CN215548771U

CN215548771U - Antiskid multi-shaft manipulator

Info

Publication number: CN215548771U
Application number: CN202121377054.1U
Authority: CN
Inventors: 贺湘苑
Original assignee: Shenzhen Bochuang Robot Technology Co ltd
Current assignee: Shenzhen Bochuang Robot Technology Co ltd
Priority date: 2021-06-21
Filing date: 2021-06-21
Publication date: 2022-01-18
Anticipated expiration: 2031-06-21

Abstract

The utility model discloses an antiskid multi-shaft manipulator, which comprises a fixed frame, wherein the bottom of the fixed frame is fixedly connected with a U-shaped plate, a connecting plate is removably and slidably connected in the U-shaped plate, a limiting component for limiting the connecting plate is arranged on the U-shaped plate, the bottom of the connecting plate is fixedly connected with a mounting plate, the bottom of the mounting plate is fixedly connected with a fixing ring, a plurality of rectangular through holes are formed in the fixing ring, the inner walls of the rectangular through holes are rotatably connected with arc-shaped clamping jaws extending to the lower part of the outer side of the fixing ring, the inner wall of the fixing ring is slidably connected with a circular sliding plate, and the rectangular through holes are provided with transmission components for driving the arc-shaped clamping jaws to clamp. Thereby enlarging the application range of the multi-axis manipulator.

Description

Antiskid multi-shaft manipulator

Technical Field

The utility model relates to the technical field of automatic machining, in particular to an anti-skidding multi-shaft manipulator.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. Although they have different forms, they all have a common feature of being able to receive commands and precisely locate a point in three-dimensional space for work.

The utility model discloses as CN 212241024U provides a multi-shaft manipulator, including horizontal migration device, elevating gear and clamping device, elevating gear includes the upright beam of vertical setting, drives the clamping device along the elevating motor that the upright beam reciprocated, the clamping device is rotatably installed on the upright beam, multi-shaft manipulator still includes the first rotating electrical machines that drives the clamping device rotatory relative to the upright beam; the horizontal moving device comprises a base used for bearing the vertical beam and a walking motor driving the base to move along the horizontal direction, the vertical beam is rotatably installed above the base, and the multi-axis manipulator further comprises a second rotating motor driving the vertical beam to rotate relative to the base. This application multi-axis manipulator can satisfy the on-the-spot processing demand better, improves production efficiency, and convenient operation is particularly suitable for the pipe fitting and snatchs, transports and processes.

However, the utility model provides a multiaxis manipulator's clamp is got the device and is not had skid-proof effect, can't get the spheroid of surface smoothness and press from both sides for this multiaxis manipulator's application range is limited, so we propose skid-proof multiaxis manipulator, are used for solving the above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the defects that a multi-axis manipulator in the prior art does not have an anti-skidding function and cannot clamp a sphere with a smooth surface.

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

anti-skidding multi-axis manipulator, including the mount, the bottom fixedly connected with U template of mount, removable sliding connection has the connecting plate in the U template, be provided with the restriction subassembly that carries out the restriction to the connecting plate on the U template, the bottom fixedly connected with mounting panel of connecting plate, the solid fixed ring of bottom fixedly connected with of mounting panel, gu seted up a plurality of rectangle through-holes on the fixed ring, the inner wall of rectangle through-hole rotates and is connected with the arc clamping jaw that extends to solid fixed ring outside below, gu fixed ring's inner wall sliding connection has circular sliding plate, be provided with on the rectangle through-hole and drive the transmission assembly that the arc clamping jaw carries out the centre gripping, be provided with on the circular sliding plate and carry out absorbent subassembly to the spheroid.

Preferably, the equal fixedly connected with bar shaped plate in both sides of connecting plate, the spout that uses with the cooperation of bar shaped plate is all seted up to the both sides of U template.

Preferably, the limiting component comprises a clamping plate which penetrates through the U-shaped plate in a sliding connection mode, a circular plate is fixedly connected to one end of the clamping plate, a spring is sleeved on the outer wall of the clamping plate, the two ends of the spring are fixedly connected with the outer wall of the U-shaped plate and one side of the circular plate respectively, and a clamping hole which is matched with the clamping plate for use is formed in the inner wall of one side of the U-shaped plate.

Preferably, the inner sides of the arc-shaped clamping jaws are fixedly connected with silica gel plates, and the thickness of each silica gel plate is 1 cm.

Preferably, the transmission assembly comprises a rotating shaft rotatably connected with the inner wall of the rectangular through hole, a connecting rod is fixedly sleeved on the outer wall of the rotating shaft, two ends of the connecting rod are respectively rotatably connected with one side of the arc-shaped clamping jaw and the outer wall of the circular sliding plate, and the bottom of the mounting plate and the top of the circular sliding plate are fixedly provided with the same electric push rod.

Preferably, the adsorption component comprises two elastic connecting rods which are symmetrically and fixedly connected with the bottom of a circular sliding plate, the bottoms of the two elastic connecting rods are connected with the same sucker, a vacuum pump is fixedly arranged at the top of the circular sliding plate, and the air outlet end of the vacuum pump is fixedly connected with a corrugated pipe, the bottom of which penetrates through the circular sliding plate and the sucker and fixedly connected with the corrugated pipe.

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

1. according to the utility model, when a multi-axis manipulator needs to clamp a ball, the clamping device is arranged at the bottom of the fixing frame, the circular plate is pulled manually, the circular plate moves to drive the clamping plate to slide, when one end of the clamping plate slides into the side wall of the U-shaped plate, one end of the strip-shaped plate is aligned with the notch of the sliding chute, after alignment, the connecting plate is pushed inwards to enable one side of the connecting plate to be in contact with the inner wall of one side of the U-shaped plate, after contact, the pulling of the circular plate is released, under the pulling force of the spring, the clamping plate slides, one end of the clamping plate is clamped into the clamping hole, and the connecting plate is limited, so that the clamping device is installed;

2. according to the utility model, the electric push rod is started to work, the electric push rod stretches to drive the circular sliding plate to slide, the circular sliding plate slides to drive the plurality of connecting rods to rotate, the connecting rods rotate to drive the arc-shaped clamping jaws to rotate, and the plurality of arc-shaped clamping jaws rotate to realize the telescopic clamping of the spherical object;

3. according to the utility model, the circular sliding plate also drives the sucker to move, the sucker and the surface of the spherical object are extruded and pasted through the movement of the sucker, after the pasting, the vacuum pump is automatically started to evacuate the sucker to form negative pressure, the sucker adsorbs the spherical object, so that the clamping is firmer, the clamping is completed, the work of the vacuum pump and the electric push rod is closed, when the clamping needs to be relieved, the electric push rod and the vacuum pump are automatically started, the electric push rod relieves the arc-shaped clamping jaw from clamping the spherical object, and the vacuum pump relieves the negative pressure in the sucker, so that the adsorption of the sucker on the spherical object is relieved.

The clamping device is simple in structure and convenient to use, improves the anti-skid function of the clamping device by a clamping mode of combining the clamping component and the adsorption component, and can clamp a sphere with a smooth surface, so that the application range of the multi-axis manipulator is expanded.

Drawings

Fig. 1 is a schematic sectional structural view of an anti-slip multi-axis manipulator according to the present invention;

FIG. 2 is a schematic structural diagram of a top cross-sectional view of a U-shaped plate of the anti-skid multi-axis manipulator provided by the utility model;

fig. 3 is a schematic three-dimensional structure diagram of a clamping jaw of the anti-skid multi-shaft manipulator provided by the utility model.

In the figure: 1. a fixed mount; 2. a U-shaped plate; 3. a connecting plate; 4. a strip plate; 5. clamping a plate; 6. a chute; 7. a fixing ring; 8. a rectangular through hole; 9. an arc-shaped clamping jaw; 10. a silica gel plate; 11. a connecting rod; 12. a circular sliding plate; 13. an elastic connecting rod; 14. mounting a plate; 15. a bellows; 16. an electric push rod; 17. a vacuum pump; 18. a rotating shaft; 19. a suction cup; 20. a spring; 21. a clamping hole; 22. a circular plate.

Detailed Description

The technical solutions 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 a part of the embodiments of the present invention, and not all of the embodiments.

Example one

Referring to fig. 1-3, antiskid multi-axis manipulator, including mount 1, the bottom fixedly connected with U template 2 of mount 1, removable sliding connection has connecting plate 3 in the U template 2, be provided with the restriction subassembly that restricts connecting plate 3 on the U template 2, the bottom fixedly connected with mounting panel 14 of connecting plate 3, the solid fixed ring 7 of the bottom fixedly connected with of mounting panel 14, gu seted up a plurality of rectangle through-holes 8 on the fixed ring 7, the inner wall of rectangle through-hole 8 rotates and is connected with the arc clamping jaw 9 that extends to solid fixed ring 7 outside below, gu fixed ring 7's inner wall sliding connection has circular sliding plate 12, be provided with on the rectangle through-hole 8 and drive the transmission assembly that arc clamping jaw 9 carries out the centre gripping, be provided with on the circular sliding plate 12 and carry out absorbent adsorption component to the spheroid.

Example two

The embodiment is improved on the basis of the first embodiment: the equal fixedly connected with bar plate 4 in both sides of connecting plate 3, spout 6 that uses with the cooperation of bar plate 4 is all seted up to the both sides of U template 2, the restriction subassembly includes that U template 2 goes up runs through sliding connection's cardboard 5, the one end fixedly connected with circular slab 22 of cardboard 5, the cover is equipped with both ends respectively with U template 2 outer wall on the outer wall of cardboard 5, circular slab 22 one side fixed connection's spring 20, card hole 21 that uses with the cooperation of cardboard 5 is seted up to one side inner wall of U template 2, the equal fixedly connected with silica gel plate 10 in inboard of a plurality of arc clamping jaw 9, the thickness of silica gel plate 10 is 1 cm.

EXAMPLE III

The embodiment is improved on the basis of the first embodiment: the transmission assembly includes 8 inner wall rotation connected's of rectangle through-hole pivot 18, fixed cover is equipped with connecting rod 11 on the outer wall of pivot 18, the both ends of connecting rod 11 respectively with one side of arc clamping jaw 9, the outer wall rotation of circular sliding plate 12 is connected, the bottom of mounting panel 14 and the fixed same electric putter 16 that is provided with in top of circular sliding plate 12, adsorption component includes two elastic connection rods 13 of the bottom symmetry fixed connection of circular sliding plate 12, the bottom of two elastic connection rods 13 is connected with same sucking disc 19, the fixed vacuum pump 17 that is provided with in top of circular sliding plate 12, the bellows 15 that circular sliding plate 12 and sucking disc 19 run through fixed connection is run through to vacuum pump 17's air outlet end fixedly connected with bottom.

The working principle is as follows: when a multi-axis manipulator needs to clamp a sphere, the clamping device is arranged at the bottom of a fixed frame 1, a circular plate 22 is manually pulled, the circular plate 22 moves to drive a clamping plate 5 to slide, one end of the clamping plate 5 slides into the side wall of a U-shaped plate 2, one end of a strip-shaped plate 4 is aligned with a notch of a sliding groove 6, after alignment, a connecting plate 3 is pushed inwards to enable one side of the connecting plate 3 to be in contact with the inner wall of one side of the U-shaped plate 2, after contact, the circular plate 22 is loosened to be pulled, the clamping plate 5 slides under the pulling force of a spring 20 to enable one end to be clamped into a clamping hole 21 to limit the connecting plate 3, at the moment, the clamping device is installed, when the sphere needs to be clamped in work, an electric push rod 16 is started to work, the electric push rod 16 stretches out and draws back to drive a circular sliding plate 12 to slide, the sliding plate 12 drives a plurality of connecting rods 11 to rotate, the rotation of connecting rod 11 drives the rotation of arc clamping jaw 9, the rotation of a plurality of arc clamping jaws 9 realizes that the contracting type realizes pressing from both sides tight to spherical object, the removal of circular sliding plate 12 still drives sucking disc 19 and removes, the removal of sucking disc 19 makes sucking disc 19 and the extrusion of spherical object surface apply, the back is applied, vacuum pump 17 opens automatically and manages to find time in the sucking disc 19, form the negative pressure, sucking disc 19 adsorbs spherical object, make the clamp more firm of getting, it purchases to press from both sides the completion, the work of closing vacuum pump 17 and electric putter 16, when needing to remove the centre gripping, electric putter 16 and vacuum pump 17 open automatically, electric putter 16 removes arc clamping jaw 9 and clamps spherical object, vacuum pump 17 removes the negative pressure in the sucking disc 19, thereby remove the absorption of sucking disc 19 to spherical object.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.

Claims

1. The anti-skidding multi-axis manipulator comprises a fixing frame (1) and is characterized in that a U-shaped plate (2) is fixedly connected to the bottom of the fixing frame (1), a connecting plate (3) is movably and slidably connected into the U-shaped plate (2), a limiting component for limiting the connecting plate (3) is arranged on the U-shaped plate (2), a mounting plate (14) is fixedly connected to the bottom of the connecting plate (3), a fixing ring (7) is fixedly connected to the bottom of the mounting plate (14), a plurality of rectangular through holes (8) are formed in the fixing ring (7), an arc-shaped clamping jaw (9) extending to the lower portion of the outer side of the fixing ring (7) is rotatably connected to the inner wall of the rectangular through hole (8), a circular sliding plate (12) is slidably connected to the inner wall of the fixing ring (7), and a transmission component for driving the arc-shaped clamping jaw (9) to clamp is arranged on the rectangular through hole (8), and the circular sliding plate (12) is provided with an adsorption component for adsorbing the ball body.

2. The antiskid multi-axis manipulator as claimed in claim 1, wherein a strip-shaped plate (4) is fixedly connected to each side of the connecting plate (3), and a chute (6) matched with the strip-shaped plate (4) is formed in each side of the U-shaped plate (2).

3. The antiskid multi-axis manipulator according to claim 1, wherein the limiting component comprises a clamping plate (5) which is slidably connected to a U-shaped plate (2) in a penetrating manner, a circular plate (22) is fixedly connected to one end of the clamping plate (5), a spring (20) is sleeved on the outer wall of the clamping plate (5) and two ends of the spring are fixedly connected to the outer wall of the U-shaped plate (2) and one side of the circular plate (22), and a clamping hole (21) matched with the clamping plate (5) is formed in the inner wall of one side of the U-shaped plate (2).

4. The antiskid multi-axis manipulator according to claim 1, wherein a silicon plate (10) is fixedly connected to each of the inner sides of the plurality of arc-shaped clamping jaws (9), and the thickness of the silicon plate (10) is 1 cm.

5. The antiskid multi-shaft manipulator according to claim 1, wherein the transmission assembly comprises a rotating shaft (18) rotatably connected with the inner wall of the rectangular through hole (8), a connecting rod (11) is fixedly sleeved on the outer wall of the rotating shaft (18), two ends of the connecting rod (11) are respectively rotatably connected with one side of the arc-shaped clamping jaw (9) and the outer wall of the circular sliding plate (12), and the same electric push rod (16) is fixedly arranged at the bottom of the mounting plate (14) and the top of the circular sliding plate (12).

6. The antiskid multi-axis manipulator according to claim 1, wherein the adsorption component comprises two elastic connecting rods (13) symmetrically and fixedly connected with the bottom of a circular sliding plate (12), the bottom of the two elastic connecting rods (13) is connected with a same suction cup (19), a vacuum pump (17) is fixedly arranged on the top of the circular sliding plate (12), and a corrugated pipe (15) fixedly connected with the bottom of the vacuum pump (17) penetrates through the circular sliding plate (12) and the suction cup (19).