CN217345489U

CN217345489U - Manipulator convenient to adjust

Info

Publication number: CN217345489U
Application number: CN202123388468.7U
Authority: CN
Inventors: 江小琴; 毕小芳; 蔡涛
Original assignee: Anhui Pulimakang Intelligent Equipment Co ltd
Current assignee: Anhui Pulimakang Intelligent Equipment Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-09-02
Anticipated expiration: 2031-12-31

Abstract

The utility model provides a manipulator convenient to adjust relates to manipulator technical field, including mounting structure, mounting structure includes the mechanical installation arm, the below of mechanical installation arm is provided with presss from both sides tight regulation structure, press from both sides tight regulation structure including rotating the centre gripping dish. The utility model discloses a setting of inflation rubber and L type grip block, to be connected the end opening and be connected with the air pump, fill into gas through the air pump afterwards, make the conversion air cavity get into gaseously, it is gaseous through connecting the lateral tube and getting into the inflation inner chamber, make inflation rubber inflation, thereby when carrying out the centre gripping with the work piece, can make L type grip block not with the work piece contact, through inflation rubber, make inflation rubber extrude the centre gripping with the interior anchor ring of work piece, through the pressure detection probe, detect atmospheric pressure, through atmospheric pressure's change, adjust the clamping-force with the work piece, make and adjust comparatively convenient, and the inflation through inflation rubber extrudees, can not cause the damage to the work piece.

Description

Manipulator convenient to adjust

Technical Field

The utility model relates to a manipulator technical field especially relates to a manipulator convenient to adjust.

Background

The manipulator mainly comprises an actuating mechanism, a driving mechanism and a control system. The hand is a member for holding a workpiece (or a tool), and has various structures such as a grip type, a holding type, and an adsorption type according to the shape, size, weight, material, and working requirements of the object to be held. The motion mechanism enables the hand to complete various rotation (swing), movement or compound motions to realize specified actions and change the position and the posture of a gripped object. The independent motion modes of the motion mechanism, such as lifting, stretching, rotating and the like, are called the degree of freedom of the manipulator. In order to grasp an object at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter for the design of the manipulator. The more degrees of freedom, the more flexible the manipulator, the wider the versatility, and the more complex the structure. The general special manipulator has 2-3 degrees of freedom. The control system controls the motors of each degree of freedom of the manipulator to complete specific actions. And meanwhile, receiving information fed back by the sensor to form stable closed-loop control. The core of the control system is usually composed of a single chip microcomputer or a dsp and other micro control chips, and the required functions are realized by programming the micro control chips.

In the prior art, when the manipulator is used, the force for clamping the workpiece is difficult to adjust, so that the workpiece is easily clamped and damaged when the workpiece is moved, the production efficiency of the workpiece is reduced, the resource waste is caused, and the practicability of the existing manipulator is poor.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving and having the manipulator among the prior art when using, dynamics when being difficult to the work piece centre gripping is adjusted to make when removing the work piece, damage the work piece centre gripping easily, thereby lead to the production efficiency of work piece to reduce, caused the waste of resource simultaneously, make the relatively poor problem of practicality of current manipulator, and the manipulator of being convenient for adjust that provides.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a manipulator convenient to adjust comprises an installation structure, wherein the installation structure comprises a mechanical installation arm, a clamping adjustment structure is arranged below the mechanical installation arm, the clamping adjustment structure comprises a rotary clamping disc, a sliding installation block is arranged inside the rotary clamping disc, one end of the sliding installation block is provided with a clamping end seat, the end part of the clamping end seat is fixedly connected with an L-shaped clamping plate, one side of the L-shaped clamping plate is fixedly connected with an expansion rubber, a conversion air cavity is arranged inside the L-shaped clamping plate, an expansion inner cavity is arranged inside the expansion rubber, connecting side pipes are communicated between two sides of the middle part of the conversion air cavity and the expansion inner cavity, an air-through bottom pipe is arranged in the middle part of the bottom of the L-shaped clamping plate, a connecting bottom port is fixedly connected in the middle part of the bottom of the L-shaped clamping plate, and the connecting bottom port is communicated with the conversion air cavity through the air-through bottom pipe, one end fixedly connected with pressure measurement probe of L type grip block, pressure measurement probe passes the bottom of inflation inner chamber, increase friction end groove has been seted up to one side of inflation rubber.

Preferably, an installation side cavity is formed in one side of the bottom of the L-shaped clamping plate, a clamping side plate is fixedly connected to the inside of the installation side cavity, and the output end of the pressure detection probe is electrically connected with the input end of the information sensor.

Preferably, the one end fixed clamping in installation side chamber has the joint bottom plate, the spacing end plate of upper end fixedly connected with of slidable mounting piece, the lower extreme of spacing end plate and the upper end laminating of rotating the centre gripping dish, the lower extreme of joint end seat and the upper end fixed connection of spacing end plate.

Preferably, the both sides of joint end seat lower extreme equal fixedly connected with centre gripping curb plate, two centre gripping curb plate and spacing end plate centre gripping joint, the lower extreme of centre gripping curb plate and the lower extreme laminating of spacing end plate.

Preferably, the strengthening rib of side fixedly connected with of machinery installation arm No. one, the lower extreme fixedly connected with installation base of machinery installation arm, one side fixedly connected with rotatory jar fixing base of installation base lower extreme, the inclined plane fixedly connected with rotatory jar of rotatory jar fixing base lower extreme, the bottom fixedly connected with of rotatory jar presss from both sides tight jar fixing base, the lower extreme and the equal fixedly connected with in side of pressing from both sides tight jar of tight jar fixing base press from both sides tight jar, the bottom of rotating the centre gripping dish and the one end fixed connection who presss from both sides tight jar.

Preferably, the inner cavity has been seted up to the inside of rotatory jar fixing base, the both sides at inner cavity middle part are all fixed and are provided with the support inner panel, support inner panel and rotatory jar fixing base fixed connection, press from both sides the equal fixedly connected with strengthening rib No. two in middle part both sides of tight jar fixing base one side and lower extreme.

Compared with the prior art, the utility model has the advantages and positive effects that,

1. in the utility model, the connecting bottom port is connected with the air pump through the arrangement of the expansion rubber and the L-shaped clamping plate, then the air pump is filled with air, so that the conversion air cavity enters the air, the air enters the expansion inner cavity through the connecting side pipe, the expansion rubber expands, thereby when the workpiece is clamped, the L-shaped clamping plate is not contacted with the workpiece, the expansion rubber extrudes and clamps the inner ring surface of the workpiece through the expansion rubber, the pressure detection probe detects the air pressure, the clamping force with the workpiece is adjusted through the change of the air pressure, the adjustment is more convenient, the workpiece is not damaged through the expansion extrusion of the expansion rubber, when the expansion degree is larger, the expansion rubber can expand towards the side surface to avoid the damage of the workpiece, the friction force between the inner ring surface of the workpiece and the expansion rubber can be increased through the arrangement of the friction end groove, thereby preventing the detachment of the workpiece.

2. In the utility model, the pressure detection information of the pressure detection probe is received by the arrangement of the information sensor, then the information is transmitted to the general control platform by the pressure detection probe, so as to monitor the pressure in real time, thereby adjusting the pressure, and when one of the expandable rubbers is damaged, the pressure is detected by the pressure detection probe, thereby the damage of the expandable rubber can be known in time, the expandable rubber can be replaced in time, the weight of the rotary cylinder fixing seat is reduced by the arrangement of the inner cavity, thereby the weight of the utility model is reduced, thereby the utility model is convenient to move, the rotary cylinder fixing seat is supported by the supporting inner plate, the strength of the rotary cylinder fixing seat is increased, and the strength of the mechanical mounting arm and the clamping cylinder fixing seat are respectively increased by the arrangement of the first reinforcing rib and the second reinforcing rib, through the setting of centre gripping curb plate and spacing end plate, spacing end plate is used for increasing and rotates the area of being connected between the centre gripping dish to prevent breaking away from of sliding installation piece, the centre gripping curb plate is used for increasing and is connected with spacing end plate, so that the installation of joint end seat can prevent breaking away from of joint end seat simultaneously.

Drawings

Fig. 1 is a schematic perspective view of a manipulator convenient to adjust according to the present invention;

FIG. 2 is a schematic view of a connection structure between a sliding mounting block and a clamping end seat of a manipulator convenient for adjustment according to the present invention;

FIG. 3 is a schematic view of the internal structure of a rotary cylinder fixing base in a manipulator convenient to adjust according to the present invention;

fig. 4 is the utility model provides a manipulator mesoexpanse rubber and L type grip block's connection structure schematic diagram convenient to adjust.

Illustration of the drawings:

1. a mounting structure; 11. a mechanical mounting arm; 12. a first reinforcing rib; 13. installing a base; 14. a rotary cylinder fixing seat; 15. an inner cavity; 16. a rotating cylinder; 17. a clamping cylinder fixing seat; 18. a second reinforcing rib; 19. supporting the inner plate; 110. a clamping cylinder;

2. a clamping adjustment structure; 21. rotating the clamping disc; 22. a sliding mounting block; 23. clamping an end seat; 24. an L-shaped clamping plate; 25. an expanded rubber; 26. clamping the side plate; 27. a limiting end plate; 28. an friction-increasing end tank; 29. an inflation lumen; 210. a pressure detection probe; 211. converting the air cavity; 212. connecting a side pipe; 213. a vented bottom tube; 214. connecting the bottom port; 215. installing a side cavity; 216. an information sensor; 217. the bottom plate is clamped.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the present invention is not limited to the limitations of the specific embodiments of the present disclosure.

Embodiment 1, as shown in fig. 1-4, the utility model provides a manipulator convenient to adjust, which comprises a mounting structure 1, the mounting structure 1 comprises a mechanical mounting arm 11, a clamping adjusting structure 2 is arranged below the mechanical mounting arm 11, the clamping adjusting structure 2 comprises a rotary clamping disc 21, a sliding mounting block 22 is arranged inside the rotary clamping disc 21, one end of the sliding mounting block 22 is provided with a clamping end seat 23, the end of the clamping end seat 23 is fixedly connected with an L-shaped clamping plate 24, one side of the L-shaped clamping plate 24 is fixedly connected with an expansion rubber 25, a conversion air cavity 211 is arranged inside the L-shaped clamping plate 24, an expansion inner cavity 29 is arranged inside the expansion rubber 25, two sides of the middle part of the conversion air cavity 211 are communicated with the expansion inner cavity 29 and provided with a connecting side pipe 212, a ventilation bottom pipe 213 is arranged in the middle part of the bottom of the L-shaped clamping plate 24, a connecting bottom port 214 is fixedly connected with the middle part of the bottom of the L-shaped clamping plate 24, the connecting bottom port 214 is communicated with the conversion air cavity 211 through the ventilation bottom pipe 213, one end of the L-shaped clamping plate 24 is fixedly connected with a pressure detection probe 210, the pressure detection probe 210 penetrates through the bottom of the expansion inner cavity 29, and one side of the expansion rubber 25 is provided with a friction-increasing end groove 28.

The specific setting and function of the clamping adjusting structure 2 are that the connection bottom port 214 is connected with the air pump through the arrangement of the expansion rubber 25 and the L-shaped clamping plate 24, then the air pump is used for filling air to enable the conversion air cavity 211 to enter the air, the air enters the expansion inner cavity 29 through the connection side tube 212 to enable the expansion rubber 25 to expand, so that when a workpiece is clamped, the L-shaped clamping plate 24 is not contacted with the workpiece, the expansion rubber 25 is used for extruding and clamping the inner ring surface of the workpiece, the pressure detection probe 210 is used for detecting the air pressure, the clamping force with the workpiece is adjusted through the change of the air pressure, so that the adjustment is convenient, the workpiece is not damaged through the expansion extrusion of the expansion rubber 25, when the expansion degree is large, the expansion rubber 25 expands towards the side surface to avoid the damage of the workpiece, by providing the friction-increasing end groove 28, the friction force between the inner ring surface of the workpiece and the expanded rubber 25 can be increased, thereby preventing the workpiece from being detached.

As shown in fig. 1-4, an installation side cavity 215 is formed at one side of the bottom of the L-shaped clamping plate 24, a clamping side plate 26 is fixedly connected inside the installation side cavity 215, an output end of the pressure detection probe 210 is electrically connected with an input end of the information sensor 216, a clamping bottom plate 217 is fixedly clamped at one end of the installation side cavity 215, a limiting end plate 27 is fixedly connected to the upper end of the sliding installation block 22, the lower end of the limiting end plate 27 is attached to the upper end of the rotating clamping disk 21, the lower end of the clamping end seat 23 is fixedly connected to the upper end of the limiting end plate 27, clamping side plates 26 are fixedly connected to both sides of the lower end of the clamping end seat 23, the two clamping side plates 26 are clamped to the limiting end plate 27, the lower ends of the clamping side plates 26 are attached to the lower end of the limiting end plate 27, a first reinforcing rib 12 is fixedly connected to the side of the mechanical installation arm 11, and an installation base 13 is fixedly connected to the lower end of the mechanical installation arm 11, one side fixedly connected with revolving cylinder fixing base 14 of installation base 13 lower extreme, inclined plane fixedly connected with revolving cylinder 16 of 14 lower extremes of revolving cylinder fixing base, the tight jar fixing base 17 of bottom fixedly connected with clamp of revolving cylinder 16, the tight jar 110 of lower extreme and the equal fixedly connected with in side of the tight jar fixing base 17 of clamp, the bottom of rotating centre gripping dish 21 and the one end fixed connection who presss from both sides tight jar 110, inner cavity 15 has been seted up to the inside of revolving cylinder fixing base 14, the equal fixed support inner panel 19 that is provided with in both sides at the 15 middle parts of inner cavity, support inner panel 19 and 14 fixed connection of revolving cylinder fixing base, press from both sides the equal fixedly connected with No. two strengthening ribs 18 in middle part both sides of tight jar fixing base 17 one side and lower extreme.

The whole installation structure 1 and the clamping adjustment structure 2 have the effects that the pressure detection information of the pressure detection probe 210 is received through the setting of the information sensor 216, then the information is transmitted to the general control platform through the pressure detection probe 210 so as to monitor the pressure in real time and adjust the pressure, and when one of the expanded rubbers 25 is damaged, the pressure is detected through the pressure detection probe 210, so that the damage of the expanded rubber 25 can be known in time, the expanded rubber 25 can be replaced in time, through the setting of the inner cavity 15, the weight of the rotary cylinder fixing seat 14 is reduced, so that the rotary cylinder fixing seat 14 is convenient to move, through the supporting inner plate 19, the rotary cylinder fixing seat 14 is supported, the strength of the rotary cylinder fixing seat 14 is increased, through the setting of the first reinforcing rib 12 and the second reinforcing rib 18, the clamping side plates 26 are used for increasing the connection area between the clamping discs 21 and the limiting end plate 27 to prevent the clamping end seat 23 from being separated, and the clamping side plates 26 are used for increasing the connection area between the clamping discs 21 and the limiting end plate 27 to facilitate the installation of the clamping end seat 23 and prevent the clamping end seat 23 from being separated.

The working principle is as follows: when a workpiece is clamped, the rotary clamping disc 21 is moved to the position of the workpiece, the rotary clamping disc 21 is controlled by the clamping cylinder 110, so that the rotary clamping disc 21 controls the sliding installation block 22 to move, so that the sliding installation block 22 drives the clamping end seat 23 to move, the clamping end seat 23 drives the L-shaped clamping plate 24 to move, the inner ring surface of the workpiece is attached to the outer side surface of the expansion rubber 25 through the movement of the L-shaped clamping plate 24, then the air pump is started, air flow enters the ventilation bottom pipe 213 from the connection bottom port 214 and then enters the conversion air cavity 211, enters the expansion inner cavity 29 through the connection side pipe 212, so that the expansion rubber 25 expands, the inner ring surface of the workpiece is clamped, air pressure is detected through the pressure detection probe 210, detection information is transmitted to the information sensor 216, and is transmitted to the master control platform through the information sensor 216, so as to facilitate the detection of clamping force, therefore, the clamping force can be adjusted at any time, and the clamping force can be adjusted conveniently.

In this embodiment, the information sensor 216, the pressure detecting probe 210 and the air pump are all in the prior art, and will not be described herein.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in other forms, and any person skilled in the art may use the above-mentioned technical contents to change or modify the equivalent embodiments into equivalent variations to apply to other fields, but all those persons do not depart from the technical contents of the present invention, and any simple modification, equivalent variation and modification made to the above embodiments according to the technical matters of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims

1. A manipulator convenient to adjust, includes mounting structure (1), its characterized in that: the mounting structure (1) comprises a mechanical mounting arm (11), a clamping adjusting structure (2) is arranged below the mechanical mounting arm (11), the clamping adjusting structure (2) comprises a rotating clamping disc (21), a sliding mounting block (22) is arranged inside the rotating clamping disc (21), a clamping end seat (23) is arranged at one end of the sliding mounting block (22), an L-shaped clamping plate (24) is fixedly connected to the end of the clamping end seat (23), an expansion rubber (25) is fixedly connected to one side of the L-shaped clamping plate (24), a conversion air cavity (211) is formed inside the L-shaped clamping plate (24), an expansion inner cavity (29) is formed inside the expansion rubber (25), a connecting side pipe (212) is communicated between the two sides of the middle of the conversion air cavity (211) and the expansion inner cavity (29), a ventilation bottom pipe (213) is formed in the middle of the bottom of the L-shaped clamping plate (24), the middle part of the bottom of the L-shaped clamping plate (24) is fixedly connected with a connecting bottom port (214), the connecting bottom port (214) is communicated with a conversion air cavity (211) through a ventilation bottom pipe (213), one end of the L-shaped clamping plate (24) is fixedly connected with a pressure detection probe (210), the pressure detection probe (210) penetrates through the bottom of the expansion inner cavity (29), and one side of the expansion rubber (25) is provided with an friction-increasing end groove (28).

2. The manipulator of claim 1, facilitating adjustment, wherein: an installation side cavity (215) is formed in one side of the bottom of the L-shaped clamping plate (24), a clamping side plate (26) is fixedly connected to the inside of the installation side cavity (215), and the output end of the pressure detection probe (210) is electrically connected with the input end of the information sensor (216).

3. The manipulator of claim 2, facilitating adjustment, wherein: the one end fixed clamping of installation side chamber (215) has joint bottom plate (217), the spacing end plate of upper end fixedly connected with (27) of slidable mounting piece (22), the lower extreme of spacing end plate (27) and the upper end laminating of rotating centre gripping dish (21), the lower extreme of joint end seat (23) and the upper end fixed connection of spacing end plate (27).

4. The manipulator of claim 1, facilitating adjustment, wherein: the equal fixedly connected with centre gripping curb plate (26) in both sides of joint end seat (23) lower extreme, two centre gripping curb plate (26) and spacing end plate (27) centre gripping joint, the lower extreme of centre gripping curb plate (26) and the lower extreme laminating of spacing end plate (27).

5. The manipulator of claim 1, facilitating adjustment, wherein: strengthening rib (12) No. one of side fixedly connected with of machinery installation arm (11), lower extreme fixedly connected with installation base (13) of machinery installation arm (11), one side fixedly connected with rotatory jar fixing base (14) of installation base (13) lower extreme, inclined plane fixedly connected with rotatory jar (16) of rotatory jar fixing base (14) lower extreme, the bottom fixedly connected with of rotatory jar (16) presss from both sides tight jar fixing base (17), the lower extreme and the equal fixedly connected with in side of pressing from both sides tight jar (110) of tight jar fixing base (17), the bottom of rotating centre gripping dish (21) and the one end fixed connection who presss from both sides tight jar (110).

6. The manipulator of claim 5, facilitating adjustment, wherein: inner cavity (15) have been seted up to the inside of rotatory cylinder fixing base (14), the both sides at inner cavity (15) middle part are all fixed and are provided with support inner panel (19), support inner panel (19) and rotatory cylinder fixing base (14) fixed connection, press from both sides the equal fixedly connected with No. two strengthening ribs (18) in middle part both sides of tight cylinder fixing base (17) one side and lower extreme.