CN210879732U

CN210879732U - Manipulator for robot

Info

Publication number: CN210879732U
Application number: CN201921493892.8U
Authority: CN
Inventors: 郑金芳
Original assignee: Lishui Zhiyuan Technology Co ltd
Current assignee: Wuxi Jufang electrical machinery equipment Technology Co., Ltd
Priority date: 2019-09-09
Filing date: 2019-09-09
Publication date: 2020-06-30
Anticipated expiration: 2029-09-09

Abstract

The utility model provides a manipulator for robot, includes the bottom plate, both ends the latter half respectively fixed mounting have the spliced pole about the bottom plate bottom, spliced pole bottom fixed mounting has the box, the utility model discloses profitable effect is: the utility model discloses simple structure, easy and simple to handle, possess and press from both sides tight effectual advantage, the current robot is with the manipulator not good problem of stable effect when pressing from both sides tight thing material, can carry out the self-adaptation to the material and press from both sides tightly, prevent to drop after the high temperature material cooling, this step that just can carry out the centre gripping after having saved and waiting for the material cooling, can prevent to easily take place to drop at the cylindrical material in-process of letter sorting, cause the problem of damage to the incasement object, can also prevent that the material from falling behind and pounding subaerial, solve simultaneously to some longer objects, because the restriction of robot home range, hardly be in object focus position with the manipulator, cause unstable problem in the transport, and is simple and high-efficient, convenient and fast.

Description

Manipulator for robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a manipulator for robot.

Background

At present, a manipulator is an automatic operating device which can imitate certain action functions of a human hand and an arm and is used for grabbing, carrying an object or operating a tool according to a fixed program, and is characterized in that various expected operations can be completed through programming, and the manipulator has the advantages of both a human and a manipulator robot in structure and performance, is an industrial robot which appears at the earliest and is a modern robot which appears at the earliest, can replace heavy labor of a human to realize mechanization and automation of production, can operate under a harmful environment to protect personal safety, is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like, and needs to be used for the manipulator when the robot grabs materials so as to grab the materials, the existing manipulator for the robot is poor in stability effect when clamping, so that the manipulator for the robot when the robot grabs the materials, the material appears droing easily, lead to the material to appear breaking the phenomenon, manufacturing cost has been increased, thereby the practicality of robot manipulator has been reduced, and because expend with heat and contract with cold's reason when centre gripping high temperature material, the volume reduces after the material cooling, also just can take off the manipulator, in addition, the operation is accomplished to the in-process that also adopts the manipulator usually at the material letter sorting, because the article is outside except the rectangle box, cylindrical box in addition, when meetting cylindrical material at the in-process of letter sorting, because area of contact reduces, lead to easily taking place to drop at the in-process of letter sorting, cause the damage to the incasement object, simultaneously to some longer objects, because the restriction of robot home range, hardly be in object barycenter position with the manipulator, cause unstable in the transport.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problem that above-mentioned prior art exists, the utility model provides a manipulator for robot, possess and press from both sides tight effectual advantage, the current not good problem of stable effect when manipulator for robot presss from both sides tight thing material has been solved, can carry out self-adaptation clamp to the material and press from both sides tightly, prevent that high temperature material from dropping after cooling, can prevent to easily take place to drop at the cylindrical material in-process of letter sorting, cause the problem of damage to the incasement object, can also prevent that the material from dropping and pounding subaerial after, solve simultaneously to some longer objects, because the restriction of robot home range, hardly be in object focus position with the manipulator, cause unstable problem in the transport.

The utility model provides a technical scheme that its technical problem adopted: the manipulator for the robot comprises a bottom plate, wherein connecting columns are respectively and fixedly installed at the lower half parts of the left end and the right end of the bottom plate, a box body is fixedly installed at the bottom of the connecting columns, lifting cylinders are respectively and fixedly installed at the lower half parts of the middle parts of the left end and the right end of the box body, lifting grooves are respectively arranged at the upper half parts of the inner walls of the left end and the right end of the box body, a triangular push plate with a downward bevel edge is arranged inside the upper half part of the box body, connecting rods are respectively and fixedly installed at the left end and the right end of the top of the triangular push plate, the left end and the right end of the top of the triangular push plate penetrate through the lifting grooves and then are fixedly connected with output shafts at the tops of the lifting cylinders, symmetrically distributed sliding grooves are arranged at the middle parts of the, the front half part and the rear half part of the right end of the sliding rod are respectively fixedly provided with a push rod with the right end penetrating through the box body, the outer side of the push rod is connected with the right end of the box body in a sliding way, the right end of the push rod is fixedly provided with an adjusting box with the right end communicated with the outside, the right end of the adjusting box is fixedly provided with a concave plate, the front end, the rear end and the right end of the concave plate are communicated with the outside, the top and the bottom of the concave plate are respectively provided with a rotating groove, a rotating shaft is fixedly arranged between the rotating grooves, the outer side of the rotating shaft is rotatably connected with a clamping plate positioned in the concave plate, the inner wall of the left end of the adjusting box is fixedly provided with an adjusting cylinder, the output shaft of the adjusting cylinder penetrates through the inner wall of the left end of the concave plate, a movable ball is fixedly arranged at the output shaft of the adjusting cylinder, the movable ball is movably connected with one end, far away from the rotating shaft, of the clamping plate, and in conclusion, the triangular push plate in the facility is in a right-angled triangle shape.

For further improvement, the left end of the concave plate is fixedly provided with a fan, the right end of the fan is provided with an air pipe penetrating through the concave plate, and an air hole for guiding air is formed in the middle of the clamping plate.

Further perfecting, the front half part and the rear half part of the bottom plate are internally provided with telescopic grooves, the telescopic grooves are internally connected with lifting plates the tops and the bottoms of which pass through the telescopic grooves in a sliding manner, the tops and the bottoms of the lifting plates are respectively fixedly provided with a top plate and a connecting plate, the middle part of the bottom of the connecting plate is fixedly provided with an antiskid box, the bottoms of the front end and the rear end of the connecting plate are respectively fixedly provided with a supporting plate, the left end and the right end of the inner wall of the bottom of the antiskid box are respectively fixedly provided with a double-shaft motor, the front end and the rear end of the double-shaft motor are respectively provided with a lead screw, the lead screws penetrate through the inner walls of the front end and the rear end of the antiskid box and are rotationally connected with the supporting plates, the outer sides, promote cylinder top output shaft and lift bar fixed connection after passing the bottom plate, the antiskid ribbed tile is close to antiskid case one end array and is equipped with the external recess of intercommunication, both ends and recess inner wall fixed connection's fixed axle about recess the latter half fixed mounting, fixed axle outside torsional spring is connected with the board of raising that extends to outside the recess, recess inner wall bottom fixed mounting has and is used for will raising the post that supports into inclination of board.

The utility model discloses profitable effect is: the utility model discloses simple structure, easy and simple to handle, possess and press from both sides tight effectual advantage, the current robot is with the manipulator not good problem of stable effect when pressing from both sides tight thing material, can carry out the self-adaptation to the material and press from both sides tightly, prevent to drop after the high temperature material cooling, this step that just can carry out the centre gripping after having saved and waiting for the material cooling, can prevent to easily take place to drop at the cylindrical material in-process of letter sorting, cause the problem of damage to the incasement object, can also prevent that the material from falling behind and pounding subaerial, solve simultaneously to some longer objects, because the restriction of robot home range, hardly be in object focus position with the manipulator, cause unstable problem in the transport, and is simple and high-efficient, convenient and fast.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the middle box body of the present invention;

FIG. 3 is a sectional view taken along line A-A of FIG. 1;

fig. 4 is a schematic structural view of the middle lifting plate of the present invention;

fig. 5 is a schematic structural view of the middle pushing rod of the present invention.

Description of reference numerals: the lifting device comprises a bottom plate 1, a lifting cylinder 2, a lifting rod 3, an anti-skidding box 4, a screw 5, a lifting plate 6, a connecting plate 7, a top plate 8, a double-shaft motor 9, an anti-skidding plate 10, a connecting column 11, a lifting groove 12, a triangular pushing plate 13, a box body 14, an adjusting box 15, an adjusting cylinder 16, a concave plate 17, a clamping plate 18, a movable ball 19, a limiting block 20, an air hole 21, a rotating shaft 22, a rotating groove 23, a fan 24, a spring 25, a push rod 26, a sliding rod 27, a sliding groove 28, a lifting cylinder 29, a connecting rod 30, a fixed shaft 31, a groove 32, a lifting plate 33, a resisting column 34, a supporting plate 35, an air.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

with reference to figures 1, 2, 3, 5: the manipulator for the robot in the embodiment comprises a bottom plate 1, wherein the lower half parts of the left and right ends of the bottom plate 1 are respectively and fixedly provided with a connecting column 11, the bottom of the connecting column 11 is fixedly provided with a box body 14, the lower half parts of the left and right ends of the box body 14 are respectively and fixedly provided with a lifting cylinder 29, the upper half parts of the inner walls of the left and right ends of the box body 1 are respectively provided with a lifting groove 12, the inner part of the upper half part of the box body 14 is provided with a triangular push plate 13 with a downward bevel edge, the left and right ends of the top of the triangular push plate 13 are respectively and fixedly provided with a connecting rod 30, the left and right ends of the connecting rod penetrate through the lifting groove 12 and are fixedly connected with an output shaft at the top of the lifting cylinder 29, the middle parts of the inner walls of the front and back ends of the box, the limiting block 20 for limiting the sliding rod 27 is installed on the inner wall of the left end of the sliding groove 28, the front half part and the rear half part of the right end of the sliding rod 27 are respectively and fixedly provided with a push rod 26 with the right end penetrating through the box body 14, the outer side of the push rod 26 is in sliding connection with the right end of the box body 14, the right end of the push rod 26 is fixedly provided with an adjusting box 15 with the right end communicated with the outside, the right end of the adjusting box 15 is fixedly provided with a concave plate 17, the front end, the rear end, the right end and the right end of the concave plate 17 are communicated with the outside, the top and the bottom of the concave plate 17 are respectively provided with a rotating groove 23, a rotating shaft 22 is fixedly installed between the rotating grooves 23, the outer side of the rotating shaft 22 is rotatably connected with a clamping plate 18 positioned inside the concave plate 17, the inner wall of the left end of the adjusting box 15, the movable ball 19 is movably connected with one end of the clamping plate 18 far away from the rotating shaft 22.

Referring to FIG. 2: the left end of the concave plate 17 is fixedly provided with a fan 24, the right end of the fan 24 is provided with an air pipe 36 penetrating through the concave plate 17, and an air hole 21 for guiding air is formed in the middle of the clamping plate 18.

With reference to figures 1, 2, 3, 4, 5: the inner parts of the front half part and the rear half part of the bottom plate 1 are provided with telescopic grooves 37, the inner parts of the telescopic grooves 37 are connected with lifting plates 6 of which the tops and the bottoms penetrate through the telescopic grooves 37 in a sliding manner, the tops and the bottoms of the lifting plates 6 are respectively and fixedly provided with a top plate 8 and a connecting plate 7, the middle part of the bottom of the connecting plate 7 is fixedly provided with an antiskid box 4, the bottoms of the front end and the rear end of the connecting plate 7 are respectively and fixedly provided with a supporting plate 35, the left end and the right end of the inner wall of the bottom of the antiskid box 4 are respectively and fixedly provided with a double-shaft motor 9, the front end and the rear end of the double-shaft motor 9 are respectively provided with a lead screw 5, the lead screw 5 penetrates through the inner walls of the front end and the rear end of the antiskid box 4 and then is rotatably, 8 top fixed mounting of roof has lifting rod 3, 2 top output shafts of lift cylinder pass behind the bottom plate 1 with 3 fixed connection of lifting rod, antiskid ribbed tile 10 is close to 4 one end arrays of antiskid case and is equipped with the external recess 32 of intercommunication, recess 32 the latter half fixed mounting of recess 32 controls both ends and recess 32 inner wall fixed connection's fixed axle 31, fixed axle 31 outside torsional spring is connected with and extends to the outer board 33 that lifts of recess 32, recess 32 inner wall bottom fixed mounting has and is used for supporting into inclination's support post 34 with lifting board 33.

When the clamping device is used, the left end and the right end of the clamping plate 1 are fixed on a lifting mechanism, whether the surface of a material to be clamped is rectangular or arc is judged, if the surface is arc, the adjusting cylinder 16 is controlled to contract, the adjusting cylinder 16 contracts to drive the opposite end of the clamping plate 18 to move upwards, so that the clamping plate 18 is splayed to be attached to the surface of the arc-shaped material, then the lifting cylinder 29 is started to contract, the lifting cylinder 29 contracts to drive the connecting rod 30 to descend, the connecting rod 30 descends to drive the triangular push plate 13 to descend, the inclined edge of the triangular push plate 13 pushes the limiting block 20 to gradually approach towards the material until the material is clamped, in the process, the fan 24 can be started to blow off dust on the surface of the material, so that the phenomenon that the clamping of impurities is unstable is prevented, because the lifting cylinder 29 always has downward pressure on the triangular push plate 13, and when the volume of the, when the clamping plate 18 clamps an object, the lifting mechanism driving device integrally rises for a distance, at the moment, the lifting cylinder 2 contracts to drive the lifting rod 3 to descend, the lifting rod 3 descends to push the lifting plate 6 to descend, the lifting plate 6 descends to push the antiskid box 4 and the antiskid plate 10 to descend, then the double-shaft motor 9 operates to drive the screw 5 to rotate, the screw 5 rotates to drive the antiskid plate 10 to slide towards the material, when the antiskid plate 10 is close to the material, the lifting plate 33 which is in contact with the material is pushed back into the groove 32, the lifting plate 33 which is positioned below the material can support the edge of the material, and the ground and the material are prevented from being damaged by smashing when the material drops.

While the invention has been shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the appended claims.

Claims

1. The utility model provides a manipulator for robot, includes bottom plate (1), characterized by: bottom plate (1) bottom left and right sides both ends the latter half respectively fixed mounting have spliced pole (11), spliced pole (11) bottom fixed mounting has box (14), box (14) are controlled both ends middle part the latter half respectively fixed mounting have lift cylinder (29), box (14) are controlled both ends inner wall the first half and are equipped with lift groove (12) respectively, box (14) the first inside hypotenuse triangle push pedal (13) that is equipped with, both ends are fixed mounting respectively about triangle push pedal (13) top pass behind lift groove (12) with lift cylinder (29) top output shaft fixed connection's connecting rod (30), box (14) front and back both ends inner wall middle part is equipped with symmetric distribution's sliding tray (28), sliding tray (28) inside sliding connection has slide bar (27), fixed mounting has between slide bar (27) right-hand member and sliding tray (28) right-hand member inner wall to be located inside sliding tray (28) Spring (25), slide groove (28) left end inner wall is installed and is carried out spacing stopper (20) to slide bar (27), slide bar (27) right-hand member front half and latter half respectively fixed mounting have catch bar (26) that the right-hand member passed box (14), catch bar (26) outside and box (14) right-hand member sliding connection, catch bar (26) right-hand member fixed mounting has regulation box (15) of right-hand member and external intercommunication, regulation box (15) right-hand member fixed mounting has concave plate (17), both ends and right-hand member and external intercommunication around concave plate (17), concave plate (17) top and bottom are equipped with respectively and rotate groove (23), fixed mounting has pivot (22) between rotation groove (23), pivot (22) outside is rotated and is connected with grip block (18) that are located concave plate (17) inside, adjusting box (15) left end inner wall fixed mounting has adjusting cylinder (16), adjusting cylinder (16) output shaft passes concave plate (17) left end inner wall, adjusting cylinder (16) output shaft department fixed mounting has movable ball (19), pivot (22) one end swing joint is kept away from with grip block (18) to movable ball (19).

2. The robot manipulator according to claim 1, wherein: the novel wind guide plate is characterized in that a fan (24) is fixedly mounted at the left end of the concave plate (17), an air pipe (36) penetrating through the concave plate (17) is mounted at the right end of the fan (24), and an air hole (21) for guiding air is formed in the middle of the clamping plate (18).

3. The robot manipulator according to claim 1, wherein: the anti-skidding box is characterized in that telescopic grooves (37) are arranged in the front half part and the rear half part of the bottom plate (1), the telescopic grooves (37) are connected with lifting plates (6) with the tops and the bottoms penetrating through the telescopic grooves (37) in a sliding mode inside, a top plate (8) and a connecting plate (7) are fixedly arranged at the tops and the bottoms of the lifting plates (6) respectively, an anti-skidding box (4) is fixedly arranged in the middle of the bottom of the connecting plate (7), supporting plates (35) are fixedly arranged at the bottoms of the front end and the rear end of the connecting plate (7) respectively, double-shaft motors (9) are fixedly arranged at the left end and the right end of the inner wall of the bottom of the anti-skidding box (4) respectively, lead screws (5) are arranged at the front end and the rear end of the lead screws (5) and rotatably connected with the supporting plates (35) after penetrating through the inner walls of the, bottom plate (1) bottom is controlled both ends respectively fixed mounting and is located promotion cylinder (2) between box (14) and antiskid case (4), roof (8) top fixed mounting has lifting rod (3), promote cylinder (2) top output shaft pass bottom plate (1) back and lifting rod (3) fixed connection, antiskid ribbed tile (10) are close to antiskid case (4) one end array and are equipped with outside recess (32) of intercommunication, recess (32) the latter half fixed mounting has about both ends and recess (32) inner wall fixed connection's fixed axle (31), fixed axle (31) outside torsional spring connection has and extends to outside the recess (32) and lift board (33), recess (32) inner wall bottom fixed mounting has support post (34) that are used for will lifting board (33) and support into inclination.