CN211278392U

CN211278392U - Manipulator device of automatic equipment

Info

Publication number: CN211278392U
Application number: CN201921647604.XU
Authority: CN
Inventors: 刘利
Original assignee: Tianjin Hansi Haozhi Technology Co ltd
Current assignee: Tianjin Hansi Haozhi Technology Co ltd
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2020-08-18
Anticipated expiration: 2029-09-30

Abstract

The utility model discloses an automatic change manipulator device of equipment, which comprises a base plate, the first dead lever of top fixedly connected with of base plate, the bottom of first dead lever is rotated and is connected with the connecting rod to the first motor of fixedly connected with on the first dead lever, the first gear of output fixedly connected with of first motor, the fixed surface of connecting rod is connected with the second gear to the top fixedly connected with second dead lever of connecting rod, one side fixedly connected with bracing piece of second dead lever, the first telescopic link of bottom fixedly connected with of bracing piece, the bottom fixedly connected with connecting block of first telescopic link, the utility model relates to a manipulator anti-skidding technical field. This automation equipment's manipulator device passes through the slipmat increase and the frictional force of article to prevent the landing of article, set up blotter and spring in the bottom moreover, can reduce the harm to article when article drop, thereby reduce economic loss.

Description

Manipulator device of automatic equipment

Technical Field

The utility model relates to a manipulator antiskid technical field specifically is a manipulator device of automation equipment.

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. It features that it can complete various expected operations by programming, has the advantages of both human and mechanical arm machines in structure and performance, can replace the heavy labor of human to realize mechanization and automation of production, and can be operated in harmful environment to protect personal safety, so it is widely used in mechanical manufacture, metallurgy, electronics, light industry and atomic energy departments.

However, the manipulator is not provided with an anti-skid device and a protection device for the articles, the surfaces of a plurality of articles are smooth, and the articles are not provided with concave and convex surfaces, so that the articles are easy to slip off when the manipulator takes and moves the articles, and unnecessary loss is caused.

SUMMERY OF THE UTILITY MODEL

The utility model provides a not enough to prior art, the utility model provides an automation equipment's manipulator device has solved the manipulator and is the problem of the easy landing of article at the article of taking.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a manipulator device of an automation device comprises a substrate, wherein a first fixed rod is fixedly connected to the top of the substrate, a connecting rod is rotatably connected to the bottom of the first fixed rod, a first motor is fixedly connected to the first fixed rod, a first gear is fixedly connected to the output end of the first motor, a second gear is fixedly connected to the surface of the connecting rod, a second fixed rod is fixedly connected to the top end of the connecting rod, a supporting rod is fixedly connected to one side of the second fixed rod, a first telescopic rod is fixedly connected to the bottom end of the supporting rod, a connecting block is fixedly connected to the bottom of the first telescopic rod, a second motor is fixedly connected to the top of the connecting block, a third gear is fixedly connected to the output end of the second motor, rotating rods are rotatably connected to both sides of the connecting block, and a fourth gear is fixedly connected to the surface of, and equal fixedly connected with second telescopic link on two dwangs, the sliding tray has been seted up on two second telescopic links, the inside sliding connection of sliding tray has the stopper, fixedly connected with slide bar on the stopper, fixedly connected with sliding plate on the slide bar, the top fixedly connected with blotter of sliding plate to the first spring of bottom fixedly connected with of sliding plate, two the bottom fixedly connected with fixed plate of second telescopic link, the bottom of connecting block is provided with two mechanical fingers, two fixedly connected with slipmat on the mechanical finger to a plurality of slipmats of inboard fixedly connected with of two mechanical fingers, the one end fixedly connected with slipmat of slipmat.

Furthermore, the number of the anti-skidding blocks is four, and the anti-skidding blocks are symmetrically distributed on two sides of the mechanical finger.

Further, the two first springs are located between the sliding plate and the fixed plate, and the elastic force of the two first springs is greater than the gravity of the sliding plate.

Further, the first gear is engaged with the second gear, and the third gear is engaged with the fourth gear.

Further, the fixed plate is located between the two second telescopic rods, and the fourth gear is located between the connecting block and the second telescopic rods.

Further, the two mechanical fingers are symmetrically distributed on two sides of the center of the connecting block, and the two first springs are symmetrically distributed on two sides of the fixing plate.

Furthermore, a second spring is arranged inside the sliding groove and is located between the limiting block and the sliding groove.

Compared with the prior art, the beneficial effects of the utility model are that:

the mechanical arm device of the automatic device can be tightly connected with an article through the anti-slip pad on the mechanical finger, so that the friction force of the article on the mechanical finger is increased, the article can be stably placed on the mechanical finger, the anti-slip blocks inside the mechanical finger are tightly connected with the article, the contact area between the anti-slip blocks on the mechanical finger and the article is increased, so that the article is more stable when moving on the mechanical finger, the article can fall on the buffer pad when sliding off, the sliding plate can move downwards after the article falls on the buffer pad, the sliding plate can drive the sliding rod to move downwards when moving downwards, the sliding rod can drive the limiting blocks to move downwards, the limiting blocks can contact the second limiting blocks and the second springs when moving downwards, and the sliding plate can also contact the top ends of the first springs and the second springs when moving downwards, so that the top ends of the first springs and the second springs are connected with the sliding plate, thereby make when article drop when the buffering downwards, by the first buffering of blotter, cushion the sliding plate by first spring and second spring again to protection article can not drop when reducing article landing when the sliding plate harms article, through the frictional force of slipmat increase with article, thereby prevent the landing of article, set up blotter and spring in the bottom moreover, can reduce the harm to article when article drop, thereby reduce economic loss.

Drawings

FIG. 1 is a schematic view of a preferred overall structure of the present invention;

FIG. 2 is an enlarged view of the point A in FIG. 1 according to the present invention;

FIG. 3 is an enlarged view of the point B in FIG. 1 according to the present invention;

fig. 4 is an enlarged view of the point C in fig. 1 according to the present invention.

In the figure: 1-base plate, 2-first fixed rod, 3-connecting rod, 4-first motor, 5-first gear, 6-second gear, 7-second fixed rod, 8-supporting rod, 9-first telescopic rod, 10-connecting block, 11-second motor, 12-third gear, 13-rotating rod, 14-fourth gear, 15-second telescopic rod, 16-sliding groove, 17-limiting block, 18-sliding rod, 19-sliding plate, 20-buffering pad, 21-first spring, 22-fixing plate, 23-mechanical finger, 24-anti-skid pad, 25-anti-skid block and 26-second spring.

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, the present invention provides a technical solution: a manipulator device of an automatic device comprises a substrate 1, wherein the top of the substrate 1 is fixedly connected with a first fixed rod 2, the bottom of the first fixed rod 2 is rotatably connected with a connecting rod 3, the first fixed rod 2 is fixedly connected with a first motor 4, the output end of the first motor 4 is fixedly connected with a first gear 5, the surface of the connecting rod 3 is fixedly connected with a second gear 6, the top end of the connecting rod 3 is fixedly connected with a second fixed rod 7, one side of the second fixed rod 7 is fixedly connected with a supporting rod 8, the bottom end of the supporting rod 8 is fixedly connected with a first telescopic rod 9, the bottom of the first telescopic rod 9 is fixedly connected with a connecting block 10, the top of the connecting block 10 is fixedly connected with a second motor 11, the output end of the second motor 11 is fixedly connected with a third gear 12, and the two sides of the connecting block 10 are rotatably connected with rotating rods 13, the surface of the rotating rod 13 is fixedly connected with a fourth gear 14, the two rotating rods 13 are fixedly connected with second telescopic rods 15, the two second telescopic rods 15 are provided with sliding grooves 16, the inside of the sliding groove 16 is slidably connected with a limiting block 17, the limiting block 17 is fixedly connected with a sliding rod 18, the sliding rod 18 is fixedly connected with a sliding plate 19, the top of the sliding plate 19 is fixedly connected with a buffer pad 20, the bottom of the sliding plate 19 is fixedly connected with a first spring 21, the bottom of the two second telescopic rods 15 is fixedly connected with a fixed plate 22, the bottom of the connecting block 10 is provided with two mechanical fingers 23, the two mechanical fingers 23 are fixedly connected with a non-slip pad 24, the inner sides of the two mechanical fingers are fixedly connected with a plurality of non-slip blocks 25, and one end of the non-slip block 25 is fixedly connected with the non, when the mechanical finger 23 takes an article, the anti-slip pad 24 on the mechanical finger 23 can be tightly connected with the article, so as to increase the friction force of the article on the mechanical finger 23, so that the article can be stably placed on the mechanical finger 23, and the inner part of the mechanical finger 23 has a plurality of anti-slip blocks 25 tightly connected with the article, so as to increase the contact area between the anti-slip blocks 25 on the mechanical finger 23 and the article, so that the article can be more stably moved on the mechanical finger 23, and can fall on the cushion pad 20 when the article falls off, after the article falls on the cushion pad 20, the sliding plate 19 can be moved downwards, the downward movement of the sliding plate 19 can drive the sliding rod 18 to move downwards, the downward movement of the sliding rod 18 can drive the stopper 17 to move downwards, the downward movement of the stopper 17 can drive the second stopper 17 to contact with the second spring 26, and while the downward movement of the sliding plate 19, the sliding plate 19 is also brought into contact with the top ends of the first springs 21, thereby connecting the top ends of the first springs 21 and the second springs 26 with the sliding plate 19, so that when an article falls and is cushioned downwards, the first cushioning by the cushioning pad 20, the first spring 21 and the second spring 26 cushion the sliding plate, thereby reducing damage to the article by the sliding plate 19 when the article slips off and protecting the article from falling off, and when article need place, open second motor 11 by the switch, second motor 11 is rotatory can drive third gear 12 rotatory, third gear 12 is rotatory can drive fourth gear 14 rotatory, fourth gear 14 is rotatory can drive dwang 13 rotatory, dwang 13 is rotatory can drive two second telescopic links 15 rotatory, second telescopic link 15 is rotatory can drive sliding plate 19 and fixed plate 22 rotatory to make sliding plate 19 and fixed plate 22 break away from the bottom of mechanical finger 23.

The number of the anti-slip blocks 25 is four, and the anti-slip blocks are symmetrically distributed on two sides of the mechanical finger 23.

The two first springs 21 are located between the sliding plate 19 and the fixed plate 22, and the elastic force of the two first springs 21 is greater than the gravity of the sliding plate 19.

The first gear 5 meshes with the second gear 6, and the third gear 12 meshes with the fourth gear 14.

The fixing plate 22 is located between the two second telescopic rods 15, and the fourth gear 14 is located between the connecting block 10 and the second telescopic rods 15.

The two mechanical fingers 23 are symmetrically distributed on two sides of the center of the connecting block 10, and the two first springs 21 are symmetrically distributed on two sides of the fixing plate 22.

A second spring 26 is arranged inside the sliding groove 16, and the second spring 26 is positioned between the limit block 17 and the sliding groove 16

When in work:

s1, when the mechanical finger 23 is used to take an object, the anti-slip pad 24 on the mechanical finger 23 is tightly connected to the object, so as to increase the friction of the object on the mechanical finger 23, so that the object can be stably placed on the mechanical finger 23, and the anti-slip blocks 25 inside the mechanical finger 23 are tightly connected to the object, so as to increase the contact area between the anti-slip blocks 25 on the mechanical finger 23 and the object, so that the object is more stable when moving on the mechanical finger 23.

S2, the article falls on the cushion 20 when sliding off, the sliding plate 19 moves downward after the article falls on the cushion 20, the downward movement of the sliding plate 19 drives the sliding rod 18 to move downward, the downward movement of the sliding rod 18 drives the limiting block 17 to move downward, and the downward movement of the limiting block 17 drives the second limiting block 17 to contact with the second spring 26.

S3, while the sliding plate 19 moves downwards, the sliding plate 19 contacts the top end of the first spring 21, so that the top ends of the first spring 21 and the second spring 26 are connected with the sliding plate 19, so that when an article falls and is buffered downwards, the article is buffered for the first time by the buffer pads 20, and then the sliding plate is buffered by the first spring 21 and the second spring 26, thereby reducing the damage of the sliding plate 19 to the article when the article falls, and simultaneously protecting the article from falling.

S4, when the article needs to be placed, the second motor 11 is turned on by the switch, the second motor 11 rotates to drive the third gear 12 to rotate, the third gear 12 rotates to drive the fourth gear 14 to rotate, the fourth gear 14 rotates to drive the rotating rod 13 to rotate, the rotating rod 13 rotates to drive the two second telescopic rods 15 to rotate, the second telescopic rods 15 rotate to drive the sliding plate 19 and the fixed plate 22 to rotate, so that the sliding plate 19 and the fixed plate 22 are separated from the bottom of the mechanical finger 23.

It is noted that, herein, relational terms such as first and second, and the like may be 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. Also, 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.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot device of an automation apparatus includes a substrate (1), characterized in that: the top of the base plate (1) is fixedly connected with a first fixed rod (2), the bottom of the first fixed rod (2) is rotatably connected with a connecting rod (3), the first fixed rod (2) is fixedly connected with a first motor (4), the output end of the first motor (4) is fixedly connected with a first gear (5), the surface of the connecting rod (3) is fixedly connected with a second gear (6), the top end of the connecting rod (3) is fixedly connected with a second fixed rod (7), one side of the second fixed rod (7) is fixedly connected with a support rod (8), the bottom end of the support rod (8) is fixedly connected with a first telescopic rod (9), the bottom of the first telescopic rod (9) is fixedly connected with a connecting block (10), the top of the connecting block (10) is fixedly connected with a second motor (11), the output end of the second motor (11) is fixedly connected with a third gear (12), the two sides of the connecting block (10) are rotatably connected with rotating rods (13), the surface of each rotating rod (13) is fixedly connected with a fourth gear (14), two rotating rods (13) are fixedly connected with second telescopic rods (15), sliding grooves (16) are formed in the two second telescopic rods (15), limiting blocks (17) are slidably connected inside the sliding grooves (16), sliding rods (18) are fixedly connected on the limiting blocks (17), sliding plates (19) are fixedly connected on the sliding rods (18), buffering pads (20) are fixedly connected to the tops of the sliding plates (19), first springs (21) are fixedly connected to the bottoms of the sliding plates (19), fixing plates (22) are fixedly connected to the bottoms of the two second telescopic rods (15), and two mechanical fingers (23) are arranged at the bottom of the connecting block (10), the two mechanical fingers (23) are fixedly connected with anti-skid pads (24), the inner sides of the two mechanical fingers are fixedly connected with a plurality of anti-skid blocks (25), and one ends of the anti-skid blocks (25) are fixedly connected with the anti-skid pads (24).

2. The robot device of an automated apparatus according to claim 1, wherein: the number of the anti-skidding blocks (25) is four, and the anti-skidding blocks are symmetrically distributed on two sides of the mechanical finger (23).

3. The robot device of an automated apparatus according to claim 1, wherein: the two first springs (21) are positioned between the sliding plate (19) and the fixed plate (22), and the elastic force of the two first springs (21) is larger than the gravity of the sliding plate (19).

4. The robot device of an automated apparatus according to claim 1, wherein: the first gear (5) meshes with the second gear (6), and the third gear (12) meshes with the fourth gear (14).

5. The robot device of an automated apparatus according to claim 1, wherein: the fixing plate (22) is located between the two second telescopic rods (15), and the fourth gear (14) is located between the connecting block (10) and the second telescopic rods (15).

6. The robot device of an automated apparatus according to claim 1, wherein: the two mechanical fingers (23) are symmetrically distributed on two sides of the center of the connecting block (10), and the two first springs (21) are symmetrically distributed on two sides of the fixing plate (22).

7. The robot device of an automated apparatus according to claim 1, wherein: and a second spring is arranged in the sliding groove (16), and is positioned between the limiting block (17) and the sliding groove (16).