CN117718948A - Precise side-pose rotary manipulator convenient to maintain - Google Patents
Precise side-pose rotary manipulator convenient to maintain Download PDFInfo
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- CN117718948A CN117718948A CN202311574387.7A CN202311574387A CN117718948A CN 117718948 A CN117718948 A CN 117718948A CN 202311574387 A CN202311574387 A CN 202311574387A CN 117718948 A CN117718948 A CN 117718948A
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- manipulator
- gear
- clamping
- telescopic
- plate
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- 230000005540 biological transmission Effects 0.000 claims description 30
- 238000012423 maintenance Methods 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a precise side gesture rotary manipulator convenient to maintain, and relates to the technical field. The clamping manipulator is positioned on the left side of the telescopic rod, the right side face of the clamping manipulator is in sliding connection with the outer edge of the left side of the telescopic rod, the telescopic rod is positioned on the left side of the fixing device, the right side face of the telescopic rod is fixedly connected with the outer edge of the left side of the fixing device, the telescopic device is positioned on the right side of the telescopic rod, and the left side of the telescopic device is in bolt connection with the outer edge of the right side of the telescopic rod. The telescopic rod is arranged, the manipulator can horizontally move, the triangular support plate capable of sliding on the first rod arm is arranged, the first rod arm and the second rod arm can be driven to move when the circular ring-shaped sliding block moves, the first rod arm and the second rod arm rotate through the bearing, the manipulator clamping jaw is driven to rotate, clamping of a workpiece is achieved, and the bolt is arranged to be convenient to detach so as to maintain.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a precise side-pose rotary manipulator convenient to maintain.
Background
With the improvement of the production automation level, the automatic execution of production tasks by using a manipulator is increasing. The manipulator 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 the fields of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like. However, most of the existing manipulators are complex in structure, difficult to assemble and disassemble and inconvenient to maintain. So we propose a convenient maintenance's accurate side appearance rotary manipulator.
Disclosure of Invention
In order to solve the technical problems, the invention provides a precise side gesture rotary manipulator convenient to maintain, which comprises a clamping manipulator, a telescopic rod, a telescopic device and a fixing device, wherein the clamping manipulator is positioned on the left side of the telescopic rod, the right side surface of the clamping manipulator is in sliding connection with the outer edge of the left side of the telescopic rod, the telescopic rod is positioned on the left side of the fixing device, the right side surface of the telescopic rod is fixedly connected with the outer edge of the left side of the fixing device, the telescopic device is positioned on the right side of the telescopic rod, the left side of the telescopic device is in bolt connection with the outer edge of the right side of the telescopic rod, and the telescopic rod is arranged so that the manipulator can horizontally move to play a role in transferring workpieces.
Further, the clamping manipulator comprises a transmission rod, a first gear, a first motor, a rectangular fixed block, a first gear plate, a circular ring type sliding block, a fastening screw, a first link arm, a bearing, a triangular support plate, a second link arm, a rectangular support plate, a rectangular inserting plate, a fixed shaft, a clamping head, a tension spring, a gasket, a nut, a manipulator clamping jaw, an inserting buckle and a telescopic sleeve, wherein the rectangular fixed block is fixedly connected with the upper part of the telescopic sleeve, the center of the first gear is fixedly connected with the rectangular fixed block through the connecting rod, the center of the first gear is rotationally connected with the first motor through the bearing, the upper part of the center of the first gear is provided with a first gear plate meshed with the first gear plate, the right side of the first gear plate is connected with the circular ring type sliding block through the fastening screw, and the first gear plate meshed with each other is arranged so that the circular ring type sliding block sleeved on the transmission rod can be driven to move;
the right side of the circular ring-shaped sliding block is fixedly connected with the left side of a first connecting rod arm, the right side of the first connecting rod arm is rotationally connected with a bearing, the right side of the bearing is rotationally connected with a second connecting rod arm, a sliding groove is formed below the first connecting rod arm, the upper part of the left end of the triangular support plate is in sliding connection with the first connecting rod arm, the upper part of the right end of the triangular support plate is fixedly connected with the second connecting rod arm, a buckle is arranged at the right end of the second connecting rod arm, a triangular support plate capable of sliding on the first connecting rod arm is arranged, when the circular ring-shaped sliding block moves, the first connecting rod arm and the second connecting rod arm can be driven to move, and the first connecting rod arm and the second connecting rod arm rotate through the bearing, so that an oblique force is applied to the second connecting rod arm;
the novel clamping device is characterized in that threads are arranged on the right side of the transmission rod, the right side of the transmission rod is connected with the clamping head through a nut bolt, a gasket sleeved on the transmission rod is arranged on the left side of the nut, a rectangular supporting plate is fixedly connected to the outer edge of the clamping head, the clamping jaw of the manipulator is rotationally connected with the center of the rectangular supporting plate through a fixing shaft, an extension spring sleeved on the transmission rod is arranged on one side, close to the clamping head, of the circular ring-shaped sliding block, and the clamping jaw of the manipulator can clamp a workpiece.
Further, the number of the first link arms is three, the first link arms are uniformly distributed with the clamping heads as the circumference, the number of the bearings is three, the bearings are uniformly distributed with the clamping heads as the circumference, the number of the second link arms is three, the second link arms are uniformly distributed with the clamping heads as the circumference, the number of the inserting buckles is three, the inserting buckles are uniformly distributed with the clamping heads as the circumference, the number of the rectangular supporting plates is six, the rectangular supporting plates are uniformly distributed with the clamping heads as the circumference, the number of each group of rectangular supporting plates is two, the rectangular supporting plates are symmetrically arranged with the manipulator clamping jaws as the center, the number of the fixing shafts is three, the fixing shafts are uniformly distributed with the clamping heads as the circumference, the number of the manipulator clamping jaws is three, the inserting buckles are arranged to be inserted with the manipulator clamping jaws, and the disassembly and maintenance are convenient.
Further, the inserting buckle comprises an inserting plate, trapezoidal inserting buckle blocks, first springs and inserting buckle grooves, wherein the upper part of the inserting plate is fixedly connected with the lower end of a second connecting rod arm, a square groove is formed in the center of the inserting plate, trapezoidal inserting buckle blocks are arranged on the side face of the inserting plate, the side face of the inserting plate is in sliding connection with the trapezoidal inserting buckle blocks, the number of the inserting plates is two, the two inserting plates are symmetrically arranged by taking the second connecting rod arm as the center, the number of the trapezoidal inserting buckle blocks is two, the two trapezoidal inserting buckle blocks are symmetrically arranged by taking the second connecting rod arm as the center, one sides, close to each other, of the two trapezoidal inserting buckle blocks are fixedly connected with the first springs, and the first springs are arranged;
further, fixing device includes base, arch type fixed block, axis of rotation and motor, base top and arch type fixed block downside fixed connection, the through-hole has been seted up to arch type fixed block top, arch type fixed block through-hole swivelling joint has the axis of rotation, axis of rotation left side and motor right side fixed connection, the quantity of arch type fixed block has two, two the arch type fixed block uses the telescopic cover to set up as central symmetry, sets up axis of rotation and motor and can drive its rotation to play the effect of rotary manipulator.
Further, telescoping device includes second gear board, second gear, lock nut, second motor, rolling bearing, flexible cover and inserts, second gear board right-hand member is provided with the bolt second gear board right side is pegged graft through bolt and transfer line, second gear board top is provided with rather than the second gear of meshing, and second gear center passes through rolling bearing and transfer line rotation to be connected, the second motor passes through lock nut and second gear threaded connection, sets up the bolt and can conveniently dismantle to the maintenance.
Further, the telescopic rod piece includes flexible cover, bolt, cylindrical slider and second spring, flexible cover left side and axis of rotation outer fringe fixed connection, be provided with cylindrical slider in the flexible cover, with cylindrical slider sliding connection in the flexible cover, be provided with the second spring in the flexible cover, second spring left end and flexible cover fixed connection, cylindrical slider right side and transmission pole left side fixed connection set up sliding connection's cylindrical slider, can play the effect of convenient dismantlement equally.
Further, the bolt includes inserted block, bolt and splint, the through-hole has been seted up on second gear board right side, it has the inserted block to peg graft on the second gear board, inserted block upper end and splint sliding connection, the through-hole has been seted up on the splint, the bolt is pegged graft with the splint, and when loosening the bolt, the splint is relaxed, the inserted block is taken out, can dismantle, convenient maintenance.
The invention has the beneficial effects that:
according to the invention, the bolt and the second gear plate meshed with the bolt are arranged, when the second gear rotates clockwise and anticlockwise, the second gear plate is driven to move horizontally, so that the transmission rod spliced with the second gear plate is driven to slide in the telescopic sleeve, the clamping manipulator is driven to reach the workpiece to be clamped, and the whole telescopic rod part can be disassembled only by unscrewing the lock nut and the bolt and extracting the inserting block, so that the maintenance is convenient.
According to the invention, the annular sliding block is arranged, when the first gear rotates, the first gear plate is driven to horizontally move, then the annular sliding block is driven to slide on the transmission rod, the annular sliding block also drives the horizontal movement of the first link arm, and because the first link arm is provided with the sliding groove, the triangular supporting plate which is in sliding connection with the sliding groove is arranged on the sliding groove, the triangular supporting plate is fixedly connected with the second link arm, so that the first link arm horizontally moves, the triangular supporting plate is driven to slide in the sliding groove, the included angle between the first link arm and the second link arm is changed, and therefore the clamping action of the manipulator clamping jaw is completed.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of a clamping robot according to the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 2 in accordance with the present invention;
FIG. 4 is a schematic view of the telescopic device of the present invention;
FIG. 5 is an enlarged view of portion B of FIG. 4 in accordance with the present invention;
FIG. 6 is a schematic cross-sectional view of the telescopic rod according to the present invention;
in the figure: 1. a clamping manipulator; 2. a telescopic rod; 3. a telescoping device; 4. a fixing device; 5. a transmission rod; 6. a first gear; 7. a first motor; 8. a rectangular fixed block; 9. a first gear plate; 10. a circular ring-shaped sliding block; 11. fastening a screw; 12. a first link arm; 13. a bearing; 14. a triangular support plate; 15. a second link arm; 16. a rectangular support plate; 17. a rectangular plugboard; 18. a fixed shaft; 19. a clamping head; 20. a tension spring; 21. a gasket; 22. a nut; 23. a manipulator clamping jaw; 24. inserting and buckling; 25. inserting plate; 26. trapezoidal eye-splice blocks; 27. a first spring; 28. a buckle inserting groove; 29. a base; 30. arch-shaped fixed blocks; 31. a rotating shaft; 32. a motor; 33. a second gear plate; 34. a second gear; 35. a lock nut; 36. a second motor; 37. a rotating bearing; 38. a telescopic sleeve; 39. a plug pin; 40. a cylindrical slider; 41. a second spring; 42. inserting blocks; 43. a bolt; 44. and (3) clamping plates.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description. The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Example 1
Referring to fig. 1-6, the invention discloses a precise side gesture rotary manipulator convenient to maintain, which comprises a clamping manipulator 1, a telescopic rod 2, a telescopic device 3 and a fixing device 4, wherein the clamping manipulator 1 is positioned at the left side of the telescopic rod 2, the right side surface of the clamping manipulator 1 is in sliding connection with the outer edge of the left side of the telescopic rod 2, the telescopic rod 2 is positioned at the left side of the fixing device 4, the right side surface of the telescopic rod 2 is fixedly connected with the outer edge of the left side of the fixing device 4, the telescopic device 3 is positioned at the right side of the telescopic rod 2, the left side of the telescopic device 3 is in bolt connection with the outer edge of the right side of the telescopic rod 2, and the telescopic rod 2 is arranged, so that the manipulator can horizontally move to play a role in transferring workpieces.
The clamping manipulator 1 comprises a transmission rod 5, a first gear 6, a first motor 7, a rectangular fixed block 8, a first gear plate 9, a circular sliding block 10, a fastening screw 11, a first link arm 12, a bearing 13, a triangular support plate 14, a second link arm 15, a rectangular support plate 16, a rectangular plugboard 17, a fixed shaft 18, a clamping head 19, a tension spring 20, a gasket 21, a nut 22, a manipulator clamping jaw 23, a buckle 24 and a telescopic sleeve 38, wherein the rectangular fixed block 8 is fixedly connected with the upper part of the telescopic sleeve 38, the center of the first gear 6 is fixedly connected with the rectangular fixed block 8 through a connecting rod, the center of the first gear 6 is rotationally connected with the first motor 7 through a bearing, the first gear plate 9 meshed with the first gear plate is arranged above the center of the first gear 6, the right side of the first gear plate 9 is connected with the circular sliding block 10 through a fastening screw 11 through a bolt, and the first gear 6 meshed with the first gear plate 9 can drive the circular sliding block 10 sleeved on the transmission rod 5 to move;
the right side of the circular ring-shaped sliding block 10 is fixedly connected with the left side of the first connecting rod arm 12, the right side of the first connecting rod arm 12 is rotationally connected with the bearing 13, the right side of the bearing 13 is rotationally connected with the second connecting rod arm 15, a sliding groove is formed below the first connecting rod arm 12, the upper left end of the triangular supporting plate 14 is slidably connected with the first connecting rod arm 12, the upper right end of the triangular supporting plate 14 is fixedly connected with the second connecting rod arm 15, the right end of the second connecting rod arm 15 is provided with a buckle 24, the triangular supporting plate 14 capable of sliding on the first connecting rod arm 12 is arranged, when the circular ring-shaped sliding block 10 moves, the first connecting rod arm 12 and the second connecting rod arm 15 can be driven to move, and the first connecting rod arm 12 and the second connecting rod arm 15 rotate through the bearing 13, so that an oblique force is applied to the second connecting rod arm 15;
the right side of the transmission rod 5 is provided with threads, the right side of the transmission rod 5 is connected with the clamping head 19 through a nut 22 through bolts, a gasket 21 sleeved on the transmission rod 5 is arranged on the left side of the nut 22, the outer edge of the clamping head 19 is fixedly connected with the rectangular supporting plate 16, the centers of the manipulator clamping jaws 23 and the rectangular supporting plate 16 are rotationally connected through a fixed shaft 18, one side, close to each other, of the circular ring-shaped sliding block 10 and the clamping head 19 is provided with an extension spring 20 sleeved on the transmission rod 5, and the manipulator clamping jaws 23 are arranged to clamp workpieces.
The number of the first link arms 12 is three, the number of the three first link arms 12 is three, the clamping heads 19 are uniformly distributed circumferentially, the number of the bearings 13 is three, the three bearings 13 are uniformly distributed circumferentially with the clamping heads 19, the number of the second link arms 15 is three, the three second link arms 15 are uniformly distributed circumferentially with the clamping heads 19, the number of the inserting buckles 24 is three, the three inserting buckles 24 are uniformly distributed circumferentially with the clamping heads 19, the number of the rectangular supporting plates 16 is six, the six rectangular supporting plates 16 are uniformly distributed circumferentially with the clamping heads 19, the number of each group of rectangular supporting plates 16 is two, the two rectangular supporting plates 16 are symmetrically arranged centrally with the manipulator clamping jaws 23, the number of the fixing shafts 18 is three, the three fixing shafts 18 are uniformly distributed circumferentially with the clamping heads 19, the number of the manipulator clamping jaws 23 is three, the three manipulator clamping jaws 23 are uniformly distributed circumferentially with the clamping heads 19, and the inserting buckles 24 can be spliced with the manipulator clamping jaws 23 so as to facilitate disassembly and maintenance.
The inserting buckle 24 comprises inserting plates 25, trapezoidal inserting buckle blocks 26, first springs 27 and inserting buckle grooves 28, wherein square grooves are formed in the centers of the inserting plates 25, the trapezoidal inserting buckle blocks 26 are arranged on the side surfaces of the inserting plates 25, the side surfaces of the inserting plates 25 are slidably connected with the trapezoidal inserting buckle blocks 26, the two inserting plates 25 are symmetrically arranged by taking the second connecting rod arms 15 as the center, the two trapezoidal inserting buckle blocks 26 are symmetrically arranged by taking the second connecting rod arms 15 as the center, one sides, close to each other, of the two trapezoidal inserting buckle blocks 26 are fixedly connected with the first springs 27, and the first springs 27 are arranged;
the fixing device 4 comprises a base 29, arch-shaped fixing blocks 30, rotating shafts 31 and motors 32, wherein the upper side of the base 29 is fixedly connected with the lower side face of each arch-shaped fixing block 30, through holes are formed in the upper side of each arch-shaped fixing block 30, the rotating shafts 31 are rotationally connected with the through holes of the arch-shaped fixing blocks 30, the left side of each rotating shaft 31 is fixedly connected with the right side of each motor 32, the number of the arch-shaped fixing blocks 30 is two, the two arch-shaped fixing blocks 30 are symmetrically arranged by taking a telescopic sleeve 38 as a center, and the rotating shafts 31 and the motors 32 can drive the two arch-shaped fixing blocks to rotate so as to play a role of a rotary manipulator.
The telescopic device 3 comprises a second gear plate 33, a second gear 34, a lock nut 35, a second motor 36, a rotating bearing 37, a telescopic sleeve 38 and a plug pin 39, wherein the plug pin 39 is arranged at the right end of the second gear plate 33, the right side of the second gear plate 33 is inserted into the transmission rod 5 through the plug pin 39, the second gear 34 meshed with the second gear plate is arranged above the second gear plate 33, the center of the second gear 34 is rotationally connected with the transmission rod 5 through the rotating bearing 37, the second motor 36 is in threaded connection with the second gear 34 through the lock nut 35, and the plug pin 39 is arranged to be convenient to detach so as to facilitate maintenance.
The telescopic rod 2 comprises a telescopic sleeve 38, a bolt 39, a cylindrical sliding block 40 and a second spring 41, wherein the left side of the telescopic sleeve 38 is fixedly connected with the outer edge of the rotating shaft 31, the cylindrical sliding block 40 is arranged in the telescopic sleeve 38, the telescopic sleeve 38 is in sliding connection with the cylindrical sliding block 40, the second spring 41 is arranged in the telescopic sleeve 38, the left end of the second spring 41 is fixedly connected with the telescopic sleeve 38, the right side of the cylindrical sliding block 40 is fixedly connected with the left side of the transmission rod 5, and the cylindrical sliding block 40 in sliding connection is arranged, so that the telescopic rod can also play a role in convenient disassembly.
The bolt 39 comprises an inserting block 42, a bolt 43 and a clamping plate 44, the right side of the second gear plate 33 is provided with a through hole, the second gear plate 33 is inserted with the inserting block 42, the upper end of the inserting block 42 is slidably connected with the clamping plate 44, the clamping plate 44 is provided with the through hole, the bolt 43 is inserted with the clamping plate 44, when the bolt 43 is loosened, the clamping plate 44 is loosened, the inserting block 42 is pulled out, and the detachable and convenient maintenance are realized.
One specific application of this embodiment is: when the mechanical arm clamping jaw is used in an operating mode, the eye-splice 24 in the second connecting rod arm 15 is pressed, the second connecting rod arm 15 is spliced with the mechanical arm clamping jaw 23, then the motor 32 is opened, the mechanical arm is rotated to a workpiece to be clamped, then the second motor 36 is opened, the second gear 34 is driven to rotate on the rotating bearing 37, the second gear plate 33 horizontally moves, then the transmission rod 5 is driven to horizontally move in the telescopic sleeve 38, when the clamping mechanical arm 1 reaches the workpiece to be clamped, the second motor 36 is stopped, then the first motor 7 is opened, the first gear 6 is driven to rotate, the first gear plate 9 is driven to horizontally move, the circular slide 10 is driven to move along with the circular slide 10, the first connecting rod arm 12 fixedly connected with the circular slide 10 is driven, the first connecting rod arm 12 is provided with a sliding groove, the triangular support plate 14 in the sliding groove is connected with the other end of the triangular support plate 14, the first connecting rod arm 12 horizontally moves, and the triangular support plate 14 is driven to slide in the sliding groove, and accordingly the included angle between the first connecting rod arm 12 and the first connecting rod arm 23 is changed, and the mechanical arm 23 is easily detached, and the mechanical arm is easily connected with the mechanical arm clamping jaw is clamped, and the mechanical arm is convenient to clamp the mechanical arm is connected with the mechanical arm. .
The telescopic rod 2 comprises a telescopic sleeve 38, a bolt 39, a cylindrical sliding block 40 and a second spring 41, wherein the left side of the telescopic sleeve 38 is fixedly connected with the outer edge of the rotating shaft 31, the cylindrical sliding block 40 is arranged in the telescopic sleeve 38, the telescopic sleeve 38 is in sliding connection with the cylindrical sliding block 40, the second spring 41 is arranged in the telescopic sleeve 38, the left end of the second spring 41 is fixedly connected with the telescopic sleeve 38, the right side of the cylindrical sliding block 40 is fixedly connected with the left side of the transmission rod 5, and the cylindrical sliding block 40 in sliding connection is arranged, so that the telescopic rod can also play a role in convenient disassembly.
The bolt 39 comprises an inserting block 42, a bolt 43 and a clamping plate 44, the right side of the second gear plate 33 is provided with a through hole, the second gear plate 33 is inserted with the inserting block 42, the upper end of the inserting block 42 is slidably connected with the clamping plate 44, the clamping plate 44 is provided with the through hole, the bolt 43 is inserted with the clamping plate 44, when the bolt 43 is loosened, the clamping plate 44 is loosened, the inserting block 42 is pulled out, and the detachable and convenient maintenance are realized.
One specific application of this embodiment is: when the mechanical arm clamping jaw is used in an operating mode, the eye-splice 24 in the second connecting rod arm 15 is pressed, the second connecting rod arm 15 is spliced with the mechanical arm clamping jaw 23, then the motor 32 is opened, the mechanical arm is rotated to a workpiece to be clamped, then the second motor 36 is opened, the second gear 34 is driven to rotate on the rotating bearing 37, the second gear plate 33 horizontally moves, then the transmission rod 5 is driven to horizontally move in the telescopic sleeve 38, when the clamping mechanical arm 1 reaches the workpiece to be clamped, the second motor 36 is stopped, then the first motor 7 is opened, the first gear 6 is driven to rotate, the first gear plate 9 is driven to horizontally move, the circular slide 10 is driven to move along with the circular slide 10, the first connecting rod arm 12 fixedly connected with the circular slide 10 is driven, the first connecting rod arm 12 is provided with a sliding groove, the triangular support plate 14 in the sliding groove is connected with the other end of the triangular support plate 14, the first connecting rod arm 12 horizontally moves, and the triangular support plate 14 is driven to slide in the sliding groove, and accordingly the included angle between the first connecting rod arm 12 and the first connecting rod arm 23 is changed, and the mechanical arm 23 is easily detached, and the mechanical arm is easily connected with the mechanical arm clamping jaw is clamped, and the mechanical arm is convenient to clamp the mechanical arm is connected with the mechanical arm.
It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art and which are included in the embodiments of the present invention without the inventive step, are intended to be within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.
Claims (5)
1. The utility model provides a rotatory manipulator of accurate side appearance convenient to maintain, includes centre gripping manipulator (1), telescopic link (2), telescoping device (3) and fixing device (4), its characterized in that: the clamping manipulator (1) is positioned on the left side of the telescopic rod (2), the right side surface of the clamping manipulator (1) is in sliding connection with the outer edge of the left side of the telescopic rod (2), the telescopic rod (2) is positioned on the left side of the fixing device (4), the right side surface of the telescopic rod (2) is fixedly connected with the outer edge of the left side of the fixing device (4), the telescopic device (3) is positioned on the right side of the telescopic rod (2), and the left side of the telescopic device (3) is in bolt connection with the outer edge of the right side of the telescopic rod (2);
the clamping manipulator (1) comprises a transmission rod (5), a first gear (6), a first motor (7), a rectangular fixed block (8), a first gear plate (9), a circular ring type sliding block (10), a fastening screw (11), a first link arm (12), a bearing (13), a triangular supporting plate (14), a second link arm (15), a rectangular supporting plate (16), a rectangular inserting plate (17), a fixed shaft (18), a clamping head (19), an extension spring (20), a gasket (21), a nut (22), a manipulator clamping jaw (23), a buckle (24) and a telescopic sleeve (38), wherein the rectangular fixed block (8) is fixedly connected with the upper part of the telescopic sleeve (38), the center of the first gear (6) is fixedly connected with the rectangular fixed block (8) through a connecting rod, the center of the first gear (6) is rotationally connected with the first motor (7) through a bearing, the first gear plate (9) which is meshed with the second link arm is arranged above the center of the first gear plate (6), and the right side of the first gear plate (9) is connected with the circular ring type sliding block (10) through the fastening screw (11);
the right side of the circular ring-shaped sliding block (10) is fixedly connected with the left side of a first connecting rod arm (12), the right side of the first connecting rod arm (12) is rotationally connected with a bearing (13), the right side of the bearing (13) is rotationally connected with a second connecting rod arm (15), a sliding groove is formed in the lower portion of the first connecting rod arm (12), the upper left end of the triangular supporting plate (14) is in sliding connection with the first connecting rod arm (12) and the upper right end of the triangular supporting plate (14) is fixedly connected with the second connecting rod arm (15), and a buckle (24) is arranged at the right end of the second connecting rod arm (15);
the right side of the transmission rod (5) is provided with threads, the right side of the transmission rod (5) is connected with the clamping head (19) through a nut (22) through bolts, a gasket (21) sleeved on the transmission rod (5) is arranged on the left side of the nut (22), a rectangular supporting plate (16) is fixedly connected to the outer edge of the clamping head (19), the centers of the manipulator clamping jaw (23) and the rectangular supporting plate (16) are rotationally connected through a fixed shaft (18), and a stretching spring (20) sleeved on the transmission rod (5) is arranged on one side, close to each other, of the circular ring-shaped sliding block (10) and the clamping head (19);
the number of the first link arms (12) is three, the three first link arms (12) are uniformly distributed by taking the clamping head (19) as a circumference, the number of the bearings (13) is three, the three bearings (13) are uniformly distributed by taking the clamping head (19) as a circumference, the number of the second link arms (15) is three, the number of the three second link arms (15) is uniformly distributed by taking the clamping head (19) as a circumference, the number of the inserting buckles (24) is three, the three inserting buckles (24) are uniformly distributed by taking the clamping head (19) as a circumference, the number of the rectangular supporting plates (16) is six, the six rectangular supporting plates (16) are uniformly distributed by taking the clamping head (19) as a circumference, the number of each group of rectangular supporting plates (16) is two, the two rectangular supporting plates (16) are symmetrically arranged by taking the manipulator (23) as a center, the number of the fixed shafts (18) is three, the three fixed shafts (18) are uniformly distributed by taking the clamping head (19) as a circumference, the number of the three manipulator (23) are uniformly distributed by taking the three manipulator (23) as a circumference;
fixing device (4) are including base (29), arched door type fixed block (30), axis of rotation (31) and motor (32), base (29) top and arched door type fixed block (30) downside fixed connection, the through-hole has been seted up to arched door type fixed block (30) top, arched door type fixed block (30) through-hole internal rotation is connected with axis of rotation (31), axis of rotation (31) left side and motor (32) right side fixed connection.
2. The precision side-pose rotary manipulator convenient to maintain according to claim 1, wherein: the number of the arch-shaped fixed blocks (30) is two, and the two arch-shaped fixed blocks (30) are symmetrically arranged by taking the telescopic sleeve (38) as a center.
3. The precision side-pose rotary manipulator convenient to maintain according to claim 2, wherein: the telescopic device (3) comprises a second gear plate (33), a second gear (34), a locking nut (35), a second motor (36), a rotating bearing (37), a telescopic sleeve (38) and a bolt (39), wherein the bolt (39) is arranged at the right end of the second gear plate (33), the right side of the second gear plate (33) is inserted with a transmission rod (5) through the bolt (39), a second gear (34) meshed with the second gear is arranged above the second gear plate (33), the center of the second gear (34) is rotationally connected with the transmission rod (5) through the rotating bearing (37), and the second motor (36) is in threaded connection with the second gear (34) through the locking nut (35).
4. The precision side-pose rotating manipulator convenient to maintain according to claim 3, wherein: the telescopic rod piece (2) comprises a telescopic sleeve (38), a bolt (39), a cylindrical sliding block (40) and a second spring (41), wherein the left side of the telescopic sleeve (38) is fixedly connected with the outer edge of the rotating shaft (31), the cylindrical sliding block (40) is arranged in the telescopic sleeve (38), the telescopic sleeve (38) is connected with the cylindrical sliding block (40) in a sliding mode, the second spring (41) is arranged in the telescopic sleeve (38), the left end of the second spring (41) is fixedly connected with the telescopic sleeve (38), and the right side of the cylindrical sliding block (40) is fixedly connected with the left side of the transmission rod (5).
5. The maintenance-friendly precision side-pose rotary manipulator according to claim 4, wherein: the bolt (39) comprises an inserting block (42), a bolt (43) and a clamping plate (44), wherein a through hole is formed in the right side of the second gear plate (33), the inserting block (42) is inserted into the second gear plate (33), the upper end of the inserting block (42) is slidably connected with the clamping plate (44), the clamping plate (44) is provided with the through hole, and the bolt (43) is inserted into the clamping plate (44).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311574387.7A CN117718948A (en) | 2023-04-18 | 2023-04-18 | Precise side-pose rotary manipulator convenient to maintain |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311574387.7A CN117718948A (en) | 2023-04-18 | 2023-04-18 | Precise side-pose rotary manipulator convenient to maintain |
| CN202310411265.XA CN116442269B (en) | 2023-04-18 | 2023-04-18 | Precise side-pose rotary manipulator convenient to maintain |
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| CN202310411265.XA Division CN116442269B (en) | 2023-04-18 | 2023-04-18 | Precise side-pose rotary manipulator convenient to maintain |
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| CN117718948A true CN117718948A (en) | 2024-03-19 |
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| CN202311574387.7A Pending CN117718948A (en) | 2023-04-18 | 2023-04-18 | Precise side-pose rotary manipulator convenient to maintain |
| CN202310411265.XA Active CN116442269B (en) | 2023-04-18 | 2023-04-18 | Precise side-pose rotary manipulator convenient to maintain |
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| CN100582786C (en) * | 2000-09-22 | 2010-01-20 | 英特斯特公司 | Manipulator for a test head with active compliance |
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| CN207522635U (en) * | 2017-10-23 | 2018-06-22 | 济宁市技师学院 | Novel telescopic manipulator |
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- 2023-04-18 CN CN202310411265.XA patent/CN116442269B/en active Active
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| CN206123696U (en) * | 2016-08-31 | 2017-04-26 | 余义明 | Heavy machinery manual adjustable mechanism |
| CN107584477A (en) * | 2017-09-30 | 2018-01-16 | 严金良 | A kind of cargo handling identification device |
| KR20200050228A (en) * | 2018-11-01 | 2020-05-11 | 박종갑 | Gripper with long arm |
| CN110193845A (en) * | 2019-05-28 | 2019-09-03 | 安徽德基汇金机械科技有限公司 | A kind of hydraulic clamp that can slow down clamping force destruction |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN116442269B (en) | 2023-12-22 |
| CN116442269A (en) | 2023-07-18 |
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