CN117359596A

CN117359596A - Multifunctional manipulator

Info

Publication number: CN117359596A
Application number: CN202311644875.0A
Authority: CN
Inventors: 梁新强; 叶金清; 周秀玲; 陈永达; 陈钊铧
Original assignee: Vinda Paper China Co Ltd
Current assignee: Vinda Paper China Co Ltd
Priority date: 2023-12-04
Filing date: 2023-12-04
Publication date: 2024-01-09
Anticipated expiration: 2043-12-04
Also published as: CN117359596B

Abstract

The invention discloses a multifunctional manipulator, which relates to the field of manipulator adjustment and solves the problem that the existing manipulator is difficult to automatically attach to the surface of an irregular object when clamping the object, and the clamping stability is improved.

Description

Multifunctional manipulator

Technical Field

The invention relates to the technical field of manipulator adjustment, in particular to a multifunctional manipulator.

Background

The manipulator is an automatic operation device which can simulate some action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.

The existing manipulator can finish various clamping and carrying operations, but the clamping position of the manipulator is generally in a clamp shape, when some irregular objects are clamped, the manipulator is difficult to fully attach to the surfaces of the objects to perform stable clamping operation, so that the manipulator can only clamp and transport some objects with regular surfaces, the operation efficiency is low, and the transportation function is relatively single. For this purpose, we propose a multifunctional manipulator.

Disclosure of Invention

The invention aims to provide a multifunctional manipulator which is convenient to adjust and can stably clamp different objects in a fitting way, so as to solve the problems in the background technology.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a multifunctional manipulator, includes regulating part and arm, the one end of arm is equipped with two sets of swinging arms that can rotate to open and shut, be equipped with the device box on the swinging arms, sliding connection has multiunit clamping lever in the device box, set up the device groove in the device box, be used for storing hydraulic oil in the device groove, be equipped with in the device groove and be used for controlling the control of clamping lever conflict state, be convenient for adjust and make can laminate stable centre gripping to different objects.

Preferably, the control piece includes with device inslot wall sliding connection's sliding plate, device inslot fixedly connected with fixed plate, evenly offered the multiunit on the fixed plate with clamping lever sliding connection's through-hole, clamping lever's one end fixedly connected with dog, fixedly connected with on the dog with sliding plate one side fixed connection's first spring, the sliding plate keep away from one side fixedly connected with of first spring with device inslot wall fixed connection's second spring, the control of being convenient for the clamping lever contradicts the state, clamping lever's top fixedly connected with rubber pad, the promotion surface mounting force and adaptability of being convenient for.

Preferably, the adjusting part comprises a lifting frame arranged in the device groove, a lifting groove which is connected with the outer wall of the lifting frame in a sliding manner is formed in the device groove, a limiting part which is used for stably clamping an object and limiting the clamping rod is arranged in the lifting frame, and an adjusting mechanism which is used for adjusting the clamping strength of the clamping rod is arranged in the device groove, so that objects with different soft and hard degrees can be conveniently clamped.

Preferably, the limiting part comprises a plurality of groups of mounting rods fixedly mounted on the lifting frame, oblique tooth grooves are formed in the side faces of the clamping rods, first sliding grooves are formed in the mounting rods, oblique tooth blocks which can be inserted into the oblique tooth grooves are connected in a sliding mode in the first sliding grooves, third springs fixedly connected with the first sliding grooves are fixedly connected to the side faces of the oblique tooth blocks, fourth springs fixedly connected with the lifting grooves are fixedly connected to the bottom ends of the lifting frame, and the clamping rods are limited after objects are clamped stably.

Preferably, the adjusting mechanism comprises an adjusting rod fixedly mounted on one side of the sliding plate, far away from the first spring, the adjusting rod penetrates through one side of the device box and is in sliding connection with the device box, a first pipeline is arranged in the device box, one end of the first pipeline is communicated with the top end of the lifting groove, and an adjusting control part used for adjusting the communication state of the first pipeline and the device groove is arranged on the adjusting rod and is convenient to adjust the clamping strength of the clamping rod.

Preferably, the regulating and controlling piece include with the threaded rod that the sliding plate rotated and is connected, set up the second spout on the regulation pole, sliding connection has the control block in the second spout, the threaded rod runs through the control block, and with control block threaded connection, set up on the control block be used for the intercommunication first pipeline with the return bend in device groove, the upside of control block with the one end slip laminating of first pipeline, be equipped with on the regulation pole and be used for judging the reading piece of the concrete regulation position of control block, be equipped with on the sliding plate and be used for with when resetting liquid in the first pipeline is arranged in the output piece in the device groove, be convenient for adjust first pipeline with device groove intercommunication state.

Preferably, the output piece comprises a sliding block fixedly mounted on the upper side of the sliding plate, a third sliding groove which is in sliding connection with the sliding block is formed in the device groove, a second pipeline which is used for communicating the first pipeline with the third sliding groove is formed in the device box, the upper side of the sliding block is in sliding fit with the bottom end of the second pipeline, and liquid in the first pipeline is conveniently discharged into the device groove during resetting.

Preferably, the reading piece comprises a fixed pipe fixedly arranged on the adjusting rod, one end of the fixed pipe is fixedly connected with a fixed ring, a fifth spring is fixedly connected to the side face of the fixed ring, one end of the fifth spring is fixedly connected with a reading block which is slidably connected with the inner wall of the fixed pipe, and a third pipeline which is used for communicating the fixed pipe with the device groove is arranged on the adjusting rod, so that the concrete adjusting position of the control block can be judged conveniently.

Preferably, the color of the reading block is red, and a plurality of groups of scale grooves are uniformly formed in the outer wall of the fixed pipe, so that the position condition of the reading block can be conveniently judged.

Compared with the prior art, the invention has the beneficial effects that:

the invention solves the problem that the existing manipulator is difficult to automatically attach to the surface of an irregular object when clamping the object, and improves the clamping stability, the clamping strength of the clamping rods is conveniently controlled by the adjusting parts through the arrangement of the adjusting parts and the multiple groups of clamping rods, so that the manipulator is suitable for clamping different objects, and the sliding degree of the different clamping rods is different along with the increase of the strength of the interference when the top end of the clamping rods is in interference with the surface of the object, so that the tip is better attached to the irregular surface of the object, and the limiting is completed through the adjusting parts after the attachment is completed, so that the looseness is avoided in the moving and carrying process.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the adjusting mechanism of the present invention;

FIG. 3 is a schematic view of the internal structure of the present invention;

FIG. 4 is an enlarged view of area A of FIG. 3;

FIG. 5 is a schematic view of the control element structure of the present invention;

FIG. 6 is an enlarged view of area B of FIG. 5;

FIG. 7 is a schematic view of a control element according to the present invention;

FIG. 8 is an enlarged view of region C of FIG. 7;

FIG. 9 is a schematic view of a spacing member according to the present invention;

fig. 10 is an enlarged view of region D in fig. 9.

In the figure: 1-a mechanical arm; 2-swinging rod; 3-a device box; 4-clamping rods; 5-a device groove; 6-a control member; 7-a sliding plate; 8-fixing plates; 9-through holes; 10-a stop block; 11-a first spring; 12-a second spring; 13-a rubber pad; 14-lifting frames; 15-lifting grooves; 16-limiting piece; 17-an adjustment mechanism; 18-mounting a rod; 19-oblique tooth grooves; 20-a first chute; 21-helical gear blocks; 22-a third spring; 23-fourth springs; 24-adjusting the rod; 25-a first pipe; 26-adjusting the control; 27-a threaded rod; 28-a second chute; 29-control block; 30-bending the pipe; 31-reading the piece; 32-an output member; 33-sliding blocks; 34-a third chute; 35-a second conduit; 36-fixing the tube; 37-a fixing ring; 38-a fifth spring; 39-reading block; 40-a third pipeline; 41-scale grooves; 42-adjusting member.

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.

Example 1

Referring to fig. 1-10, a multifunctional manipulator in the drawings includes an adjusting member 42 and a mechanical arm 1, wherein one end of the mechanical arm 1 is provided with two groups of swinging rods 2 capable of being opened and closed in a rotating manner, a device box 3 is arranged on the swinging rods 2, a plurality of groups of clamping rods 4 are connected in a sliding manner in the device box 3, a device groove 5 is formed in the device box 3, hydraulic oil is stored in the device groove 5, a control member 6 for controlling the abutting state of the clamping rods 4 is arranged in the device groove 5, and a rubber pad 13 is fixedly connected to the top end of the clamping rods 4.

Referring to fig. 3-10, the control member 6 in the drawings includes a sliding plate 7 slidably connected with an inner wall of the device slot 5, a fixed plate 8 is fixedly connected in the device slot 5, a plurality of groups of through holes 9 slidably connected with the clamping rods 4 are uniformly formed in the fixed plate 8, one end of the clamping rods 4 is fixedly connected with a stop block 10, a first spring 11 fixedly connected with one side of the sliding plate 7 is fixedly connected with the stop block 10, and a second spring 12 fixedly connected with the inner wall of the device slot 5 is fixedly connected with one side of the sliding plate 7 away from the first spring 11.

Referring to fig. 1-10, the adjusting member 42 in the drawings includes a lifting frame 14 installed in a device slot 5, a lifting slot 15 slidably connected with an outer wall of the lifting frame 14 is provided in the device slot 5, a limiting member 16 for limiting the clamping rod 4 after stably clamping an object is provided in the lifting frame 14, and an adjusting mechanism 17 for adjusting the clamping strength of the clamping rod 4 is provided in the device slot 5.

In this embodiment, through control arm 1 removes the settlement position, adjust both sides swinging arms 2 and make device box 3 remove the both sides of required centre gripping article, control device box 3 folds, the both sides of object are contradicted the centre gripping through the pointed end of centre gripping pole 4, the surface promotion centre gripping pole 4 of object is inside to slide at through-hole 9, the compression first spring 11 is compressed and is contradicted gradually second spring 12 and compress, the slip degree through adjustment mechanism 17 control sliding plate 7, it is spacing to the centre gripping pole 4 after the centre gripping is accomplished to parallel action locating part 16, avoid appearing not hard up phenomenon that drops in the in-process of transportation, the frictional force between pointed rubber pad 13 can increase and the object, also make simultaneously laminating more to the object surface, the device is more nimble for directly installing the big cushion at the centre gripping equipment pointed end, through the slip regulation of centre gripping pole 4, make the laminating more nimble, and directly adopt big cushion of cushion while also can laminate the object surface to a certain extent, but when carrying out the centre gripping to the obvious object of arch, the cushion can be compressed great degree, result in concave position to be difficult to reset, and the device can be in the relative flush state of the pointed end 4 when pushing hydraulic oil and first spring 11 keeps under the state.

Example 2

Referring to fig. 7-10 for further description of embodiment 2, in this embodiment, the limiting member 16 in the drawings includes a plurality of groups of mounting rods 18 fixedly mounted on the lifting frame 14, the side surfaces of the clamping rods 4 are provided with oblique tooth grooves 19, the mounting rods 18 are provided with first sliding grooves 20, oblique tooth blocks 21 capable of being inserted into the oblique tooth grooves 19 are slidably connected in the first sliding grooves 20, the side surfaces of the oblique tooth blocks 21 are fixedly connected with third springs 22 fixedly connected with the first sliding grooves 20, and the bottom ends of the lifting frame 14 are fixedly connected with fourth springs 23 fixedly connected with the lifting grooves 15.

Referring to fig. 1-8, the adjusting mechanism 17 in the drawings includes an adjusting rod 24 fixedly mounted on a side of the sliding plate 7 far away from the first spring 11, the adjusting rod 24 penetrates through one side of the device box 3 and is slidably connected with the device box 3, a first pipeline 25 is provided in the device box 3, one end of the first pipeline 25 is communicated with the top end of the lifting groove 15, and an adjusting member 26 for adjusting the communication state of the first pipeline 25 and the device groove 5 is provided on the adjusting rod 24.

Referring to fig. 5-8, the regulating and controlling member 26 in the drawings includes a threaded rod 27 rotatably connected to the sliding plate 7, a second sliding groove 28 is provided on the adjusting rod 24, a control block 29 is slidably connected to the second sliding groove 28, the threaded rod 27 penetrates through the control block 29 and is in threaded connection with the control block 29, an elbow 30 for communicating the first pipe 25 with the device slot 5 is provided on the control block 29, the upper side of the control block 29 is slidably attached to one end of the first pipe 25, a reading member 31 for determining a specific regulating position of the control block 29 is provided on the adjusting rod 24, and an output member 32 for discharging the liquid in the first pipe 25 into the device slot 5 during resetting is provided on the sliding plate 7.

In this embodiment, the threaded rod 27 drives the control block 29 to slide in the second chute 28 by rotating one end of the threaded rod 27, so as to change the interval between one end of the elbow pipe 30 and the first pipeline 25, the closer the elbow pipe 30 is to the bottom end of the first pipeline 25, the smaller the sliding distance of the sliding plate 7 is, so that hydraulic oil can be input into the lifting groove 15 through the elbow pipe 30 and the first elbow pipe 30, at this time, the lifting frame 14 is pushed by hydraulic oil to slide downwards, the fourth spring 23 is extruded, the lifting frame 14 drives the mounting rod 18 to move downwards, the helical tooth block 21 gradually collides with the surface of the clamping rod 4 and is inserted into the helical tooth groove 19 at the corresponding position, and then the clamping rod 4 cannot slide continuously into the device groove 5 in the clamping process, so that the condition that the article is loose due to the fact that the clamping rod 4 continues sliding in the clamping process is effectively avoided.

Notably, are: when carrying out the centre gripping to some objects that the surface is level relatively or the surface is softer, need not carry out the slip by a wide margin (avoid damaging object surface) this moment, can control the distance of return bend 30 and be close to first pipeline 25, make when the return bend 4 removes a weak point distance can promote sliding plate 7, dock return bend 30 and first pipeline 25, the grafting to skewed tooth piece 21 is accomplished to skewed tooth groove 19, when carrying out the centre gripping to some hard objects that the unsmooth degree of surface is great, then make return bend 30 keep away from first pipeline 25, multiunit clamping lever 4 need remove by a wide margin, just can make return bend 30 and first pipeline 25 dock after reaching the thrust of settlement intensity to sliding plate 7, accomplish the spacing of return bend 4 positions.

Example 3

Referring to fig. 5-8 for describing embodiment 3, embodiment 1 is further described, in which the output member 32 includes a sliding block 33 fixedly mounted on the upper side of the sliding plate 7, a third sliding groove 34 slidably connected to the sliding block 33 is provided in the device slot 5, a second pipeline 35 for communicating the first pipeline 25 with the third sliding groove 34 is provided on the device box 3, and the upper side of the sliding block 33 is slidably attached to the bottom end of the second pipeline 35.

Referring to fig. 5-8, the reading element 31 in the drawing includes a fixed tube 36 fixedly mounted on an adjusting rod 24, one end of the fixed tube 36 is fixedly connected with a fixed ring 37, a side surface of the fixed ring 37 is fixedly connected with a fifth spring 38, one end of the fifth spring 38 is fixedly connected with a reading block 39 slidably connected with an inner wall of the fixed tube 36, a third pipeline 40 for communicating the fixed tube 36 with the device groove 5 is provided on the adjusting rod 24, the reading block 39 is red, and a plurality of groups of scale grooves 41 are uniformly provided on an outer wall of the fixed tube 36.

In this embodiment, when the control block 29 slides in the second chute 28, the pressure of hydraulic oil in the device slot 5 is changed, hydraulic oil enters the fixed pipe 36 through the third pipe 40, the reading block 39 is pushed to slide, the adjusted state can be determined according to the corresponding condition of the position of the reading block 39 and the scale slot 41, when the clamping rod 4 releases an object, the hydraulic oil can be slid and reset to the outside by the pushing force of the first spring 11 and the second spring 12 until the stop block 10 is in contact with the side surface of the fixed plate 8, in this process, the helical tooth block 21 cannot clamp the helical tooth slot 19, the inclined surface position of the helical tooth block 21 is in sliding contact with the helical tooth slot 19, meanwhile, the bent pipe 30 is released from communication with the first pipe 25 along with the sliding of the sliding plate 7 until the sliding block 33 slides to the initial position, the bottom end of the second pipe 35 is opened, so that the liquid in the first pipe 25 flows into the device slot 5 through the second pipe 35, and the lifting frame 14 slides and resets upwards under the pushing of the fourth spring 23, and the next clamping operation can be performed.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A multi-functional manipulator, characterized by comprising:

the mechanical arm comprises an adjusting piece (42) and a mechanical arm (1), wherein one end of the mechanical arm (1) is provided with two groups of swinging rods (2) which can be rotated to open and close, the swinging rod (2) is provided with a device box (3), a plurality of groups of clamping rods (4) are connected in a sliding way in the device box (3), a device groove (5) is arranged in the device box (3), the device groove (5) is used for storing hydraulic oil, a control piece (6) for controlling the abutting state of the clamping rod (4) is arranged in the device groove (5), the control piece (6) comprises a sliding plate (7) which is connected with the inner wall of the device groove (5) in a sliding way, a fixing plate (8) is fixedly connected in the device groove (5), a plurality of groups of through holes (9) which are in sliding connection with the clamping rods (4) are uniformly formed on the fixed plate (8), one end of the clamping rod (4) is fixedly connected with a stop block (10), a first spring (11) fixedly connected with one side of the sliding plate (7) is fixedly connected to the stop block (10), a second spring (12) fixedly connected with the inner wall of the device groove (5) is fixedly connected with one side of the sliding plate (7) far away from the first spring (11), the top end of the clamping rod (4) is fixedly connected with a rubber pad (13).

2. The multifunctional manipulator according to claim 1, wherein the adjusting member (42) comprises a lifting frame (14) installed in the device groove (5), a lifting groove (15) slidably connected with the outer wall of the lifting frame (14) is formed in the device groove (5), a limiting member (16) for limiting the clamping rod (4) after stably clamping an object is arranged in the lifting frame (14), and an adjusting mechanism (17) for adjusting the clamping strength of the clamping rod (4) is arranged in the device groove (5).

3. A multi-function manipulator according to claim 2, wherein: the limiting part (16) comprises a plurality of groups of mounting rods (18) fixedly mounted on the lifting frame (14), oblique tooth grooves (19) are formed in the side faces of the clamping rods (4), first sliding grooves (20) are formed in the mounting rods (18), oblique tooth blocks (21) which can be inserted into the oblique tooth grooves (19) are connected in a sliding mode in the first sliding grooves (20), third springs (22) fixedly connected with the first sliding grooves (20) are fixedly connected to the side faces of the oblique tooth blocks (21), and fourth springs (23) fixedly connected with the lifting frame (14) are fixedly connected to the bottom ends of the lifting frame.

4. A multi-function manipulator according to claim 3, wherein: the adjusting mechanism (17) comprises an adjusting rod (24) fixedly installed on one side, far away from the first spring (11), of the sliding plate (7), the adjusting rod (24) penetrates through one side of the device box (3) and is in sliding connection with the device box (3), a first pipeline (25) is arranged in the device box (3), one end of the first pipeline (25) is communicated with the top end of the lifting groove (15), and an adjusting piece (26) used for adjusting the communication state of the first pipeline (25) and the device groove (5) is arranged on the adjusting rod (24).

5. The multi-purpose robot as defined by claim 4, wherein: the regulating and controlling piece (26) comprises a threaded rod (27) which is rotationally connected with the sliding plate (7), a second sliding groove (28) is formed in the regulating rod (24), a control block (29) is connected in the second sliding groove (28) in a sliding mode, the threaded rod (27) penetrates through the control block (29) and is in threaded connection with the control block (29), an elbow (30) which is used for communicating the first pipeline (25) with the device groove (5) is formed in the control block (29), the upper side of the control block (29) is in sliding fit with one end of the first pipeline (25), a reading piece (31) which is used for judging the specific regulating position of the control block (29) is arranged on the regulating rod (24), and an output piece (32) which is used for discharging liquid in the first pipeline (25) into the device groove (5) during resetting is arranged on the sliding plate (7).

6. The multi-purpose robot of claim 5, wherein: the output piece (32) comprises a sliding block (33) fixedly installed on the upper side of the sliding plate (7), a third sliding groove (34) which is connected with the sliding block (33) in a sliding manner is formed in the device groove (5), a second pipeline (35) which is used for communicating the first pipeline (25) with the third sliding groove (34) is formed in the device box (3), and the upper side of the sliding block (33) is in sliding fit with the bottom end of the second pipeline (35).

7. The multi-purpose robot of claim 5, wherein: the reading piece (31) comprises a fixed pipe (36) fixedly installed on the adjusting rod (24), one end of the fixed pipe (36) is fixedly connected with a fixed ring (37), the side face of the fixed ring (37) is fixedly connected with a fifth spring (38), one end of the fifth spring (38) is fixedly connected with a reading block (39) which is slidably connected with the inner wall of the fixed pipe (36), and a third pipeline (40) which is used for communicating the fixed pipe (36) with the device groove (5) is arranged on the adjusting rod (24).

8. The multi-purpose robot as defined by claim 7, wherein: the color of the reading block (39) is red, and a plurality of groups of scale grooves (41) are uniformly formed in the outer wall of the fixed tube (36).