling trays (40) are downwards brought to the lower part of a workpiece, then the fifth motor is started, the first transmission rods (41) are rotated, the two anti-falling trays (40) are in contact, a bottom bearing function is formed on the workpiece from the lower part, then the third motor is reversely started, the first motor is started to be brought to the upper part of another device, after the first finger cylinder (16) descends to the designated height, the fifth motor is started, the first anti-falling trays (40) are rotated, and then the fourth motor is started, and the fourth motor is driven to the fourth motor is rotated, and the fourth motor is opened.