CN214352453U

CN214352453U - Manipulator limiting device

Info

Publication number: CN214352453U
Application number: CN202120125000.XU
Authority: CN
Inventors: 钱正兴; 窦健
Original assignee: Anhui Zhenxing Wire Drawing Dies Co ltd
Current assignee: Anhui Zhenxing Wire Drawing Dies Co ltd
Priority date: 2021-01-18
Filing date: 2021-01-18
Publication date: 2021-10-08
Anticipated expiration: 2031-01-18

Abstract

The utility model discloses a manipulator stop device, including unable adjustment base, unable adjustment base's top is provided with the support arm, the one end movable mounting of support arm has the arm of swaing, the centre gripping anchor clamps are installed to the other end of swaing the arm, the spacing connecting rod is installed with the centre of support arm to swaing the arm, the inside activity of running through of one end of spacing connecting rod is provided with spacing telescopic link, the internally mounted of spacing telescopic link has spacing motor, the front end fixed mounting of spacing motor has drive gear, drive gear's top is provided with the sleeve pipe gear, the centre of sleeve pipe gear runs through fixed mounting and has the screw sleeve, the activity of running through in the middle of the screw sleeve is provided with stop screw. The utility model discloses an install threaded sleeve, limit screw, spacing kicking block and slick and sly kicking block and can restrict the expansion angle and the displacement of manipulator, avoid the manipulator to appear out of control and lead to the maloperation, cause unfavorable influence to processing, guarantee processing safety.

Description

Manipulator limiting device

Technical Field

The utility model relates to a manipulator technical field specifically is a manipulator stop device.

Background

With the rapid development of social economy, a manipulator is an automatic operation device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying an object or operating a tool according to a fixed program, and is characterized in that various expected operations can be completed through programming, the manipulator has the advantages of both a human and a manipulator machine in structure and performance, is the earliest appearing industrial robot and the earliest appearing modern robot, can replace heavy labor of a human to realize mechanization and automation of production, can operate under a harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

However, the existing manipulator does not have a limit function, cannot control the moving angle and distance of the manipulator, and is easy to cause safety accidents when a program error occurs; therefore, the existing requirements are not met, and a manipulator limiting device is provided for the requirement.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a manipulator stop device to current manipulator that proposes in solving above-mentioned background does not have limit function, can not control the removal angle and the distance of manipulator, causes incident scheduling problem easily when the program error appears.

In order to achieve the above object, the utility model provides a following technical scheme: a manipulator limiting device comprises a fixed base, a supporting arm is arranged above the fixed base, one end of the supporting arm is movably provided with a swinging arm, the other end of the swinging arm is provided with a clamping fixture, a limit connecting rod is arranged between the swing arm and the supporting arm, a limit telescopic rod is movably arranged in one end of the limit connecting rod in a penetrating way, a limit motor is arranged inside the limit telescopic rod, a transmission gear is fixedly arranged at the front end of the limit motor, a sleeve gear is arranged above the transmission gear, a threaded sleeve is fixedly arranged in the middle of the sleeve gear in a penetrating way, a limit screw rod is movably arranged in the middle of the threaded sleeve in a penetrating way, a plurality of smooth jacking blocks are uniformly arranged above one end of the limit screw rod, and a limiting top block is arranged above the smooth top block, and a supporting sliding block is fixedly arranged on one side of the limiting top block.

Preferably, the surface of the supporting sliding block is fixedly provided with a guide post, the top end of the guide post is movably inserted in the limiting telescopic rod, and a return spring is arranged on the outer side of the limiting telescopic rod.

Preferably, the upper surface of the smooth top block is completely attached to the bottom surface of the limiting top block, and the smooth top block and the limiting top block are integrally formed through injection molding.

Preferably, the outer surface of the limit screw and the inner side surface of the threaded sleeve are both provided with threads with the same rotation directions, and the limit screw is in threaded connection with the threaded sleeve.

Preferably, one end of the limiting connecting rod and one end of the limiting telescopic rod are provided with shaft pins in a penetrating mode, connecting blocks are movably mounted on the outer sides of two ends of each shaft pin, and the connecting blocks are fixedly connected with parts attached to the end portions of the connecting blocks.

Preferably, the limiting rod is movably inserted into the end surface of the limiting connecting rod, and the limiting plate is arranged on the end surface of the limiting connecting rod and fixed on the end surface of the limiting telescopic rod through welding.

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

1. the utility model is powered on and started by a limit motor, the limit motor drives a transmission gear to rotate to enable a sleeve gear and a thread sleeve fixed in the middle of the sleeve gear to synchronously rotate by driving the transmission gear, at the moment, the thread sleeve can make the limit screw move along the axis of the thread sleeve by thread friction between the thread sleeve and the limit screw, the moving limit screw can push a smooth top block above one end of the limit screw, the smooth top block can drive a limit top block and a support slider at one side of the limit top block to slide in the limit telescopic rod, so that the support slider compresses a reset spring, the end part of the limit top block can protrude out of the outer surface of the limit telescopic rod, the protruding limit top block can limit the distance of the limit telescopic rod extending out of the limit connecting rod, the expansion angle and the moving distance of a manipulator can be limited, and the manipulator is prevented from being out of control to cause misoperation, the adverse effect on the processing is caused, the processing safety is ensured, and the unfolding angle and the distance of the manipulator can be accurately limited by controlling the moving distance of the limiting screw rod;

2. the utility model discloses an under the drive of screw sleeve pipe of reverse rotation at spacing screw rod, carry out reverse movement along screw sleeve pipe's axis, when reseing, reset spring can lose the restriction and carry out elasticity and recover this moment, and reset spring can drive the support shoe and reset for spacing kicking block retrieves to the inside of spacing telescopic link, can not restrict spacing telescopic link again, guarantees that the device freely adjusts the restriction of manipulator, the unable phenomenon of retrieving of spacing kicking block can not appear, avoids influencing the course.

Drawings

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

FIG. 2 is a schematic structural view of the limiting connecting rod of the present invention;

fig. 3 is an enlarged view of a structure at a in fig. 2 according to the present invention.

In the figure: 1. a fixed base; 2. a support arm; 3. a swing arm; 4. clamping a clamp; 5. limiting the telescopic rod; 6. a limiting connecting rod; 7. a limit screw; 8. a limiting top block; 9. rounding off the top block; 10. a limiting motor; 11. a support slide block; 12. a return spring; 13. a sleeve gear; 14. a transmission gear; 15. a threaded bushing.

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.

The limit motors 10 (model ncv 28-400-60C) mentioned in the present invention can be obtained from market purchase or private customization.

Referring to fig. 1 to fig. 3, the present invention provides an embodiment: the utility model provides a manipulator stop device, including unable adjustment base 1, unable adjustment base 1's top is provided with support arm 2, the one end movable mounting of support arm 2 has rocking arm 3, centre gripping anchor clamps 4 are installed to rocking arm 3's the other end, rocking arm 3 and support arm 2's centre is installed spacing connecting rod 6, the inside activity of running through of one end of spacing connecting rod 6 is provided with spacing telescopic link 5, the internally mounted of spacing telescopic link 5 has spacing motor 10, the front end fixed mounting of spacing motor 10 has drive gear 14, drive gear 14's top is provided with sleeve pipe gear 13, fixed mounting is run through to the centre of sleeve pipe gear 13 has threaded sleeve 15, threaded sleeve 15's centre is run through the activity and is provided with stop screw 7, stop screw 7's one end top evenly is provided with a plurality of rounding off kicking block 9, spacing kicking block 8 is installed to rounding off kicking block 9's top, one side fixed mounting of spacing kicking block 8 has supporting slider 11.

Further, the fixed surface of the support sliding block 11 is provided with a guide post, the top end of the guide post is movably inserted in the limiting telescopic rod 5, a reset spring 12 is arranged on the outer side of the guide post, the guide post supports the reset spring 12, the reset spring 12 is prevented from being toppled over, and the support sliding block 11 can be smoothly reset by the reset spring 12.

Further, the upper surface of the round and smooth top block 9 is completely attached to the bottom surface of the limiting top block 8, the round and smooth top block 9 and the limiting top block 8 are integrally injection-molded, the integrally injection-molded part is stably connected, the mechanical strength is good, and the manufacturing is convenient and the cost is low.

Further, the outer surface of the limit screw 7 and the inner side surface of the threaded sleeve 15 are provided with threads with the same turning directions, the limit screw 7 is in threaded connection with the threaded sleeve 15, the threaded sleeve 15 can drive the limit screw 7 to move along the axis of the limit screw when rotating due to the threaded connection, the limit screw 7 ejects the smooth ejector block 9 and the limit ejector block 8, and the movement of the limit telescopic rod 5 is limited.

Further, the one end of spacing connecting rod 6 all runs through with the one end tip of spacing telescopic link 5 and is provided with the pivot, the equal movable mounting in both ends outside of pivot has the connecting block, the connecting block is rather than the part fixed connection of tip laminating, connecting block and pivot are connected spacing telescopic link 5, spacing connecting rod 6 with rocking arm 3 and support arm 2, and do not influence the free rotation of spacing telescopic link 5 and the 6 tip of spacing connecting rod.

Further, 5 activity pegs graft at the inside tip surface of spacing connecting rod 6 of spacing telescopic link is provided with the limiting plate, and the limiting plate passes through welded fastening at the terminal surface of spacing telescopic link 5, and the limiting plate can restrict the maximum stroke of spacing telescopic link 5, avoids spacing telescopic link 5 and spacing connecting rod 6 to appear separating, leads to the manipulator to break down.

The working principle is as follows: when the device is used, a power supply of the limiting motor 10 is connected and started, the limiting motor 10 is started to drive the transmission gear 14 to rotate so that the sleeve gear 13 and the threaded sleeve 15 fixed in the middle of the sleeve gear 13 synchronously rotate, at the moment, the threaded sleeve 15 can drive the limiting screw 7 to move along the axis of the threaded sleeve 15 through thread friction between the threaded sleeve 15 and the limiting screw 7, the moving limiting screw 7 can push the smooth top block 9 above one end of the limiting screw, the smooth top block 9 drives the limiting top block 8 and the supporting slide block 11 on one side of the limiting top block 8 to slide in the limiting telescopic rod 5, the supporting slide block 11 compresses the return spring 12, at the moment, the end part of the limiting top block 8 protrudes out of the outer surface of the limiting telescopic rod 5, the protruding limiting top block 8 can limit the distance that the limiting telescopic rod 5 extends out of the limiting connecting rod 6, and the unfolding angle and moving distance of a manipulator can be limited, the manipulator is prevented from being out of control to cause misoperation, adverse influence is caused to processing, processing safety is guaranteed, and the unfolding angle and the distance of the manipulator can be accurately limited by controlling the moving distance of the limiting screw 7.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a manipulator stop device, includes unable adjustment base (1), its characterized in that: the fixture comprises a fixed base (1), a supporting arm (2) is arranged above the fixed base (1), a swinging arm (3) is movably mounted at one end of the supporting arm (2), a clamping fixture (4) is mounted at the other end of the swinging arm (3), a limiting connecting rod (6) is mounted between the swinging arm (3) and the supporting arm (2), a limiting telescopic rod (5) is movably arranged inside one end of the limiting connecting rod (6) in a penetrating mode, a limiting motor (10) is mounted inside the limiting telescopic rod (5), a transmission gear (14) is fixedly mounted at the front end of the limiting motor (10), a sleeve gear (13) is arranged above the transmission gear (14), a threaded sleeve (15) is fixedly mounted in the middle of the sleeve gear (13) in a penetrating mode, a limiting screw (7) is movably arranged in the middle of the threaded sleeve (15), and a plurality of smooth ejection blocks (9) are uniformly arranged above one end of the limiting screw (7), and a limiting top block (8) is arranged above the smooth top block (9), and a supporting sliding block (11) is fixedly arranged on one side of the limiting top block (8).

2. The manipulator stop device of claim 1, wherein: the surface of the supporting sliding block (11) is fixedly provided with a guide post, the top end of the guide post is movably inserted in the limiting telescopic rod (5), and a return spring (12) is arranged on the outer side of the limiting telescopic rod.

3. The manipulator stop device of claim 1, wherein: the upper surface of the smooth top block (9) is completely attached to the bottom surface of the limiting top block (8), and the smooth top block (9) and the limiting top block (8) are integrally formed through injection molding.

4. The manipulator stop device of claim 1, wherein: the outer surface of the limiting screw rod (7) and the inner side surface of the threaded sleeve (15) are provided with threads with the same turning directions, and the limiting screw rod (7) is in threaded connection with the threaded sleeve (15).

5. The manipulator stop device of claim 1, wherein: the one end of spacing connecting rod (6) all runs through with the one end tip of spacing telescopic link (5) and is provided with the pivot, the equal movable mounting in both ends outside of pivot has the connecting block, the part fixed connection of connecting block and its tip laminating.

6. The manipulator stop device of claim 1, wherein: the limiting rod (5) is movably inserted into the end surface inside the limiting connecting rod (6) and provided with a limiting plate, and the limiting plate is fixed on the end surface of the limiting rod (5) through welding.