CN215318805U

CN215318805U - Automatic manipulator with limiting protection structure

Info

Publication number: CN215318805U
Application number: CN202120767539.5U
Authority: CN
Inventors: 李娟�; 吴奉艳; 刘延军; 李彦军
Original assignee: Jiugang Group Honglian Automation Control Co ltd
Current assignee: Jiugang Group Honglian Automation Control Co ltd
Priority date: 2021-04-15
Filing date: 2021-04-15
Publication date: 2021-12-28
Anticipated expiration: 2031-04-15

Abstract

The utility model discloses an automatic manipulator with a limiting protection structure in the field of machining equipment, which comprises a bottom plate, wherein the upper surface of the bottom plate is fixedly connected with a mounting plate through a fixing bolt, a rotating seat is rotatably connected to the base, a clamping block is fixedly connected to the upper end of the rotating seat, a limiting block is clamped on the clamping block, a sliding sleeve is slidably connected to a limiting slide rod, the lower surface of the sliding sleeve is fixedly connected with a loop bar, a torque spring is arranged on the loop bar, the upper end of the limiting block is fixedly connected with a mounting block, a pair of limiting seats are fixedly connected to the mounting block, a first rotating shaft is rotatably connected between the limiting seats, the top end of a connecting rod is rotatably connected with a connecting block through a rotating pin, a second rotating shaft is rotatably connected to the connecting block through a rotating pair, and a mechanical arm is fixedly connected to the second rotating shaft, the automatic manipulator has the beneficial effects that: the protection limiting mechanism is provided for the mechanical arm, the collision damage of the mechanical arm is avoided, the rotation angle is prevented from being too large, and the abrasion of the rotation pair is reduced.

Description

Automatic manipulator with limiting protection structure

Technical Field

The utility model relates to the field of machining equipment, in particular to an automatic manipulator with a limiting protection structure.

Background

The manipulator is an automatic operating device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed through programming, and the manipulator has the advantages of both human and manipulator machines in structure and performance; the mechanical arm is the earliest industrial robot and the earliest modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

When the existing automatic manipulator in the current market is used, the manipulator cannot be limited and protected, the degree of freedom of the manipulator is high, the number of revolute pairs is large, the movable space is large, and if no limiting mechanism is protected, the manipulator is easily collided and damaged, so that the use of a user is influenced. Accordingly, one skilled in the art has provided an automated robot with a restraint structure to solve the problems set forth in the background above.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to an automated manipulator with a limit protection structure to solve the above problems.

In order to achieve the purpose, the utility model provides the following technical scheme:

an automatic manipulator with a limiting protection structure comprises a bottom plate, wherein the upper surface of the bottom plate is fixedly connected with a mounting plate through a fixing bolt, the upper surface of the mounting plate is fixedly connected with a base, a rotating seat is rotatably connected onto the base, the upper end of the rotating seat is fixedly connected with a clamping block, a limiting block is clamped on the clamping block, a pair of limiting rods are fixedly connected onto two side wall surfaces of the limiting block through fixing pins, the other ends of the limiting rods are rotatably connected onto the limiting sliding rods, sliding sleeves are slidably connected onto the limiting sliding rods, sleeve rods are fixedly connected onto the lower surfaces of the sliding sleeves, the sleeve rods are rotatably connected onto a limiting clamping groove, a torque spring is arranged on each sleeve rod, the upper end of each torque spring is fixedly connected onto the lower end of the corresponding sliding sleeve and fixedly connected onto a limiting clamping groove, a mounting block is fixedly connected onto the upper end of the limiting block, and a pair of limiting seats are fixedly connected onto the mounting block, rotate between the spacing seat and be connected with first pivot, the right-hand member fixed connection of first pivot in driving motor's output, the middle end fixedly connected with connecting rod of first pivot, the top of connecting rod rotates through the rotating pin and is connected with the connecting block, rotate through the revolute pair on the connecting block and be connected with the second pivot, fixedly connected with robotic arm in the second pivot.

As a further scheme of the utility model: the mounting plate is in threaded connection with more than three fixing bolts.

As a still further scheme of the utility model: the limiting clamping groove is formed in the bottom plate.

As a still further scheme of the utility model: the maximum rotation angle of the loop bar under the action of the torque spring is sixty degrees.

As a still further scheme of the utility model: the diameter of the top end of the base is equal to that of the rotary seat.

As a still further scheme of the utility model: and one end of the mechanical arm, which is far away from the second rotating shaft, is fixedly connected with a connecting device.

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

according to the limiting mechanism, the limiting mechanism comprises the limiting rod, the limiting block, the fixing pin, the sliding sleeve, the torque spring, the limiting clamping groove, the limiting slide rod and the loop rod, when the limiting block rotates, the limiting rod is driven to rotate, the limiting rod drives the limiting slide rod to rotate, the loop rod is driven to rotate, the torque spring sleeved on the loop rod is twisted, when the torque reaches a limiting value, the rotation of the limiting block can be limited, the limiting mechanism can be protected for a mechanical arm, the use of a user is prevented from being influenced due to collision damage of the mechanical arm, meanwhile, the rotating angle is prevented from being too large, and the abrasion of a rotating pair is reduced.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of portion A of FIG. 1 according to the present invention;

FIG. 3 is an enlarged view of portion B of FIG. 1 according to the present invention.

In the figure: 1. a base plate; 2. mounting a plate; 3. fixing the bolt; 4. a limiting rod; 5. a base; 6. a rotating base; 7. a fixing pin; 8. a clamping block; 9. a limiting block; 10. mounting blocks; 11. a drive motor; 12. a first rotating shaft; 13. a limiting seat; 14. a connecting rod; 15. a rotation pin; 16. a revolute pair; 17. a second rotating shaft; 18. a robot arm; 19. connecting equipment; 20. a sliding sleeve; 21. a torque spring; 22. a limiting clamping groove; 23. a limiting slide bar; 24. a loop bar; 25. and (4) connecting the blocks.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Referring to fig. 1 to 3, in the embodiment of the present invention, an automated manipulator with a limiting protection structure includes a base plate 1, an upper surface of the base plate 1 is fixedly connected to a mounting plate 2 through a fixing bolt 3, an upper surface of the mounting plate 2 is fixedly connected to a base 5, the base 5 is rotatably connected to a rotating base 6, an upper end of the rotating base 6 is fixedly connected to a clamping block 8, the clamping block 8 is clamped to a limiting block 9, two side wall surfaces of the limiting block 9 are fixedly connected to a pair of limiting rods 4 through fixing pins 7, the other end of the limiting rod 4 is rotatably connected to a limiting slide rod 23, the limiting slide rod 23 is slidably connected to a sliding sleeve 20, a lower surface of the sliding sleeve 20 is fixedly connected to a loop rod 24, the loop rod 24 is rotatably connected to a limiting slot 22, the loop rod 24 is provided with a torque spring 21, an upper end of the torque spring 21 is fixedly connected to a lower end of the sliding sleeve 20 and fixedly connected to the limiting slot 22, stopper 9's upper end fixedly connected with installation piece 10, a pair of spacing seat 13 of fixedly connected with on the installation piece 10, it is connected with first pivot 12 to rotate between the spacing seat 13, the right-hand member fixed connection of first pivot 12 is in driving motor 11's output, the middle part fixedly connected with connecting rod 14 of first pivot 12, connecting rod 14's top is rotated through swivel pin 15 and is connected with connecting block 25, rotate through revolute pair 16 on the connecting block 25 and be connected with second pivot 17, fixedly connected with robotic arm 18 on the second pivot 17.

Wherein, the mounting plate 2 is connected with more than three fixing bolts 3 by screw thread, the limit slot 22 is opened on the bottom plate 1, the maximum rotation angle of the loop bar 24 under the action of the torque spring 21 is sixty degrees, the diameter of the top end of the base 5 is equal to the diameter of the rotary seat 6, one end of the mechanical arm 18 far away from the second rotary shaft 17 is fixedly connected with a connecting device 19, through a limit mechanism composed of the limit bar 4, the limit block 9, the fixing pin 7, the sliding sleeve 20, the torque spring 21, the limit slot 22, the limit slide bar 23 and the loop bar 24, when the limit block 9 rotates, the limit bar 4 is driven to rotate, the limit slide bar 23 is driven to rotate by the limit bar 4, the loop bar 24 is driven to rotate by the limit slide bar 23, the torque spring 21 sleeved on the loop bar 24 is twisted, when the torque reaches the limit value, the rotation of the limit block 9 can be limited, which is beneficial to providing a protection limit mechanism for the mechanical arm 18, avoid the collision damage of manipulator, influence the user and use, prevent simultaneously that turned angle is too big, reduce the wearing and tearing of revolute pair.

The working principle of the utility model is as follows: when the utility model is used, a mechanical arm 18 is arranged on a second rotating shaft 17 through a rotating pair 16, the second rotating shaft 17 is rotatably connected with a connecting block 25 through a rotating pin 15, the connecting block 25 is rotatably connected with a limiting seat 13, a first rotating shaft 12 is rotatably connected between the limiting seats 13, the right end of the first rotating shaft 12 is fixedly connected with the output end of a driving motor 11, after the mechanical arm 18 is correctly arranged, different devices are connected on a front end connecting device 19 of the mechanical arm 18 according to different realized functions for matching different functions, when the rotating seat 6 rotates, a clamping block 8 is driven to rotate, a clamping limiting block 9 on the clamping block 8 also rotates along with the rotating block, when the limiting block 9 rotates, the limiting rod 4 is driven to rotate, the limiting rod 4 drives a limiting slide rod 23 to rotate, the limiting slide rod 23 drives a sleeve rod 24 to rotate, a torque spring 21 sleeved on the sleeve rod 24 is twisted, when the torque reaches a limit value, the rotation of the limiting block 9 can be limited, the collision damage of the mechanical arm is avoided, the use of a user is prevented from being influenced, meanwhile, the rotating angle is prevented from being too large, and the abrasion of a rotating pair is reduced.

Claims

1. The utility model provides an automatic manipulator with spacing protection architecture, includes bottom plate (1), its characterized in that: the upper surface of the bottom plate (1) is fixedly connected with a mounting plate (2) through a fixing bolt (3), the upper surface of the mounting plate (2) is fixedly connected with a base (5), the base (5) is rotatably connected with a rotating seat (6), the upper end of the rotating seat (6) is fixedly connected with a clamping block (8), the clamping block (8) is clamped with a limiting block (9), two side wall surfaces of the limiting block (9) are fixedly connected with a pair of limiting rods (4) through a fixing pin (7), the other end of each limiting rod (4) is rotatably connected with a limiting slide rod (23), the limiting slide rods (23) are slidably connected with a sliding sleeve (20), the lower surface of the sliding sleeve (20) is fixedly connected with a loop bar (24), the loop bar (24) is rotatably connected with a limiting clamping groove (22), and the upper end of the limiting block (9) is fixedly connected with a mounting block (10), a pair of spacing seat (13) of fixedly connected with is gone up in installation piece (10), it is connected with first pivot (12) to rotate between spacing seat (13), the right-hand member fixed connection of first pivot (12) is in the output of driving motor (11), the middle part fixedly connected with connecting rod (14) of first pivot (12), the top of connecting rod (14) is rotated through swivel pin (15) and is connected with connecting block (25), it is connected with second pivot (17) to rotate through revolute pair (16) on connecting block (25), fixedly connected with robotic arm (18) on second pivot (17).

2. The automated manipulator of claim 1, wherein: the upper end of the torque spring (21) is fixedly connected to the lower end of the sliding sleeve (20) and fixedly connected to the limiting clamping groove (22).

3. The automated manipulator of claim 1, wherein: the mounting plate (2) is in threaded connection with more than three fixing bolts (3).

4. The automated manipulator of claim 1, wherein: the limiting clamping groove (22) is arranged on the bottom plate (1).

5. The automated manipulator of claim 2, wherein the robotic manipulator comprises: the maximum rotation angle of the loop bar (24) under the action of the torque spring (21) is sixty degrees.

6. The automated manipulator of claim 1, wherein: the diameter of the top end of the base (5) is equal to that of the rotary seat (6).

7. The automated manipulator of claim 1, wherein: and one end of the mechanical arm (18) far away from the second rotating shaft (17) is fixedly connected with a connecting device (19).