CN214870555U

CN214870555U - Manipulator device

Info

Publication number: CN214870555U
Application number: CN202121257244.XU
Authority: CN
Inventors: 马磊; 苏伯恒; 李嘉言; 杨浪; 汪志杰; 蔡姚杰
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2021-06-07
Filing date: 2021-06-07
Publication date: 2021-11-26
Anticipated expiration: 2031-06-07

Abstract

The utility model discloses a manipulator device, the device includes the rotation regulation structure, mounting box and clamping structure, the mounting box upper end is located to the rotation regulation structure, clamping structure locates in the mounting box, angle and position through the rotation regulation structure control mounting box, through clamping structure centre gripping part or material, the rotation regulation structure includes driving motor, the install bin, mounting panel and angle adjustment mechanism, driving motor locates in the install bin, driving motor's rotary rod is connected with the last fixed surface of mounting panel, the lower surface of mounting panel is connected with the upper end of angle adjustment structure, the lower extreme and the mounting box fixed connection of angle adjustment structure. The utility model discloses a driving motor drives the mounting panel rotation, makes the mounting box take place the change in the angle through angle modulation structure simultaneously to can finely tune the position of mounting box, guarantee that the mounting box can carry out the centre gripping to the material with suitable angle, solved the single problem of lower claw angle.

Description

Manipulator device

Technical Field

The utility model belongs to the technical field of machinery transportation equipment, concretely relates to manipulator device.

Background

When machining or carrying, all inevitably need carry some parts or materials, because this step is comparatively frequent and the work content is single, so compare manual handling, use the manipulator and can guarantee the precision when improving efficiency more, but current manipulator device when carrying out the centre gripping of irregular material, because the angle of its lower claw is single, sometimes can't carry out the centre gripping well.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problems, an object of the present invention is to provide a manipulator device.

In order to achieve the purpose, the following technical scheme is provided:

the utility model provides a manipulator device, includes rotation regulation structure, mounting box and clamping structure, and the mounting box upper end is located to rotation regulation structure, and in clamping structure located the mounting box, the angle and the position of mounting box were controlled through rotation regulation structure, through clamping structure centre gripping part or material.

Further, the rotation regulation structure include driving motor, install bin, mounting panel and angle adjustment mechanism, driving motor locate in the install bin, driving motor's rotary rod is connected with the last fixed surface of mounting panel, the lower surface of mounting panel is connected with angle adjustment mechanism's upper end, angle adjustment mechanism's lower extreme and mounting box fixed connection.

Further, angle adjustment mechanism include electronic slider, slide rail, telescopic link, dead lever, first member, installation pole and fixed plate, the slide rail set up in the lower surface of mounting panel, electronic slider agrees with the slide rail and is connected, the upper end and the electronic slider fixed connection of telescopic link, the lower extreme is articulated with the one end of dead lever, the other end and the mounting box fixed connection of dead lever, first member passes the dead lever, each fixedly connected with fixed plate in both ends, the both sides of electronic slider are located to the installation pole, one end and mounting panel fixed connection, the other end and fixed plate fixed connection, electric actuator control electronic slider makes a round trip to slide on the slide rail, the slip of electronic slide rail makes the telescopic link exert force to the one end of dead lever, make the dead lever can take place the change in the angle, thereby finally can finely tune the position of mounting box.

Further, the upper surface of mounting panel still seted up the guide slot of ring type, the upper end and the install bin fixed connection of connecting rod, the lower extreme is the guide block, during the guide block agrees with the embedding guide slot, the rotation of mounting panel can be guided by the cooperation of guide slot and guide block and avoids mounting panel and driving motor to take place to break away from.

Further, the mounting box include recess and a plurality of cavity, the lower extreme of mounting box is seted up to the recess, the opening is down, the cavity is seted up inside the periphery of mounting box, the cavity is used for placing clamping structure.

Further, the clamping structure include spacing and pneumatic push rod, pneumatic push rod arranges the cavity of mounting box in, the member outwards extends to in the recess to be connected perpendicularly with spacing, pneumatic push rod promotes spacing and extends to the recess direction, a plurality of spacing carry out the centre gripping to the part simultaneously.

Furthermore, adsorption structure is still installed to the upper surface of mounting box, adsorption structure include air pump, blast pipe, breathing pipe, extraction hood and protective housing, on the upper surface of mounting box was arranged in to the air pump, blast pipe and air pump exit linkage, the one end and the air pump entry linkage of breathing pipe, the other end extends to in the recess to be connected with the extraction hood, the air pump overcoat has the protective housing, adsorption structure is used for inhaling the material or the part of unable centre gripping.

Further, the left and right sides face of mounting box all be equipped with the warning structure, the warning structure include the support, pressure sensor, the rotor plate, gyro wheel and second member, pressure sensor locates on the side of mounting box, pressure sensor's both sides respectively are equipped with the support by the lower position, support one end vertical fixation in the side of mounting box, the second member passes the rotor plate, the other end of fixed connection support is respectively distinguished at the both ends of second member, the lower extreme both sides of rotor plate are equipped with the gyro wheel, the rotor plate can be rotatory around the second member, when the lower surface of mounting box contacts to the ground, the upper end of rotor plate just in time supports to lean on to the pressure sensor and gives the warning.

Furthermore, the slide rail is perpendicular to the first rod piece space.

Furthermore, the outside of the air exhaust cover is wrapped with a wire mesh.

The beneficial effects of the utility model reside in that:

1) the utility model provides a there are guide slot, the guide block, electronic slider, driving motor and connecting rod, utilize driving motor to drive the mounting panel rotatory, the rotation of mounting panel can be guided by the cooperation of guide slot and guide block and avoid mounting panel and driving motor to take place to break away from, can drive the mounting box through the removal of electronic slider simultaneously and exert force to the one end of dead lever, make the dead lever can take place change in the angle, thereby can finely tune the position of mounting box finally, guarantee that the mounting box can carry out the centre gripping to the material with suitable angle, the single problem of claw angle under this device has been solved through this;

2) the utility model provides an exhaust pipe, an air pump, an air exhaust cover and an air suction pipe, wherein the air pump is used for leading air to flow from the air suction pipe to the exhaust pipe to generate negative pressure, and the air exhaust cover is used for sucking up materials, thus avoiding the situation that the materials can not be clamped or the materials are damaged, and solving the problem that the device can not clamp smaller objects;

3) the utility model provides a have support, gyro wheel, rotor plate and pressure sensor, utilize the platform to apply reaction force to the gyro wheel for the gyro wheel drives the rotatory certain angle of rotor plate, and the top of rotor plate can extrude pressure sensor like this, and pressure sensor accepts the signal and feeds back, reminds the user to stop the lower claw, avoids it and platform bump and friction, has solved this device through this and has taken place the problem of friction with the platform easily.

Drawings

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

fig. 2 is a cross-sectional view of the present invention;

fig. 3 is a side view of the angle adjusting mechanism of the present invention;

fig. 4 is a bottom view of the present invention.

In the figure: 1. a rotation adjustment structure; 11. a drive motor; 12. installing a box; 13. a connecting rod; 14. mounting a plate; 15. an angle adjusting mechanism; 151. an electric slider; 152. a slide rail; 153. a telescopic rod; 154. fixing the rod; 155. a first bar member; 156. mounting a rod; 157. a fixing plate; 2. mounting a box; 21. a groove; 22. a cavity; 3. an adsorption structure; 31. an air pump; 32. an exhaust pipe; 33. an air intake duct; 34. an air extraction hood; 35. a protective shell; 4. a clamping structure; 41. a limiting strip; 42. a pneumatic push rod; 5. a warning structure; 51. a support; 52. a pressure sensor; 53. a rotating plate; 54. a roller; 55. a second bar.

Detailed Description

The present invention will be further described with reference to the drawings attached to the specification, but the scope of the present invention is not limited thereto, and the terms "upper", "lower", "left", "right" and the like in the present invention only represent positions in the drawings, and do not represent absolute positions.

As shown in the figures, a manipulator device comprises a rotation adjusting structure 1, a mounting box 2, an adsorption structure 3, a clamping structure 4 and a warning structure 5, wherein the rotation adjusting structure 1 comprises a driving motor 11, a mounting box 12, a connecting rod 13, a mounting plate 14 and an angle adjusting mechanism 15, the angle adjusting mechanism 15 comprises an electric slider 151, a sliding rail 152, a telescopic rod 153, a fixing rod 154, a first rod 155, a mounting rod 156 and a fixing plate 157, the driving motor 11 is arranged in the mounting box 12, the rotating rod of the driving motor 11 is fixedly connected with the upper surface of the mounting plate 14, the sliding rail 152 is arranged on the lower surface of the mounting plate 14, the upper end of the electric slider 151 is buckled into the sliding rail 152, the lower end of the electric slider is fixedly connected with the upper end of the telescopic rod 153 through a screw, the lower end of the telescopic rod 153 is hinged with the fixing rod 154, the lower end of the fixing rod 154 is fixedly connected with the upper surface of the mounting box 2 through a screw, the first rod 155 passes through the fixing rod 154, both ends are through sticky or each fixedly connected with a fixed plate 157 of welded mode, the both sides of electronic slider 151 are located to installation pole 156, one end passes through screw fixed connection with mounting panel 14, the other end passes through screw fixed connection with fixed plate 157, slide rail 152 is perpendicular with first member 155 space, the guide slot 141 of ring type has still been seted up to the upper surface of mounting panel 14, the upper end and the install bin 12 of connecting rod 13 pass through screw fixed connection, the lower extreme is guide block 131, guide block 131 is the ball type, agree with and imbed in the guide slot 141.

The lower surface of the mounting box 2 is provided with a groove 21, and the peripheral parts of the groove 21 are respectively provided with a cavity 22; the clamping structure 4 comprises a pneumatic push rod 42 and a limiting strip 41, wherein the pneumatic push rod 42 is arranged in the cavity 22, the rod piece extends outwards to the groove 21 and is vertically and fixedly connected with the limiting strip 41 through a screw.

The both sides of the upper surface of mounting box 2 respectively are equipped with an adsorption structure 3, adsorption structure 3 include air pump 31, blast pipe 32, breathing pipe 33, suction hood 34 and protective housing 35, fix with screw on the upper surface of mounting box 2 bottom air pump 31, blast pipe 32 and air pump 31 exit linkage, the one end and the air pump 31 entry linkage of breathing pipe 33, the other end extends to in the recess 21, and be connected with suction hood 34, the outside parcel of suction hood 34 has the silk screen, air pump 31 overcoat has protective housing 35, blast pipe 32 extends to outside protective housing 35.

The warning structure 5 is arranged on the left and right mounting surfaces of the mounting box 2, the warning structure 5 comprises a support 51, a pressure sensor 52, a rotating plate 53, rollers 54 and a second rod piece 55, the pressure sensor 52 is fixed on the side surface of the mounting box 2 through screws, the supports 51 are respectively arranged at the positions, close to the lower parts, of the two sides of the pressure sensor 52, one end of each support 51 is vertically fixed on the side surface of the mounting box 2, the second rod piece 55 penetrates through the rotating plate 53, the two ends of the second rod piece 55 are respectively fixedly connected with the other end of the support 51, the rollers 54 are arranged on the two sides of the lower end of the rotating plate 53, the rotating plate 53 can rotate around the second rod piece 55, and when the lower surface of the mounting box 2 contacts the ground, the upper end of the rotating plate 53 just abuts against the pressure sensor 52 to give a warning.

The working principle is as follows: when the device is used, the device is firstly installed on a corresponding machine, the mounting plate 14 can be driven to rotate through the driving motor 11, the rotation of the mounting plate 14 can be guided by the matching of the guide groove 141 and the guide block 131 to avoid the separation of the mounting plate 14 and the driving motor 11, meanwhile, the movement of the electric sliding block 151 can drive the mounting box 2 to apply force to one end of the fixing rod 154, so that the fixing rod 154 can be angularly changed, the position of the mounting box 2 can be finally finely adjusted, and the mounting box 2 can be ensured to clamp materials at a proper angle; when some small and irregular objects or objects easy to damage are needed, the air pump 31 is started, the air pump 31 enables air to flow from the air suction pipe 33 to the air discharge pipe 32 to generate negative pressure, and the air suction cover 34 is used for sucking up materials, so that the situation that the materials cannot be clamped or are damaged can be avoided; when the roller 54 contacts the platform, the platform applies a reaction force to the roller 54, so that the roller 54 drives the rotating plate 53 to rotate for a certain angle, the top of the rotating plate 53 can extrude the pressure sensor 52, and the pressure sensor 52 receives a signal to feed back, so as to remind a user to stop the lower jaw and avoid collision and friction between the lower jaw and the platform.

Claims

1. The utility model provides a manipulator device, its characterized in that, includes rotation regulation structure (1), mounting box (2) and clamping structure (4), and mounting box (2) upper end is located in rotation regulation structure (1), and in mounting box (2) was located in clamping structure (4), the angle and the position of mounting box (2) were controlled through rotation regulation structure (1), through clamping structure (4) centre gripping part or material.

2. A manipulator device according to claim 1, wherein the rotation adjusting structure (1) comprises a driving motor (11), a mounting box (12), a mounting plate (14) and an angle adjusting mechanism (15), the driving motor (11) is disposed in the mounting box (12), a rotating rod of the driving motor (11) is fixedly connected with an upper surface of the mounting plate (14), a lower surface of the mounting plate (14) is connected with an upper end of the angle adjusting mechanism (15), and a lower end of the angle adjusting mechanism (15) is fixedly connected with the mounting box (2).

3. A manipulator device according to claim 2, wherein the angle-adjusting mechanism (15) comprises an electric slider (151), a slide rail (152), a telescopic rod (153), a fixed rod (154), a first rod member (155), a mounting rod (156) and a fixed plate (157), slide rail (152) set up the lower surface in mounting panel (14), electric slider (151) agree with slide rail (152) and are connected, the upper end and electric slider (151) fixed connection of telescopic link (153), the lower extreme is articulated with the one end of dead lever (154), the other end and mounting box (2) fixed connection of dead lever (154), dead lever (154) are passed in first member (155), each fixedly connected with fixed plate (157) in both ends, the both sides of electric slider (151) are located in installation pole (156), one end and mounting panel (14) fixed connection, the other end and fixed plate (157) fixed connection.

4. A manipulator according to claim 3, wherein the mounting plate (14) is further provided with an annular guide groove (141) in the upper surface thereof, the upper end of the connecting rod (13) is fixedly connected with the mounting box (12), the lower end of the connecting rod is provided with a guide block (131), and the guide block (131) is fitted into the guide groove (141).

5. A manipulator device according to any of claims 1 to 3, wherein the mounting box (2) comprises a recess (21) and a plurality of cavities (22), the recess (21) opening into the lower end of the mounting box (2) and opening downwards, the cavities (22) opening into the periphery of the mounting box (2), the cavities (22) being adapted to receive the gripping structures (4).

6. A manipulator device according to claim 5, wherein the holding structure (4) comprises a stop bar (41) and a pneumatic ram (42), the pneumatic ram (42) being disposed in the cavity (22) of the mounting box (2), the rod extending outwardly into the recess (21) and being connected perpendicularly to the stop bar (41).

7. A manipulator device according to claim 6, wherein the adsorption structure (3) is further mounted on the upper surface of the mounting box (2), the adsorption structure (3) comprises an air pump (31), an exhaust pipe (32), an air suction pipe (33), an air suction cover (34) and a protective shell (35), the air pump (31) is disposed on the upper surface of the mounting box (2), the exhaust pipe (32) is connected to an outlet of the air pump (31), one end of the air suction pipe (33) is connected to an inlet of the air pump (31), the other end of the air suction pipe extends into the groove (21) and is connected to the air suction cover (34), and the protective shell (35) is sleeved outside the air pump (31).

8. A manipulator device according to claim 7, wherein the left and right sides of the mounting box (2) are provided with warning structures (5), the warning structures (5) comprise brackets (51), pressure sensors (52), a rotating plate (53), rollers (54) and a second rod member (55), the pressure sensors (52) are arranged on the sides of the mounting box (2), the brackets (51) are respectively arranged at positions below the two sides of the pressure sensors (52), one end of each bracket (51) is vertically fixed on the side of the mounting box (2), the second rod member (55) penetrates through the rotating plate (53), the two ends of the second rod member (55) are respectively and fixedly connected with the other end of each bracket (51), the rollers (54) are arranged at two sides of the lower end of the rotating plate (53), the rotating plate (53) can rotate around the second rod member (55), when the lower surface of the mounting box (2) contacts the ground, the upper end of the rotating plate (53) is just abutted against the pressure sensor (52) to give a warning.

9. A manipulator device according to claim 3, wherein the slide rails (152) are spatially perpendicular to the first bar member (155).

10. A manipulator device according to claim 7, wherein the extraction hood (34) is wire mesh wrapped around its exterior.