CN117733826A - Multi-degree-of-freedom instrument overturning manipulator - Google Patents
Multi-degree-of-freedom instrument overturning manipulator Download PDFInfo
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- CN117733826A CN117733826A CN202410113897.2A CN202410113897A CN117733826A CN 117733826 A CN117733826 A CN 117733826A CN 202410113897 A CN202410113897 A CN 202410113897A CN 117733826 A CN117733826 A CN 117733826A
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- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000007306 turnover Effects 0.000 claims abstract description 9
- 238000003825 pressing Methods 0.000 abstract description 5
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000001125 extrusion Methods 0.000 description 4
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- 230000009471 action Effects 0.000 description 3
- 230000013011 mating Effects 0.000 description 2
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- 230000004075 alteration Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of mechanical clamps, and discloses a multi-degree-of-freedom instrument overturning manipulator which comprises a drive control cabinet and an overturning mechanism arranged on the drive control cabinet, and further comprises: the mechanical clamping piece is connected to the top of the turnover mechanism in a sliding manner, and an instrument is clamped inside the mechanical clamping piece; the movable module is arranged on the upper side and the lower side of the inner cavity of the mechanical clamping piece, and one end far away from the mechanical clamping piece is in conflict connection with the pushing and pressing assembly. According to the invention, through the cooperation of structures such as the clamping plates and the toothed plates, the four corners of the circular instrument are extruded and abutted in opposite directions, the toothed plates move upwards to drive the movable module to integrally overturn downwards and contact the instrument, one corner of the circular instrument is clamped stably through the elasticity of the second spring telescopic tube, and the four corners of the circular instrument are synchronously clamped by the synchronous movement of the four clamping plates through the two limiting plates, so that the stability is improved.
Description
Technical Field
The invention belongs to the technical field of mechanical clamps, and particularly relates to a multi-degree-of-freedom instrument overturning manipulator.
Background
The multi-degree-of-freedom manipulator is an automatic operation device for simulating the multi-degree-of-freedom grasping and carrying of an instrument by a human arm through a computer language such as programming and the like to fix a program, and various expected operations are completed through a confidence technology.
At present, the defects still exist in the actual use of the multi-degree-of-freedom instrument overturning manipulator: on the assembly production line, in the processing operation of deeper level to circular apparatus, general operation flow can be through gantry crane with circular apparatus carry to manipulator top, utilize the manipulator centre gripping to carry out multi freedom's upset to it through information control system such as computer programming, with this follow-up processing operation, however when carrying out the centre gripping to circular apparatus, because the whole ring shape of circular apparatus and comparatively smooth outer wall, lead to not being convenient for the inflection point or the contained angle of centre gripping for the manipulator centre gripping, and then lead to the unstable phenomenon of centre gripping easily to appear, so in sum, need improve it.
Disclosure of Invention
The invention provides a multi-degree-of-freedom instrument overturning manipulator, which aims at solving the problem that the circular instrument is unstable in clamping by using the manipulator.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an apparatus upset manipulator of multi freedom, includes drive control cabinet, sets up the tilting mechanism on drive control cabinet, still includes:
the mechanical clamping piece is connected to the top of the turnover mechanism in a sliding manner, and an instrument is clamped inside the mechanical clamping piece;
the movable module is arranged on the upper side and the lower side of the inner cavity of the mechanical clamping piece, and one end far away from the mechanical clamping piece is in abutting connection with the pushing and pressing assembly;
the mechanical clamping piece comprises a limiting plate, an arc groove which is arranged on the limiting plate and is movably connected with the movable module on the inner wall, and a collision piece which is arranged in the middle of the limiting plate and is used for collision of an instrument, wherein the collision piece comprises a first supporting rod formed by hinging an upper adjacent part and a lower adjacent part, a hydraulic cylinder connected with the hinging parts of the two first supporting rods, and a toothed plate arranged at the top of the first supporting rod;
the movable module comprises a spur gear shaft which is meshed with the toothed plate and is connected with the inside of the limiting plate through a bearing, a second telescopic connecting rod which is connected with the inside of the arc groove in a sliding manner, a square groove plate which is connected with the second telescopic connecting rod and is in abutting connection with the pushing and pressing component, and a second supporting rod;
the pushing component comprises a clamping plate movably connected to the inner cavity of the return-shaped groove plate, one end, far away from the return-shaped groove plate, of the clamping plate is hinged with an L-shaped abutting plate, and the outer wall of the L-shaped abutting plate is in abutting connection with the second abutting rod.
Preferably, a side wall of the toothed plate far away from the straight gear shaft is provided with a locking mechanism;
the locking mechanism comprises a half gear shaft which is connected inside the limiting plate through a bearing and is meshed with the toothed plate, a chain is wound on the outer wall of the half gear shaft, one end, away from the half gear shaft, of the chain is fixedly connected with a supporting block, and one end, close to the chain, of the supporting block is in abutting connection with a locking block;
the first spring is elastically supported between the chain and the limiting plate, and the reset spring piece is arranged in the connecting area of the half gear shaft and the limiting plate.
Preferably, a first spring telescopic pipe is elastically supported between the toothed plate and the limiting plate, one end of the first supporting rod positioned in the limiting plate is connected with the inner wall of the limiting plate in a sliding manner, and the two first supporting rods are in a shape of a Chinese character '>'.
Preferably, the straight gear shaft is provided with a first telescopic connecting rod hinged with the reverse groove plate, and one end of the first telescopic connecting rod, which is far away from the straight gear shaft, is connected with the locking block in a clamping way.
Preferably, one end of the second telescopic connecting rod, which is close to the L-shaped retaining plate, is connected with a back-shaped groove plate bearing, and one end of the second telescopic connecting rod, which is far away from the C-shaped block, is fixedly connected with a second supporting rod.
Preferably, one end of the second supporting rod, which is close to the clamping plate, is Z-shaped, grooves are formed in two sides of the inner cavity of the back-shaped groove plate, and the inner wall of each groove is movably connected with the clamping plate.
Preferably, an arc spring telescopic pipe is elastically supported between the L-shaped retaining plate and the clamping plate, and one end of the L-shaped retaining plate, which is far away from the second retaining rod, is made of rubber.
Preferably, one end of the clamping plate, which is close to the L-shaped retaining plate, is an inclined plane, and one side wall of the clamping plate, which is far away from the arc-shaped spring telescopic pipe, is an uneven arc shape and is made of rubber.
Preferably, a second spring telescopic pipe is elastically supported between the clamping plate and the second supporting rod, and a C-shaped block movably connected with the return groove plate is arranged at one end of the clamping plate, which is far away from the L-shaped supporting plate.
Preferably, both ends of the abutting block, which are contacted with the locking block, are provided with oblique angles, the locking block consists of two groove plates with C-shaped shapes, and the two groove plates are elastically supported by a spring telescopic pipe.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, through the cooperation of structures such as the clamping plates, the toothed plates and the like, the four corners of the circular instrument are oppositely extruded and abutted, the toothed plates move upwards to drive the movable module to integrally overturn downwards and contact the instrument, the two clamping plates are extruded by the instrument to move oppositely until moving to the outer wall of the instrument, the two clamping plates clamp one corner of the circular instrument firmly through the elasticity of the second spring telescopic tube, and the four clamping plates synchronously move through the two limiting plates to force the four inflection points of the circular instrument to be clamped synchronously, so that the stability is improved;
according to the invention, through the matching of the structures such as the L-shaped retaining plate, the second retaining rod and the like, the two clamping plates are contacted with the second retaining rod when moving oppositely by extending to the inner wall of the circular instrument, so that the two clamping plates are forced to press the L-shaped retaining plate to turn over and extend to the inner wall of the circular instrument, the top end of the L-shaped retaining plate is directly contacted with the inner wall of the instrument, the friction force between the L-shaped retaining plate and the inner wall of the circular instrument is increased, and the L-shaped retaining plate is forced to synchronously limit the inner part of the circular instrument when the clamping plates clamp four corners of the circular instrument, so that the stability is improved;
according to the invention, through the cooperation of structures such as the half gear shaft and the locking block, when an instrument is not contacted with the first supporting rod, the clamping plate and the movable module are always in an inclined shape and locked, the falling instrument is prevented from being blocked, the toothed plate moves to drive the half gear shaft to rotate, one end of the chain is forced to wind on the surface of the chain, the other end of the chain is caused to pull the supporting block and extrude the middle end area of the locking block, the chain moves oppositely until one end positioned in the first telescopic connecting rod is separated outwards, the locking of the first telescopic connecting rod is released, and the movable module is caused to rotate from the initial inclined shape by taking the straight gear shaft as the axle center and is contacted with the outer wall of the instrument through the rotation of the straight gear shaft.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the structural cooperation relationship between the driving control cabinet and the turnover mechanism of the invention;
FIG. 3 is a schematic view of a sub-division structure of a mechanical clip according to the present invention;
FIG. 4 is a schematic view of a subdivision structure of the interference member of the present invention;
FIG. 5 is a schematic cross-sectional view of a limiting plate of the present invention;
FIG. 6 is a schematic diagram of the structural cooperation of the rectangular channel plate and clamping plate of the present invention;
FIG. 7 is a schematic view of a partial enlarged structure at A in FIG. 5;
FIG. 8 is a schematic view of a partial enlarged structure at B in FIG. 6;
FIG. 9 is a schematic diagram of the structural mating relationship of the toothed plate and the spur gear shaft of the present invention;
FIG. 10 is a schematic illustration of the structural cooperation of the first expansion link and locking block of the present invention;
FIG. 11 is a schematic diagram showing the structural cooperation between the L-shaped abutment plate and the second abutment rod;
FIG. 12 is a schematic view of a partial cross-sectional structure of a half gear shaft of the present invention;
FIG. 13 is a schematic view of the structural mating relationship of the present invention's spur gear shaft and first expansion link;
fig. 14 is a schematic view of a clamping plane structure of the limiting plate and the apparatus of the present invention.
In the figure: 1. driving a control cabinet; 2. a turnover mechanism; 3. a mechanical clamp; 31. a limiting plate; 32. an arc groove; 33. a contact member; 331. a first support rod; 332. a hydraulic cylinder; 333. a toothed plate; 334. a first spring bellows; 4. a movable module; 41. a spur gear shaft; 42. a first telescopic link; 43. a groove plate; 44. a second telescopic link; 45. a second support rod; 5. a pushing assembly; 51. a clamping plate; 52. an L-shaped retaining plate; 53. an arc spring telescopic tube; 54. a second spring telescoping tube; 55. c-shaped blocks; 6. a locking mechanism; 61. a half gear shaft; 62. a chain; 63. a first spring; 64. abutting blocks; 65. and a locking block.
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.
As shown in fig. 1 to 14, the present invention provides a multi-degree-of-freedom instrument turning manipulator, which includes a drive control cabinet 1, a turning mechanism 2 disposed on the drive control cabinet 1, and further includes:
the mechanical clamping piece 3 is connected to the top of the turnover mechanism 2 in a sliding manner, and an instrument is clamped inside the mechanical clamping piece 3;
the movable module 4 is arranged on the upper side and the lower side of the inner cavity of the mechanical clamping piece 3, and one end far away from the mechanical clamping piece 3 is in abutting connection with the pushing and pressing component 5;
the mechanical clamping piece 3 comprises a limiting plate 31, an arc groove 32 which is arranged on the limiting plate 31 and the inner wall of which is movably connected with the movable module 4, and a collision piece 33 which is arranged in the middle of the limiting plate 31 and is used for collision with an instrument, wherein the collision piece 33 comprises a first supporting rod 331 formed by hinging an upper adjacent part and a lower adjacent part, a hydraulic cylinder 332 which is connected with the hinging parts of the two first supporting rods 331, and a toothed plate 333 which is arranged at the top of the first supporting rod 331;
the movable module 4 comprises a spur gear shaft 41 which is meshed with the toothed plate 333 and is connected with the inside of the limiting plate 31 in a bearing way, a second telescopic connecting rod 44 which is connected with the inside of the arc groove 32 in a sliding way, a return groove plate 43 which is connected with the second telescopic connecting rod 44 and is in abutting connection with the pushing and pressing component 5, and a second supporting rod 45;
the pushing component 5 comprises a clamping plate 51 movably connected to the inner cavity of the back-shaped groove plate 43, one end of the clamping plate 51 far away from the back-shaped groove plate 43 is hinged with an L-shaped retaining plate 52, and the outer wall of the pushing component is in abutting connection with the second retaining rod 45.
As shown in fig. 4, 5, 7 to 9 and 12, a side wall of the tooth plate 333 remote from the spur gear shaft 41 is provided with a locking mechanism 6;
the locking mechanism 6 comprises a half gear shaft 61 which is connected in the limiting plate 31 through a bearing and is meshed with the toothed plate 333, a chain 62 is wound on the outer wall of the half gear shaft 61, one end of the chain 62 far away from the half gear shaft 61 is fixedly connected with a supporting block 64, and one end of the supporting block 64 close to the chain 62 is in abutting connection with a locking block 65;
a first spring 63 is elastically supported between the chain 62 and the limiting plate 31, and a reset spring piece is installed at the connection area of the half gear shaft 61 and the limiting plate 31.
The scheme is adopted: the toothed plate 333 moves up to drive the half gear shaft 61 to rotate and promote the chain 62 to wind around the surface of the half gear shaft 61, and simultaneously one end of the chain 62 far away from the half gear shaft 61 synchronously pulls the abutment block 64 to press the locking block 65 to disengage from the inside of the first telescopic link 42, so as to release the fixation of the first telescopic link 42.
As shown in fig. 4 and 5, a first spring telescopic tube 334 is elastically supported between the toothed plate 333 and the limiting plate 31, one end of the first supporting rod 331 located inside the limiting plate 31 is slidably connected with the inner wall of the limiting plate 31, and the two first supporting rods 331 are in a shape of '>'.
The scheme is adopted: the first spring telescopic tube 334 provides a resilient extrusion force for the movement of the toothed plate 333, and according to fig. 5, the two first supporting rods 331 are limited in a shape of a ">", so that when one end of the two first supporting rods 331 away from the limiting plate 31 is abutted to move in a direction approaching the limiting plate 31, one end of the two first supporting rods 331 located at the limiting plate 31 can only move up and down.
As shown in fig. 7 to 9, a first expansion link 42 hinged to a return groove plate 43 is mounted on the spur gear shaft 41, and one end of the first expansion link 42 away from the spur gear shaft 41 is engaged with the lock block 65.
The scheme is adopted: when the locking block 65 is located in the first telescopic connecting rod 42, the whole first telescopic connecting rod 42 is locked and is forced to be unable to move, otherwise, when the locking block 65 is separated from the inside of the first telescopic connecting rod 42 outwards, the locking block is matched with the rotation of the straight gear shaft 41, so that the locking block is driven to synchronously drive the first telescopic connecting rod 42 to overturn downwards, and the jacking extrusion of the instrument is realized.
As shown in fig. 6 and 11, one end of the second telescopic connecting rod 44 close to the L-shaped retaining plate 52 is in bearing connection with the return groove plate 43, one end of the second telescopic connecting rod 44 far away from the C-shaped block 55 is fixedly connected with the second supporting rod 45, one end of the second supporting rod 45 close to the clamping plate 51 is in a zigzag shape, grooves are formed in two sides of the inner cavity of the return groove plate 43, and the inner walls of the grooves are movably connected with the clamping plate 51.
The scheme is adopted: the Z-shaped limit of one end of the second supporting rod 45, the two clamping plates 51 move oppositely and synchronously drive the L-shaped supporting plate 52 to move, and the L-shaped supporting plate 52 is caused to abut against one end of the second supporting rod 45, so that the L-shaped supporting plate 52 extends to the inner wall of the instrument to turn over, and the inner cavity groove of the return groove plate 43 plays a limiting role on the movement of the clamping plates 51.
As shown in fig. 6 and 11, an arc-shaped spring telescopic pipe 53 is elastically supported between the L-shaped retaining plate 52 and the clamping plate 51, one end of the L-shaped retaining plate 52, which is far away from the second supporting rod 45, is made of rubber, one end of the clamping plate 51, which is close to the L-shaped retaining plate 52, is in an inclined plane, and one side wall of the clamping plate 51, which is far away from the arc-shaped spring telescopic pipe 53, is in a concave-convex arc shape and is made of rubber;
a second spring telescopic tube 54 is elastically supported between the clamping plate 51 and the second supporting rod 45, and a C-shaped block 55 movably connected with the return groove plate 43 is arranged at one end of the clamping plate 51 away from the L-shaped supporting plate 52.
The scheme is adopted: when one end inclined surface of the clamping plate 51 is contacted with the instrument, the instrument extrudes the two clamping plates 51 to enable the two clamping plates to move oppositely, synchronously compresses the second spring telescopic tube 54 to enable the second spring telescopic tube 54 to apply elastic extrusion force to the clamping plates 51, forces the clamping plates 51 to press and press the outer wall of the instrument, the arc-shaped spring telescopic tube 53 provides reset spring force for the L-shaped retaining plate 52, and when the limitation of rubber material at one end of the L-shaped retaining plate 52 ensures that the L-shaped retaining plate is contacted with the instrument, friction contact force between the L-shaped retaining plate 52 and the instrument is improved.
As shown in fig. 8 and 10, both ends of the abutment block 64, which are in contact with the locking block 65, are provided with bevel angles, the locking block 65 is composed of two groove plates with a C-shaped appearance, and the two groove plates are elastically supported by a spring telescopic pipe.
The scheme is adopted: the limitation of the oblique angle of the abutting block 64 causes the two locking blocks 65 to move back to back more smoothly when the two locking blocks are pulled again, and as can be seen from fig. 8, the lower end of the "C" shaped groove plate is clamped in the interior of the first telescopic connecting rod 42 to lock the two locking blocks, and when the two locking blocks move back to back, the lower end of the "C" shaped groove plate is separated from the interior of the first telescopic connecting rod 42 outwards, at the moment, the spring telescopic tube is compressed, otherwise, the spring telescopic tube exerts a pulling force on the two locking blocks, so that the two locking blocks move towards each other and lock the first telescopic connecting rod 42 again.
The working principle and the using flow of the invention are as follows:
firstly, when a circular instrument is conveyed to the upper part of the mechanical clamping piece 3 by using a portal crane, the size of a gap between the two limiting plates 31 is adjusted by a hydraulic cylinder control system at the lower ends of the limiting plates 31 and corresponds to the position of the circular instrument, and then the circular instrument is slowly put down to be gradually positioned in the middle area of the two limiting plates 31;
then, as the round apparatus continuously moves down in the middle area of the two limiting plates 31, the hinge areas of the two first supporting rods 331 are extruded for the first time, the first supporting rods 331 are forced to move towards the direction close to the limiting plates 31, meanwhile, the upper end and the lower end of the first supporting rods 331 positioned in the limiting plates 31 synchronously move up and down in the limiting plates 31, and when the hinge areas of the first supporting rods 331 are extruded, the hydraulic cylinders 332 synchronously abut against the middle end positions of the two sides of the round apparatus;
then, when the first supporting rod 331 moves up and down at one end inside the limiting plate 31, the toothed plate 333 is driven to move, so that the toothed plate 333 drives the half gear shaft 61 to rotate first, the half gear shaft 61 drives one end of the chain 62 to wind around the surface thereof, so that the other end of the chain pulls the supporting block 64 and extrudes the middle end area of the locking block 65, and the supporting block moves back to back until one end inside the first telescopic connecting rod 42 is separated outwards, thereby releasing the locking effect on the first telescopic connecting rod 42; the toothed plate 333 continuously moves upwards to drive the straight gear shaft 41 again to drive the first telescopic connecting rod 42, the return-shaped groove plate 43 and the pushing component 5 to turn downwards by taking the straight gear shaft 41 as an axis, the two clamping plates 51 can firstly contact two sides of the circular instrument, the two clamping plates 51 are forced to move oppositely through the inclined planes of the surfaces until the two clamping plates move to two side walls of the circular instrument, the clamping plates 51 apply extrusion force to the outer wall of the circular instrument through the elastic compression of the second spring telescopic tube 54 and are in contact with the outer wall of the circular instrument, and at the moment, the return-shaped groove plate 43 is pushed by the outer wall of the circular instrument to move towards the direction close to the straight gear shaft 41, but the contact with the clamping plates 51 is not separated;
finally, the round apparatus is forced to be clamped on the concave-convex surfaces of the adjacent inner walls of the two clamping plates 51, the clamping plates 51 move oppositely, the second supporting rods 45 synchronously extrude the L-shaped supporting plates 52 to enable the L-shaped supporting plates 52 to overturn above the clamping plates 51 and contact with the inner walls of the round apparatus, as can be seen from fig. 1 and 3, the clamping plates 51 and the L-shaped supporting plates 52 on the upper side and the lower side of the two limiting plates 31 are all round, the round apparatus can be simultaneously pressed and pressed from four corners, the clamping plates 51 oppositely extrude and limit the two side walls on the four corners of the round apparatus, the L-shaped supporting plates 52 synchronously extend to the inside of the round apparatus and limit and press the inside of the round apparatus, the L-shaped supporting plates are firmly pressed through the two first supporting rods 331 and the hydraulic cylinders 332, and after the clamping is finished, the control cabinet 1 and the turnover mechanism 2 are driven by the computer programming control system to enable the round apparatus clamped by the mechanical clamping piece 3 to overturn in multiple degrees, and the round apparatus clamped by the mechanical clamping piece 3 is processed and processed conveniently.
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 (10)
1. The utility model provides an apparatus upset manipulator of multi freedom, includes drive control cabinet (1), sets up tilting mechanism (2) on drive control cabinet (1), its characterized in that: further comprises:
the mechanical clamping piece (3) is connected to the top of the turnover mechanism (2) in a sliding manner, and an instrument is clamped inside the mechanical clamping piece (3);
the movable module (4) is arranged on the upper side and the lower side of the inner cavity of the mechanical clamping piece (3), and one end far away from the mechanical clamping piece (3) is in abutting connection with the pushing component (5);
the mechanical clamping piece (3) comprises a limiting plate (31), an arc groove (32) which is formed in the limiting plate (31) and is movably connected with the movable module (4) on the inner wall, and a collision piece (33) which is arranged in the middle of the limiting plate (31) and is used for collision of an instrument, wherein the collision piece (33) comprises a first supporting rod (331) formed by hinging an upper adjacent part and a lower adjacent part, a hydraulic cylinder (332) which is connected with the hinging parts of the two first supporting rods (331), and a toothed plate (333) which is arranged at the top of the first supporting rod (331);
the movable module (4) comprises a spur gear shaft (41) which is meshed with the toothed plate (333) and is connected with the inside of the limiting plate (31) through a bearing, a second telescopic connecting rod (44) which is connected with the inside of the arc groove (32) in a sliding manner, a return groove plate (43) which is connected with the second telescopic connecting rod (44) and is in abutting connection with the pushing component (5) and a second abutting rod (45);
the pushing component (5) comprises a clamping plate (51) movably connected to the inner cavity of the return groove plate (43), one end, far away from the return groove plate (43), of the clamping plate (51) is hinged with an L-shaped retaining plate (52), and the outer wall of the L-shaped retaining plate is in abutting connection with the second retaining rod (45).
2. The multiple degree of freedom instrument flip manipulator of claim 1 wherein: a locking mechanism (6) is arranged on one side wall of the toothed plate (333) far away from the straight gear shaft (41);
the locking mechanism (6) comprises a half gear shaft (61) which is connected inside the limiting plate (31) through a bearing and is meshed with the toothed plate (333), a chain (62) is wound on the outer wall of the half gear shaft (61), one end, far away from the half gear shaft (61), of the chain (62) is fixedly connected with a supporting block (64), and one end, close to the chain (62), of the supporting block (64) is in abutting connection with a locking block (65);
a first spring (63) is elastically supported between the chain (62) and the limiting plate (31), and a reset spring piece is arranged in the connection area of the half gear shaft (61) and the limiting plate (31).
3. The multiple degree of freedom instrument flip manipulator of claim 1 wherein: a first spring telescopic pipe (334) is elastically supported between the toothed plate (333) and the limiting plate (31), one end of the first supporting rod (331) positioned inside the limiting plate (31) is connected with the inner wall of the limiting plate (31) in a sliding mode, and the two first supporting rods (331) are in a 'shape'.
4. The multiple degree of freedom instrument flip manipulator of claim 1 wherein: the straight gear shaft (41) is provided with a first telescopic connecting rod (42) hinged with the return groove plate (43), and one end, far away from the straight gear shaft (41), of the first telescopic connecting rod (42) is connected with the locking block (65) in a clamping mode.
5. The multiple degree of freedom instrument flip manipulator of claim 1 wherein: one end of the second telescopic connecting rod (44) close to the L-shaped retaining plate (52) is connected with the bearing of the back-shaped groove plate (43), and one end of the second telescopic connecting rod (44) far away from the C-shaped block (55) is fixedly connected with the second retaining rod (45).
6. The multiple degree of freedom instrument flip manipulator of claim 1 wherein: one end of the second supporting rod (45) close to the clamping plate (51) is Z-shaped, grooves are formed in two sides of the inner cavity of the back-shaped groove plate (43), and the inner wall of each groove is movably connected with the clamping plate (51).
7. The multiple degree of freedom instrument flip manipulator of claim 1 wherein: an arc-shaped spring telescopic pipe (53) is elastically supported between the L-shaped retaining plate (52) and the clamping plate (51), and one end, far away from the second retaining rod (45), of the L-shaped retaining plate (52) is made of rubber.
8. The multiple degree of freedom instrument flip manipulator of claim 1 wherein: one end of the clamping plate (51) close to the L-shaped retaining plate (52) is an inclined plane, and one side wall of the clamping plate (51) far away from the arc-shaped spring telescopic pipe (53) is in a concave-convex arc shape and is made of rubber.
9. The multiple degree of freedom instrument flip manipulator of claim 1 wherein: a second spring telescopic tube (54) is elastically supported between the clamping plate (51) and the second supporting rod (45), and a C-shaped block (55) movably connected with the return groove plate (43) is arranged at one end, far away from the L-shaped supporting plate (52), of the clamping plate (51).
10. The multiple degree of freedom instrument flip manipulator of claim 2 wherein: the two ends of the supporting block (64) contacted with the locking block (65) are respectively provided with an oblique angle, the locking block (65) is composed of two groove plates with C-shaped shapes, and the two groove plates are elastically supported by a spring telescopic pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410113897.2A CN117733826B (en) | 2024-01-27 | 2024-01-27 | Multi-degree-of-freedom instrument overturning manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410113897.2A CN117733826B (en) | 2024-01-27 | 2024-01-27 | Multi-degree-of-freedom instrument overturning manipulator |
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| Publication Number | Publication Date |
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| CN117733826A true CN117733826A (en) | 2024-03-22 |
| CN117733826B CN117733826B (en) | 2024-06-11 |
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| CN202410113897.2A Active CN117733826B (en) | 2024-01-27 | 2024-01-27 | Multi-degree-of-freedom instrument overturning manipulator |
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|---|---|---|---|---|
| JPH02274489A (en) * | 1989-04-13 | 1990-11-08 | Toray Eng Co Ltd | Chuck device |
| US20160346887A1 (en) * | 2015-06-01 | 2016-12-01 | Citic Dicastal Co., Ltd | Vehicle wheel positioning device |
| CN208759598U (en) * | 2018-08-16 | 2019-04-19 | 汇大机械制造（湖州）有限公司 | A kind of Double rotation axle mechanical arm for end cover of engine production |
| CN113020542A (en) * | 2021-02-26 | 2021-06-25 | 李格腾 | Investment casting shell-making manipulator |
| CN214489659U (en) * | 2020-10-22 | 2021-10-26 | 苏州工业园区通易机械有限公司 | Valve material positioning structure for automatic cutting machine |
| CN115302534A (en) * | 2022-07-21 | 2022-11-08 | 武汉海王新能源工程技术有限公司 | Gripping apparatus and preferred unloading subassembly of going up |
| CN115922398A (en) * | 2023-02-17 | 2023-04-07 | 安徽重诺压缩机制造有限公司 | Frock clamp is used in processing of air compressor machine cylinder body |
| CN117207236A (en) * | 2023-10-16 | 2023-12-12 | 南京虎恒智能科技有限公司 | Self-adaptive multi-angle clamping device |
-
2024
- 2024-01-27 CN CN202410113897.2A patent/CN117733826B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02274489A (en) * | 1989-04-13 | 1990-11-08 | Toray Eng Co Ltd | Chuck device |
| US20160346887A1 (en) * | 2015-06-01 | 2016-12-01 | Citic Dicastal Co., Ltd | Vehicle wheel positioning device |
| CN208759598U (en) * | 2018-08-16 | 2019-04-19 | 汇大机械制造（湖州）有限公司 | A kind of Double rotation axle mechanical arm for end cover of engine production |
| CN214489659U (en) * | 2020-10-22 | 2021-10-26 | 苏州工业园区通易机械有限公司 | Valve material positioning structure for automatic cutting machine |
| CN113020542A (en) * | 2021-02-26 | 2021-06-25 | 李格腾 | Investment casting shell-making manipulator |
| CN115302534A (en) * | 2022-07-21 | 2022-11-08 | 武汉海王新能源工程技术有限公司 | Gripping apparatus and preferred unloading subassembly of going up |
| CN115922398A (en) * | 2023-02-17 | 2023-04-07 | 安徽重诺压缩机制造有限公司 | Frock clamp is used in processing of air compressor machine cylinder body |
| CN117207236A (en) * | 2023-10-16 | 2023-12-12 | 南京虎恒智能科技有限公司 | Self-adaptive multi-angle clamping device |
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|---|---|
| CN117733826B (en) | 2024-06-11 |
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