CN212241052U

CN212241052U - Positioning device for clamping mechanism of manipulator

Info

Publication number: CN212241052U
Application number: CN202021514473.0U
Authority: CN
Inventors: 吴子立; 陈永泉
Original assignee: Zhengzhou Bosheng Technology Co ltd
Current assignee: Zhengzhou Bosheng Technology Co ltd
Priority date: 2020-07-27
Filing date: 2020-07-27
Publication date: 2020-12-29
Anticipated expiration: 2030-07-27

Abstract

The utility model relates to a positioning device for a clamping mechanism of a manipulator, which comprises an electric appliance cabinet arranged on the ground or an operating platform, the electric appliance cabinet is internally provided with electric appliance elements required by a control program, the upper end surface of the electric appliance cabinet is provided with a bracket, the bracket is fixedly provided with a track, a motor and a circuit box, a control wire from the motor is connected with a power consumption device after passing through the circuit box, the track is connected with a manipulator fixing frame which is fixedly connected with a manipulator frame, the manipulator frame comprises a telescopic guide rail, a telescopic cylinder, a fixed plate and a telescopic guide rod, the telescopic guide rail is arranged in the sleeve, the lower end face of the fixed plate is detachably connected with a positioning mechanism, the positioning mechanism comprises an installation block fixedly connected with the fixed plate, and the installation block is provided with a counter bore used for fixing the installation block on the fixed plate; the utility model has the advantages of convenient adjustment, fine adjustment and good stability.

Description

Positioning device for clamping mechanism of manipulator

Technical Field

The utility model belongs to the technical field of the manipulator, concretely relates to press from both sides positioner who gets mechanism for manipulator.

Background

The manipulator replaces manual operation, because the automation degree of the manual operation is low, the production efficiency of products is influenced, in the prior art, a manipulator auxiliary tool is also applied to take the products, one or two spiral arms are generally fixedly arranged on a base in a transverse rotating manner, and product processing parts are taken through the spiral arms; the patent number is CN201911082730.X, the patent name is a clamping jaw and a positioning device of a manipulator using the clamping jaw is described in the disclosed material of the manipulator, positioning is realized by adopting adjusting jackscrews, locking nuts and other parts, the positioning structure has the defects of complex adjustment, and due to the addition of springs, the stretching of the springs is uncertain, so that the adjustment and positioning are not stable, and aiming at the defects, a positioning device which is convenient to adjust, suitable for fine adjustment and good in stability and used for a clamping mechanism of the manipulator is necessary to be developed.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the not enough of prior art, and provide one kind and adjust convenient, be applicable to fine setting and the stable good positioner who gets the mechanism of clamp that is used for the manipulator.

The purpose of the utility model is realized like this: the positioning device for the manipulator comprises an electric appliance cabinet placed on the ground or an operation table, wherein electric elements required by a control program are arranged in the electric appliance cabinet, a support is arranged on the upper end surface of the electric appliance cabinet, a track, a motor and a circuit box are fixedly arranged on the support, a control line coming out of the motor is connected with power consumption equipment after passing through the circuit box, the track is connected with a manipulator fixing frame, the manipulator fixing frame is fixedly connected with a manipulator frame, the manipulator frame comprises a telescopic guide rail, a telescopic cylinder, a fixing plate and a telescopic guide rod, the telescopic guide rail is arranged in a sleeve, the telescopic cylinder is fixedly connected with a sleeve, the sleeve is fixedly connected with the manipulator fixing frame, the lower end of the telescopic guide rail and the lower end of the telescopic guide rod are fixedly connected with the fixing plate,

the lower terminal surface detachable connection of fixed plate has positioning mechanism, positioning mechanism include with the fixed plate between fixed connection's the installation piece, be provided with on the installation piece and be used for fixing the counter sink on the fixed plate with the installation piece, still be provided with the connecting hole on the installation piece, insert the connecting piece in the connecting hole, the connecting piece is connected with the regulating block, be provided with the regulation hole on the regulating block, insert the regulating part in the regulation hole.

The counter bore penetrates through the mounting block.

The connecting hole is in a slope shape, the outer opening diameter is large, and the inner opening diameter is small.

The connecting piece is fixedly connected with the adjusting block.

The number of the adjusting holes is six.

The adjusting piece is in threaded connection with the adjusting hole.

The utility model has the advantages that: the utility model has the advantages of adjust the angle and the slope of regulating plate through the regulating part, because after the manipulator frame is installed, inconvenient unloading again installs once more, at this time if the discovery position does not correspond, also can not differ greatly, consequently need finely tune, and this patent is applicable to the fine setting, through the regulating part, the preferred screw of regulating part in this patent, the angular adjustment of regulating block can be realized to the flexible regulation of a plurality of screws, other beneficial effects explain in detail in the embodiment.

Drawings

Fig. 1 is an overall equipment diagram of the positioning device of the gripping mechanism for the manipulator of the present invention.

Fig. 2 is a schematic structural view of the robot frame.

Fig. 3 is a schematic structural view of the positioning mechanism.

Fig. 4 is an exploded view of fig. 3.

Fig. 5 is a top view of the mounting block of fig. 4.

Fig. 6 is a bottom view of the mounting block of fig. 4.

Fig. 7 is a sectional view in the axial direction in fig. 5.

Fig. 8 is a front view of the connector.

Fig. 9 is a schematic structural view of the adjustment block.

Fig. 10 is a schematic view of the adjustment block after adjustment.

In the figure: 1. an electric appliance cabinet; 2. a support; 3. a track; 4. a manipulator fixing frame; 5. a manipulator frame; 6. a motor; 7. a circuit box; 8. a positioning mechanism; 51. a telescopic guide rail; 52. a telescopic cylinder; 54. a fixed plate 55, a telescopic guide rod; 81. mounting blocks; 82. a connecting member; 83. an adjusting block; 84. an adjustment member; 85. connecting holes; 86. a countersunk hole; 87. and adjusting the hole.

Detailed Description

The technical solution 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, rather than all embodiments, and all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein are for the purpose of describing particular embodiments only and are not intended to be limiting of the invention, and terms such as "and/or" as used herein include any and all combinations of one or more of the associated listed items; furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Example 1

As shown in fig. 1-10, a positioning device for a manipulator comprises an electrical cabinet 1 placed on the ground or an operation desk, electrical components required for controlling programs are arranged inside the electrical cabinet 1, a support 2 is arranged on the upper end surface of the electrical cabinet 1, a track 3, a motor 6 and a circuit box 7 are fixedly arranged on the support 2, a control line output from the motor 6 is connected with power consumption equipment through the circuit box, the track 3 is connected with a manipulator fixing frame 4, the manipulator fixing frame 4 is fixedly connected with a manipulator frame 5, the manipulator frame 5 comprises a telescopic guide rail 51, a telescopic cylinder 52, a fixing plate 54 and a telescopic guide rod 55, the telescopic guide rail 51 is arranged in the sleeve, the telescopic cylinder 52 is fixedly connected with the sleeve, the sleeve is fixedly connected with the manipulator fixing frame 4, and the lower end of the telescopic guide rail 51 and the lower end of the telescopic guide rod 55 are both fixedly connected with the fixing plate 54,

the lower terminal surface detachable connection of fixed plate 54 has positioning mechanism 8, positioning mechanism 8 include with fixed plate 54 between fixed connection's installation piece 81, be provided with on the installation piece 81 and be used for fixing the counter bore 86 on fixed plate 54 with installation piece 81, still be provided with connecting hole 85 on the installation piece 81, insert connecting piece 82 in the connecting hole 85, connecting piece 82 is connected with regulating block 83, be provided with regulation hole 87 on the regulating block 83, insert regulating piece 84 in the regulation hole 87.

In the embodiment, an electrical element is placed in an electrical cabinet 1, the upper end of the electrical cabinet 1 is used for supporting, a support 2 is fixedly arranged at the upper end and can be fixed through a bolt, a track 3 and a motor 6 are fixedly arranged on the support 2, the motor 6 is used for providing power, and the track 3 is used for a manipulator fixing frame 4 to walk on the track 3; in the positioning mechanism 8, a mounting block on the positioning mechanism 8 is used for being fixedly connected with a fixing plate, specifically, a plurality of countersunk holes are formed in the mounting block, the countersunk holes have the advantage of avoiding interference with position adjustment between the mounting block and an adjusting block, screws are arranged in the countersunk holes, and the screws penetrate through the mounting plate and are then in threaded connection with the fixing plate; a connecting hole is formed in the middle of the mounting hole, preferably in the center of the mounting hole, a connecting piece is inserted into the connecting hole, the connecting piece is a screw, the small diameter of the connecting hole is smaller than the diameter of the top of the connecting piece, and the top of the connecting piece moves in the connecting hole; be provided with the screw thread on the lower extreme of connecting piece, be used for and the regulating block between fixed connection, be provided with the screw hole of being connected with the connecting piece on the regulating block, still be provided with the regulation hole on the regulating block, the regulation hole is the screw hole, be used for connecting the regulating piece, the regulating piece is the screw, screw in is to the back in the regulation hole, according to the condition adjustable screw in how much, support the installation piece behind the screw in, after setting up a plurality of screws, the installation piece is supported by a plurality of screws, how much the position that changes the regulating plate of screw in of each screw of accessible.

Example 2

The counter-bore 86 extends through the mounting block 81.

In this embodiment, the countersunk hole penetrates through the mounting block, and the mounting block is fixedly connected with the fixing plate after the screw is placed inside the mounting block.

Example 3

The connecting hole 85 is in a slope shape, and has a large outer diameter and a small inner diameter.

In this embodiment, the connecting hole is used for connecting the mounting block and the adjusting block, and has an adjusting space when the adjusting block is adjusted, so that the connecting hole is designed to be of a slope type, the connecting hole penetrates through the mounting block, the outer aperture is arranged on the contact surface of the mounting block and the fixing plate, the outer aperture is large, the inner aperture is small, and after the connecting piece is inserted into the connecting hole, the top of the connecting piece can move in the connecting hole.

Example 4

The connecting piece 82 is fixedly connected with an adjusting block 83.

The pole portion of connecting piece is provided with the screw thread in this embodiment, and threaded connection between the regulating block.

Example 5

The number of the adjustment holes 87 is six.

The adjusting holes are preferably six in the embodiment, the adjusting holes are uniformly formed in the edge positions of the adjusting block, a six-direction adjusting mode is adopted, the adjusting accuracy is high, the fine adjusting effect is good, the number of the adjusting holes can be three, four or five, or more than six adjusting holes can be formed for higher accuracy, and six adjusting holes are preferably formed in the adjusting block in the patent due to the comprehensive consideration of convenience in operation and fine adjusting effect.

Example 6

The adjusting piece 84 is in threaded connection with the adjusting hole 87.

In this embodiment, the adjusting member is a screw, and is in threaded connection with the adjusting hole, that is, the screw passes through the threaded hole and then abuts against the mounting block.

The present invention is further described in the detailed description, rather than in the limited form thereof, and it will be obvious to those skilled in the art that changes may be made in the structure without departing from the spirit and scope of the invention, and it is intended that all such changes be covered by the appended claims.

Claims

1. A positioning device for a gripping mechanism of a manipulator comprises an electric appliance cabinet placed on the ground or an operating platform, the electric appliance cabinet is internally provided with electric appliance elements required by a control program, the upper end surface of the electric appliance cabinet is provided with a bracket, the bracket is fixedly provided with a track, a motor and a circuit box, a control wire from the motor is connected with a power consumption device after passing through the circuit box, the track is connected with a manipulator fixing frame which is fixedly connected with a manipulator frame, the manipulator frame comprises a telescopic guide rail, a telescopic cylinder, a fixed plate and a telescopic guide rod, the telescopic guide rail is arranged in the sleeve, telescopic cylinder fixed connection sleeve, fixed connection between sleeve and the manipulator mount, the equal fixed connection fixed plate of lower extreme of telescopic guide's lower extreme and telescopic guide, its characterized in that: the lower terminal surface detachable connection of fixed plate has positioning mechanism, positioning mechanism include with the fixed plate between fixed connection's the installation piece, be provided with on the installation piece and be used for fixing the counter sink on the fixed plate with the installation piece, still be provided with the connecting hole on the installation piece, insert the connecting piece in the connecting hole, the connecting piece is connected with the regulating block, be provided with the regulation hole on the regulating block, insert the regulating part in the regulation hole.

2. The positioning device for a gripping mechanism of a robot arm as claimed in claim 1, wherein: the counter bore penetrates through the mounting block.

3. The positioning device for a gripping mechanism of a robot arm as claimed in claim 1, wherein: the connecting hole is in a slope shape, the outer opening diameter is large, and the inner opening diameter is small.

4. The positioning device for a gripping mechanism of a robot arm as claimed in claim 1, wherein: the connecting piece is fixedly connected with the adjusting block.

5. The positioning device for a gripping mechanism of a robot arm as claimed in claim 1, wherein: the number of the adjusting holes is six.

6. The positioning device for a gripping mechanism of a robot arm as claimed in claim 1, wherein: the adjusting piece is in threaded connection with the adjusting hole.

7. The positioning device for a gripping mechanism of a robot arm as claimed in claim 1, wherein: the top of the connecting piece is larger than the small diameter of the connecting hole and smaller than the large diameter of the connecting hole.