CN212553840U - Intelligent T-shaped manipulator - Google Patents

Abstract

The utility model discloses an intelligent T-shaped manipulator, which is characterized by comprising a slide rail, a first driver, a mounting seat, a fixed plate, a fixed sleeve, a rotary cylinder, a main mechanical arm, a second driver and an auxiliary mechanical arm which are transversely arranged, wherein the mounting seat can slide left and right on the guide rail under the driving of the first driver, and the main mechanical arm can rotate under the action of the rotary cylinder; the auxiliary mechanical arm is driven by the second driver and is in sliding connection with the main mechanical arm, so that the auxiliary mechanical arm can stretch out and draw back in the main mechanical arm, the flexibility of the intelligent T-shaped mechanical arm is improved, the auxiliary mechanical arm can rotate along with the rotation of the main mechanical arm, and accordingly the grabbed objects can be driven to rotate together, the articles can be assembled conveniently, and the working efficiency is improved.

Description

Intelligent T-shaped manipulator

Technical Field

The utility model relates to a manipulator technical field especially relates to an intelligence T type manipulator.

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 has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The mechanical arm replaces manual labor, and the human body is prevented from working under the environment of high temperature, high pressure and toxic gas, so that personal safety is ensured. The most designs of manipulator that can move about from top to bottom among the prior art are T shape manipulator, and most T shape manipulators do not possess rotation function, can not make the object rotatory behind the T shape manipulator snatching the object to be unfavorable for the assembly of object, influence work efficiency.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in, to the above-mentioned defect of prior art, provide an intelligent T type manipulator, this intelligent T type manipulator can drive the object rotation after snatching the object to be convenient for the assembly of object, in order to improve work efficiency.

In order to achieve the above object, the utility model provides an intelligent T-shaped manipulator, which comprises a slide rail, a first driver, a mounting seat, a fixing plate, a fixing sleeve, a rotary cylinder, a main mechanical arm, a second driver and an auxiliary mechanical arm, wherein the slide rail, the first driver, the mounting seat, the fixing plate, the fixing sleeve, the rotary cylinder, the main mechanical arm, the second driver and the auxiliary mechanical arm are transversely arranged, the first driver is fixedly arranged in the slide rail, the output end of the first driver is fixedly connected with the mounting seat, the mounting seat is slidably connected with the slide rail, the fixing plate is fixedly connected with the mounting seat, the fixing plate is arranged at the bottom of the mounting seat, the fixing sleeve is fixedly connected with the fixing plate, the fixing sleeve is arranged at the bottom of the fixing plate, the rotary cylinder is fixedly arranged on the fixing plate, the rotary cylinder is arranged in the fixing sleeve, the output, the main mechanical arm is located inside the fixed sleeve, the second driver is fixedly mounted at the top of the inner side of the main mechanical arm, the output end of the second driver is fixedly connected with the auxiliary mechanical arm, the auxiliary mechanical arm is connected with the main mechanical arm in a sliding mode, the auxiliary mechanical arm is located inside the main mechanical arm, and a mechanical claw is arranged at one end, far away from the second driver, of the auxiliary mechanical arm.

The mounting seat is arranged in a concave shape, the concave part of the mounting seat is provided with a mounting bracket, the upper side and the lower side of the sliding rail are provided with connecting ports matched with the mounting bracket, and the mounting bracket is positioned in the connecting ports and can slide in the connecting ports.

The top of the fixed sleeve is provided with a connecting support, the connecting support is provided with a plurality of screw holes, and the fixed sleeve is fixedly connected with the fixed plate through a plurality of screws.

The intelligent T-shaped manipulator further comprises a limiting plate, the fixing sleeve is provided with a limiting hole, the fixing sleeve is located above the limiting hole and is provided with a limiting support, the main manipulator is provided with an annular groove, the limiting plate is fixedly connected with the limiting support through a plurality of screws, and the limiting plate is located inside the limiting hole and located inside the annular groove.

The inner side of the main mechanical arm is provided with a positioning support, the auxiliary mechanical arm is provided with a positioning groove matched with the positioning support, and the positioning support is positioned inside the positioning groove.

The pulley is fixedly mounted inside the positioning support, the pulley is in rolling connection with the auxiliary mechanical arm, and the pulley is located inside the positioning groove.

The utility model discloses an intelligent T type manipulator, the mount pad can slide from side to side on the guide rail under the drive of first driver, main mechanical arm can rotate under the effect of revolving cylinder; the auxiliary mechanical arm is driven by the second driver and is connected with the main mechanical arm in a sliding mode, so that the auxiliary mechanical arm can stretch out and draw back in the main mechanical arm, the flexibility of the intelligent T-shaped mechanical arm is improved, the auxiliary mechanical arm can rotate along with the rotation of the main mechanical arm, and accordingly the grabbed objects can be driven to rotate together, and the articles can be assembled conveniently. This intelligent T type manipulator realizes a series of operations such as material handling, assembly, makes the light, quick, accurate repetitive operation procedure of operating personnel, shortens cycle time to improve work efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic sectional view of the structure of the intelligent T-shaped manipulator of the present invention.

Fig. 2 is a cross-sectional view a-a of fig. 1 according to the present invention.

Fig. 3 is a cross-sectional view of B-B of fig. 1 according to the present invention.

The mechanical arm positioning device comprises a sliding rail 1, a connecting port 101, a first driver 2, a mounting seat 3, a mounting support 31, a fixing plate 4, a fixing sleeve 5, a connecting support 51, a limiting hole 52, a limiting support 53, a rotating cylinder 6, a main mechanical arm 7, a positioning support 71, an annular groove 72, a second driver 8, an auxiliary mechanical arm 9, a mechanical claw 91, a positioning groove 92, a limiting plate 10 and a pulley 11.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1 to 3, the present invention provides a technical solution: an intelligent T-shaped manipulator comprises a transversely arranged slide rail 1, a first driver 2, a mounting seat 3, a fixed plate 4, a fixed sleeve 5, a rotary cylinder 6, a main mechanical arm 7, a second driver 8 and an auxiliary mechanical arm 9, wherein the first driver 2 is fixedly mounted inside the slide rail 1, the output end of the first driver 2 is fixedly connected with the mounting seat 3, the mounting seat 3 is slidably connected with the slide rail 1, the fixed plate 4 is fixedly connected with the mounting seat 3, the fixed plate 4 is positioned at the bottom of the mounting seat 3, the fixed sleeve 5 is fixedly connected with the fixed plate 4, the fixed sleeve 5 is positioned at the bottom of the fixed plate 4, the rotary cylinder 6 is fixedly mounted on the fixed plate 4, the rotary cylinder 6 is positioned inside the fixed sleeve 5, the output end of the rotary cylinder 6 is fixedly connected with the main mechanical arm 7, host computer arm 7 with fixed cover 5 rotates to be connected, host computer arm 7 is located the inside of fixed cover 5, 8 fixed mounting of second driver are in the top of the inboard of host computer arm 7, the output of second driver 8 with vice arm 9 fixed connection, vice arm 9 with host computer arm 7 sliding connection, vice arm 9 is located the inside of host computer arm 7, vice arm 9 is kept away from the one end of second driver 8 is equipped with gripper 91.

In the present embodiment, the first actuator 2 is fixedly installed inside the slide rail 1, the first actuator 2 is driven by a ball screw, the screw rotates as an active body, a nut on the screw is converted into a linear motion along with a rotation angle of the screw according to a lead of a corresponding specification, and a nut seat of the mount seat 3 is connected with a nut of a ball of the screw, so that the corresponding linear motion is realized, the mount seat 3 can slide left and right on the guide rail, and the ball screw has the characteristics of high precision, reversibility and high efficiency, so that the displacement of the intelligent T-shaped manipulator can be more accurate, and the accuracy of the intelligent T-shaped manipulator is improved; the fixed plate 4 is fixedly installed at the bottom of the installation seat 3, the fixed sleeve 5 is fixedly installed at the bottom of the fixed plate 4, the rotary cylinder 6 is fixedly installed inside the fixed sleeve 5, the fixed sleeve 5 can protect the rotary cylinder 6, and the output end of the rotary cylinder 6 is fixedly connected with the main mechanical arm 7, so that the main mechanical arm 7 can rotate; the second driver 8 is an intelligent electric balancer, and compared with a pneumatic balancer, the intelligent electric balancer has the characteristics of easy operation, high precision, intellectualization, controllable speed, safety, reliability and the like, and is convenient to use; the auxiliary mechanical arm 9 is driven by the second driver 8 and is connected with the main mechanical arm 7 in a sliding mode, so that the auxiliary mechanical arm 9 can stretch out and draw back inside the main mechanical arm 7, the flexibility of the intelligent T-shaped mechanical arm is improved, the auxiliary mechanical arm 9 can rotate along with the rotation of the main mechanical arm 7, and accordingly the grabbed objects are driven to rotate together, the assembly of the objects is facilitated, and the working efficiency is improved.

Further, the mounting base 3 is concave, the mounting bracket 31 is arranged in the concave portion of the mounting base 3, the upper side and the lower side of the slide rail 1 are provided with connecting ports 101 matched with the mounting bracket 31, and the mounting bracket 31 is located inside the connecting ports 101 and can slide inside the connecting ports 101.

In the present embodiment, the mounting base 3 and the slide rail 1 are slidably connected by the mutual engagement of the mounting bracket 31 and the connecting port 101, and the mounting base 3 is driven by the first driver 2 to slide left and right on the slide rail 1.

Further, a connecting bracket 51 is arranged at the top of the fixing sleeve 5, the connecting bracket 51 is provided with a plurality of screw holes, and the fixing sleeve 5 is fixedly connected with the fixing plate 4 through a plurality of screws.

In this embodiment, the fixing sleeve 5 is fixedly connected to the fixing plate 4 through a plurality of screws, so that the fixing sleeve 5 is more firmly connected to the fixing plate 4, and the fixing sleeve 5 is convenient to mount.

Further, intelligence T type manipulator still includes limiting plate 10, fixed cover 5 has spacing hole 52, fixed cover 5 is located the top of spacing hole 52 is equipped with spacing support 53, main mechanical arm 7 has annular groove 72, limiting plate 10 through a plurality of screws with spacing support 53 fixed connection, limiting plate 10 is located the inside of spacing hole 52 and is located the inside of annular groove 72.

In this embodiment, the position-limiting plate 10 is fixedly connected to the position-limiting bracket 53 and inserted into the annular groove 72 through the position-limiting hole 52, so as to limit the position of the main robot arm 7, and prevent the main robot arm 7 from shaking up and down inside the fixing sleeve 5, so that the main robot arm 7 can stably rotate inside the fixing sleeve 5 under the action of the rotating cylinder 6. In order to facilitate the installation of the limiting plate 10, the limiting plate 10 may be divided into two parts, and the main robot arm 7 may be limited respectively.

Further, a positioning support 71 is disposed on the inner side of the main robot arm 7, the auxiliary robot arm 9 has a positioning groove 92 matched with the positioning support 71, and the positioning support 71 is located inside the positioning groove 92.

In the present embodiment, the positioning bracket 71 is positioned inside the positioning groove 92 to position the sub-robot arm 9 so that the sub-robot arm 9 can be stably extended and contracted by the second actuator 8.

Further, a pulley 11 is fixedly mounted inside the positioning bracket 71, the pulley 11 is in rolling connection with the auxiliary mechanical arm 9, and the pulley 11 is located inside the positioning groove 92.

In this embodiment, the pulley 11 is in rolling connection with the inner side surface of the positioning groove 92 of the secondary robot arm 9, so that the resistance generated when the secondary robot arm 9 performs relative motion with the primary robot arm 7 under the action of the second driver 8 is smaller, and light damping sliding is realized, thereby improving the accuracy of the smart T-type robot.

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

Claims (6)

1. An intelligent T-shaped manipulator is characterized by comprising a transversely arranged slide rail, a first driver, a mounting seat, a fixed plate, a fixed sleeve, a rotary cylinder, a main mechanical arm, a second driver and an auxiliary mechanical arm, wherein the first driver is fixedly mounted in the slide rail, the output end of the first driver is fixedly connected with the mounting seat, the mounting seat is slidably connected with the slide rail, the fixed plate is fixedly connected with the mounting seat, the fixed plate is positioned at the bottom of the mounting seat, the fixed sleeve is fixedly connected with the fixed plate, the fixed sleeve is positioned at the bottom of the fixed plate, the rotary cylinder is fixedly mounted on the fixed plate, the rotary cylinder is positioned in the fixed sleeve, the output end of the rotary cylinder is fixedly connected with the main mechanical arm, and the main mechanical arm is rotatably connected with the fixed sleeve, the main mechanical arm is located inside the fixed sleeve, the second driver is fixedly mounted at the top of the inner side of the main mechanical arm, the output end of the second driver is fixedly connected with the auxiliary mechanical arm, the auxiliary mechanical arm is connected with the main mechanical arm in a sliding mode, the auxiliary mechanical arm is located inside the main mechanical arm, and a mechanical claw is arranged at one end, far away from the second driver, of the auxiliary mechanical arm.

2. An intelligent T-shaped manipulator as claimed in claim 1, wherein the mounting base is in a concave shape, the concave portion of the mounting base is provided with a mounting bracket, the upper and lower sides of the slide rail are provided with a connecting port matching with the mounting bracket, and the mounting bracket is located inside the connecting port and can slide inside the connecting port.

3. The intelligent T-shaped manipulator according to claim 2, wherein a connecting bracket is disposed on the top of the fixing sheath, the connecting bracket has a plurality of screw holes, and the fixing sheath is fixedly connected to the fixing plate by a plurality of screws.

4. The smart T-robot of claim 3, further comprising a limiting plate, wherein the fixing sleeve has a limiting hole, the fixing sleeve has a limiting bracket above the limiting hole, the main robot arm has an annular groove, the limiting plate is fixedly connected to the limiting bracket by a plurality of screws, and the limiting plate is located inside the limiting hole and inside the annular groove.

5. An intelligent T-shaped manipulator as claimed in claim 4, wherein the main manipulator is provided with a positioning bracket on its inner side, the auxiliary manipulator is provided with a positioning slot matched with the positioning bracket, and the positioning bracket is located inside the positioning slot.

6. An intelligent T-shaped manipulator as claimed in claim 5, wherein a pulley is fixedly mounted inside the positioning bracket, the pulley is in rolling connection with the secondary manipulator arm, and the pulley is located inside the positioning groove.

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