CN210210452U

CN210210452U - Novel adjustable manipulator

Info

Publication number: CN210210452U
Application number: CN201921045186.7U
Authority: CN
Inventors: Jianghong Pu; 浦江宏
Original assignee: Liuzhou Zhongming Robot Co ltd
Current assignee: Liuzhou Zhongming Robot Co ltd
Priority date: 2019-07-05
Filing date: 2019-07-05
Publication date: 2020-03-31
Anticipated expiration: 2029-07-05

Abstract

The utility model discloses a novel adjustable manipulator, which comprises a first driving unit, a second driving unit, a third driving unit and a grasping unit; the first driving unit comprises a first rotating shaft and a first bevel gear; the second driving unit comprises a first sleeve and a second bevel gear which are sleeved on the periphery of the first rotating shaft; the third driving unit comprises a second sleeve sleeved on the periphery of the first sleeve, a first mounting frame and a second mounting frame, the second sleeve, the first mounting frame and the second mounting frame are respectively connected with a third bevel gear and a fourth bevel gear, the third bevel gear is meshed with the first bevel gear, the fourth bevel gear is meshed with the second bevel gear, and a sliding sleeve is fixed on the outer edge of the fourth bevel gear; the grabbing unit comprises a second rotating shaft inserted in the sliding sleeve, a fifth bevel gear fixed at one end of the second rotating shaft and a grabbing hand fixed at the other end of the second rotating shaft, and the fifth bevel gear is in meshing transmission with the third bevel gear. The utility model discloses can replace the heavy work of people in order to realize mechanization and the automation of production.

Description

Novel adjustable manipulator

Technical Field

The utility model relates to an automatic change smart machine technical field, especially a novel adjustable manipulator.

Background

The full automation of the production line and the connection and butt joint of the production lines of all sections are important factors influencing the production efficiency. On the production line of many factory buildings at present, although the production process of single part is the automation process, by special machining completely, when the part that the processing was accomplished drops into next production line again, because technical constraint, generally all by the manual work take or carry, consequently only be semi-automatization production, influenced the flow process ability of the efficiency of production and whole production line greatly, need extra field personnel to go to specially be responsible for supervise and watch and transport the transfer, it is time-consuming and arduous. In addition, in some harsh or hazardous environments, field personnel are not well suited to long supervision or work, and therefore automated machinery is required to effect the transfer of replacement articles.

SUMMERY OF THE UTILITY MODEL

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and in the abstract of the specification and the title of the application to avoid obscuring the purpose of this section, the abstract of the specification and the title of the application, and such simplifications or omissions are not intended to limit the scope of the invention.

The present invention has been made in view of the above and/or other problems occurring in the prior art semi-automatic production lines.

Therefore, one of the objects of the present invention is to provide a new adjustable manipulator which can replace the heavy labor of a person to achieve the mechanization and automation of production.

In order to solve the technical problem, the utility model provides a following technical scheme: a novel adjustable manipulator comprises a first driving unit, a second driving unit, a third driving unit and a grasping unit; the first driving unit comprises a first rotating shaft and a first bevel gear fixed at the outer end of the first rotating shaft; the second driving unit comprises a first sleeve and a second bevel gear which are sleeved on the periphery of the first rotating shaft and are integrated, and the second bevel gear is fixed at the outer end of the first sleeve; the third driving unit comprises a second sleeve sleeved on the periphery of the first sleeve, and a first mounting frame and a second mounting frame which are arranged at the outer end of the second sleeve and are opposite to each other, wherein a third bevel gear and a fourth bevel gear which are opposite to each other are respectively connected to the first mounting frame and the second mounting frame, the third bevel gear is in meshing transmission with the first bevel gear, and the fourth bevel gear is in meshing transmission with the second bevel gear; a support rod is fixed at the outer edge of the fourth bevel gear, and a sliding sleeve is fixed at the tail end of the support rod; the grasping unit comprises a second rotating shaft inserted in the sliding sleeve, a fifth bevel gear fixed at one end of the second rotating shaft and a grasping hand fixed at the other end of the second rotating shaft, and the fifth bevel gear and the third bevel gear are in meshing transmission.

As the utility model discloses a novel an optimal selection scheme of adjustable manipulator, wherein: the second driving unit has a first passage inside fitted to the outer diameter of the cross section of the first shaft, and the first shaft is relatively rotatable in the first passage.

As the utility model discloses a novel an optimal selection scheme of adjustable manipulator, wherein: the second sleeve has a second passage therein that fits the outer diameter of the cross-section of the first sleeve, the first sleeve being capable of relative rotation within the second passage.

As the utility model discloses a novel an optimal selection scheme of adjustable manipulator, wherein: the first bevel gear, the third bevel gear and the fifth bevel gear have the same specification.

As the utility model discloses a novel an optimal selection scheme of adjustable manipulator, wherein: the second bevel gear is the same as the fourth bevel gear in specification.

As the utility model discloses a novel an optimal selection scheme of adjustable manipulator, wherein: the outer side wall of the first rotating shaft is provided with a transverse first limiting ring, and the inner side wall of the first sleeve is provided with a first annular groove matched with the first limiting ring; the outer side wall of the first sleeve is provided with a transverse second limiting ring, and the inner side wall of the second sleeve is provided with a second annular groove matched with the second limiting ring.

As the utility model discloses a novel an optimal selection scheme of adjustable manipulator, wherein: the outer end symmetry of second pivot is provided with first spliced pole and second spliced pole, grab the hand including first clamping part and the second clamping part that the symmetry set up, first clamping part through first articulated point with first spliced pole is articulated, the second clamping part through second articulated point with the second spliced pole is articulated.

As the utility model discloses a novel an optimal selection scheme of adjustable manipulator, wherein: the first clamping part is divided into a first claw and a first tail part by the first hinge point, the included angle between the first claw and the first tail part is an acute angle, and an embedding groove is formed in the first tail part; the second clamping part is divided into a second claw and a second tail part by the first hinge point, an included angle between the second claw and the second tail part is an acute angle, and the second tail part penetrates through the caulking groove and forms a cross point with the first tail part.

As the utility model discloses a novel an optimal selection scheme of adjustable manipulator, wherein: a first outward extending rod is further fixed on the outer side of the first claw and connected with the first connecting column through a first stretching piece; and a second external extension rod is further fixed on the outer side of the second claw and is connected with the second connecting column through a second stretching piece.

As the utility model discloses a novel an optimal selection scheme of adjustable manipulator, wherein: the grasping hand further comprises a traction piece, and the traction piece comprises a coil sleeved at the intersection point and a traction wire fixed at the tail part of the coil.

The utility model has the advantages that: the utility model discloses a spatial position and the motion stroke of grabbing the unit can indirect control through the control to first drive unit, second drive unit or third drive unit for snatch, transport the article according to fixed procedure, consequently can replace the heavy work of people in order to realize the mechanization and the automation of production, can operate under harmful environment in order to protect personal safety.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor. Wherein:

fig. 1 is a detailed view of the whole structure and a part structure of the novel adjustable manipulator.

Fig. 2 is a schematic view of the sweep stroke of the novel adjustable manipulator.

Fig. 3 is an exploded view of the novel adjustable manipulator.

Fig. 4 is a top view, a cross-sectional view and a detail view of a portion of the novel adjustable robot.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying the present invention are described in detail below with reference to the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be implemented in other ways different from the specific details set forth herein, and one skilled in the art may similarly generalize the present invention without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Furthermore, the references herein to "one embodiment" or "an embodiment" refer to a particular feature, structure, or characteristic that may be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Referring to fig. 1 to 4, in order to provide an embodiment of the present invention, the embodiment provides a novel adjustable manipulator, which includes a first driving unit 100, a second driving unit 200, a third driving unit 300, and a grasping unit 400, and the spatial position and the movement stroke of the grasping unit 400 can be indirectly controlled by controlling the first driving unit 100, the second driving unit 200, or the third driving unit 300.

The first driving unit 100 includes a longitudinal first rotating shaft 101 and a first bevel gear 102 fixed to an outer end of the first rotating shaft 101. The utility model discloses set for: the "outer end" in the present invention means an end corresponding to the grasping unit 400, and the other end is the "inner end".

The second driving unit 200 includes a first sleeve 201 and a second bevel gear 202 integrally formed with the first shaft 101, the second bevel gear 202 being fixed to an outer end of the first sleeve 201. Specifically, the second driving unit 200 has a first passage 203 formed therein to fit to the outer diameter of the cross section of the first rotating shaft 101, and the first rotating shaft 101 passes through the first passage 203 and is capable of relative rotation within the first passage 203.

The third driving unit 300 includes a second sleeve 301 covering the first sleeve 201, and a first mounting bracket 302 and a second mounting bracket 303 disposed at outer ends of the second sleeve 301 and facing each other. Wherein the second sleeve 301 has a second passage 301a therein which fits the outer diameter of the cross-section of the first sleeve 201, and the first sleeve 201 passes through the second passage 301a and is capable of relative rotation within the second passage 301 a. The first mounting frame 302 and the second mounting frame 303 are symmetrically arranged folded plate structures, one end of each of the first mounting frame 302 and the second mounting frame 303 is fixed with the first sleeve 201, and the other ends of the first mounting frame 302 and the second mounting frame 303 are parallel to each other after being bent.

The first mounting frame 302 and the second mounting frame 303 are respectively connected with a third bevel gear 304 and a fourth bevel gear 305 which are opposite to each other. The third bevel gear 304 is mounted on the first mounting frame 302 and can rotate; a fourth bevel gear 305 is mounted on the second mounting bracket 303 and is capable of rotation.

The third bevel gear 304 is meshed with the first bevel gear 102 to form transmission; the fourth bevel gear 305 is intermeshed with the second bevel gear 202 to form the transmission. In addition, a strut 306 is fixed on the outer edge of the fourth bevel gear 305, and a sleeve-shaped hollow sliding sleeve 307 is fixed at the tail end of the strut 306.

In the present invention, the grasping unit 400 includes a second rotating shaft 401 inserted into the sliding sleeve 307, a fifth bevel gear 402 fixed to one end of the second rotating shaft 401, and a grasping hand 403 fixed to the other end of the second rotating shaft 401. The second rotating shaft 401 can rotate relatively in the sliding sleeve 307; the fifth bevel gear 402 and the third bevel gear 304 are meshed with each other to form transmission; the grasping hand 403 is an end mechanism capable of grasping an article.

It should be noted that: the first bevel gear 102, the third bevel gear 304 and the fifth bevel gear 402 in the utility model have the same specification; the second bevel gear 202 is the same size as the fourth bevel gear 305.

Further, for preventing that first pivot 101 from taking place relative slip in first sleeve 201, preventing that first sleeve 201 from taking place relative slip in second sleeve 301, the utility model discloses still include following technical scheme:

the outer side wall of the first rotating shaft 101 has a transverse first limiting ring, the first limiting ring is a circular convex structure, and the inner side wall of the first sleeve 201 has a first annular groove matched with the first limiting ring. The first limiting ring is embedded in the first annular groove, so that the first rotating shaft 101 can only rotate circumferentially in the first sleeve 201, but cannot slide longitudinally.

Meanwhile, the outer side wall of the first sleeve 201 is provided with a transverse second limiting ring, which is the same as the first limiting ring, the second limiting ring is also a circular convex structure, and the inner side wall of the second sleeve 301 is provided with a second annular groove matched with the second limiting ring. The second stop collar fits into the second annular groove such that the first sleeve 201 can only rotate circumferentially, but not slide longitudinally, within the second sleeve 301. Of course, the third driving unit 300 itself can also be rotated relative to the first casing 201.

Further, the outer sidewall of the second rotating shaft 401 has a transverse third limiting ring, and the inner sidewall of the sliding sleeve 307 has a third annular groove for fitting the third limiting ring. The third limiting ring is embedded in the third annular groove, so that the second rotating shaft 401 can only rotate circumferentially in the sliding sleeve 307, but cannot slide longitudinally.

In summary, the spatial position of the grasping unit 400 and the distal grasping hand 403 thereof can be indirectly controlled by rotating one or more of the first rotating shaft 101, the first sleeve 201, and the second sleeve 301. For example, the embodiment of the stroke control of the gripping hand 403 is performed by:

first, only the first rotating shaft 101 is rotated. The first rotating shaft 101 can drive the first bevel gear 102 to rotate, and as the first bevel gear 102 is meshed with the third bevel gear 304 and the third bevel gear 304 is meshed with the fifth bevel gear 402, torque can be transmitted to the second rotating shaft 401 through transmission, so that the holding hand 403 rotates in the circumferential direction;

second, only the first sleeve 201 is rotated. The first sleeve 201 can drive the second bevel gear 202 to rotate, and the second bevel gear 202 is meshed with the fourth bevel gear 305, so that the fourth bevel gear 305 and the support rod 306 can drive the whole gripping unit 400 to perform the sweeping motion; meanwhile, because the third bevel gear 304 is fixed, the third bevel gear 304 can guide the fifth bevel gear 402 to rotate in the circumferential direction while performing a sweeping motion;

third, only the second sleeve 301 is rotated. Since the first bevel gear 102 and the second bevel gear 202 are fixed at this time, the third bevel gear 304 and the fourth bevel gear 305 engaged with them respectively can relatively rotate along with the first mounting bracket 302 and the second mounting bracket 303; in this way, the movement of the second mounting frame 303 and the fourth bevel gear 305 are combined to cause the overall spatial tilting movement of the grasping unit 400, and at the same time, the third bevel gear 304 can drive the fifth bevel gear 402 to rotate circumferentially;

and fourthly, simultaneously rotating the first rotating shaft 101 and the first sleeve 201, and reversing the rotation direction. The rotation of the first sleeve 201 can drive the whole grasping unit 400 to generate the sweeping motion; because the first rotating shaft 101 rotates in the opposite direction relative to the first sleeve 201, and the first bevel gear 102, the third bevel gear 304 and the fifth bevel gear 402 have the same specification, the opposite rotation of the first bevel gear 102 can "cancel" the original guiding function of the third bevel gear 304, so that the fifth bevel gear 402 cannot rotate when sweeping along with the whole gripping unit 400, and the whole gripping unit 400 can perform sweeping motion at this time.

Because the first rotating shaft 101, the first sleeve 201 and the second sleeve 301 have many combined operation modes and are optionally collocated, a person skilled in the art can reasonably judge according to the determined transmission logic to obtain the movement stroke of other combined modes, which is not described in detail in this section.

Based on the foregoing, novel adjustable manipulator can be applied to each production and processing workshop in each field, it can be with an article by a place transport to another place, and the stroke of transport can carry out the selective control according to actual need. Further, in the present invention, the rotation control of the "first rotating shaft 101, the first sleeve 201 and the second sleeve 301" can be driven by the rack: the inner ends of the first rotating shaft 101, the first sleeve 201 and the second sleeve 301 are respectively provided with a circle of transverse gears, the three gears respectively correspond to a transverse rack meshed with the three gears, and the corresponding racks can be driven by a linear driving mechanism (such as an air cylinder, an electric push rod and the like) to enable the corresponding gears to rotate, so that the rotation control of the first rotating shaft 101, the first sleeve 201 and the second sleeve 301 is realized. In addition, other modes that can drive first pivot 101, first sleeve 201 and second sleeve 301 rotatory are also in the protection scope of the utility model, and this time is not repeated.

Further, the outer end of the second rotating shaft 401 is symmetrically provided with a first connecting column 401a and a second connecting column 401b which have the same structure, and both are convex columnar structures and form a V shape together.

Meanwhile, the grip hand 403 includes a first clamping portion 403a and a second clamping portion 403b which are symmetrically arranged, and the structural forms of the two are the same. The first clamping portion 403a is hinged to the first connecting column 401a through a first hinge point J-1 thereon, and the second clamping portion 403b is hinged to the second connecting column 401b through a second hinge point J-2 thereon.

Specifically, the first clamping portion 403a is divided into a first claw 403a-1 and a first tail portion 403a-2 by a first hinge point J-1, an included angle between the first claw 403a-1 and the first tail portion 403a-2 is an acute angle, and a caulking groove 403a-3 is formed in the first tail portion 403 a-2. The second clamping portion 403b is divided into a second claw 403b-1 and a second tail 403b-2 by a first hinge point J-1, and the included angle between the two parts is an acute angle. The second tail portion 403b-2 passes through the insertion slot 403a-3 and forms an active cross structure together with the first tail portion 403a-2, and the intersection point is defined as the intersection point X.

Further, a first outward extending rod 403a-4 is fixed on the outer side of the first claw 403a-1, and the first outward extending rod 403a-4 is connected with the first connecting column 401a through a first stretching piece 403 c; a second external extension bar 403b-3 is fixed on the outer side of the second claw 403b-1, and the second external extension bar 403b-3 is connected with the second connecting column 401b through a second stretching piece 403 d. The first stretching member 403c and the second outward extending rod 403b-3 are both tension springs.

Further, the grasping hand 403 further includes a pulling member 403e, and the pulling member 403e includes a coil 403e-1 sleeved at the intersection point X and a pulling wire 403e-2 fixed to the rear portion of the coil 403 e-1. Therefore, when the pull wire 403e-2 is pulled by an external force, the coil 403e-1 can pull the intersection point X to move, and the first jaw 403a-1 and the second jaw 403b-1 tend to engage and hold each other. If the external force applied to the pulling wire 403e-2 is released, the first jaw 403a-1 and the second jaw 403b-1 have a tendency to open due to the resilient action of the first stretching member 403c and the second external extension bar 403 b-3.

Preferably, the second shaft 401 has a thread burying channel 401c inside, and the traction thread 403e-2 passes through the thread burying channel 401c, which is beneficial to transmission and guidance of the pulling force. The utility model discloses in, exert at the terminal pulling force of pull wire 403e-2 and can adopt sharp actuating mechanism to control the realization or adopt other existing mechanism that can produce the traction to realize, the here is not repeated. The motion of the linear driving mechanism of the utility model can be controlled by a computer, and various expected operation motion strokes can be completed through programming, so as to grab and carry objects according to a fixed program. This procedure can set up according to the actual demand, not the utility model discloses an within the scope of protection.

It should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.

Claims

1. The utility model provides a novel adjustable manipulator which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the first driving unit (100) comprises a first rotating shaft (101) and a first bevel gear (102) fixed at the outer end of the first rotating shaft (101);

the second driving unit (200) comprises a first sleeve (201) and a second bevel gear (202) which are sleeved on the periphery of the first rotating shaft (101) and are integrated, and the second bevel gear (202) is fixed at the outer end of the first sleeve (201);

the third driving unit (300) comprises a second sleeve (301) sleeved on the periphery of the first sleeve (201) and a first mounting frame (302) and a second mounting frame (303) which are arranged at the outer end of the second sleeve (301) and are opposite to each other, wherein a third bevel gear (304) and a fourth bevel gear (305) which are opposite to each other are respectively connected onto the first mounting frame (302) and the second mounting frame (303), the third bevel gear (304) is in meshing transmission with the first bevel gear (102), and the fourth bevel gear (305) is in meshing transmission with the second bevel gear (202); a support rod (306) is fixed on the outer edge of the fourth bevel gear (305), and a sliding sleeve (307) is fixed at the tail end of the support rod (306); and the number of the first and second groups,

the gripping unit (400) comprises a second rotating shaft (401) inserted in the sliding sleeve (307), a fifth bevel gear (402) fixed at one end of the second rotating shaft (401), and a gripping hand (403) fixed at the other end of the second rotating shaft (401), wherein the fifth bevel gear (402) is in meshing transmission with the third bevel gear (304).

2. The novel adjustable manipulator of claim 1, characterized in that: the second driving unit (200) is internally provided with a first channel (203) matched with the outer diameter of the cross section of the first rotating shaft (101), and the first rotating shaft (101) can rotate relatively in the first channel (203).

3. The novel adjustable manipulator of claim 1, characterized in that: the second sleeve (301) is internally provided with a second channel (301a) matched with the outer diameter of the cross section of the first sleeve (201), and the first sleeve (201) can rotate relatively in the second channel (301 a).

4. The novel adjustable manipulator of claim 1, characterized in that: the first bevel gear (102), the third bevel gear (304) and the fifth bevel gear (402) have the same specification.

5. The novel adjustable manipulator of claim 1, characterized in that: the second bevel gear (202) is the same size as the fourth bevel gear (305).

6. The novel adjustable manipulator of claim 1, characterized in that: the outer side wall of the first rotating shaft (101) is provided with a transverse first limiting ring, and the inner side wall of the first sleeve (201) is provided with a first annular groove matched with the first limiting ring;

the outer side wall of the first sleeve (201) is provided with a transverse second limit ring, and the inner side wall of the second sleeve (301) is provided with a second annular groove matched with the second limit ring.

7. The novel adjustable manipulator of claim 1, characterized in that: the outer end of the second rotating shaft (401) is symmetrically provided with a first connecting column (401a) and a second connecting column (401 b);

the grasping hand (403) comprises a first clamping part (403a) and a second clamping part (403b) which are symmetrically arranged, the first clamping part (403a) is hinged with the first connecting column (401a) through a first hinge point (J-1), and the second clamping part (403b) is hinged with the second connecting column (401b) through a second hinge point (J-2).

8. The novel adjustable manipulator of claim 7, characterized in that: the first clamping part (403a) is divided into a first claw (403a-1) and a first tail part (403a-2) by the first hinge point (J-1), the included angle between the first claw and the first tail part is an acute angle, and a caulking groove (403a-3) is arranged in the first tail part (403 a-2);

the second clamping part (403b) is divided into a second claw (403b-1) and a second tail part (403b-2) by the first hinge point (J-1), the included angle between the second claw and the second tail part is an acute angle, and the second tail part (403b-2) penetrates through the caulking groove (403a-3) and forms a cross point (X) with the first tail part (403 a-2).

9. The novel adjustable manipulator of claim 8, characterized in that: a first externally extending rod (403a-4) is further fixed on the outer side of the first claw (403a-1), and the first externally extending rod (403a-4) is connected with the first connecting column (401a) through a first stretching piece (403 c);

a second external extension rod (403b-3) is further fixed on the outer side of the second claw (403b-1), and the second external extension rod (403b-3) is connected with the second connecting column (401b) through a second stretching piece (403 d).

10. The novel adjustable manipulator of claim 8, characterized in that: the grasping hand (403) further comprises a traction member (403e), and the traction member (403e) comprises a coil (403e-1) sleeved at the intersection point (X) and a traction wire (403e-2) fixed at the tail part of the coil (403 e-1).