CN211137192U

CN211137192U - Novel manipulator structure

Info

Publication number: CN211137192U
Application number: CN201922343214.XU
Authority: CN
Inventors: 徐峰; 范红梅; 张玉贤; 毛方; 刘俊成; 彭建行
Original assignee: Quzhou College of Technology
Current assignee: Quzhou College of Technology
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-07-31
Anticipated expiration: 2029-12-24

Abstract

The utility model discloses a novel manipulator structure, including controlling means, manipulator subassembly, draw-in groove and clamping structure, controlling means's below is equipped with the telescopic link, the telescopic link is in controlling means's bottom through the mode of inlaying connection, the manipulator subassembly is connected through the carousel in the bottom of telescopic link, the manipulator subassembly includes armed lever, pivot, draw-in groove, screw and mobile jib. This novel manipulator structure, through adding clamping structure in manipulator subassembly's inboard, better solution the manipulator functional relatively poor problem when using, if when the process of using needs smooth and the heavier work piece of weight in clamping surface, only need install clamping structure in the inside of armed lever, so when manipulator centre gripping work piece, can be laminated on the surface of work piece by the rubber slab, thereby the frictional property between lifting machine hand and the work piece, thereby make this manipulator can adapt to the work piece centre gripping work of different grade type, the functionality is stronger, comparatively practical.

Description

Novel manipulator structure

Technical Field

The utility model relates to a manipulator technical field specifically is a novel manipulator structure.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot can replace the heavy labor of people to realize the mechanization and automation of production, can operate under the harmful environment to protect the personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

Most of manipulator structures on the current market all are a hand body and correspond a work piece when using, can't carry out the adjustment of function according to the work piece of difference when the centre gripping, just need to change the manipulator that has anti-skidding function when needing the smooth weight of centre gripping surface heavier work piece, and is comparatively troublesome when using, and the functional is relatively poor, and is compatible not strong, and the manipulator structure of majority is comparatively loaded down with trivial details when installation and dismantlement simultaneously, and the staff of being not convenient for uses.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides a novel manipulator structure has solved the manipulator structure on the current market and has mostly been a hand body and correspond a work piece when using, can't carry out the adjustment of function according to the work piece of difference when the centre gripping, just need change the manipulator that has anti-skidding function when needing the work piece that the smooth weight in centre gripping surface is heavier, it is comparatively troublesome when using, the functionality is relatively poor, compatibility is not strong, the manipulator structure of majority is comparatively loaded down with trivial details when installing and dismantling simultaneously, the staff of being not convenient for carries out the problem of using.

(II) technical scheme

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a novel manipulator structure, includes controlling means, manipulator subassembly, draw-in groove and clamping structure, controlling means's below is equipped with the telescopic link, the telescopic link is in controlling means's bottom through the mode of inlaying, manipulator subassembly is connected through the carousel in the bottom of telescopic link, manipulator subassembly includes armed lever, pivot, draw-in groove, screw and mobile jib, the outside fixed connection clamping structure of armed lever, clamping structure includes rubber slab, anti-skidding stripe, fixture block, fixed plate and thin bolt, the rubber slab passes through the fixture block and fixes the inboard at the armed lever, the inboard of rubber slab is equipped with anti-skidding stripe.

Preferably, the bottom of the control device is fixedly connected with a lantern ring, and a telescopic rod is embedded in the lantern ring.

Preferably, mobile jib and armed lever all are the symmetric distribution form, the draw-in groove has been seted up to the inside of armed lever, the screw has been seted up to the inside of armed lever.

Preferably, the rubber plates are symmetrically distributed, and the outer sides of the rubber plates are connected with the clamping blocks in a bonding mode.

Preferably, the fixture block is connected in the clamping groove in an embedded mode, and positioning blocks are arranged at two ends of the fixture block.

Preferably, the top of the rubber plate is connected with the fixing plate in a bonding mode, a through hole is formed in the fixing plate, and the through hole corresponds to the screw hole.

Preferably, the inner part of the fixing plate is fixedly connected with a thin bolt, and the bottom of the thin bolt is engaged in the inner part of the screw hole.

(III) advantageous effects

The utility model provides a novel manipulator structure. The method has the following beneficial effects:

(1) the novel manipulator structure has the advantages that the clamping structure is additionally arranged on the inner side of the manipulator assembly, so that the problem of poor functionality of the manipulator during use is solved well, if a workpiece with a smooth surface and heavy weight needs to be clamped in the application process, the clamping structure only needs to be installed inside the arm rod, and when the manipulator clamps the workpiece, the rubber plate is attached to the outer surface of the workpiece, so that the friction between the manipulator and the workpiece is improved, the manipulator can adapt to workpiece clamping work of different types, the whole structure is simple, the functionality is strong, and the practicability is high;

(2) this novel manipulator structure, through having seted up the draw-in groove in the armed lever inboard, combine the fixture block in the rubber slab outside, only need be in the draw-in groove of armed lever with the fixture block gomphosis when installing clamping structure, then screw up thin bolt and can accomplish the installation fixed work to clamping structure, the staff of being convenient for very much installs fast when using and dismantles the operation, has promoted the convenience when using greatly, comparatively nimble.

Drawings

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

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

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

FIG. 4 is a schematic structural view of the rubber sheet of the present invention;

in the figure, a control device-1, a telescopic rod-2, a manipulator assembly-3, an arm rod-4, a lantern ring-5, a rotating shaft-6, a main rod-7, a rotary table-8, a clamping groove-9, a screw hole-10, a clamping structure-11, a rubber plate-12, an anti-skid stripe-13, a clamping block-14, a fixing plate-15 and a fine bolt-16.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, an embodiment of the present invention provides a technical solution: the utility model provides a novel manipulator structure, includes controlling means 1, manipulator subassembly 3, draw-in groove 9 and clamping structure 11, controlling means 1's below is equipped with telescopic link 2, telescopic link 2 is connected in controlling means 1's bottom through inlayed mode, manipulator subassembly 3 is connected through carousel 8 in the bottom of telescopic link 2, manipulator subassembly 3 includes armed lever 4, pivot 6, draw-in groove 9, screw 10 and mobile jib 7, the outside fixed connection clamping structure 11 of armed lever 4, clamping structure 11 includes rubber slab 12, anti-skidding stripe 13, fixture block 14, fixed plate 15 and thin bolt 16, rubber slab 12 passes through fixture block 14 and fixes the inboard at armed lever 4, the inboard of rubber slab 12 is equipped with anti-skidding stripe 13.

The bottom fixed connection lantern ring 5 of controlling means 1, the inside of the lantern ring 5 has telescopic link 2 through inlaying, cup joints in telescopic link 2's outside through the lantern ring 5 that is equipped with, and the centre gripping telescopic link 2 that can be fine avoids the junction of telescopic link 2 and the lantern ring 5 to get into the dust, and is functional stronger.

The mobile jib 7 all is the symmetric distribution form with armed lever 4, draw-in groove 9 has been seted up to the inside of armed lever 4, screw 10 has been seted up to the inside of armed lever 4, attaches the armed lever 4 of taking draw-in groove 9 through being equipped with, and the normal operating condition of not installing clamping structure 11 can install rubber slab 12 when needs antiskid to realize the centre gripping work of different functions, the compatibility is stronger.

Rubber slab 12 is the symmetric distribution form, fixture block 14 is connected through the mode that bonds in the outside of rubber slab 12, and through the rubber slab 12 that is equipped with, when armed lever 4 applyed pressure to the work piece, the elasticity that rubber slab 12 itself had can improve the stability of centre gripping work piece, comparatively practicality.

The fixture block 14 is connected inside the fixture groove 9 in an embedded mode, the two ends of the fixture block 14 are provided with positioning blocks, and through the positioning blocks, when the fixture block 14 is installed, only the positioning blocks need to be inserted into the fixture groove 9 firstly, and then the position of the fixture block 14 is adjusted, so that auxiliary positioning can be performed by a worker conveniently.

Fixed plate 15 is connected through the mode that bonds at the top of rubber slab 12, the through-hole has been seted up to the inside of fixed plate 15, through-hole and screw 10 correspond each other, through the fixed plate 15 that is equipped with, can utilize fixed plate 15 to install fixedly when fixed, better avoiding punching at rubber slab 12, comparatively practical.

The inside fixed connection thin bolt 16 of fixed plate 15, the bottom meshing of thin bolt 16 is in the inside of screw 10, and through the thin bolt 16 that is equipped with, can directly link together fixed plate 15 and armed lever 4, the staff of being convenient for installs and dismantles.

The working principle is as follows: when the novel manipulator structure is applied, when a workpiece is clamped, the opening and closing force of the manipulator assembly 3 is normally controlled by the control device 1, the workpiece is clamped by opening and closing the two arm rods 4, and if the type of the workpiece is changed, for example, when the workpiece with a smooth outer surface needs to be clamped, only the clamping structure 11 needs to be arranged on the inner side of the arm rods 4, namely, the rubber plate 12 can be used for contacting the workpiece itself during clamping, the rubber plate 12 can be tightly clamped on the outer part of the workpiece by the anti-skidding strips 13 arranged on the outer surface of the rubber plate 12, and the rubber plate 12 has strong elasticity, when the arm rods 4 apply inward pressure on the rubber plate 12, so that the smooth-surface workpiece clamping work is realized, the friction between the manipulator and the workpiece is better improved, and the manipulator can adapt to the workpiece clamping work of different types, the functional is stronger, simultaneously when installing and dismantling clamping structure 11, because offer the draw-in groove 9 that has at 4 inboard setups of armed lever, combine the fixture block 14 in the rubber slab 12 outside, only need be in the draw-in groove 9 of armed lever 4 with the 14 gomphosis of fixture block when installing clamping structure 11, then insert thin bolt 16 in the inside of fixed plate 15, and tighten thin bolt 16 and make its meshing in the inside of screw 10, can accomplish the installation fixed work to clamping structure 11, the staff of being convenient for very much installs fast and dismantles the operation when using, the convenience when having promoted the application greatly, comparatively flexibility, the practicality is stronger.

The utility model relates to a control device 1, a telescopic rod 2, a manipulator component 3, an arm lever 4, a lantern ring 5, a rotating shaft 6, a main lever 7, a turntable 8, a clamping groove 9, a screw hole 10, a clamping structure 11, a rubber plate 12, an anti-skid stripe 13, a clamping block 14, a fixing plate 15 and a thin bolt 16, wherein the components are all universal standard components or components known by technicians in the field, the structure and the principle of the components can be known by technicians through technical manuals or conventional experimental methods, the problem solved by the utility model is that most of the manipulator structures on the market are provided with a hand body corresponding to a workpiece when in use, the adjustment of functions can not be carried out according to different workpieces when in clamping, if a workpiece with a smooth surface and heavy weight is required to be clamped, the manipulator with an anti-skid function needs to be replaced, the use is troublesome, the functionality is poor, and the compatibility is not strong, meanwhile, most manipulator structures are more complicated in installation and disassembly, the manipulator is inconvenient for workers to use and the like, the manipulator assembly well solves the problem of poor functionality when in use through the mutual combination of the components, if a workpiece with a smooth surface and heavier weight needs to be clamped in the application process, the clamping structure 11 only needs to be installed inside the arm rod 4, so when the manipulator clamps the workpiece, the rubber plate 12 is attached to the outer surface of the workpiece, the friction between the manipulator and the workpiece is improved, the manipulator can adapt to the workpiece clamping work of different types, the functionality is stronger, meanwhile, the clamping groove 9 is formed in the inner side of the arm rod 4, the clamping block 14 on the outer side of the rubber plate 12 is combined, and when the clamping structure 11 is installed, the clamping block 14 only needs to be embedded in the clamping groove 9 of the arm rod 4, then, the thin bolt 16 is screwed up to complete the installation and fixation work of the clamping structure 11, so that the worker can conveniently and rapidly install and detach the clamping structure when the clamping structure is used, the convenience and the flexibility in application are greatly improved.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a novel manipulator structure which characterized in that: comprises a control device (1), a manipulator component (3), a clamping groove (9) and a clamping structure (11), a telescopic rod (2) is arranged below the control device (1), the telescopic rod (2) is connected to the bottom of the control device (1) in an embedded manner, the bottom of the telescopic rod (2) is connected with the manipulator component (3) through a turntable (8), the manipulator component (3) comprises an arm rod (4), a rotating shaft (6), a clamping groove (9), a screw hole (10) and a main rod (7), the outside of the arm rod (4) is fixedly connected with a clamping structure (11), the clamping structure (11) comprises a rubber plate (12), an anti-skid stripe (13), a clamping block (14), a fixing plate (15) and a fine bolt (16), the rubber plate (12) is fixed on the inner side of the arm rod (4) through a clamping block (14), and anti-skid stripes (13) are arranged on the inner side of the rubber plate (12).

2. The novel manipulator structure of claim 1, wherein: the bottom of the control device (1) is fixedly connected with a lantern ring (5), and a telescopic rod (2) is embedded in the lantern ring (5).

3. The novel manipulator structure of claim 1, wherein: mobile jib (7) and armed lever (4) all are the symmetric distribution form, draw-in groove (9) have been seted up to the inside of armed lever (4), screw (10) have been seted up to the inside of armed lever (4).

4. The novel manipulator structure of claim 1, wherein: the rubber plates (12) are symmetrically distributed, and the outer sides of the rubber plates (12) are connected with the clamping blocks (14) in a bonding mode.

5. The novel manipulator structure of claim 1, wherein: the clamping block (14) is connected to the inner portion of the clamping groove (9) in an embedded mode, and positioning blocks are arranged at two ends of the clamping block (14).

6. The novel manipulator structure of claim 1, wherein: the top of the rubber plate (12) is connected with a fixing plate (15) in a bonding mode, a through hole is formed in the fixing plate (15), and the through hole corresponds to the screw hole (10).

7. The novel manipulator structure of claim 1, wherein: the inner part of the fixing plate (15) is fixedly connected with a thin bolt (16), and the bottom of the thin bolt (16) is engaged in the inner part of the screw hole (10).