CN217229360U

CN217229360U - Manipulator convenient for adjusting clamping angle

Info

Publication number: CN217229360U
Application number: CN202123453454.9U
Authority: CN
Inventors: 李文军
Original assignee: Anhui Zhimary Robot Co ltd
Current assignee: Anhui Zhimary Robot Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-08-19
Anticipated expiration: 2031-12-31

Abstract

The utility model provides a conveniently adjust manipulator of centre gripping angle belongs to manipulator technical field for solve the inconvenient problem of current manipulator centre gripping angle modulation. The device comprises a mounting frame, a moving rod, a rotating plate and an adsorption component, wherein a supporting rod is arranged at the bottom of the mounting frame, a first driving motor is mounted at the side end of the mounting frame, a sliding groove is formed in the mounting frame, a first moving mechanism is arranged in the sliding groove, and a first connecting plate is arranged above the mounting frame; the utility model is provided with the rotating plate and the third driving motor, the third driving motor drives the rotating plate to rotate, thereby driving the adsorption component to rotate left and right, and adjusting the left and right angles of the suckers on the adsorption component; through setting up installation pole and jacking cylinder, the jacking cylinder drives adsorption component and rotates along the axis of rotation on the installation pole, can adjust the upper and lower angle of last sucking disc of adsorption component, simple structure, manipulator centre gripping angle can be adjusted on a large scale.

Description

Manipulator convenient for adjusting clamping angle

Technical Field

The utility model belongs to the technical field of the manipulator, a manipulator, especially a conveniently adjust manipulator of centre gripping angle is related to.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate 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.

When the existing manipulator is used, the front-back position adjustment, the left-right position adjustment and the up-down position adjustment can be carried out, so that the position of a manipulator clamping part is changed, but the manipulator clamping part cannot rotate up and down and rotate left and right, the position of the clamping part is adjustable, but the clamping angle cannot be adjusted, and the use convenience is poor; meanwhile, the clamping component on the existing manipulator can only clamp one pipe at a time, so that the clamping efficiency is low, and the working efficiency of the manipulator is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at having the above-mentioned problem to current technique, provided a manipulator of conveniently adjusting centre gripping angle, the to-be-solved technical problem of the utility model is: how to realize the adjustable centre gripping angle of manipulator.

The purpose of the utility model can be realized by the following technical proposal:

a manipulator convenient for adjusting a clamping angle comprises a mounting frame, a moving rod, a rotating plate and an adsorption component, wherein a supporting rod is arranged at the bottom of the mounting frame, a first driving motor is installed at the side end of the mounting frame, a sliding groove is formed in the mounting frame, a first moving mechanism is arranged inside the sliding groove, a first connecting plate is arranged above the mounting frame and connected with the first moving mechanism, a side plate is fixed on the first connecting plate, a second driving motor is installed at one side of the side plate, an L-shaped plate is fixed at the other side of the side plate, a second moving mechanism is arranged between the L-shaped plate and the side plate, a sliding sleeve is arranged at the side end of the L-shaped plate, the second moving mechanism is connected with the sliding sleeve, a moving cylinder is fixed at the side end of the sliding sleeve, a connecting head is installed at the output end of the moving cylinder, the moving rod is connected with the sliding sleeve in a sliding manner, the side end of the connecting head is fixedly connected with the moving rod, a second connecting plate is fixed at the bottom of the moving rod, third driving motor is installed to second connecting plate bottom, third driving motor's output shaft passes the second connecting plate and is connected with the rotor plate, the spread groove has been seted up to rotor plate one end, the rotor plate bottom is fixed with first articulated seat, the adsorption component side is provided with the installation pole, the installation pole top is fixed with the axis of rotation, the axis of rotation is installed in the spread groove and the axis of rotation both ends are passed through the bearing and are rotated with the rotor plate and be connected, the installation pole side is fixed with the articulated seat of second, it has the jacking cylinder to articulate on the first articulated seat, the output and the articulated seat of second of jacking cylinder are articulated.

The first moving mechanism comprises a sliding block and a first screw rod, the sliding block is connected with the sliding groove in a sliding mode, two ends of the first screw rod are connected with the sliding groove in a rotating mode through bearings, the sliding block is connected with the first screw rod in a threaded mode, the top of the sliding block is fixedly connected with the first connecting plate, and an output shaft of a first driving motor is connected with one end of the first screw rod.

By adopting the structure, the first driving motor drives the first lead screw to rotate, so that the sliding block is driven to slide along the sliding groove, the first connecting plate is driven to move, and the front position and the rear position of the adsorption assembly are conveniently adjusted.

The second moving mechanism comprises a sliding rail, a second screw rod and a sliding seat, the sliding rail is fixed on the inner wall of the L-shaped plate, two ends of the second screw rod are respectively rotatably connected with the side plate and one side of the L-shaped plate through bearings, the sliding seat is slidably connected with the sliding rail, a connecting block is fixed at the side end of the sliding seat, the connecting block is in threaded connection with the second screw rod, the side end of the connecting block is fixed with the sliding sleeve, and an output shaft of a second driving motor is connected with one end of the second screw rod.

By adopting the structure, the second driving motor drives the second lead screw to rotate, so that the sliding seat is driven to slide along the sliding rail, the sliding sleeve is driven to move, and the left position and the right position of the adsorption component are conveniently adjusted.

The adsorption component comprises a first transverse plate, a second transverse plate and connecting pipes, the side end of the first transverse plate is fixedly connected with the installation rod, a plurality of suckers are installed at the bottoms of the first transverse plate and the second transverse plate, the upper ends of the suckers are communicated with the connecting pipes, the two connecting pipes are located above the first transverse plate and the second transverse plate respectively, air pipe joints are arranged on the connecting pipes on the first transverse plate and the second transverse plate and connected with an air source through air pipes, a first support is arranged on the first transverse plate, a second support is installed on the second transverse plate, a connecting seat is arranged on the second support, an electric push rod is installed at the side end of the first support, and the output end of the electric push rod is connected with the connecting seat.

Structure more than adopting, when adsorbing the pipe fitting through adsorption component, start electric putter, electric putter drives the second diaphragm and removes to adjust the distance between first diaphragm and the second diaphragm, then adsorb the pipe fitting through the sucking disc of first diaphragm and second diaphragm bottom, once can adsorb two pipe fittings, improved manipulator centre gripping efficiency.

The guide sleeves are arranged on two sides of the first transverse plate, the fixing plates are arranged on two sides of the second transverse plate, guide rods matched with the guide sleeves are arranged on the two fixing plates, and the guide rods are connected with the guide sleeves in a sliding mode.

By adopting the structure, when the second transverse plate moves, the guide rod slides along the guide sleeve, so that the moving stability of the second transverse plate is improved.

Compared with the prior art, the utility model has the advantages of it is following:

1. by arranging the rotating plate and the third driving motor, the third driving motor drives the rotating plate to rotate, so that the adsorption assembly is driven to rotate left and right, and the left and right angles of the suckers on the adsorption assembly can be adjusted; through setting up installation pole and jacking cylinder, the jacking cylinder drives adsorption component and rotates along the axis of rotation on the installation pole, can adjust the upper and lower angle of last sucking disc of adsorption component, simple structure, manipulator centre gripping angle can be adjusted on a large scale.

2. Through set up first diaphragm, second diaphragm and electric putter on adsorption component, start electric putter, electric putter drives the second diaphragm and removes, can adjust the distance between second diaphragm and the first diaphragm, then adsorbs the pipe fitting respectively through the sucking disc of first diaphragm and second diaphragm bottom, once can adsorb two pipe fittings, has improved manipulator centre gripping efficiency.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

fig. 2 is a schematic top view of the present invention;

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

in the figure: 1. a mounting frame; 2. a travel bar; 3. a rotating plate; 4. an adsorption component; 5. a first drive motor; 6. a chute; 7. a slider; 8. a first lead screw; 9. a first connecting plate; 10. a side plate; 11. a second drive motor; 12. an L-shaped plate; 13. a sliding sleeve; 14. a moving cylinder; 15. a connector; 16. a second connecting plate; 17. a third drive motor; 18. connecting grooves; 19. mounting a rod; 20. a rotating shaft; 21. a first hinge mount; 22. a second hinge mount; 23. jacking a cylinder; 24. a slide rail; 25. a second lead screw; 26. a slide base; 27. connecting blocks; 28. a first transverse plate; 29. a suction cup; 30. a connecting pipe; 31. a first bracket; 32. a gas pipe joint; 33. a second transverse plate; 34. a second bracket; 35. a connecting seat; 36. an electric push rod; 37. a support bar; 38. a fixing plate; 39. a guide bar; 40. and a guide sleeve.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Reference will now be made in detail to embodiments of the present patent, 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 drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.

In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the figures, which are based on the orientations and positional relationships shown in the figures, and are used for convenience in describing the patent and for simplicity in description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be construed as limiting the patent.

In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.

Referring to fig. 1-3, the present embodiment provides a manipulator convenient for adjusting a clamping angle, including a mounting frame 1, a moving rod 2, a rotating plate 3 and an adsorption assembly 4, a support rod 37 is disposed at the bottom of the mounting frame 1, a first driving motor 5 is installed at a side end of the mounting frame 1, a chute 6 is disposed on the mounting frame 1, a first moving mechanism is disposed inside the chute 6, a first connecting plate 9 is disposed above the mounting frame 1, the first moving mechanism is connected to the first connecting plate 9, a side plate 10 is fixed on the first connecting plate 9, a second driving motor 11 is installed at one side of the side plate 10, an L-shaped plate 12 is fixed at the other side of the side plate 10, a second moving mechanism is disposed between the L-shaped plate 12 and the side plate 10, a sliding sleeve 13 is disposed at a side end of the L-shaped plate 12, the second moving mechanism is connected to the sliding sleeve 13, a moving cylinder 14 is fixed at a side end of the sliding sleeve 13, and a connector 15 is installed at an output end of the moving cylinder 14, the movable rod 2 is connected with the sliding sleeve 13 in a sliding mode, the side end of the connector 15 is fixedly connected with the movable rod 2, a second connecting plate 16 is fixed to the bottom of the movable rod 2, a third driving motor 17 is installed at the bottom of the second connecting plate 16, an output shaft of the third driving motor 17 penetrates through the second connecting plate 16 to be connected with the rotating plate 3, a connecting groove 18 is formed in one end of the rotating plate 3, a first hinged seat 21 is fixed to the bottom of the rotating plate 3, an installation rod 19 is arranged at the side end of the adsorption component 4, a rotating shaft 20 is fixed to the top end of the installation rod 19, the rotating shaft 20 is installed in the connecting groove 18, two ends of the rotating shaft 20 are rotatably connected with the rotating plate 3 through bearings, a second hinged seat 22 is fixed to the side end of the installation rod 19, a jacking cylinder 23 is hinged to the first hinged seat 21, and the output end of the jacking cylinder 23 is hinged to the second hinged seat 22.

First moving mechanism includes slider 7 and first lead screw 8,

slider

7 and 6 sliding connection of spout, 8 both ends of first lead screw are passed through the bearing and are rotated with spout 6 and be connected,

slider

7 and 8 threaded connection of first lead screw, 7 tops of slider and 9 fixed connection of first connecting plate, the output shaft and the 8 one end of first lead screw of first driving motor 5 are connected, first driving motor 5 drives first lead screw 8 and rotates, thereby it slides along spout 6 to drive slider 7, thereby drive 9 removals of first connecting plate, conveniently adjust the front and back position of adsorption component 4.

The second moving mechanism comprises a slide rail 24, a second lead screw 25 and a slide seat 26, the slide rail 24 is fixed on the inner wall of the L-shaped plate 12, two ends of the second lead screw 25 are respectively connected with the side plate 10 and one side of the L-shaped plate 12 in a rotating mode through a bearing, the slide seat 26 is connected with the slide rail 24 in a sliding mode, a connecting block 27 is fixed at the side end of the slide seat 26, the connecting block 27 is connected with the second lead screw 25 in a threaded mode, the side end of the connecting block 27 is fixed with the sliding sleeve 13, the output shaft of the second driving motor 11 is connected with one end of the second lead screw 25, the second driving motor 11 drives the second lead screw 25 to rotate, the slide seat 26 is driven to slide along the slide rail 24, the sliding sleeve 13 is driven to move, and the left and right positions of the adsorption assembly 4 are conveniently adjusted.

The adsorption component 4 comprises a first transverse plate 28, a second transverse plate 33 and a connecting pipe 30, the side end of the first transverse plate 28 is fixedly connected with the mounting rod 19, a plurality of suckers 29 are respectively arranged at the bottoms of the first transverse plate 28 and the second transverse plate 33, the upper ends of the suckers 29 are respectively communicated with the connecting pipe 30, the two connecting pipes 30 are respectively positioned above the first transverse plate 28 and the second transverse plate 33, air pipe connectors 32 are respectively arranged on the connecting pipes 30 on the first transverse plate 28 and the second transverse plate 33, the air pipe connectors 32 are connected with an air source through air pipes, a first support 31 is arranged on the first transverse plate 28, a second support 34 is arranged on the second transverse plate 33, a connecting seat 35 is arranged on the second support 34, an electric push rod 36 is arranged at the side end of the first support 31, the output end of the electric push rod 36 is connected with the connecting seat 35, when the adsorption component 4 adsorbs pipe fittings, the electric push rod 36 is started, the electric push rod 36 drives the second transverse plate 33 to move, thereby adjust the distance between first diaphragm 28 and the second diaphragm 33, then adsorb the pipe fitting through the sucking disc 29 of first diaphragm 28 and second diaphragm 33 bottom, once can adsorb two pipe fittings, improved manipulator centre gripping efficiency.

The guide sleeves 40 are arranged on two sides of the first transverse plate 28, the fixing plates 38 are arranged on two sides of the second transverse plate 33, the guide rods 39 matched with the guide sleeves 40 are arranged on the two fixing plates 38, the guide rods 39 are connected with the guide sleeves 40 in a sliding mode, and when the second transverse plate 33 moves, the guide rods 39 slide along the guide sleeves 40, so that the moving stability of the second transverse plate 33 is improved.

In this embodiment, the fixing manners are the most common fixing connection manners in the field, such as welding, bolt connection, and the like, and the jacking cylinder 23, the electric push rod 36, and the like are all products in the prior art, and can be directly purchased and used in the market, and the specific principle is not described in detail.

The utility model discloses a theory of operation: when the front-back position of the adsorption component 4 needs to be adjusted, the first driving motor 5 is started, the first driving motor 5 drives the first lead screw 8 to rotate, so that the sliding block 7 is driven to slide along the sliding groove 6, the sliding block 7 drives the first connecting plate 9 to move in a sliding mode, and the front-back position of the adsorption component 4 can be adjusted;

when the left and right positions of the adsorption component 4 need to be adjusted, the second driving motor 11 is started, the second driving motor 11 drives the second screw rod 25 to rotate, so that the sliding seat 26 is driven to slide along the sliding rail 24, the sliding seat 26 slides to drive the sliding sleeve 13 to move, and the left and right positions on the adsorption component 4 are conveniently adjusted;

when the up-down position of the adsorption component 4 needs to be adjusted, the moving cylinder 14 is started, and the moving cylinder 14 drives the moving rod 2 to move up and down along the sliding sleeve 13, so that the up-down position of the adsorption component 4 is conveniently adjusted;

when the clamping angle of the adsorption component 4 needs to be adjusted, the third driving motor 17 is started, and the third driving motor 17 drives the rotating plate 3 to rotate, so that the adsorption component 4 can be driven to rotate left and right; the jacking cylinder 23 is started, the jacking cylinder 23 drives the adsorption component 4 to rotate along the rotating shaft 20, the structure is reasonable, and the clamping angle of the manipulator can be adjusted in a large range;

when adopting adsorption component 4 to adsorb a pipe fitting, be connected trachea joint 32 on first diaphragm 28 with external air supply, then adsorb the pipe fitting through sucking disc 29 of first diaphragm 28 bottom, when adopting adsorption component 4 to adsorb two pipe fittings, be connected trachea joint 32 on first diaphragm 28 and the second diaphragm 33 with external air supply respectively, then adjust the distance between first diaphragm 28 and the second diaphragm 33 according to the pipe fitting size, and start electric putter 36, electric putter 36 drives second diaphragm 33 and removes, after second diaphragm 33 removes suitable position, then adsorb the pipe fitting respectively through sucking disc 29 of first diaphragm 28 and second diaphragm 33 bottom, once can adsorb two pipe fittings, manipulator centre gripping efficiency has been improved.

In conclusion, by arranging the rotating plate 3 and the third driving motor 17, the third driving motor 17 drives the rotating plate 3 to rotate, so as to drive the adsorption component 4 to rotate left and right, and the left and right angles of the suction cup 29 on the adsorption component 4 can be adjusted; by arranging the mounting rod 19 and the jacking cylinder 23, the jacking cylinder 23 drives the adsorption component 4 to rotate along the rotating shaft 20 on the mounting rod 19, the vertical angle of the sucker 29 on the adsorption component 4 can be adjusted, the structure is simple, and the clamping angle of the manipulator can be adjusted in a large range; through set up first diaphragm 28, second diaphragm 33 and electric putter 36 on adsorption component 4, start electric putter 36, electric putter 36 drives second diaphragm 33 and removes, can adjust the distance between second diaphragm 33 and the first diaphragm 28, then adsorbs the pipe fitting respectively through the sucking disc 29 of first diaphragm 28 and second diaphragm 33 bottom, once can adsorb two pipe fittings, has improved manipulator centre gripping efficiency.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. The utility model provides a conveniently adjust manipulator of centre gripping angle, includes mounting bracket (1), carriage release lever (2), rotor plate (3) and adsorption component (4), its characterized in that: the bottom of the mounting rack (1) is provided with a support rod (37), a first driving motor (5) is installed at the side end of the mounting rack (1), a sliding groove (6) is formed in the mounting rack (1), a first moving mechanism is arranged inside the sliding groove (6), a first connecting plate (9) is arranged above the mounting rack (1), the first moving mechanism is connected with the first connecting plate (9), a side plate (10) is fixed on the first connecting plate (9), a second driving motor (11) is installed at one side of the side plate (10), an L-shaped plate (12) is fixed at the other side of the side plate (10), a second moving mechanism is arranged between the L-shaped plate (12) and the side plate (10), a sliding sleeve (13) is arranged at the side end of the L-shaped plate (12), the second moving mechanism is connected with the sliding sleeve (13), a moving cylinder (14) is fixed at the side end of the sliding sleeve (13), and a connector (15) is installed at the output end of the moving cylinder (14), the movable rod (2) is connected with the sliding sleeve (13) in a sliding manner, the side end of the connector (15) is fixedly connected with the movable rod (2), the bottom of the movable rod (2) is fixedly provided with a second connecting plate (16), the bottom of the second connecting plate (16) is provided with a third driving motor (17), an output shaft of the third driving motor (17) passes through the second connecting plate (16) to be connected with the rotating plate (3), one end of the rotating plate (3) is provided with a connecting groove (18), the bottom of the rotating plate (3) is fixedly provided with a first hinged seat (21), the side end of the adsorption component (4) is provided with a mounting rod (19), the top end of the mounting rod (19) is fixedly provided with a rotating shaft (20), the rotating shaft (20) is arranged in the connecting groove (18), the two ends of the rotating shaft (20) are rotatably connected with the rotating plate (3) through bearings, the side end of the mounting rod (19) is fixedly provided with a second hinged seat (22), the first hinged seat (21) is hinged with a jacking cylinder (23), the output end of the jacking cylinder (23) is hinged with the second hinge seat (22).

2. The manipulator convenient for adjusting the clamping angle as recited in claim 1, wherein the first moving mechanism comprises a sliding block (7) and a first screw rod (8), the sliding block (7) is slidably connected with the chute (6), two ends of the first screw rod (8) are rotatably connected with the chute (6) through bearings, the sliding block (7) is in threaded connection with the first screw rod (8), the top of the sliding block (7) is fixedly connected with the first connecting plate (9), and an output shaft of the first driving motor (5) is connected with one end of the first screw rod (8).

3. The manipulator convenient for adjusting the clamping angle as claimed in claim 1, wherein the second moving mechanism comprises a slide rail (24), a second lead screw (25) and a slide seat (26), the slide rail (24) is fixed on the inner wall of the L-shaped plate (12), two ends of the second lead screw (25) are rotatably connected with the side plate (10) and one side of the L-shaped plate (12) through bearings, the slide seat (26) is slidably connected with the slide rail (24), a connecting block (27) is fixed at the side end of the slide seat (26), the connecting block (27) is in threaded connection with the second lead screw (25), the side end of the connecting block (27) is fixed with the sliding sleeve (13), and an output shaft of the second driving motor (11) is connected with one end of the second lead screw (25).

4. The manipulator convenient for adjusting the clamping angle according to claim 1, wherein the adsorption component (4) comprises a first transverse plate (28), a second transverse plate (33) and a connecting pipe (30), the side end of the first transverse plate (28) is fixedly connected with the mounting rod (19), a plurality of suckers (29) are respectively mounted at the bottoms of the first transverse plate (28) and the second transverse plate (33), the upper ends of the suckers (29) are respectively communicated with the connecting pipe (30), the two connecting pipes (30) are respectively positioned above the first transverse plate (28) and the second transverse plate (33), air pipe connectors (32) are respectively arranged on the connecting pipes (30) on the first transverse plate (28) and the second transverse plate (33), the air pipe connectors (32) are connected with an air source through air pipes, a first support (31) is arranged on the first transverse plate (28), a second support (34) is mounted on the second transverse plate (33), the second support (34) is provided with a connecting seat (35), an electric push rod (36) is installed at the side end of the first support (31), and the output end of the electric push rod (36) is connected with the connecting seat (35).

5. The manipulator convenient for adjusting the clamping angle as claimed in claim 4, wherein the first transverse plate (28) is provided with guide sleeves (40) on both sides, the second transverse plate (33) is provided with fixing plates (38) on both sides, the two fixing plates (38) are provided with guide rods (39) matched with the guide sleeves (40), and the guide rods (39) are slidably connected with the guide sleeves (40).