CN211362295U

CN211362295U - Independent manipulator

Info

Publication number: CN211362295U
Application number: CN201922195841.3U
Authority: CN
Inventors: 卢前进
Original assignee: Suzhou Keshuang Intelligent Technology Co ltd
Current assignee: Jiaxing Hongfei Machinery Equipment Leasing Co.,Ltd.
Priority date: 2019-12-10
Filing date: 2019-12-10
Publication date: 2020-08-28
Anticipated expiration: 2029-12-10

Abstract

The utility model discloses an independent manipulator, which comprises a base, a rotating mechanism and a clamping mechanism; base: the base is a hollow box body with an open left side, the left side surfaces of the front side wall and the rear side wall of the base are respectively and rotatably connected with the outer side ends of the two box doors through rotating shafts, and a single chip microcomputer is fixedly arranged on the front side inside the base; a rotating mechanism: the rotary mechanism comprises a lower servo motor, a slide rail, a movable block and a supporting block, the lower servo motor is fixedly mounted in the middle of the upper surface of the upper side wall of the base, the end face of an output shaft of the lower servo motor is fixedly connected with the middle of the lower surface of a top plate of the movable block, the base of the manipulator is a movable base, the manipulator is convenient to transfer and overhaul, a clamping mechanism arranged on the manipulator can adjust the telescopic length as required, the manipulator can be suitable for various scenes, the applicability of the manipulator is improved, the investment on the manipulator is reduced, and the purpose of reducing the use cost is achieved.

Description

Independent manipulator

Technical Field

The utility model relates to the technical field of mechanical equipment, specifically be a stand alone type manipulator.

Background

The manipulator is an automatic operating device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance, and the manipulator is the earliest appearing industrial robot and the earliest appearing modern robot, and can replace the heavy labour of human to implement mechanization and automation of production, and can operate under the harmful environment to protect personal safety, so that it can be extensively used in the departments of mechanical manufacture, metallurgy, electronics, light industry and atomic energy, etc., and is an automatic equipment for conveying material, and generally a group of manipulators can be set up for conveniently feeding and discharging material when some workpieces are processed, but for some enterprises, various workpieces are produced, and the processing quantity of every workpiece is not very large, and present manipulator is mostly fixed mounting on equipment, and it is comparatively troublesome to dismantle the transfer, the maintenance and the transposition of the manipulator of being not convenient for, if all dispose one set of manipulator for every processingequipment, equipment drops into greatly, and equipment idle rate is high.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to overcome current defect, provide an independent type manipulator, the base of manipulator is mobilizable formula base, conveniently shifts and overhauls the manipulator, and the fixture that the manipulator set up can adjust flexible length as required, makes the manipulator can be applicable to multiple scene, promotes the suitability of manipulator, and then reduces the input to the manipulator to reach the purpose that reduces use cost, can effectively solve the problem in the background art.

In order to achieve the above object, the utility model provides a following technical scheme: an independent manipulator comprises a base, a rotating mechanism and a clamping mechanism;

base: the base is a hollow box body with an open left side, the left side surfaces of the front side wall and the rear side wall of the base are respectively and rotatably connected with the outer side ends of the two box doors through rotating shafts, and a single chip microcomputer is fixedly arranged on the front side inside the base;

a rotating mechanism: the rotating mechanism comprises a lower servo motor, a sliding rail, a movable block and supporting blocks, the lower servo motor is fixedly arranged in the middle of the upper surface of the upper side wall of the base, the end surface of an output shaft of the lower servo motor is fixedly connected with the middle of the lower surface of a top plate of the movable block, a clamping block arranged at the lower end of the side wall of the movable block is in sliding connection with an upper annular sliding groove of the sliding rail fixedly arranged in the middle of the upper surface of the upper side wall of the base, and the supporting blocks are fixedly arranged at the left end and the right;

a clamping mechanism: the clamping mechanism is fixedly arranged at the upper end of the rotating mechanism;

wherein: the input end of the single chip microcomputer is electrically connected with the output end of an external power supply, and the output end of the single chip microcomputer is electrically connected with the input end of the lower servo motor.

Further, fixture contains servo motor, guide rail, lead screw, slider, small-size servo motor, connecting plate, fixed plate, electric putter and electronic clamping jaw, the upper surface of two supporting shoes of both ends difference fixed connection about the lower surface of guide rail, and the left surface middle part fixed mounting of guide rail has servo motor, servo motor's output shaft terminal surface fixed connection lead screw's left side end, and lead screw and the left side screw threaded connection of movable mounting in the inside slider of guide rail, the right flank fixed mounting of slider has small-size servo motor, and small-size servo motor's output shaft terminal surface and the left surface fixed connection of connecting plate, and the right flank upper end fixed mounting of connecting plate has the fixed plate, and fixed plate's upper surface middle part through-hole in-hole fixed mounting has electric putter, electric putter's expansion end terminal surface fixed mounting has electric clamping jaw, servo, The input ends of the small servo motor, the electric push rod and the electric clamping jaw are electrically connected with the output end of the single chip microcomputer. The clamping mechanism can facilitate the manipulator to transfer the processing materials, and the clamping mechanism can grab the materials with different specifications, so that the applicability of the manipulator is improved.

Furthermore, the guide rail device further comprises four stop blocks, wherein the four stop blocks are fixedly arranged at four corners of the right side face of the guide rail respectively, and the stop blocks are corresponding to the clamping blocks arranged at the left side end of the sliding block. The set stop block can avoid the sliding block from extending out too long to cause the sliding block and the processed object to fall off, thereby improving the safety of the equipment in use.

Furthermore, the four-pulley-type rotary table further comprises four pulleys, and the upper end faces of the four pulleys are movably connected with four corners of the lower side wall lower surface of the base through rotating shafts respectively. The pulley can make things convenient for the staff to shift the manipulator to reduce the use degree of difficulty of manipulator.

Further, still include lower part electric putter, gasket and spirit level, lower part electric putter is equipped with four altogether, and four lower part electric putter respectively fixed mounting in the lower side wall lower surface four sides middle part of base, and lower part electric putter's expansion end terminal surface fixed mounting has the gasket, spirit level fixed mounting is in the inside bottom surface rear end of base, and spirit level and lower part electric putter's input and the output electricity of singlechip are connected. The electric push rod and the level gauge at the lower part can adjust the height and the levelness of the equipment, so that the equipment can be conveniently used.

Further, still include handle and buckle, the handle is equipped with six altogether, and six handles are fixed mounting respectively in the left and right sides of the wall lateral surface upper end of both sides around the base and the left surface looks remote site of two chamber doors, buckle fixed mounting is in the chamber door rear end upper portion of front side, and the buckle is corresponding with the draw-in groove of fixed mounting in the chamber door front end upper portion of rear side. The handle can make things convenient for the staff to shift equipment or open and shut the chamber door, and the buckle can avoid the chamber door to open automatically to the security of assurance equipment when using.

Compared with the prior art, the beneficial effects of the utility model are that: this stand-alone type manipulator has following benefit:

1. the base of manipulator is mobilizable formula base, conveniently shifts the manipulator, and the fixture that the manipulator set up can be applicable to multiple scene to make the manipulator can be applicable to multiple occasion, and then reduce the input to the manipulator, reduce use cost.

2. The set stop block can avoid the sliding block from extending out of a overlong length to cause the sliding block and processed objects to drop, and the buckle can avoid the automatic opening of the box door, so that the safety of the lifting device in use is improved.

3. The electric push rod and the level gauge at the lower part can adjust the height and the levelness of the equipment, so that the condition of equipment deviation is avoided, and the equipment is convenient to use.

Drawings

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

fig. 2 is a schematic diagram of the front side cross-sectional structure of the present invention.

In the figure: the automatic clamping device comprises a base 1, a box door 2, a rotating mechanism 3, a lower servo motor 301, a sliding rail 302, a movable block 303, a supporting block 304, a clamping mechanism 4, a servo motor 401, a guide rail 402, a lead screw 403, a sliding block 404, a small servo motor 405, a connecting plate 406, a fixing plate 407, an electric push rod 408, an electric clamping jaw 409, a stop 5, a pulley 6, an electric push rod 7, a gasket 8, a level gauge 9, a handle 10, a buckle 11 and a singlechip 12.

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. 1-2, the present invention provides a technical solution: an independent manipulator comprises a base 1, a rotating mechanism 3 and a clamping mechanism 4;

base 1: the base 1 is a hollow box body with an open left side, the left side surfaces of the front side wall and the rear side wall of the base 1 are respectively and rotatably connected with the outer side ends of the two box doors 2 through rotating shafts, and the front side inside the base 1 is fixedly provided with a single chip microcomputer 12; still include pulley 6, pulley 6 is equipped with four altogether, and four pulley 6's up end is respectively through pivot and base 1's lower lateral wall lower surface four corners active link. The pulley 6 can be convenient for the staff to shift the manipulator to reduce the use degree of difficulty of manipulator. Still include lower part electric putter 7, gasket 8 and spirit level 9, lower part electric putter 7 is equipped with four altogether, four lower part electric putter 7 respectively fixed mounting in base 1's lower side wall lower surface four sides middle parts, and the expansion end terminal surface fixed mounting of lower part electric putter 7 has gasket 8, spirit level 9 fixed mounting in base 1's inside bottom surface rear end, and spirit level 9 and lower part electric putter 7's input and singlechip 12's output electricity are connected. The electric push rod 7 and the level gauge 9 at the lower part can adjust the height and the levelness of the equipment, thereby facilitating the use of the equipment. Still include handle 10 and buckle 11, handle 10 is equipped with six altogether, six handles 10 respectively fixed mounting in the left and right sides of the both sides wall lateral surface upper end of the front and back of base 1 and the left surface looks remote site of two chamber doors 2, buckle 11 fixed mounting in the 2 rear end upper portions of chamber door of front side, and buckle 11 corresponds with the draw-in groove of fixed mounting in the 2 front end upper portions of chamber door of rear side. The handle 10 can facilitate the workers to transfer the equipment or open and close the box door, and the buckle 11 can prevent the box door 2 from being automatically opened, so that the safety of the equipment in use is ensured.

A rotating mechanism 3: the rotating mechanism 3 comprises a lower servo motor 301, a sliding rail 302, a movable block 303 and supporting blocks 304, the lower servo motor 301 is fixedly arranged in the middle of the upper surface of the upper side wall of the base 1, the end surface of an output shaft of the lower servo motor 301 is fixedly connected with the middle of the lower surface of a top plate of the movable block 303, a clamping block arranged at the lower end of the side wall of the movable block 303 is slidably connected with an upper annular surface sliding groove of the sliding rail 302 fixedly arranged in the middle of the upper surface of the upper side wall of the base 1, and the supporting blocks 304 are fixedly arranged at the left end and;

the clamping mechanism 4: the clamping mechanism 4 is fixedly arranged at the upper end of the rotating mechanism 3; the clamping mechanism 4 comprises a servo motor 401, a guide rail 402, a lead screw 403, a slide block 404, a small servo motor 405, a connecting plate 406, a fixing plate 407, an electric push rod 408 and an electric clamping jaw 409, wherein the left end and the right end of the lower surface of the guide rail 402 are respectively and fixedly connected with the upper surfaces of the two support blocks 304, the middle part of the left side surface of the guide rail 402 is fixedly provided with the servo motor 401, the end surface of the output shaft of the servo motor 401 is fixedly connected with the left end of the lead screw 403, the lead screw 403 is in threaded connection with the left side screw hole of the slide block 404 movably arranged in the guide rail 402, the right side surface of the slide block 404 is fixedly provided with the small servo motor 405, the end surface of the output shaft of the small servo motor 405 is fixedly connected with the left side surface of the connecting plate 406, the upper end of the right side surface of the connecting plate 406, the input ends of the servo motor 401, the small servo motor 405, the electric push rod 408 and the electric clamping jaw 409 are electrically connected with the output end of the singlechip 12. Fixture 4 can make things convenient for the manipulator to shift the processing material, and fixture 4 can snatch the material of different specifications to promote the suitability of manipulator. The guide rail structure further comprises four stop blocks 5, the four stop blocks 5 are respectively and fixedly mounted at four corners of the right side face of the guide rail 402, and the stop blocks 5 correspond to the stop blocks arranged at the left end of the sliding block 404. The stop 5 can prevent the slide block 404 and the processed object from falling off due to the fact that the slide block extends too long, and therefore safety of the device in use is improved.

Wherein: the input end of the single chip microcomputer 12 is electrically connected with the output end of an external power supply, and the output end of the single chip microcomputer 12 is electrically connected with the input end of the lower servo motor 301.

When in use: with equipment propelling movement to assigned position, then control lower part electric putter 7 and stretch out, thereby make gasket 8 contact ground and with the jacking of base 1, spirit level 9 check out test set levelness and return the signal to singlechip 12, singlechip 12 controls the flexible of single lower part electric putter 7, thereby the level of adjustment equipment, when equipment moves, servo motor 401's rotation drives the rotation of lead screw 403, thereby make slider 404 remove, small-size servo motor 405 drives the rotation of fixed plate 407 through connecting plate 406, thereby drive electric putter 408 and the rotation of electric clamping jaw 409, electric putter 408 stretches out, make electric clamping jaw 409 wait to shift the article centre gripping, then lower part servo motor 301's rotation drives the rotation of movable block 303, thereby make fixture 4 rotate, and then reach the purpose of shifting the processing article.

It is to be noted that the lower servo motor 301 disclosed in this embodiment is a 40ST-M00130 type servo motor of taizhou jindada, the servo motor 401 is an a4 type servo motor of Shenzhen pine down servo, the small servo motor 405 is a 40ST-M0030 type servo motor of taizhou jindada, the electric push rod 408 is a DDA200 type electric push rod of Kunzhan Nordheim transmission equipment Limited, the electric clamp jaw 409 is an onobot-RG 2 type clamp of Shenzhen Bo Robotic robot Limited, the lower electric push rod 7 is a stepping 50 type electric push rod of Dongguan Xiang Longxiang hardware, the level gauge 9 is an 862 type magnetic laser level gauge of Israel Kelu/PROKA, and the single chip microcomputer 12 is an Intel MCS-51 type single chip microcomputer. The singlechip 12 controls the lower servo motor 301, the servo motor 401, the small servo motor 405, the electric push rod 408, the electric clamping jaw 409, the lower electric push rod 7 and the level gauge 9 to work by adopting a method commonly used in the prior art.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A freestanding manipulator, comprising: comprises a base (1), a rotating mechanism (3) and a clamping mechanism (4);

base (1): the base (1) is a hollow box body with the left side open, the left side surfaces of the front side wall and the rear side wall of the base (1) are respectively and rotatably connected with the outer side ends of the two box doors (2) through rotating shafts, and a single chip microcomputer (12) is fixedly arranged on the front side inside the base (1);

rotation mechanism (3): the rotating mechanism (3) comprises a lower servo motor (301), a sliding rail (302), a movable block (303) and supporting blocks (304), the lower servo motor (301) is fixedly installed in the middle of the upper surface of the upper side wall of the base (1), the end face of an output shaft of the lower servo motor (301) is fixedly connected with the middle of the lower surface of a top plate of the movable block (303), a clamping block arranged at the lower end of the side wall of the movable block (303) is in sliding connection with an upper annular sliding groove of the sliding rail (302) fixedly installed in the middle of the upper surface of the upper side wall of the base (1), and the supporting blocks (304) are fixedly installed at the left end and the right end of the upper surface;

clamping mechanism (4): the clamping mechanism (4) is fixedly arranged at the upper end of the rotating mechanism (3);

wherein: the input end of the single chip microcomputer (12) is electrically connected with the output end of an external power supply, and the output end of the single chip microcomputer (12) is electrically connected with the input end of the lower servo motor (301).

2. A freestanding robot as claimed in claim 1, wherein: the clamping mechanism (4) comprises a servo motor (401), a guide rail (402), a lead screw (403), a sliding block (404), a small servo motor (405), a connecting plate (406), a fixing plate (407), an electric push rod (408) and an electric clamping jaw (409), the left end and the right end of the lower surface of the guide rail (402) are respectively and fixedly connected with the upper surfaces of two supporting blocks (304), the middle part of the left side surface of the guide rail (402) is fixedly provided with the servo motor (401), the end surface of an output shaft of the servo motor (401) is fixedly connected with the left end of the lead screw (403), the lead screw (403) is in threaded connection with a left screw hole of the sliding block (404) movably arranged in the guide rail (402), the right side surface of the sliding block (404) is fixedly provided with the small servo motor (405), the end surface of the output shaft of the small servo motor (405) is fixedly connected with the left side surface of the, and an electric push rod (408) is fixedly installed in a through hole in the middle of the upper surface of the fixing plate (407), an electric clamping jaw (409) is fixedly installed on the end face of the movable end of the electric push rod (408), and the input ends of the servo motor (401), the small servo motor (405), the electric push rod (408) and the electric clamping jaw (409) are electrically connected with the output end of the single chip microcomputer (12).

3. A freestanding robot as claimed in claim 2, wherein: the guide rail structure is characterized by further comprising four stop blocks (5), wherein the four stop blocks (5) are respectively fixedly mounted at four corners of the right side face of the guide rail (402), and the stop blocks (5) correspond to the clamping blocks arranged at the left side end of the sliding block (404).

4. A freestanding robot as claimed in claim 1, wherein: still include pulley (6), pulley (6) are equipped with four altogether, and the up end of four pulley (6) is respectively through pivot and the lower side wall lower surface four corners active link of base (1).

5. A freestanding robot as claimed in claim 1, wherein: still include lower part electric putter (7), gasket (8) and spirit level (9), lower part electric putter (7) are equipped with four altogether, and four lower part electric putter (7) are fixed mounting respectively in the lower side wall lower surface four sides middle part of base (1), and the expansion end terminal surface fixed mounting of lower part electric putter (7) has gasket (8), spirit level (9) fixed mounting is in the inside bottom surface rear end of base (1), and the input of spirit level (9) and lower part electric putter (7) is connected with the output electricity of singlechip (12).

6. A freestanding robot as claimed in claim 1, wherein: still include handle (10) and buckle (11), handle (10) are equipped with six altogether, and six handle (10) are fixed mounting respectively in the left and right sides of the wall lateral surface upper end of both sides around base (1) and the left surface looks remote site of two chamber doors (2), buckle (11) fixed mounting is in the chamber door (2) rear end upper portion of front side, and buckle (11) are corresponding with the draw-in groove on the chamber door (2) front end upper portion of fixed mounting in the rear side.