CN215942917U

CN215942917U - Mounting seat for manipulator

Info

Publication number: CN215942917U
Application number: CN202122211797.8U
Authority: CN
Inventors: 秦良奇; 于豪杰; 马永军; 陈航
Original assignee: Shandong Humon Smelting Co ltd
Current assignee: Shandong Humon Smelting Co ltd
Priority date: 2021-09-12
Filing date: 2021-09-12
Publication date: 2022-03-04
Anticipated expiration: 2031-09-12

Abstract

The application discloses a mounting seat for a manipulator, which comprises a seat body, a manipulator connecting seat and a mounting ring fixedly mounted at the edge of the top of the seat body, wherein a plurality of mounting holes are uniformly formed in the periphery of the mounting ring, the bottom of the seat body is fixedly connected with a cylinder, and two sides of the inner ring of the cylinder are fixedly connected with stop blocks; the top of the manipulator connecting seat is embedded with the cylinder, two sides of the top of the manipulator connecting seat are fixedly connected with fixed side blocks, and the fixed side blocks are erected at the tops of the stop blocks; the middle part of the seat body is provided with a telescopic plug-in unit, and the bottom end of the telescopic plug-in unit is embedded with a positioning pentagonal hole arranged at the center of the top of the manipulator connecting seat. The manipulator has the beneficial effects that the manipulator is convenient to detach and install, so that convenience is brought to maintenance of the manipulator, and detachment and maintenance treatment are facilitated.

Description

Mounting seat for manipulator

Technical Field

The application relates to the field of manipulators, in particular to a mounting base for a manipulator.

Background

The 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 objects or operating tools according to a fixed program; the robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.

Generally, in the prior art, the installation of the manipulator is performed by fixedly installing the manipulator through screws or bolts, so that the manipulator is fixedly installed, and when the manipulator is fixedly installed and disassembled, the manipulator needs to be operated by means of an external tool for installing and taking down the screws or bolts, so that the labor intensity of workers is low, and time and labor are wasted. Therefore, a mounting base for a robot hand is proposed to solve the above problems.

Disclosure of Invention

The embodiment provides a mounting base for a manipulator, which is used for solving the problem that the manipulator in the prior art is not easy to mount and dismount.

According to one aspect of the application, the mounting seat for the manipulator comprises a seat body, a manipulator connecting seat and a mounting ring fixedly mounted at the edge of the top of the seat body, wherein a plurality of mounting holes are uniformly formed in the periphery of the mounting ring, the bottom of the seat body is fixedly connected with a cylinder, and two sides of the inner ring of the cylinder are fixedly connected with stop blocks; the top of the manipulator connecting seat is embedded with the cylinder, two sides of the top of the manipulator connecting seat are fixedly connected with fixed side blocks, and the fixed side blocks are erected at the tops of the stop blocks; the middle part of the seat body is provided with a telescopic plug-in unit, and the bottom end of the telescopic plug-in unit is embedded with a positioning pentagonal hole arranged at the center of the top of the manipulator connecting seat.

Further, the robot joint receptacle includes: the round seat comprises a round seat body and a round plate, wherein two sides of the top of the round seat body are fixedly connected with a fixed side block, and the bottom of the round seat body is fixedly connected with the round plate.

Further, the telescoping insert comprises: fixed plate, electro-magnet, five arris iron posts and first spring, the top at the pedestal is installed to the fixed gomphosis of fixed plate, the electro-magnet is installed to the fixed gomphosis in middle part of fixed plate, the electro-magnet is located the top department of five arris iron posts, five arris iron posts are connected with the guiding hole clearance fit of seting up in pedestal bottom center department, the cover is equipped with first spring on the five arris iron posts, the one end of first spring and the bottom inner wall fixed connection of pedestal, the other end of first spring and the cylinder fixed connection of five arris iron posts, the bottom of five arris iron posts and the five limit hole gomphosis of location of seting up in round seat top center department.

Further, a plurality of shrinkage pool has been seted up to the bottom of pedestal, fixedly connected with second spring in the shrinkage pool, the bottom and the round seat top contact of second spring.

Furthermore, a plurality of reinforcing rib plates are fixedly connected between the seat body and the outer wall of the cylinder, and the plurality of reinforcing rib plates are distributed in an annular array.

Furthermore, a plurality of hole sites are formed on the circular plate, the circular plate is fixedly welded with the circular seat, and the circular seat is of a cylindrical structure.

Through the above-mentioned embodiment of this application, adopted the structure of flexible plug-in components, manipulator connecting seat, fixed side piece, dog and drum, solved the difficult problem of installing, dismantling of manipulator, gained the function of being convenient for realize manipulator dismantlement, installation to it is convenient to provide convenient for the maintenance of manipulator, be convenient for pull down and carry out maintenance treatment.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

FIG. 1 is a schematic exterior view of an embodiment of the present application;

FIG. 2 is a schematic view of the overall internal structure of an embodiment of the present application;

FIG. 3 is a schematic cross-sectional view A-A of FIG. 2 according to one embodiment of the present application;

fig. 4 is a schematic view of a pentagonal prism according to an embodiment of the present application.

In the figure: 1. the device comprises a base body, 2, a mounting ring, 3, a mounting hole, 4, a fixing plate, 5, an electromagnet, 6, a cylinder, 7, a reinforcing rib plate, 8, a circular base, 9, a circular plate, 10, a guide hole, 11, a pentagonal iron column, 12, a first spring, 13, a positioning pentagonal hole, 14, a stop block, 15, a fixing side block, 16 and a second spring.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

The mounting socket in this embodiment may be used to mount various robots, for example, the following robot gripper is provided in this embodiment, and the mounting socket in this embodiment may be used to mount the following robot gripper.

The mechanical gripper includes: the bottom plate is provided with a guide mechanism formed by a strip-shaped left guide groove and a strip-shaped right guide groove, the left guide groove and the right guide groove are arranged in parallel, a left upright post is arranged on the left side of the guide mechanism, and a right upright post is arranged on the right side of the guide mechanism; the double-cross guide block comprises a slider body, a first cylinder, a second cylinder, a third cylinder and a fourth cylinder, wherein the first cylinder and the second cylinder are arranged on the upper end surface of the slider body, the third cylinder and the fourth cylinder are arranged on the lower end surface of the slider body, the axes of the first cylinder and the third cylinder are superposed to form a first cross slider, the axes of the second cylinder and the fourth cylinder are superposed to form a second cross slider, the first cross slider and the second cross slider are combined to form the double-cross guide block, the third cylinder is inserted into the left guide groove, and the fourth cylinder is inserted into the right guide groove; the claw arm comprises a left claw arm and a right claw arm, the middle part of the left claw arm is connected with the left upright post and can rotate by taking the left upright post as a center, the middle part of the right claw arm is connected with the right upright post and can rotate by taking the right upright post as a center, and claw teeth are arranged at the front ends of the left claw arm and the right claw arm; the left connecting rod mechanism comprises an upper left connecting rod and a lower left connecting rod which are arranged in parallel, one end of the upper left connecting rod is hinged with the first column, the other end of the upper left connecting rod is hinged with the tail end of the left claw arm, one end of the lower left connecting rod is hinged with the third column, and the other end of the lower left connecting rod is hinged with the tail end of the left claw arm; the left connecting rod mechanism and the right connecting rod mechanism are identical in structure, the right connecting rod mechanism comprises an upper right connecting rod and a lower right connecting rod, the upper right connecting rod and the lower right connecting rod are arranged in parallel, one end of the upper right connecting rod is hinged to the second column, the other end of the upper right connecting rod is hinged to the tail end of the right claw arm, one end of the lower right connecting rod is hinged to the fourth column, and the other end of the lower right connecting rod is hinged to the tail end of the right claw arm. And the driving mechanism is arranged on the bottom plate and can drive the double-cross guide block to slide along the length direction of the guide mechanism. The driving mechanism is an air cylinder, an air cylinder fixing plate is installed on the bottom plate, the air cylinder is fixed on the air cylinder fixing plate, and a piston rod of the air cylinder is connected with the sliding block body of the double-cross-shaped guide block. Because the existing mechanical paw is usually provided with a rotating disc or a push rod on a bottom plate to connect the left paw arm and the right paw arm, the difficulty of gripping objects is increased when the rotating disc moves, and the paw teeth of the existing mechanical paw grip the objects and slide according to friction force. The double-cross guide block is pushed by a thrust device to move in the left guide groove, the right guide groove, the first guide groove and the second guide groove, so that the double-cross guide block is limited to rotate, the guidance performance is higher, the center positioning of the left claw arm and the right claw arm is more accurate, and the double-cross guide block is more convenient and faster to clamp an object. Specifically, when the cylinder pushes the double-cross guide block to move forward in the left guide groove, the right guide groove, the first guide groove and the second guide groove, the double-cross guide block drives the link mechanism, the left link mechanism drives the left claw arm, the right link mechanism drives the right claw arm, the left claw arm and the right claw arm are opened, the distance between the claw teeth is increased, the left claw arm and the right claw arm move consistently, the center position is more accurate when a workpiece is clamped, when the selected workpiece is between the claw teeth, the cylinder drives the double-cross guide block to move in the left guide groove, the right guide groove, the first guide groove and the second guide groove, the left link mechanism drives the left claw arm, the right link mechanism drives the right claw arm, the left claw arm and the right claw arm shrink, and the distance between the claw teeth is reduced until the workpiece is clamped. Preferably, the driving mechanism, the double-cross guide block, the link mechanism and the claw arm form an integral link mechanism, when the integral link mechanism moves, the thrust of the air cylinder is amplified when being converted into claw tooth clamping force, and when an object is clamped, the friction force is larger and is not easy to slide. The claw teeth and the left claw arm are fixed through the bolts, the claw teeth and the right claw arm are fixed through the bolts, the claw teeth of different models can be replaced, different types of articles can be grabbed, the installation is convenient, and the production cost is reduced. Preferably, the top of guiding mechanism direction sets up the dog on the bottom plate, and apron, dog, bottom plate pass through the bolt fastening, and the apron is difficult for rocking, more stable.

Of course, the present embodiment can also be used for installing other structures of manipulators. Here, description is not repeated, and the mount of the embodiment of the present application is described below.

Referring to fig. 1-4, a mounting base for a manipulator includes a base body 1, a manipulator connecting base, and a mounting ring 2 fixedly mounted at the top edge of the base body 1, wherein a plurality of mounting holes 3 are uniformly formed around the mounting ring 2, a cylinder 6 is fixedly connected to the bottom of the base body 1, and stoppers 14 are fixedly connected to both sides of an inner ring of the cylinder 6; the top of the manipulator connecting seat is embedded with the cylinder 6, both sides of the top of the manipulator connecting seat are fixedly connected with fixed side blocks 15, and the fixed side blocks 15 are erected on the tops of the stop blocks 14; the middle mounting of pedestal 1 has flexible plug-in components, the bottom of flexible plug-in components and the five side holes 13 gomphosis in location of seting up in manipulator connecting seat top center department are convenient for realize the function that the manipulator was dismantled, installed to it is convenient to provide convenient for the maintenance of manipulator, be convenient for pull down and maintain the processing.

The manipulator connecting seat includes: the round seat comprises a round seat 8 and a circular plate 9, the two sides of the top of the round seat 8 are fixedly connected with a fixed side block 15, the bottom of the round seat 8 is fixedly connected with the circular plate 9, a manipulator connecting seat is used for being fixed with a manipulator to form a whole, and the manipulator connecting seat is installed and disassembled to complete the installation of the manipulator.

The telescoping insert comprises: fixed plate 4, electro-magnet 5, five arris iron prop 11 and first spring 12, the top at pedestal 1 is installed to fixed gomphosis of fixed plate 4, electro-magnet 5 is installed to the fixed gomphosis in middle part of fixed plate 4, electro-magnet 5 is located the top department of five arris iron prop 11, five arris iron prop 11 is connected with the guiding hole 10 clearance fit of seting up in pedestal 1 bottom center department, the cover is equipped with first spring 12 on five arris iron prop 11, the one end of first spring 12 and the bottom inner wall fixed connection of pedestal 1, the other end of first spring 12 and the cylinder fixed connection of five arris iron prop 11, the bottom of five arris iron prop 11 and the five limit hole 13 gomphosis of location of seting up in 8 top centers of circle department 13, through the expert, the outage of electro-magnet 5, adsorb magnetic force or cancel the absorption to five arris iron prop 11, cooperate the elasticity of first spring 12, accomplish five arris iron prop 11 and stretch, stretch, And (4) shrinking.

A plurality of shrinkage pool has been seted up to the bottom of pedestal 1, fixedly connected with second spring 16 in the shrinkage pool, the bottom and the 8 top contacts of circle seat of second spring 16, and second spring 16 is used for compressing tightly at 8 tops of circle seat, the effect of guarantee installation.

A plurality of reinforcing rib plates 7 are fixedly connected between the outer walls of the seat body 1 and the cylinder 6, and the reinforcing rib plates 7 are distributed in an annular array mode to reinforce the joint, so that the connecting effect is improved.

A plurality of hole sites are formed in the circular plate 9, the circular plate 9 and the circular seat 8 are fixedly welded, the circular seat 8 is of a cylindrical structure, and the circular plate 9 provides an installation position and provides installation for a manipulator.

When the electric appliance component is used, the electric appliance components are externally connected with a power supply and a control switch, are installed through an installation ring 2 and an external installation surface, an installation hole position is provided through an installation hole 3, the electric appliance component is fixed through an external screw, a manipulator connecting seat and a manipulator are fixed to form a whole, the installation is provided through the hole position, when the manipulator is installed, firstly, the electromagnet 5 is enabled to adsorb the five-edge iron column 11, the five-edge iron column 11 goes upwards, meanwhile, the first spring 12 is stretched, the manipulator connecting seat is plugged into the cylinder 6, the second spring 16 is compressed, the manipulator connecting seat is rotated, the fixed side block 15 is aligned with the stop block 14, the fixed side block 15 is erected on the stop block 14, the electromagnet 5 is further powered off, the five-edge iron column 11 goes downwards through the elastic force of the first spring 12 and is plugged into the positioning five-side hole 13, positioning is completed, and the second spring 16 is pressed to complete installation;

when dismantling for 5 circular telegrams of electro-magnet, pentagonal prism 11 separates with five limit holes 13 in location, and the cancellation location rotates the manipulator connecting seat, makes fixed side block 15 and dog 14 separate, can dismantle, thereby makes holistic dismantlement comparatively convenient, thereby is convenient for take off the maintenance, has improved the effect of using.

The application has the advantages that:

whole mount pad is used for the installation of manipulator, fixes with the manipulator through the manipulator connecting seat, constitutes a whole, installs, dismantles through the manipulator connecting seat, realizes the installation of manipulator, dismantles, through the cooperation of flexible plug-in components, manipulator connecting seat, fixed side block 15, dog 14 and drum 6, is convenient for realize the function that the manipulator was dismantled, was installed to it is convenient to provide convenient for the maintenance of manipulator, is convenient for pull down and maintains the processing.

It is well within the skill of those in the art to implement, without undue experimentation, the present application is not directed to software and process improvements, as they relate to circuits and electronic components and modules.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The utility model provides a mount pad for manipulator which characterized in that: the manipulator comprises a seat body (1), a manipulator connecting seat and a mounting ring (2) fixedly mounted at the edge of the top of the seat body (1), wherein a plurality of mounting holes (3) are uniformly formed in the periphery of the mounting ring (2), a cylinder (6) is fixedly connected to the bottom of the seat body (1), and stop blocks (14) are fixedly connected to two sides of the inner ring of the cylinder (6);

the top of the manipulator connecting seat is embedded with the cylinder (6), both sides of the top of the manipulator connecting seat are fixedly connected with fixed side blocks (15), and the fixed side blocks (15) are erected at the tops of the stop blocks (14);

the middle of the seat body (1) is provided with a telescopic plug-in unit, and the bottom end of the telescopic plug-in unit is embedded with a positioning pentagonal hole (13) arranged at the center of the top of the manipulator connecting seat.

2. A mounting socket for a robot hand according to claim 1, wherein: the manipulator connecting seat includes: circle seat (8) and plectane (9), the top both sides and fixed side piece (15) fixed connection of circle seat (8), the bottom and plectane (9) fixed connection of circle seat (8).

3. A mounting socket for a robot hand according to claim 1, wherein: the telescoping insert comprises: fixed plate (4), electro-magnet (5), five arris iron prop (11) and first spring (12), the top in pedestal (1) is installed to fixed gomphosis of fixed plate (4), electro-magnet (5) are installed to the middle part fixed gomphosis of fixed plate (4), electro-magnet (5) are located the top department of five arris iron prop (11), five arris iron prop (11) and offer guide hole (10) clearance fit connection in pedestal (1) bottom center department, the cover is equipped with first spring (12) on five arris iron prop (11), the one end of first spring (12) and the bottom inner wall fixed connection of pedestal (1), the other end of first spring (12) and the cylinder fixed connection of five arris iron prop (11), the bottom of five arris iron prop (11) and offer the five limit of location hole (13) gomphosis in round seat (8) top center department.

4. A mounting socket for a robot hand according to claim 1, wherein: a plurality of shrinkage pool has been seted up to the bottom of pedestal (1), fixedly connected with second spring (16) in the shrinkage pool, the bottom and the round seat (8) top contact of second spring (16).

5. A mounting socket for a robot hand according to claim 1, wherein: a plurality of reinforcing rib plates (7) are fixedly connected between the base body (1) and the outer wall of the cylinder (6), and the plurality of reinforcing rib plates (7) are distributed in an annular array.

6. A mounting socket for a robot hand according to claim 2, wherein: a plurality of hole sites are formed in the circular plate (9), the circular plate (9) is fixedly welded with the circular seat (8), and the circular seat (8) is of a cylindrical structure.