CN213562573U - Manipulator capable of rotating rapidly and accurately - Google Patents

Abstract

The utility model belongs to the technical field of the manipulator, specifically disclose a but quick accurate pivoted manipulator, including the manipulator whole, first support column, second support column and universal wheel, swing joint has first support column in the middle of the holistic top of manipulator, the top swing joint of first support column has the second support column, swing joint has the universal wheel around the holistic bottom of manipulator, the holistic top swing joint of manipulator has the rotary disk, the peripheral nested connection in bottom of rotary disk has spacing axle, spacing axle can make the rotary disk can be better rotate in the original place under the drive of motor, damper is when the user puts into the manipulator whole use, the motor in the manipulator whole can obtain fine shock attenuation through damper, thereby make the more accurate drive rotary disk of motor rotate, and then make the rotary disk can be more accurate through first support column, The second supporting column and the first telescopic rod drive the clamping head to grab the object.

Description

Manipulator capable of rotating rapidly and accurately

Technical Field

The utility model relates to a manipulator technical field specifically is a but quick accurate pivoted manipulator.

Background

The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and conveying article or operating tool according to 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.

The majority of the existing mechanical arms are driven by the motor to turn, but the motor can vibrate due to operation when the mechanical arm rotates, when the motor vibrates, the motor can shift due to vibration, so that the motor can not accurately drive the mechanical arm to rotate, and meanwhile, the existing mechanical arm needs to be moved to other places for working requirements sometimes, but the existing mechanical arm can not change the supporting legs of the mechanical arm according to actual requirements, so that a user can not easily and conveniently move the mechanical arm when the mechanical arm needs to be moved.

Therefore, how to design a manipulator capable of rotating rapidly and accurately becomes a problem to be solved at present.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a but quick accurate pivoted manipulator to the motor that provides in solving above-mentioned background art can lead to the drive manipulator that can not be accurate to rotate and can not carry out the problem of replacing according to the supporting legs of actual demand to the manipulator because the function produces the reason of vibrations.

In order to achieve the above object, the utility model provides a following technical scheme: a manipulator capable of rotating rapidly and accurately comprises a manipulator whole body, a first supporting column, a second supporting column and universal wheels, wherein the first supporting column is movably connected in the middle of the top end of the manipulator whole body, the second supporting column is movably connected at the top end of the first supporting column, the universal wheels are movably connected around the bottom end of the manipulator whole body, a rotating disc is movably connected at the top of the manipulator whole body, a control mainboard is fixedly connected at the middle left side in the interior of the manipulator whole body, a motor is fixedly connected at the middle right side in the interior of the manipulator whole body, a spring is movably connected at the periphery of the motor, a clamping plate is fixedly connected at the outer side of the spring, fixing bolts are connected at two ends of the clamping plate in a penetrating manner, a liquid pump is fixedly connected in the middle of the interior bottom of the manipulator whole body, a second telescopic rod is movably, the bottom fixedly connected with connecting rod of second telescopic link, the top through connection of first support column has the through-shaft, the holistic dead ahead left side fixedly connected with control button of manipulator.

Preferably, the bottom end of the right side of the second supporting column is movably connected with a first telescopic rod, and the bottom end of the first telescopic rod is movably connected with a clamping head.

Preferably, the periphery of the bottom end of the rotating disc is connected with a limiting shaft in a nested mode.

Preferably, the inner side of the spring is fixedly connected with a rubber connecting block.

Preferably, the motor, the spring on the periphery of the motor, the clamping plate on the outer side of the spring, the fixing bolts at two ends of the clamping plate and the rubber connecting block on the inner side of the spring form a damping mechanism together.

Preferably, the liquid pump and a second telescopic rod at the bottom end of the liquid pump, a piston inside the second telescopic rod, a connecting rod at the bottom end of the second telescopic rod and universal wheels around the whole bottom end of the manipulator jointly form a support replacement mechanism.

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

1. this can quick accurate pivoted manipulator, damper when the user puts into the use with the manipulator is whole, the motor of the manipulator in the whole can obtain fine shock attenuation through damper and handle to make the motor can be more accurate drive the rotary disk and rotate, and then make the rotary disk can be more accurate drive the centre gripping head through first support column, second support column and first telescopic link and snatch the article.

2. This but accurate pivoted manipulator fast supports the replacement mechanism and when the user need remove the manipulator wholly, the user can be through supporting the quick whole jack-up of promotion universal wheel pair manipulator of replacement mechanism to make the promotion manipulator that the user can relax wholly remove, and when not needing to remove the manipulator wholly, the user can be through with the holistic inside bottom of universal wheel withdrawal manipulator, thereby make the manipulator whole can be more stable stand and carry out work on current ground.

Drawings

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

fig. 2 is a schematic view of the overall front sectional structure of the manipulator of the present invention;

FIG. 3 is an enlarged schematic view of the structure at the position A of the present invention;

fig. 4 is an enlarged schematic structural diagram of the position B of the present invention.

The labels in the figure are: 1. the manipulator is whole, 2, first support column, 3, run through the axle, 4, second support column, 5, first telescopic link, 6, clamping head, 7, control button, 8, universal wheel, 9, rotary disk, 10, spacing axle, 11, control mainboard, 12, splint, 13, fixing bolt, 14, spring, 15, rubber connecting block, 16, motor, 17, the liquid pump, 18, second telescopic link, 19, piston, 20, connecting rod.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the 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 of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: a manipulator capable of rotating rapidly and accurately comprises a manipulator whole 1, a first support column 2, a second support column 4 and universal wheels 8, wherein the first support column 2 is movably connected in the middle of the top end of the manipulator whole 1, the second support column 4 is movably connected at the top end of the first support column 2, the universal wheels 8 are movably connected around the bottom end of the manipulator whole 1, a rotary disc 9 is movably connected at the top of the manipulator whole 1, a control main board 11 is fixedly connected at the left side in the middle of the interior of the manipulator whole 1, a motor 16 is fixedly connected at the right side in the middle of the interior of the manipulator whole 1, a spring 14 is movably connected at the periphery of the motor 16, a clamping plate 12 is fixedly connected at the outer side of the spring 14, fixing bolts 13 are connected at two ends of the clamping plate 12 in a penetrating manner, a liquid pump 17 is fixedly connected in the, the inside swing joint of second telescopic link 18 has piston 19, and the bottom fixedly connected with connecting rod 20 of second telescopic link 18, the top through connection of first support column 2 has through-going axle 3, the dead ahead left side fixedly connected with control button 7 of the whole 1 of manipulator.

Preferably, the right side bottom swing joint of second support column 4 has first telescopic link 5, the bottom swing joint of first telescopic link 5 has holding head 6, when the user uses the manipulator wholly 1, the user can control first telescopic link 5 through the control end and stretch out and draw back according to the height of being grabbed the object, make the holding head 6 in the bottom can be better snatch the object of co-altitude through setting up of first telescopic link 5, thereby make the whole 1 that can be better of manipulator snatch the object.

Preferably, the peripheral nested connection in bottom of rotary disk 9 has spacing axle 10, and spacing axle 10 is used for carrying out spacingly to rotary disk 9, and rotary disk 9 is stood through spacing axle 10 and is carried out the function on current position, and spacing axle 10 can be effectual lets rotary disk 9 carry out corresponding rotation in standing in situ, makes the rotary disk 9 at the whole 1 top of manipulator rotate in situ through spacing axle 10 under the drive of motor 16 that can be better through such setting.

Preferably, the inner side of the spring 14 is fixedly connected with the rubber connecting block 15, the rubber connecting block 15 is directly fixed with the outer peripheral wall of the motor 16, the spring 14 is connected with the motor 16 through the rubber connecting block 15, and the rubber connecting block 15 is made of rubber, so that the rubber connecting block 15 has certain elasticity, and the motor 16 is damped by the damping mechanism in the auxiliary manipulator body 1.

Preferably, the motor 16, the spring 14 on the periphery of the motor 16, the clamping plate 12 on the outer side of the spring 14, the fixing bolt 13 at two ends of the clamping plate 12 and the rubber connecting block 15 on the inner side of the spring 14 form a damping mechanism, when the manipulator whole 1 is put into use, the motor 16 can operate because of a set operation command at a control end, when the motor 16 operates, the motor 16 can generate certain vibration, when the motor 16 generates vibration, the vibration force can be transmitted to the spring 14 on the outer side of the rubber connecting block 15 through the rubber connecting block 15, when the spring 14 receives vibration force, the vibration force can be counteracted by taking the clamping plate 12 on the outer side as a fulcrum through the elastic bearing force of the spring 14 (because the clamping plate 12 is fixed together through the fixing bolt 13, and the outer side of the clamping plate 12 is fixed together with the inside of the manipulator whole 1, so that the clamping plate 12 cannot be driven to vibrate, thereby make splint 12 can be better provide the holding power for spring 14), when effectual vibrations power that produces motor 16 of damper offsets, motor 16 just can be more stable drive rotary disk 9 and carry out the pivot rotation in the inboard of fixed axle 10, thereby make motor 16 can be more accurate drive rotary disk 9 rotate, make when the user puts into the use manipulator whole 1 through such setting, the motor in the whole 1 of manipulator can obtain fine shock attenuation through damper and handle, thereby make motor 16 can be more accurate drive rotary disk 9 rotate, and then make rotary disk 9 can be more accurate pass through first support column 2, second support column 4 and first telescopic link 5 drive clamping head 6 snatch the article.

Preferably, the liquid pump 17, the second telescopic rod 18 at the bottom end of the liquid pump 17, the piston 19 inside the second telescopic rod 18, the connecting rod 20 at the bottom end of the second telescopic rod 18 and the universal wheel 8 around the bottom end of the whole manipulator 1 jointly form a supporting and replacing mechanism, when a user needs to move the whole manipulator 1 to other stations for use, the user can manually press the left control button 7 to enable the liquid pump 17 to operate, the stored liquid inside the manipulator can be transmitted to the inside of the second telescopic rod 18 when the liquid pump 17 operates, when the liquid is transmitted into the second telescopic rod 18, the piston 19 inside the second telescopic rod 18 can move downwards under the pushing of the liquid which is continuously increased, the second telescopic rod 18 can be pushed to extend downwards after the piston 19 moves downwards to a certain position, the connecting rod 20 can be pushed to move downwards simultaneously when the second telescopic rod 18 extends downwards, when the connecting rod 20 moves downwards, the universal wheel 8 is pushed to move downwards (the universal wheel 8 and the connecting rod 20 are fixed together), after the universal wheel 8 moves downwards to a certain position, the universal wheel 8 is in contact with the ground, then the universal wheel 8 pushes the whole manipulator 1 up through the ground as a fulcrum due to the second telescopic rod 18 which continuously extends downwards, so that the whole manipulator 1 is supported on the ground through the universal wheel 8, a user can push the whole manipulator 1 to move more easily, after the user pushes the whole manipulator 1 in place, the user can manually press the control button 7 on the right side (the user firstly switches on the whole manipulator 1), so that the liquid pump 17 operates reversely, the liquid pump 17 can suck back the liquid in the second telescopic rod 18, and the piston 19 can move upwards slowly along with disappearance of the liquid, so that the second telescopic rod 18 will also retract into the inner bottom of the robot entity 1. And then make the whole 1 of manipulator can be subaerial through the more stable support in surface of bottom, make the user remove the whole 1 of manipulator in needs through such setting, the user can be through supporting the quick promotion universal wheel 8 of replacement mechanism to the whole 1 jack-up of manipulator, thereby make the whole 1 of promotion manipulator that the user can relax remove, and when not needing to remove the whole 1 of manipulator, the user can be through the inside bottom with the whole 1 of universal wheel 8 withdrawal manipulator, thereby make the whole 1 of manipulator can be more stable stand and carry out work on current ground.

The working principle is as follows: firstly, when the user uses the whole manipulator 1, the user can control the first telescopic link 5 through the control end and stretch out and draw back according to the height of the object to be grabbed, and the object to different heights that the clamping head 6 in the bottom can be better is grabbed through the setting of the first telescopic link 5, so that the whole manipulator 1 can be better grabbed the object.

Then, spacing axle 10 is used for carrying on spacingly to rotary disk 9, and rotary disk 9 stands through spacing axle 10 and carries out the function on current position, and spacing axle 10 can be effectual lets rotary disk 9 stand and carry out corresponding rotation in situ, makes the rotary disk 9 at the whole 1 top of manipulator can be better through the rotation of spacing axle 10 in situ under the drive of motor 16 through such setting.

Then, the rubber connecting block 15 is directly fixed with the outer peripheral wall of the motor 16, the spring 14 is connected with the motor 16 through the rubber connecting block 15, and the rubber connecting block 15 is made of rubber, so that the rubber connecting block 15 has certain elasticity, and the shock absorption mechanism in the auxiliary manipulator whole body 1 can better absorb shock of the motor 16.

Next, when the manipulator whole 1 is put into use, the motor 16 will operate because of the operation command set by the control end, when the motor 16 operates, the motor 16 will generate a certain vibration, when the motor 16 generates a vibration, the vibration force will be transmitted to the spring 14 outside the rubber connecting block 15 through the rubber connecting block 15, when the spring 14 receives the vibration force, the vibration force can be offset by using the outer clamping plate 12 as the fulcrum through the elastic bearing force of the spring 14 (because the clamping plate 12 is fixed together through the fixing bolt 13, and the outer side of the clamping plate 12 is fixed together with the inside of the manipulator whole 1, the clamping plate 12 will not be driven to vibrate at the same time when the motor 16 vibrates, so that the clamping plate 12 can better provide the supporting force for the spring 14), when the vibration force generated by the motor 16 is effectively offset by the damping mechanism, the motor 16 can more stably drive the rotating disc 9 to rotate in situ on the inner side of the fixing shaft 10, thereby make the drive rotary disk 9 that motor 16 can be more accurate rotate, make through such setting when the user puts into use the whole 1 of manipulator, the motor in the whole 1 of manipulator can obtain fine shock attenuation through damper and handle, thereby make the drive rotary disk 9 that motor 16 can be more accurate rotate, and then make rotary disk 9 can be more accurate drive the clamping head 6 through first support column 2, second support column 4 and first telescopic link 5 and snatch the article.

Finally, when the user needs to move the whole manipulator 1 to other stations for use, the user can manually press the left control button 7, so that the liquid pump 17 operates, when the liquid pump 17 operates, the stored liquid inside the liquid pump can be transmitted to the inside of the second telescopic rod 18, when the liquid is transmitted into the second telescopic rod 18, the piston 19 inside the second telescopic rod 18 can move downwards under the push of the liquid which is continuously increased, after the piston 19 moves downwards to a certain position, the second telescopic rod 18 can be pushed to extend downwards, when the second telescopic rod 18 extends downwards, the connecting rod 20 can be simultaneously pushed to move downwards, when the connecting rod 20 moves downwards, the universal wheel 8 can be pushed to move downwards (the universal wheel 8 and the connecting rod 20 are fixed together), and when the universal wheel 8 moves downwards to a certain position, the universal wheel can be in contact with the ground, afterwards, universal wheel 8 will be because last down the second telescopic link 18 that extends and push up the whole 1 of manipulator through ground as the fulcrum, thereby make the whole 1 of manipulator support subaerial through universal wheel 8, and then make the whole 1 of promotion manipulator that the user can relax more remove, promote the back that targets in place with the whole 1 of manipulator when the user, the user just can be through the control button 7 on manual press right side (the user will be at first with the whole 1 switch on power supply of manipulator), make liquid pump 17 reverse operation, liquid pump 17 will be with the liquid of in the second telescopic link 18 suck back, thereby make piston 19 can be along with the disappearance of liquid and slow up-going removal, thereby make second telescopic link 18 also can withdraw the inside bottom of the whole 1 of manipulator. And then make the whole 1 more stable support in surface that can pass through the bottom of manipulator subaerial, make the user remove the whole 1 of manipulator in needs through such setting, the user can be through supporting the quick promotion universal wheel 8 of replacement mechanism to the whole 1 jack-up of manipulator, thereby make the whole 1 of promotion manipulator that the user can relax remove, and when not needing to remove the whole 1 of manipulator, the user can be through the inside bottom with the whole 1 of universal wheel 8 withdrawal manipulator, thereby make the whole 1 of manipulator can be more stable stand and carry out work on current ground, this kind is the theory of operation of this kind of manipulator that can be accurate pivoted fast.

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 (7)

1. The utility model provides a but quick accurate pivoted manipulator, includes that the manipulator is whole (1), first support column (2), second support column (4) and universal wheel (8), its characterized in that: swing joint has first support column (2) in the middle of the top of the whole manipulator (1), the top swing joint of first support column (2) has second support column (4), swing joint has universal wheel (8) all around the bottom of the whole manipulator (1), the top swing joint of the whole manipulator (1) has rotary disk (9), left side fixedly connected with control mainboard (11) in the middle of the inside of the whole manipulator (1), right side fixedly connected with motor (16) in the middle of the inside of the whole manipulator (1), the peripheral swing joint of motor (16) has spring (14), outside fixedly connected with splint (12) of spring (14), the both ends through connection of splint (12) have fixing bolt (13), fixedly connected with liquid pump (17) in the middle of the inside bottom of the whole manipulator (1), the bottom end of the liquid pump (17) is movably connected with a second telescopic rod (18), the inside of the second telescopic rod (18) is movably connected with a piston (19), and the bottom end of the second telescopic rod (18) is fixedly connected with a connecting rod (20).

2. A robot hand capable of rapid and accurate rotation according to claim 1, wherein: the top through connection of first support column (2) has through axle (3), the dead ahead left side fixedly connected with control button (7) of the whole (1) of manipulator.

3. A robot hand capable of rapid and accurate rotation according to claim 1, wherein: the right side bottom swing joint of second support column (4) has first telescopic link (5), the bottom swing joint of first telescopic link (5) has supporting head (6).

4. A robot hand capable of rapid and accurate rotation according to claim 1, wherein: the periphery of the bottom end of the rotating disc (9) is connected with a limiting shaft (10) in a nesting mode.

5. A robot hand capable of rapid and accurate rotation according to claim 1, wherein: the inner side of the spring (14) is fixedly connected with a rubber connecting block (15).

6. A robot hand capable of fast and accurate rotation according to claims 1 and 5, wherein: the motor (16) and a spring (14) on the periphery of the motor (16), a clamping plate (12) on the outer side of the spring (14), fixing bolts (13) at two ends of the clamping plate (12) and a rubber connecting block (15) on the inner side of the spring (14) jointly form a damping mechanism.

7. A robot hand capable of rapid and accurate rotation according to claim 1, wherein: and the liquid pump (17), a second telescopic rod (18) at the bottom end of the liquid pump (17), a piston (19) inside the second telescopic rod (18), a connecting rod (20) at the bottom end of the second telescopic rod (18) and universal wheels (8) around the bottom end of the manipulator whole body (1) jointly form a support replacement mechanism.

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