CN214265572U

CN214265572U - Multifunctional manipulator

Info

Publication number: CN214265572U
Application number: CN202120293269.9U
Authority: CN
Inventors: 林雪; 黄鹏程; 林炜力; 周顺寅; 傅云峰; 田立权; 王桂锋; 肖建章
Original assignee: Jinhua Polytechnic
Current assignee: Jinhua Polytechnic
Priority date: 2021-02-02
Filing date: 2021-02-02
Publication date: 2021-09-24
Anticipated expiration: 2031-02-02

Abstract

The utility model discloses a multifunctional manipulator, including fixed subassembly, rotating electrical machines, fixing base and the subassembly of snatching that can move from top to bottom, the fixing base is fixed on fixed subassembly, and the rotating electrical machines is fixed at the side of fixing base, and the rotating electrical machines output is connected with the shaft coupling, and the shaft coupling other end is fixed with the pivot, and the pivot other end rotatable coupling has the supporting seat that is the arc structure, and pivot right side end articulates there is link assembly, and link assembly right side end runs through supporting seat right side end and its tip is fixed with the subassembly of snatching, and the fixing base bottom is fixed with ejecting cylinder, still articulate on the fixing base has the layer board, and the layer board still is connected with ejecting cylinder relatively, and layer board up end and supporting seat left side end conflict each other and set up, and both sides are fixed with pushing cylinder around the fixing base, and pushing cylinder right side end still is fixed with the latch segment that is run through by the pivot; the utility model has the characteristics of simple structure, convenient operation are laborsaving, and the fungible manual work carries out the product transport, and safe and reliable, application scope are wide.

Description

Multifunctional manipulator

Technical Field

The utility model relates to a manipulator technical field, concretely relates to multifunctional 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 can replace the heavy labor of people to realize the mechanization and automation of production, can operate under the harmful environment to protect the personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The manipulator mainly comprises an actuating mechanism, a driving mechanism and a control system. The hand is a member for gripping a workpiece (or a tool), and has various structures such as a grip type, a holding type, and an adsorption type according to the shape, size, weight, material, and working requirements of an object to be gripped. The motion mechanism enables the hand to complete various rotation (swing), movement or compound motions to realize specified actions and change the position and the posture of a gripped object. The independent motion modes of the motion mechanism, such as lifting, stretching, rotating and the like, are called the degree of freedom of the manipulator. In order to grasp an object at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter for the design of the manipulator. The more degrees of freedom, the more flexible the manipulator, the wider the versatility, and the more complex the structure. The general special manipulator has 2-3 degrees of freedom. The control system is used for controlling a motor of each degree of freedom of the manipulator to complete a specific action.

At present, the mechanical hands working in a factory are mainly large-scale grabbing mechanical hands, each mechanical hand is up to hundreds of thousands or even higher in price, and a common mechanical hand only has three degrees of freedom of a base, an intermediate shaft and a top shaft to adjust the angle, and is mainly applied to product scheduling and carrying in a production line, but for some small-sized processing plants or small workshops, the risk of putting into hundreds of thousands of machines at a time is very large, so most of small-sized processing plants or small workshops are mainly manually operated, the degree of automation is not high, meanwhile, under the condition that the product moving distance is not large or the product volume is small, the mechanical hands of a dozen of machines are small in size, the mechanical hands can be completely replaced by smaller automatic equipment, but the equipment on the market is not many at present, some machines are customized according to factory products, the price cannot be produced in batches, and is not cheaper than the mechanical hands of a dozen machines, even more expensive.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a multifunctional manipulator, its simple structure, convenient to work are laborsaving, and the fungible manual work carries out the product transport, and safe and reliable, application scope are wide.

In order to solve the above problem, the utility model adopts the following technical scheme:

a multifunctional manipulator comprises a fixed component, a rotating motor, a fixed seat and a grabbing component which can move up and down, wherein the fixed seat is fixed on the fixed component, the rotating motor is fixed at the side end of the fixed seat, the output end of the rotating motor is connected with a coupler, the other end of the coupler is fixed with a rotating shaft, the other end of the rotating shaft is rotatably connected with a supporting seat in an arc structure, the right side end of the rotating shaft is hinged with a connecting rod assembly, the right side end of the connecting rod assembly penetrates through the right side end of the supporting seat, the end part of the connecting rod assembly is fixed with the grabbing component, the bottom end of the fixed seat is fixed with an ejection cylinder, the fixed seat is also hinged with a supporting plate, the supporting plate is also oppositely connected with the ejection cylinder, the upper end surface of the supporting plate is mutually abutted against the left side end of the supporting seat, pushing cylinders are fixed at the front and back sides of the fixed on the fixed seat, and a locking block penetrated by the rotating shaft is also fixed at the right side end of the pushing cylinders, when the push cylinder starts, the push locking block moves towards the right side and is abutted against the supporting seat.

A further technical scheme does, fixed subassembly includes upper junction plate and lower connecting plate, be fixed with the connecting axle on the connecting plate down, the fixing base is fixed on the connecting plate bottom down, upper junction plate and lower connecting plate crisscross setting each other, upper junction plate and connecting axle rotatable coupling can realize the angle modulation between upper junction plate and the lower connecting plate, and for first department degree of freedom adjustment mechanism, the upper junction plate can be fixed motionless on wall or other equipment.

The technical scheme is that a first gear is fixed at the side end of the connecting shaft, a gear motor is fixed on the lower connecting plate, a second gear is fixed at the output end of the gear motor, the first gear and the second gear are meshed and connected with each other, and the upper connecting plate and the lower connecting plate are rotationally adjusted through meshing of the two gears, and other adjusting structures can be adopted.

The technical scheme is that a guide rod is fixed in the vertical direction of the output end of the ejection cylinder, arc-shaped grooves are formed in one side or two sides of the front/back of the supporting plate, one end or two ends of the guide rod penetrate through the arc-shaped grooves formed in one side or two sides of the front/back of the supporting plate, the supporting plate supports the lower end face of the left side of the supporting seat, the supporting effect is mainly achieved, the supporting seat is prevented from being broken due to too heavy folding at the end of the right side of the rotating shaft, and the supporting seat can be supported regardless of the angle of rotation of the supporting seat.

A further technical scheme does, the shaft coupling is located the fixing base left side, fixing base right side internal fixation has at least more than one front end bearing, the pivot left end is embedded in the front end bearing and rather than rotatable coupling for firm pivot, this embodiment is two front end bearings.

A further technical scheme is that the connecting rod assembly comprises an intermediate connecting rod and a locking rod, the locking rod is arranged in the intermediate connecting rod in a telescopic mode, an intermediate connecting block is hinged to the upper side end and the lower side end of the intermediate connecting rod and the locking rod, a movable rod is hinged to the left side end and the right side end of the intermediate connecting rod and the locking rod, when the locking rod moves towards the right side and is mutually abutted to the supporting seat, the rotating shaft drives the connecting rod assembly to enable the supporting seat to rotate, and meanwhile after the supporting seat rotates, the connecting rod assembly rotates in the opposite direction to drive the grabbing assembly to rotate.

The further technical scheme is that tooth grooves are uniformly distributed on the outer circumferential surface of the locking rod, tooth parts matched with the tooth grooves are arranged on the circumference of the inner wall of the middle connecting rod, and the distance between the locking rod and the middle connecting rod can be adjusted according to actual conditions.

A further technical scheme does, snatch the subassembly and include the motor cabinet, snatch flexible motor and snatch the claw, snatch flexible motor and embed in the motor cabinet, and snatch flexible end of flexible motor and run through the motor cabinet, it is equipped with more than two at least to snatch the claw, and rotates and connect on the motor cabinet for snatch the product.

A further technical scheme is that an inner groove is formed in the motor base close to the grabbing claw side, a telescopic block fixed to the telescopic end of the telescopic motor is placed in the inner groove, a connecting sheet is hinged to the telescopic block, the other end of the connecting sheet is hinged to the grabbing claw, the grabbing claw is hinged to the motor base close to the motor base side, and the grabbing claw is convenient and fast to use through a linkage structure.

The utility model has the advantages that: the utility model relates to a multifunctional manipulator, it is equipped with fixed subassembly, supporting seat, link assembly and, fixed subassembly is first degree of freedom and adjusts, and link assembly and supporting seat are second degree of freedom and adjust, snatch the subassembly and adjust for third autogiration degree of freedom, can realize the multi-angle and adjust, and simple structure, convenient operation are laborsaving, and the fungible manual work carries out the product transport, and safe and reliable, application scope are wide.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings for working in the embodiments or the prior art descriptions 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 the drawings without creative efforts.

Fig. 1 is a perspective view of a multifunctional manipulator of the present invention;

fig. 2 is a sectional view of a multifunctional manipulator of the present invention;

fig. 3 is a front view of the multifunctional manipulator of the present invention;

fig. 4 is a rear view of the multi-functional manipulator of the present invention;

fig. 5 is a schematic view of the fixing base of the multifunctional manipulator of the present invention fixed on the fixing assembly;

fig. 6 is a schematic view of a fixing assembly in a multifunctional manipulator of the present invention;

fig. 7 is a schematic view of a connecting rod assembly in a multifunctional manipulator according to the present invention;

fig. 8 is a schematic view of a support seat in a multifunctional manipulator of the present invention;

fig. 9 is a schematic view of the multifunctional manipulator of the present invention with a guide rod fixed on an ejection cylinder;

fig. 10 is a schematic view of a grabbing assembly in the multifunctional manipulator of the present invention.

In FIGS. 1-10: 1-rotating motor, 2-fixed component, 3-supporting seat, 4-connecting rod component, 5-grabbing component, 6-pushing cylinder, 7-ejecting cylinder, 8-arc groove, 9-supporting plate, 10-locking block, 11-fixed seat, 12-front end bearing, 13-supporting seat bearing, 14-rotating shaft, 15-guide rod, 16-coupler, 21-first gear, 22-second gear, 23-upper connecting plate, 24-gear motor, 25-connecting shaft, 26-lower connecting plate, 41-movable rod, 42-middle connecting block, 43-tooth groove, 44-middle connecting rod, 45-locking rod, 51-grabbing claw, 52-motor seat, 53-connecting plate, 54-telescopic block, etc, 55-grabbing telescopic motor and 56-inner groove.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.

Referring to fig. 1 to 10, a multi-functional manipulator comprises a fixing component 2 capable of moving up and down, a rotating motor 1, a fixing seat 11 and a grabbing component 5, wherein the fixing seat 11 is fixed on the fixing component 2, the rotating motor 1 is fixed on the side end of the fixing seat 11, the output end of the rotating motor 1 is connected with a coupler 16, the other end of the coupler 16 is fixed with a rotating shaft 14, the other end of the rotating shaft 14 is rotatably connected with a supporting seat 3 in an arc structure, the right side end of the rotating shaft 14 is hinged with a connecting rod component 4, the right side end of the connecting rod component 4 penetrates through the right side end of the supporting seat 3 and is fixed with the grabbing component 5, the bottom end of the fixing seat 11 is fixed with an ejecting cylinder 7, the supporting plate 9 is also hinged on the fixing seat 11, the supporting plate 9 is also relatively connected with the ejecting cylinder 7, the upper end surface of the supporting plate 9 is mutually abutted against the left side end of the supporting seat 3, the front and back sides of the fixing seat 11 are fixed with pushing cylinders 6, the right side end of the pushing cylinder 6 is also fixed with a locking block 10 penetrated by the rotating shaft 14, and when the pushing cylinder 6 is started, the locking block 10 is pushed to move towards the right side and is mutually abutted to the supporting seat 3.

The fixed assembly 2 comprises an upper connecting plate 23 and a lower connecting plate 26, a connecting shaft 25 is fixed on the lower connecting plate 26, the fixed seat 11 is fixed at the bottom end of the lower connecting plate 26, the upper connecting plate 23 and the lower connecting plate 26 are arranged in a mutually staggered mode, the upper connecting plate 23 is rotatably connected with the connecting shaft 25, angle adjustment between the upper connecting plate 23 and the lower connecting plate 26 can be achieved, and the upper connecting plate 23 can be fixed on a wall surface or other equipment to be fixed through a first freedom degree adjusting mechanism. A first gear 21 is fixed at the side end of the connecting shaft 25, a gear motor 24 is fixed on the lower connecting plate 26, a second gear 22 is fixed at the output end of the gear motor 24, the first gear 21 and the second gear 22 are meshed and connected with each other, and the upper connecting plate 23 and the lower connecting plate 26 are meshed and rotated through the two gears for adjustment, but other adjusting structures can be adopted. The output vertical direction of ejecting cylinder 7 is fixed with guide arm 15, and arbitrary one side or both sides before/after layer board 9 are equipped with arc wall 8, and the arc wall 8 that arbitrary one side or both sides were equipped with before/after layer board 9 is run through at the one end or both ends of guide arm 15, and end face under the supporting seat 3 left side is lived in layer board 9 support, mainly plays the supporting effect, prevents that supporting seat 3 from breaking too heavily at 14 right side ends of pivot, and no matter supporting seat 3 is rotatory to which angle all can support. The shaft coupling 16 is located in the left side of the fixing base 11, at least one front end bearing 12 is fixed in the right side of the fixing base 11, and the left side end of the rotating shaft 14 is embedded in the front end bearing 12 and rotatably connected with the front end bearing 12 for fixing the rotating shaft 14, which is two front end bearings 12 in this embodiment. Connecting rod assembly 4 includes intermediate junction pole 44 and check lock lever 45, and the scalable internal-arrangement of check lock lever 45 is in intermediate junction pole 44, and the upper and lower both sides of intermediate junction pole 44 and check lock lever 45 are articulated to have intermediate junction piece 42, the side is articulated to have movable rod 41 about intermediate junction piece 42, and when check lock 10 moved and contradicted each other with supporting seat 3 toward the right side, pivot 14 drove connecting rod assembly 4 and can make supporting seat 3 rotatory, and supporting seat 3 is rotatory simultaneously, and connecting rod assembly 4 opposite direction is rotatory then to drive and snatchs subassembly 5 rotation. Tooth grooves 43 are uniformly distributed on the outer circumferential surface of the locking rod 45, tooth parts (not shown) which are tangent to the tooth grooves 43 are arranged on the circumference of the inner wall of the middle connecting rod 44, and the distance between the locking rod 45 and the middle connecting rod 44 can be adjusted according to actual conditions. Snatch subassembly 5 includes motor cabinet 52, snatchs flexible motor 55 and snatchs claw 51, snatchs flexible motor 55 and embeds in motor cabinet 52, and snatchs flexible end of flexible motor 55 and run through motor cabinet 52, snatchs claw 51 and is equipped with more than two at least, and rotates to be connected on motor cabinet 52 for snatch the product. Be equipped with inner groovy 56 near grabbing claw 51 side on the motor cabinet 52, place in the inner groovy 56 and snatch the flexible fixed flexible piece 54 of flexible motor 55, it has connection piece 53 to articulate on the flexible piece 54, and connection piece 53's the other end with snatch claw 51 and articulate, snatch claw 51 and be close to motor cabinet 52 side and still articulate with motor cabinet 52, adopt linkage structure to snatch more convenient and fast.

The working method of the multifunctional manipulator comprises the following steps: 1) firstly, the gear motor 24 is started to drive the second gear 22 to rotate, the second gear 22 drives the first gear 21 to rotate, the upper connecting plate 23 is fixed, the first gear 21 drives the connecting shaft 25 and the lower connecting plate 26 to rotate, and when the upper connecting plate 23 rotates to a required angle, the gear motor 24 stops outputting, so that the vertical angle adjustment of the lower connecting plate 26 and the fixed seat 11 connected with the bottom end is realized; 2) then the pushing cylinder 6 is started to drive the locking block 10 to move towards the right side and to be mutually abutted against the supporting seat 3; 3) then the ejection cylinder 7 is started to contract, so that the guide rod 15 connected with the end part of the ejection cylinder extends back, and the guide rod 15 drives the supporting plate 9 to rotate downwards and separate from the left end of the supporting seat 3 in the arc-shaped groove 8 of the supporting plate 9; 4) the rotating motor 1 is started to drive the rotating shaft 14 to rotate through the coupler 16, the rotating shaft 14 drives the connecting rod assembly 4 to rotate, the rotating shaft 14 and the connecting rod assembly 4 rotate to drive the supporting seat 3 to rotate along the rotating shaft 14 as a central shaft due to the action of force, and the rotating motor 1 stops when the supporting seat 3 rotates to a specified position; 5) the rotating motor 1 is started again, the rotating direction is opposite to that in the step 4), the connecting rod assembly 4 drives the grabbing assembly 5 to rotate in a self-body mode, and when the grabbing assembly 5 rotates to a specified position, the rotating motor 1 stops working; 6) the grabbing telescopic motor 55 is started, so that the telescopic end of the grabbing telescopic motor 55 drives the telescopic block 54 to be telescopic inside and outside, and the telescopic block 54 drives the grabbing claw 51 to grab a product through the connecting sheet 53.

Wherein, a pair of supporting seat bearings 13 are fixed in the left and right side ends of the supporting seat 3, the right side of the rotating shaft 14 is fixed on the inner diameter of the supporting seat bearing 13 on the left side of the supporting seat 3, so that the rotating shaft 14 is rotatably connected with the supporting seat bearing 13, and the right side of the connecting rod assembly 4 is fixed on the inner diameter of the supporting seat bearing 13 on the right side of the supporting seat 3, so that the right side of the connecting rod assembly 4 is rotatably connected with the supporting seat bearing 13.

All motors can be electric motors or pneumatic motors, the same effect can be achieved, and the left end face of the supporting seat 3 and the right end face of the locking block 10 are both of a tooth-shaped structure, so that the friction force can be effectively increased.

The above-mentioned embodiment is only an example of the present invention, and is not intended to limit the scope of the present invention, and all technical solutions that are the same as or equivalent to the contents of the claims of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a multifunctional manipulator, includes fixed subassembly, rotating electrical machines, fixing base and the subassembly of snatching that can move from top to bottom, its characterized in that: the fixed seat is fixed on the fixed component, the rotating motor is fixed at the side end of the fixed seat, the output end of the rotating motor is connected with a coupling, the other end of the coupling is fixed with a rotating shaft, the other end of the rotating shaft is rotatably connected with a supporting seat in an arc structure, the right end of the rotating shaft is hinged with a connecting rod component, the right end of the connecting rod component penetrates through the right end of the supporting seat, and the end part of the connecting rod component is fixed with a grabbing component, the bottom end of the fixed seat is fixed with an ejection cylinder, the fixed seat is also hinged with a supporting plate, the supporting plate is also oppositely connected with the ejection cylinder, the upper end surface of the supporting plate is arranged in a mutual abutting way with the left end of the supporting seat, a pushing cylinder is fixed on the front side and the rear side of the fixed seat, a locking block penetrated by the rotating shaft is also fixed at the right side end of the pushing cylinder, when the push cylinder starts, the push locking block moves towards the right side and is abutted against the supporting seat.

2. The multi-functional manipulator of claim 1, characterized in that: the fixing assembly comprises an upper connecting plate and a lower connecting plate, a connecting shaft is fixed on the lower connecting plate, the fixing seat is fixed at the bottom end of the lower connecting plate, the upper connecting plate and the lower connecting plate are arranged in a staggered mode, and the upper connecting plate is rotatably connected with the connecting shaft.

3. The multi-functional manipulator of claim 2, characterized in that: the connecting shaft is characterized in that a first gear is fixed at the side end of the connecting shaft, a gear motor is fixed on the lower connecting plate, a second gear is fixed at the output end of the gear motor, and the first gear and the second gear are meshed and connected with each other.

4. The multi-functional manipulator of claim 1, characterized in that: and a guide rod is fixed at the vertical direction of the output end of the ejection cylinder, an arc-shaped groove is formed in one side or two sides of the front/back of the supporting plate, and one end or two ends of the guide rod penetrate through the arc-shaped groove formed in one side or two sides of the front/back of the supporting plate.

5. The multi-functional manipulator of claim 1, characterized in that: the shaft coupling is located the fixing base left side, the fixing base right side internal fixation has at least more than one front end bearing, the pivot left end is embedded in the front end bearing and rather than rotatable coupling.

6. The multi-functional manipulator of claim 1, characterized in that: the connecting rod assembly comprises an intermediate connecting rod and a locking rod, the locking rod is arranged in the intermediate connecting rod in a telescopic mode, the upper side end and the lower side end of the intermediate connecting rod and the locking rod are hinged to an intermediate connecting block, and the left side end and the right side end of the intermediate connecting block are hinged to movable rods.

7. The multi-functional manipulator of claim 6, characterized in that: tooth grooves are uniformly distributed on the outer circumferential surface of the locking rod, and tooth parts matched with the tooth grooves are arranged on the circumference of the inner wall of the middle connecting rod.

8. The multi-functional manipulator of claim 1, characterized in that: the grabbing component comprises a motor base, a grabbing telescopic motor and grabbing claws, the grabbing telescopic motor is arranged in the motor base, the grabbing telescopic end of the telescopic motor penetrates through the motor base, the grabbing claws are at least provided with more than two parts, and the grabbing claws are rotatably connected to the motor base.

9. The multi-functional manipulator of claim 8, characterized in that: the motor cabinet is close to on the motor cabinet and snatchs the claw side and be equipped with the inner groovy, place in the inner groovy and snatch the flexible fixed flexible piece of flexible motor, it has the connection piece to articulate on the flexible piece, the other end of connection piece with snatch the claw and articulate, it is still articulated with the motor cabinet that the claw is close to the motor cabinet side to snatch the claw.