CN216991956U

CN216991956U - Automatic manipulator

Info

Publication number: CN216991956U
Application number: CN202123118442.0U
Authority: CN
Inventors: 莫小琴; 罗伟欢
Original assignee: Jiangmen Zilong Plastic Products Co ltd
Current assignee: Jiangmen Zilong Plastic Products Co ltd
Priority date: 2021-12-13
Filing date: 2021-12-13
Publication date: 2022-07-19
Anticipated expiration: 2031-12-13

Abstract

The utility model discloses an automatic manipulator, and relates to the technical field of manipulators. An automatic mechanical arm comprises a mechanical arm, wherein a clamp is arranged at the bottom of the mechanical arm; anchor clamps include the go-between, go-between side fixedly connected with mount pad, the mount pad is provided with telescopic cylinder with the go-between junction, telescopic cylinder runs through in mount pad side fixedly connected with rack, mount pad opposite side both sides are equal to change the connection have with rack intermeshing's half-gear, the equal fixedly connected with arm lock in both sides that two half-gears are opposite, the arm is including the rotating base that can rotate, the rotating base bottom has connected gradually rotatable extension arm and location arm. The rack driven by the single telescopic cylinder is meshed with the half gear to realize the rotary clamping of the clamping arm, and compared with the traditional multi-motor clamp, the multi-motor clamp has lower maintenance and repair difficulty and lower cost.

Description

Automatic manipulator

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to an automatic mechanical arm.

Background

A robot is an automatic operating device that simulates some of the motion functions of a human hand and arm to grab, carry objects or operate tools according to a fixed program. The robot can replace the heavy labor of people to realize the mechanization and automation of production, can operate under the harmful environment to protect the personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The anchor clamps structure fill that present manipulator used is comparatively complicated, and electronic component such as motor that use is more, and the cost of maintenance and maintenance is great, and presss from both sides the smooth object and get the degree of difficulty great.

SUMMERY OF THE UTILITY MODEL

The present invention is made to solve the technical problems set forth in the above background art. Therefore, the utility model provides an automatic manipulator which comprises a mechanical arm, wherein a clamp is arranged at the bottom of the mechanical arm; anchor clamps include the go-between, go-between side fixedly connected with mount pad, and the mount pad is provided with telescopic cylinder with the go-between junction, and telescopic cylinder runs through in mount pad side fixedly connected with rack, and mount pad opposite side both sides are all changeed and are connected with the semi-gear with rack intermeshing, two the equal fixedly connected with arm lock in the both sides that semi-gear is opposite sets up by the rotatory centre gripping of single telescopic cylinder driven, utilizes the meshing of rack and semi-gear to realize the arm lock, compares with traditional many motor fixtures, and its degree of difficulty of maintaining and maintenance is lower cost also cheaper.

Furthermore, the arm is including the rotating base that can rotate, and the rotating base bottom has connected gradually rotatable extension arm and location arm, and the location arm other end rotates and is connected with motor drive's rotation axis, rotation axis and go-between fixed connection can realize the space positioning of terminal surface anchor clamps through the rotation of rotating base, extension arm and location arm to can improve equipment's practicality.

Furthermore, rotating base top fixedly connected with fixing base, the inside reason wire casing of having seted up of fixing base, rotating base top fixedly connected with connecting wire, connecting wire run through in fixing base bottom and reason wire casing looks adaptation, can realize the top installation of equipment through the fixing base that sets up at the rotating base top to through connecting wire and the power supply of realizing equipment.

Furthermore, the top of the fixed seat is circumferentially inserted with a mounting pin, and the arranged mounting pin can be used for fixedly mounting equipment.

Furthermore, rotating base, extension arm and positioning arm all are provided with the motor and drive, and the motor use is that servo motor can carry out the forward and reverse rotation of multi-angle, satisfies the space positioning demand.

Furthermore, the arm lock is including rolling over the arm, roll over arm one end and openly seted up the installing port, roll over the position fixedly connected with mounting panel that the arm is located the installing port, mounting panel side-mounting has the sucking disc, the sucking disc back is located the installing port inside through pipe fixedly connected with miniature air pump, miniature air pump and installing port bottom side inner wall fixed connection, miniature air pump exhaust end fixedly connected with blast pipe, the blast pipe other end runs through in installing port back inner wall, the sucking disc of setting can carry out the absorption of negative pressure to article when carrying out smooth article centre gripping, thereby can satisfy the centre gripping of anchor clamps to smooth article.

Furthermore, the inside fixedly connected with cassette of sucking disc, roll over the arm and be located installing port front position fixedly connected with sealing strip, the sealing strip can let anchor clamps guarantee the gas tightness of sucking disc work when contacting article.

Furthermore, the front surface of the sealing strip is provided with an air suction port matched with the sucker, and the air suction port can meet the requirements of the sucking range and negative pressure of the sucker.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

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

FIG. 2 is a schematic view of a robotic arm of the present invention;

FIG. 3 is a schematic view of the clamp of the present invention;

fig. 4 is an exploded view of the clip arm according to the present invention.

In the figure: 1. a mechanical arm; 101. rotating the base; 102. an extension arm; 103. a positioning arm; 104. a rotating shaft; 105. a fixed seat; 106. arranging wire grooves; 107. mounting a pin; 2. a clamp; 201. a connecting ring; 202. a mounting base; 203. a telescopic cylinder; 204. a rack; 205. a half gear; 3. clamping arms; 301. folding the arm; 302. mounting a plate; 303. a suction cup; 304. a micro air pump; 305. an exhaust pipe; 306. a filter disc; 307. a sealing strip.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Examples

The automatic manipulator provided by the utility model is adopted when the mechanical arm 1 is installed in a factory, the equipment adopts a top installation mode, the working area of the equipment is positioned below the whole mechanical arm 1, the clamping and transferring of articles can be met, the equipment is improved aiming at a clamping scheme, a simpler clamping mechanism and a clamping scheme aiming at smooth articles are adopted, and the following scheme and the beneficial effects brought by the scheme are provided for the equipment.

Referring to fig. 1-4, a clamp 2 is arranged at the bottom of a mechanical arm 1 and the mechanical arm 1; anchor clamps 2 include go-between 201, go-between 201 side fixedly connected with mount pad 202, mount pad 202 is provided with telescopic cylinder 203 with go-between 201 junction, telescopic cylinder 203 runs through in mount pad 202 side fixedly connected with rack 204, mount pad 202 opposite side both sides all changeing be connected with rack 204 intermeshing's half gear 205, the equal fixedly connected with arm lock 3 in two opposite sides of two half gear 205, the rack 204 that is driven by single telescopic cylinder 203 that sets up, utilize the meshing of rack 204 and half gear 205 to realize the rotatory centre gripping of arm lock 3, compare with traditional many motor anchor clamps, its maintenance and the lower cost of the degree of difficulty of maintenance are also cheaper.

It should be noted that, need drive the removal of rack 204 through telescopic cylinder 203 in the centre gripping process that carries out article, thereby let and carry out the rotation of certain angle with rack 204 meshed's semi-gear 205, drive being close to each other of both sides arm lock 3 with this, utilize arm lock 3 front end to carry out the centre gripping of article, at the in-process of in-service use, need select the telescopic cylinder 203 that the centre gripping dynamics is different according to the characteristic of being added the article of holding, carrying out the in-process of centre gripping to heavy goods, can adopt the double-cylinder to carry out high dynamics centre gripping.

Referring to fig. 2, the mechanical arm 1 includes a rotatable rotating base 101, the bottom of the rotating base 101 is sequentially connected with a rotatable extension arm 102 and a positioning arm 103, the other end of the positioning arm 103 is rotatably connected with a rotating shaft 104 driven by a motor, the rotating shaft 104 is fixedly connected with a connecting ring 201, and through rotation of the rotating base 101, the extension arm 102 and the positioning arm 103, space positioning of the end face clamp 2 can be achieved, so that the practicability of the equipment can be improved.

It should be noted that, the controller is connected to the outside of the mechanical arm 1, and the controller can carry out programmed control on the mechanical arm 1 according to the use requirement, and can ensure that each action of the mechanical arm 1 can be carried out consistently, and work efficiency of production can be improved by matching with other equipment.

Referring to fig. 2, rotating base 101 top fixedly connected with fixing base 105, fixing base 105 has inside the wire arrangement groove 106 of having seted up, and rotating base 101 top fixedly connected with connecting wire, connecting wire run through in fixing base 105 bottom and wire arrangement groove 106 looks adaptation, can realize the top installation of equipment through the fixing base 105 that sets up at rotating base 101 top to through connecting wire and the power supply that realizes equipment.

It should be noted that equipment supplies power and signal transmission through connecting wire, because the mode that equipment adopted the top installation, set up reason wire casing 106 and can make things convenient for equipment to carry out reason line operation, avoid the wire rod to produce the influence to the function of arm 1.

Referring to fig. 2, a mounting pin 107 is inserted into the top of the fixing base 105 in a circumferential shape, and the device can be fixed by the mounting pin 107.

Referring to fig. 2, the rotating base 101, the extension arm 102 and the positioning arm 103 are all provided with motors for driving, and the motors are servo motors capable of rotating in forward and reverse directions at multiple angles, so that the space positioning requirement is met.

Referring to fig. 3, arm clamp 3 is including rolling over arm 301, roll over arm 301 one end and openly seted up the installing port, roll over position fixedly connected with mounting panel 302 that arm 301 is located the installing port, mounting panel 302 side-mounting has sucking disc 303, sucking disc 303 back is located the installing port inside and passes through miniature air pump 304 of pipe fixedly connected with, miniature air pump 304 and installing port bottom side inner wall fixed connection, miniature air pump 304 exhaust end fixedly connected with blast pipe 305, the blast pipe 305 other end runs through in installing port back inner wall, the sucking disc 303 of setting can carry out the absorption of negative pressure to article when carrying out smooth article centre gripping, thereby can satisfy the centre gripping of anchor clamps 2 to smooth article.

It should be noted that, the micro air pump 304 is adopted for air suction operation, so that the clamping force on smooth articles can be improved to a certain extent, but due to the space limitation in the clamping arm 3, the power of the micro air pump 304 cannot be raised, the suction force of 0.5-1Mpa can be generated, and the clamping of most articles can be met.

Referring to fig. 4, a filter 306 is fixedly connected inside the suction cup 303, a sealing strip 307 is fixedly connected to the folding arm 301 at the front position of the mounting opening, and the sealing strip 307 can ensure that the clamp 2 can ensure the working air tightness of the suction cup 303 when contacting with an article.

It should be noted that the filter 306 can ensure that the air pump will not suck impurities during the operation process, and the impurities can damage the blades inside the air pump, thereby causing the micro air pump 304 to be scrapped.

Referring to fig. 4, the sealing strip 307 starts to have an air inlet matched with the suction cup 303 on the front surface, and the air inlet can meet the suction range and negative pressure requirement of the suction cup 303.

The present embodiment has been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.

Claims

1. An automatic manipulator, includes arm (1), its characterized in that: the bottom of the mechanical arm (1) is provided with a clamp (2);

anchor clamps (2) are including go-between (201), go-between (201) side fixedly connected with mount pad (202), and mount pad (202) and go-between (201) junction are provided with telescopic cylinder (203), and telescopic cylinder (203) run through in mount pad (202) side fixedly connected with rack (204), and mount pad (202) opposite side both sides are all changeed and are connected with half gear (205) with rack (204) intermeshing, two equal fixedly connected with arm lock (3) in the opposite both sides of half gear (205).

2. A robotic manipulator according to claim 1, characterised in that: the mechanical arm (1) comprises a rotary base (101) capable of rotating, the bottom of the rotary base (101) is sequentially connected with a rotatable extension arm (102) and a positioning arm (103), the other end of the positioning arm (103) is rotatably connected with a rotating shaft (104) driven by a motor, and the rotating shaft (104) is fixedly connected with a connecting ring (201).

3. A robotic manipulator according to claim 2, wherein: rotating base (101) top fixedly connected with fixing base (105), wire arrangement groove (106) have been seted up to fixing base (105) inside, rotating base (101) top fixedly connected with connecting wire, connecting wire runs through in fixing base (105) bottom and wire arrangement groove (106) looks adaptation.

4. A robotic manipulator according to claim 3, wherein: the top of the fixed seat (105) is inserted with a mounting pin (107) in a circumferential shape.

5. A robotic manipulator according to claim 2, characterised in that: the rotating base (101), the extension arm (102) and the positioning arm (103) are all provided with motors for driving.

6. An automatic manipulator according to claim 1, characterized in that: arm lock (3) are including rolling over arm (301), roll over arm (301) one end and openly seted up the installing port, roll over position fixedly connected with mounting panel (302) that arm (301) are located the installing port, mounting panel (302) side-mounting has sucking disc (303), sucking disc (303) back is located the installing port inside through pipe fixedly connected with miniature air pump (304), miniature air pump (304) and installing port bottom side inner wall fixed connection, miniature air pump (304) exhaust end fixedly connected with blast pipe (305), blast pipe (305) other end runs through in installing port back inner wall.

7. An automatic manipulator according to claim 6, characterized in that: the sucking disc (303) inside fixedly connected with cassette (306), roll over arm (301) and be located installing port front position fixedly connected with sealing strip (307).

8. A robotic manipulator according to claim 7, wherein: the front surface of the sealing strip (307) is provided with an air suction port matched with the suction cup (303).