CN216399641U - Manipulator capable of being rotationally adjusted - Google Patents

Manipulator capable of being rotationally adjusted Download PDF

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Publication number
CN216399641U
CN216399641U CN202122211796.3U CN202122211796U CN216399641U CN 216399641 U CN216399641 U CN 216399641U CN 202122211796 U CN202122211796 U CN 202122211796U CN 216399641 U CN216399641 U CN 216399641U
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China
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motor
fixed
threaded rod
clamp
air
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CN202122211796.3U
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Chinese (zh)
Inventor
陈航
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Suzhou Hongjian Automation Technology Co ltd
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Suzhou Hongjian Automation Technology Co ltd
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Abstract

The application discloses manipulator that can rotation regulation, including base, support column, mount, slide, anchor clamps and air cavity, base top outer wall fixed surface connects the support column bottom, the first motor of support column top outer wall fixed surface connection, first motor output fixed connection threaded rod one end, threaded rod one end fixed connection bearing middle part, the inside bottom of bearing bottom outer wall fixed surface connects the support column, mount outer wall surface inner wall rotates connects the pivot, pivot outer wall fixed surface connects the slide, anchor clamps outer wall fixed surface connects air cavity bottom, air cavity inner wall surface sliding connection piston. This application drives the threaded rod through starting first motor and rotates, and the threaded rod drives the slider and slides along the slide bar outer wall, is convenient for drive the whole height-adjusting of arm, drives anchor clamps rotation through starting the fourth motor, can rotary fixture before pressing from both sides the thing, is convenient for adjust the direction that anchor clamps faced the object.

Description

Manipulator capable of being rotationally adjusted
Technical Field
The application relates to the field of manipulators, in particular to a manipulator capable of being rotationally adjusted.
Background
A manipulator is an automatic operating device which can imitate certain motion functions of human hands and arms and is used for grabbing and carrying objects or operating tools according to a fixed program. It can replace human to carry out heavy work to realize mechanization and automation of production, and is widely applied to departments of mechanical manufacturing, light industry, atomic energy and the like.
The existing device for clamping and turning the workpiece to be machined can only change the position of the workpiece to be machined with one degree of rotational freedom, and can not respectively align six side surfaces of the front side, the rear side, the left side, the right side, the upper side and the lower side of the workpiece to be machined with a machining device. Therefore, a robot arm capable of rotary adjustment is proposed to solve the above problems.
Disclosure of Invention
The manipulator which can be rotationally adjusted is provided in the embodiment and is used for solving the problem that the device for clamping and turning the workpiece to be machined can only change the position of the workpiece to be machined with one degree of rotational freedom and can not enable six side surfaces of the front side, the rear side, the left side, the right side, the upper side and the lower side of the workpiece to be machined to be respectively aligned with the machining device.
According to an aspect of the application, a manipulator that can rotation regulation is provided, including base, support column, mount, slide, anchor clamps and air cavity, base top outer wall fixed surface connects the support column bottom, the first motor of support column top outer wall fixed surface connection, first motor output fixed connection threaded rod one end, threaded rod one end fixed connection bearing middle part, the inside bottom of bearing bottom outer wall fixed surface connection support column, mount outer wall fixed surface inner wall rotates connects the pivot, pivot outer wall fixed surface connects the slide, anchor clamps outer wall fixed surface connects the air cavity bottom, air cavity inner wall surface sliding connection piston, piston outer wall fixed surface connects splint top.
Further, the surface of the outer wall of the threaded rod is connected with the sliding block in a sliding mode, the surface of the outer wall of the sliding block is fixedly connected with the connecting block, the surface of the outer wall of the connecting block is fixedly connected with the second motor, and the output end of the second motor is fixedly connected with the fixing frame.
Further, the top end of the outer wall surface of the fixing frame is fixedly connected with a third motor, and the output end of the third motor is fixedly connected with the rotating shaft.
Furthermore, one end inside the sliding plate is fixedly connected with a fourth motor, and the output end of the fourth motor is fixedly connected with a clamp.
Further, the surface of the inner wall of the clamp is connected with the clamping plate in a sliding mode, and the top end of the surface of the outer wall of the supporting column is fixedly connected with the controller.
Further, the surface of the outer wall of the top end of the base is fixedly connected with the bottom end of the air blower, the output end of the air blower is fixedly connected with an air tank, the output end of the air tank is fixedly connected with an air pipe, and one end of the air pipe is fixedly connected with the input end of the air cavity.
Further, the surface of the outer wall of the top end of the base is fixedly connected with the bottom end of the support frame, the top end of the surface of the outer wall of the support frame is fixedly connected with the gas tank, and the surface of the outer wall of the support column is provided with a chute.
Through the above embodiment of the application, the device comprises the base, the supporting column, the fixing frame, the sliding plate, the clamp and the air cavity, the surface of the outer wall of the top end of the base is fixedly connected with the bottom end of the supporting column, the surface of the outer wall of the top end of the supporting column is fixedly connected with a first motor, the output end of the first motor is fixedly connected with one end of a threaded rod, one end of the threaded rod is fixedly connected with the middle part of the bearing, the surface of the outer wall of the bottom end of the bearing is fixedly connected with the bottom end of the inside of the supporting column, the inner wall of the outer wall of the fixed frame is rotatably connected with the rotating shaft, the surface of the outer wall of the rotating shaft is fixedly connected with a sliding plate, the surface of the outer wall of the clamp is fixedly connected with the bottom end of the air cavity, the piston is connected to the surface of the inner wall of the air cavity in a sliding mode, the top end of the clamping plate is fixedly connected to the surface of the outer wall of the piston, the problem that the clamp cannot adjust the angle and the height of the clamp is solved, and the effect that the clamp can drive the threaded rod to rotate through the fourth motor and the first motor to drive the mechanical arm to adjust the height is achieved.
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 overall perspective view of an embodiment of the present application;
FIG. 2 is a schematic diagram of the overall internal structure of an embodiment of the present application;
FIG. 3 is a schematic side view of an embodiment of the present application;
fig. 4 is a schematic structural diagram of an embodiment of the present application.
In the figure: 1. the device comprises a base, 2, a blower, 3, a fixing frame, 4, a gas tank, 5, a gas pipe, 6, a supporting column, 7, a sliding rod, 8, a threaded rod, 9, a sliding block, 10, a sliding groove, 11, a first motor, 12, a connecting block, 13, a second motor, 14, a supporting frame, 15, a third motor, 16, a rotating shaft, 17, a sliding plate, 18, a fourth motor, 19, a clamp, 20, a gas cavity, 21, a clamping plate, 22, a piston, 23, a bearing, 24 and a controller.
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 air chamber, the piston and the clamping plate in the present embodiment may be adapted to various clamping cylinders, for example, in the present embodiment, a clamping cylinder of a slot plate of a robot is provided, and the magnetic display board and the writing board in the present embodiment may be used to be installed and used with the slot plate.
The clamping cylinder comprises a moving device, a connecting assembly and a swinging clamping device, wherein the moving device comprises a first linear moving mechanism and a second linear moving mechanism, the first linear moving mechanism comprises a first fixed seat, a first movable seat and a first linear driver, the first fixed seat is connected with the first movable seat in a vertical sliding mode, and the fixed end and the movable end of the first linear driver are respectively fixedly connected with the first fixed seat and the first movable seat; the second linear moving mechanism comprises a second fixed seat, a second movable seat and a second linear driver, the second fixed seat is fixedly connected with the first movable seat, the second fixed seat is connected with the second movable seat in a left-right sliding manner, and the fixed end and the movable end of the second linear driver are respectively fixedly connected with the second fixed seat and the second movable seat; the connecting assembly is arranged on the second movable seat;
the swing clamping device comprises a base, a first swing arm, a second swing arm and a clamping mechanism, wherein the base is arranged on the connecting component and is rotatably connected with the first swing arm through a first rotating shaft, the first rotating shaft extends forwards and backwards and is fixedly connected with the first swing arm, and a first rotary driver for driving the first rotating shaft to rotate is arranged on the base;
the first swing arm is rotatably connected with the second swing arm through a second rotating shaft, the second rotating shaft is transversely arranged and fixedly connected with the second swing arm, and a second rotary driver for driving the second rotating shaft to rotate is arranged on the first swing arm; the clamping mechanism is arranged on the second swing arm.
When the clamping mechanism is used, after a workpiece to be machined is clamped by the clamping mechanism, the second rotary driver can be started to drive the second rotating shaft to rotate, so that the workpiece to be machined rotates around the second rotating shaft; after the clamping mechanism can clamp the workpiece to be machined, the first rotary driver can be started to drive the first rotating shaft to rotate, so that the workpiece to be machined rotates around the first rotating shaft; the utility model can change the position of the workpiece to be processed with two rotational degrees of freedom, namely, the six side surfaces of the workpiece to be processed can be respectively aligned with the processing device.
Of course this embodiment can also be used for the air chamber, the piston and the clamping plate of the clamping arrangement. The following description is not repeated herein, and the clamp cylinder according to the embodiment of the present application will be described.
Referring to fig. 1-4, a manipulator capable of being rotatably adjusted includes a base 1, a supporting column 6, a fixing frame 14, a sliding plate 17, a fixture 19, and an air chamber 20, where the surface of the outer wall of the top end of the base 1 is fixedly connected to the bottom end of the supporting column 6, the surface of the outer wall of the top end of the supporting column 6 is fixedly connected to a first motor 11, the output end of the first motor 11 is fixedly connected to one end of a threaded rod 8, one end of the threaded rod 8 is fixedly connected to the middle of a bearing 23, the surface of the outer wall of the bottom end of the bearing 23 is fixedly connected to the bottom end of the inside of the supporting column 6, the inner wall of the outer wall of the fixing frame 14 is rotatably connected to a rotating shaft 16, the surface of the outer wall of the rotating shaft 16 is fixedly connected to the sliding plate 17, the surface of the outer wall of the fixture 19 is fixedly connected to the bottom end of the air chamber 20, the surface of the inner wall of the air chamber 20 is slidably connected to a piston 22, the surface of the piston 22 is fixedly connected to the top end of a clamping plate 21, the threaded rod 8 is driven to rotate by starting the first motor 11, the threaded rod 8 drives the sliding block to slide along the outer wall of the sliding rod 7, so that the mechanical arm is conveniently driven to integrally adjust the height, the fourth motor 18 is started to drive the clamp 19 to rotate, the clamp 19 can be rotated before an object is clamped, and the clamp 19 can be conveniently adjusted to face the object;
the outer wall surface of the threaded rod 8 is connected with a sliding block 9 in a sliding manner, the outer wall surface of the sliding block 9 is fixedly connected with a connecting block 12, the outer wall surface of the connecting block 12 is fixedly connected with a second motor 13, the output end of the second motor 13 is fixedly connected with a fixing frame 14 so as to adjust the rotation of the fixing frame 14, the top end of the outer wall surface of the fixing frame 14 is fixedly connected with a third motor 15, the output end of the third motor 15 is fixedly connected with a rotating shaft 16 so as to rotate a sliding plate 17 and drive a clamp 19 to rotate, one end of the inside of the sliding plate 17 is fixedly connected with a fourth motor 18, the output end of the fourth motor 18 is fixedly connected with a clamp 19 so as to drive the clamp 19 to rotate, the inner wall surface of the clamp 19 is slidably connected with a clamp plate 21, the top end of the outer wall surface of the support column 6 is fixedly connected with a controller 24, the outer wall surface of the top end of the base 1 is fixedly connected with the bottom end of an air blower 2, and the output end of the air tank 4 is fixedly connected with the air blower 2, the output end of the gas tank 4 is fixedly connected with a gas pipe 5, one end of the gas pipe 5 is fixedly connected with the input end of a gas cavity 20, so that the gas pressure can be conveniently adjusted, gas is continuously supplied to the inside of the gas cavity 20, the outer wall surface of the top end of the base 1 is fixedly connected with the bottom end of the support frame 3, the top end of the outer wall surface of the support frame 3 is fixedly connected with the gas tank 4, and the outer wall surface of the support column is provided with a chute 10.
When the utility model is used, the blower 2 is started to input gas into the gas tank 4, the pressure of the gas tank 4 inputs gas into the gas pipe 5, the gas is filled into the gas cavity 20, the piston 22 is pushed to move, the clamping plate 21 is driven to move, an object is convenient to clamp, the threaded rod 8 is driven to rotate by starting the first motor 11, the threaded rod 8 drives the sliding block 9 to slide along the outer wall of the sliding rod 7, the mechanical arm is convenient to drive the whole mechanical arm to adjust the height, the clamp 19 is driven to rotate by starting the fourth motor 18, the clamp 19 can be rotated before clamping the object, the direction of the object facing the object is convenient to adjust, the fixing frame 14 is driven to move by starting the second motor 13, the rotating shaft 16 is driven to rotate by driving the sliding plate 17, the angle of the clamp 19 can be adjusted at will, the blower 2 is used for inflating the gas tank 4 to increase the pressure inside the gas tank 4 all the time, the overload of the object caused by overweight is avoided, potential safety hazards appear.
The application has the advantages that:
1. the threaded rod is driven to rotate by starting the first motor, the threaded rod drives the sliding block to slide along the outer wall of the sliding rod, so that the mechanical arm is conveniently driven to integrally adjust the height, the clamp is driven to rotate by starting the fourth motor, the clamp can be rotated before an object is clamped, and the clamp can be conveniently adjusted to face the direction of the object;
2. the fixing frame is driven to move by starting the second motor, the third motor drives the rotating shaft to rotate, the sliding plate is driven to rotate, the angle of the clamp can be adjusted at will, the pressure inside the gas tank is always inflated to the inside of the gas tank through the air blower, the overload of the gas cavity caused by overweight of an object is avoided, and potential safety hazards are avoided.
Since the power taking structures of the first motor 11, the second motor 13, the third motor 15 and the fourth motor 18 belong to the prior art, they are not described in this document.
The first motor 11 is of the CPS-05 type and its associated power supply and circuitry.
The second motor 13 is of type YN60 and its associated power supply and circuitry.
The third motor 15 is of the type WE3-80M2-4 and its associated power supply and circuitry.
The fourth motor 18 is of the GH28-750W-15S type and its associated power supply and circuitry.
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 (7)

1. A manipulator that can rotation regulation, its characterized in that: comprises a base (1), a supporting column (6), a fixed frame (14), a sliding plate (17), a clamp (19) and an air cavity (20), the surface of the outer wall of the top end of the base (1) is fixedly connected with the bottom end of a supporting column (6), the surface of the outer wall of the top end of the supporting column (6) is fixedly connected with a first motor (11), the output end of the first motor (11) is fixedly connected with one end of a threaded rod (8), one end of the threaded rod (8) is fixedly connected with the middle part of the bearing (23), the outer wall surface of the bottom end of the bearing (23) is fixedly connected with the bottom end inside the supporting column (6), the inner wall of the outer wall surface of the fixed frame (14) is rotationally connected with a rotating shaft (16), the outer wall surface of the rotating shaft (16) is fixedly connected with a sliding plate (17), the clamp is characterized in that the surface of the outer wall of the clamp (19) is fixedly connected with the bottom end of an air cavity (20), the surface of the inner wall of the air cavity (20) is connected with a piston (22) in a sliding mode, and the surface of the outer wall of the piston (22) is fixedly connected with the top end of a clamping plate (21).
2. A rotationally adjustable manipulator as claimed in claim 1, characterized in that: threaded rod (8) outer wall surface sliding connection slider (9), slider (9) outer wall fixed surface connects connecting block (12), connecting block (12) outer wall fixed surface connects second motor (13), second motor (13) output end fixed connection mount (14).
3. A rotationally adjustable manipulator as claimed in claim 1, characterized in that: the top end of the surface of the outer wall of the fixing frame (14) is fixedly connected with a third motor (15), and the output end of the third motor (15) is fixedly connected with a rotating shaft (16).
4. A rotationally adjustable manipulator as claimed in claim 1, characterized in that: one end of the inner part of the sliding plate (17) is fixedly connected with a fourth motor (18), and the output end of the fourth motor (18) is fixedly connected with a clamp (19).
5. A rotationally adjustable manipulator as claimed in claim 1, characterized in that: the clamp (19) is connected with the clamping plate (21) in a sliding mode on the surface of the inner wall, and the controller (24) is fixedly connected to the top end of the surface of the outer wall of the supporting column (6).
6. A rotationally adjustable manipulator as claimed in claim 1, characterized in that: the air-conditioning device is characterized in that the surface of the outer wall of the top end of the base (1) is fixedly connected with the bottom end of the air blower (2), the output end of the air blower (2) is fixedly connected with the air tank (4), the output end of the air tank (4) is fixedly connected with the air pipe (5), and one end of the air pipe (5) is fixedly connected with the input end of the air cavity (20).
7. A rotationally adjustable manipulator as claimed in claim 1, characterized in that: the base (1) top outer wall surface fixed connection support frame (3) bottom, support frame (3) outer wall surface top fixed connection gas pitcher (4), spout (10) are seted up to support column outer wall surface.
CN202122211796.3U 2021-09-12 2021-09-12 Manipulator capable of being rotationally adjusted Active CN216399641U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202122211796.3U CN216399641U (en) 2021-09-12 2021-09-12 Manipulator capable of being rotationally adjusted

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202122211796.3U CN216399641U (en) 2021-09-12 2021-09-12 Manipulator capable of being rotationally adjusted

Publications (1)

Publication Number Publication Date
CN216399641U true CN216399641U (en) 2022-04-29

Family

ID=81293590

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202122211796.3U Active CN216399641U (en) 2021-09-12 2021-09-12 Manipulator capable of being rotationally adjusted

Country Status (1)

Country Link
CN (1) CN216399641U (en)

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