CN220408754U

CN220408754U - Manipulator with replaceable material clamping head

Info

Publication number: CN220408754U
Application number: CN202321872415.9U
Authority: CN
Inventors: 陈通明; 刘甘伦; 黄庆顺
Original assignee: Yueqing Weili Copper Parts Co ltd
Current assignee: Yueqing Weili Copper Parts Co ltd
Priority date: 2023-07-17
Filing date: 2023-07-17
Publication date: 2024-01-30
Anticipated expiration: 2033-07-17

Abstract

The utility model relates to a manipulator, in particular to a manipulator capable of replacing a material clamping head, which comprises a base, wherein a plurality of fixing pieces are uniformly arranged on the periphery of the lower edge of the base, a cavity is formed in the base, a motor A is fixedly arranged in the cavity, a rotating column is rotatably arranged above the base, the output end of the motor A is fixedly connected with the rotating column, a fixing rod is fixedly arranged above the rotating column, a threaded rod is connected with a groove, the clamping head is fixedly connected with a rotating device B by clamping fit of a clamping key A and a clamping key B, and meanwhile, the clamping device is doubly fixed by clamping fit of a clamping groove and fixing of a bolt.

Description

Manipulator with replaceable material clamping head

Technical Field

The utility model relates to a manipulator, in particular to a manipulator with a replaceable material clamping head.

Background

The manipulator, which can simulate some action functions of human hand and arm, is an automatic operation device for grabbing and carrying articles or operating tools according to fixed program, and mainly consists of three parts of an executing mechanism, a driving mechanism and a control system. The machine can replace heavy labor to realize mechanization and automation of production, and is widely applied to the departments of mechanical manufacture, light industry, atomic energy and the like. Along with development of science and technology, in order to improve the work efficiency of mill, and then many mills all replace the manual work for mechanization, and then replace manual operation for manipulator processing, along with diversified processing requirement, different commodity is produced back on same production line, and then when using the manipulator to process, in order to better process commodity, need different manipulators, and then match with processing commodity, but constantly change different manipulators can consume more time and fund, and current some clamping heads are when changing, because clamping head and arm's fixed mode is comparatively complicated, and then when dismantling it, can not dismantle fast, the dismantlement time increases, reduce work efficiency, and then need the equipment manipulator of a quick replacement clamping head, therefore, the utility model aims at providing a manipulator of removable material clamping head.

Disclosure of Invention

The utility model aims to solve the defects in the background art by providing a manipulator with a replaceable material clamping head.

The technical scheme adopted by the utility model is as follows:

the utility model provides a manipulator of removable material gripping head, the on-line screen storage device comprises a base, evenly be provided with a plurality of mounting around the base lower limb, the cavity has been seted up in the base, cavity internal fixation is provided with motor A, the base top rotates and is provided with the spliced pole, motor A output and spliced pole fixed connection, the spliced pole top is fixed and is provided with the dead lever, dead lever one end is fixed and is provided with fixed chamber A, fixed chamber A side rotates and is provided with rotating device A, rotating device A is used for rotating and removes the gripping head, rotating device A one end outer wall is fixed and is provided with rotating device B, rotating device B is used for fixed gripping head, rotating device B one end joint is provided with clamping device, clamping device is used for connecting the centre gripping material with rotating device B.

As a preferred technical scheme of the utility model: the rotating device A comprises a motor B, one end of an output shaft of the motor B is fixedly connected with a rotating rod, and one end of the rotating rod is fixedly connected with a fixing cavity B.

As a preferred technical scheme of the utility model: the rotating device B comprises a motor C, a fixed block is fixedly connected to one end of an output shaft of the motor C, a receiving rod is fixedly arranged at one end of the fixed block, a groove is formed in the receiving rod in a penetrating mode, a plurality of fixing rings are uniformly arrayed on the periphery of the outer wall of one end of the receiving rod interface, rotating rings are arranged on the fixing rings in a rotating mode, buckles are fixedly arranged on the rotating rings, a plurality of clamping keys A are arranged on the uniform array of one end of the inner wall of the groove, a threaded hole is formed in one end of each buckle in a penetrating mode, and bolts are connected in the threaded holes in a threaded mode.

As a preferred technical scheme of the utility model: clamping device includes the threaded rod, the draw-in groove has been seted up to threaded rod one end outer wall, threaded rod screw thread end even array is provided with a plurality of joint key B, threaded rod one end is fixed to be provided with the power chamber, the power intracavity is fixed to be provided with the fixed plate, fixedly on the fixed plate be provided with motor D, motor D output shaft one end fixedly connected with gear A, gear A one side meshing has gear B, fixedly on the gear B is provided with two-way lead screw, two-way lead screw both ends rotate and are provided with the clip.

As a preferred technical scheme of the utility model: the screw thread direction of the two-way screw rod is bilaterally symmetrical about the center of the two-way screw rod, and the two clamps are symmetrically arranged on two sides of the two-way screw rod.

As a preferred technical scheme of the utility model: the motor B is fixedly arranged in the fixed cavity A, a through hole is formed in the fixed cavity A, one end of an output shaft of the motor B penetrates through the through hole to be connected with the rotating rod, the motor C is fixedly arranged in the fixed cavity B, a through hole is formed in the fixed cavity B, and one end of an output shaft of the fixed cavity B penetrates through the through hole to be connected with the fixed block.

Compared with the prior art, the utility model has the beneficial effects that:

this in manipulator of removable material gripping head, with threaded rod and groove connection, with joint key A and joint key B joint cooperation with gripping head and rotating device B connect fixedly, simultaneously with buckle and draw-in groove cooperation, the mode that the bolt was fixed carries out dual fixing to clamping device, better avoided dropping at the operation in-process gripping head, and also more convenient fast when dismantling with buckle, joint key and threaded rod are connected, avoid consuming a large amount of time and be used for the dismantlement of gripping head, drive the efficiency that improves work, the manipulator of removable gripping head has saved the time that the manipulator consumed of dismantling greatly, simultaneously also avoided consuming funds and purchased the manipulator of different specifications, gripping head quick detach changes, the demand of production is met more.

Drawings

FIG. 1 is a schematic view of the overall structure of a preferred embodiment of the present utility model;

FIG. 2 is a schematic cross-sectional view of a clamping device according to a preferred embodiment of the present utility model;

FIG. 3 is a schematic diagram of the structure of the preferred embodiment of the present utility model in elevation;

FIG. 4 is a schematic view showing the structure of a rotating device B according to a preferred embodiment of the present utility model;

FIG. 5 is a schematic view of a clamping device according to a preferred embodiment of the present utility model;

fig. 6 is a schematic rear view of the preferred embodiment of the present utility model.

The meaning of each label in the figure is:

1. a base; 101. a fixing member; 102. rotating the column; 103. a motor A; 104. a fixed rod; 105. fixing cavity A

2. Rotating the device A; 201. a rotating lever; 202. a motor B; 203. the cavity B is fixed.

3. Rotating the device B; 301. a fixed block; 302. a receiving rod; 303. a groove; 304. a fixing ring; 305. a rotating ring; 306. a buckle; 307. a clamping key A; 308. a motor C; 309. a bolt;

4. a clamping device; 401. a threaded rod; 402. a clamping groove; 403. a clamping key B; 404. a motor D; 405. a gear A; 406. a gear B; 407. a two-way screw rod; 408. a fixing plate; 409. a clip; 4010. a power cavity.

Detailed Description

It should be noted that, under the condition of no conflict, the embodiments of the present embodiments and features in the embodiments may be combined with each other, and the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model, and obviously, the described embodiments are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-6, an objective of the present embodiment is to provide a manipulator capable of replacing a gripping head of the manipulator for convenience, which comprises a base 1, wherein a plurality of fixing members 101 are uniformly disposed around the lower edge of the base 1, a cavity is formed in the base 1, a motor a103 is fixedly disposed in the cavity, a rotating column 102 is rotatably disposed above the base 1, an output end of the motor a103 is fixedly connected with the rotating column 102, a fixing rod 104 is fixedly disposed above the rotating column 102, a fixing cavity a105 is fixedly disposed at one end of the fixing rod 104, a rotating device A2 is rotatably disposed on a side edge of the fixing cavity a105, the rotating device A2 is used for rotationally moving the gripping head, a rotating device B3 is fixedly disposed on an outer wall of one end of the rotating device A2, the rotating device B3 is used for fixing the gripping head, a gripping device 4 is disposed at one end of the rotating device B3 in a clamping manner, and the gripping device 4 is used for connecting with the rotating device B3 to grip a material. The fixing piece 101 on the base 1 is used for fixing the base 1 on a proper plane so as to maintain subsequent operation, and the motor A103 drives the rotating column 102 to rotate, so that the whole manipulator can rotate in all directions, and the manipulator can conveniently grasp.

The rotating device A2 comprises a motor B202, one end of an output shaft of the motor B202 is fixedly connected with a rotating rod 201, and one end of the rotating rod 201 is fixedly connected with a fixing cavity B203. The rotating device A2 is driven by the motor B202 to rotate the rotating rod 201 around the fixed cavity A105.

The rotating device B3 comprises a motor C308, one end of an output shaft of the motor C308 is fixedly connected with a fixed block 301, one end of the fixed block 301 is fixedly provided with a receiving rod 302, a groove 303 is formed in the receiving rod 302 in a penetrating mode, a plurality of fixing rings 304 are uniformly arranged on the periphery of the outer wall of one end of an interface of the receiving rod 302 in an array mode, a rotating ring 305 is arranged on the fixing rings 304 in a rotating mode, buckles 306 are fixedly arranged on the rotating ring 305, a plurality of clamping keys A307 are uniformly arranged on one end of an interface of the inner wall of the groove 303 in an array mode, one end of each buckle 306 is provided with a threaded hole in a penetrating mode, and bolts 309 are connected in the threaded holes in a threaded mode. The rotating device B3 is characterized in that the motor C308 drives the fixed block 301 to rotate around the fixed cavity B203, the fixed block 301 drives the clamping device 4 to rotate, the groove 303 is formed in the bearing rod 302, the threaded rod 401 on the replaceable clamping head is in threaded joint with the bearing rod 302, the clamping key A307 at one end of the groove 303 is in rotary joint with the clamping key B403 on the threaded rod 401, the clamping device 4 is prevented from falling off, the clamp 306 rotates around the fixed ring 304 by using the rotating ring 305, the clamp is double-fixed with the clamping groove 402 in a clamping fit manner, and after the bolt 309 is screwed, the threaded rod 401 is pressed to be pressed, so that the clamp 306 is fixed, and the clamp 306 is prevented from falling off.

Clamping device 4 includes threaded rod 401, clamping groove 402 has been seted up to threaded rod 401 one end outer wall, threaded rod 401 screw thread end even array is provided with a plurality of joint keys B403, threaded rod 401 one end is fixed to be provided with power chamber 4010, power chamber 4010 internal fixation is provided with fixed plate 408, fixed motor D404 that is provided with on the fixed plate 408, motor D404 output shaft one end fixedly connected with gear A405, gear A405 one side meshing has gear B406, fixed being provided with bi-directional lead screw 407 on the gear B406, bi-directional lead screw 407 both ends rotate and are provided with clip 409. The clamping device 4 is characterized in that a motor D404 drives a gear A405 to rotate, the gear A405 drives a gear B406 to rotate, the gear B406 drives a bi-directional screw rod 407 to rotate, and the bi-directional screw rod 407 drives clamps 409 on two sides to approach or depart from each other so as to clamp articles.

The screw direction of the bi-directional screw 407 is bilaterally symmetrical with respect to the center of the bi-directional screw 407, and two clamps 409 are symmetrically installed at both sides of the bi-directional screw 407. The left side of the bi-directional screw rod 407 is provided with a right-handed screw, the right side of the bi-directional screw rod 407 is provided with a left-handed screw, and when the bi-directional screw rod 407 rotates, the two clamps 409 approach or depart from each other to clamp an article.

The motor B202 is fixedly arranged in the fixed cavity A105, a through hole is formed in the fixed cavity A105, one end of an output shaft of the motor B202 penetrates through the through hole to be connected with the rotating rod 201, the motor C308 is fixedly arranged in the fixed cavity B203, a through hole is formed in the fixed cavity B203, and one end of an output shaft of the fixed cavity B203 penetrates through the through hole to be connected with the fixed block 301. The motor B202 powers the rotating rod 201. Motor C308 powers rotating device B3.

When the clamping device is specifically used, firstly, the base 1 is fixed on a proper plane through the fixing piece 101, then the threaded rod 401 of the clamping device 4 is installed in the groove 303 of the receiving rod 302 of the rotating device B3, the clamping key A307 is clamped with the clamping key B403 in a rotating way, then the clamping buckle 306 is clamped with the clamping groove 402 by rotating the rotating ring 305 around the fixing ring 304, then the side wall of the threaded rod 401 is pressed by the tightening bolt 309, the clamping buckle 306 is fixed to prevent falling, the clamping device 4 and the receiving rod 302 are doubly fixed, then the motor A103, the motor B202 and the motor C308 are started to drive the manipulator to rotate on the horizontal plane and rotate on the vertical plane, the motor A103 drives the rotating column 102 to rotate, the motor B202 is positioned in the fixing cavity A105, the motor B202 drives the rotating rod 201 to rotate, the motor C308 is positioned in the fixing cavity B203, finally, the motor C308 drives the fixing block 301 to rotate around the fixing ring 304, the gear A405 drives the gear B406 to rotate, the gear B406 drives the two-way screw 407 to rotate, and the two-way screw 407 drives the two-way clamps 409 to drive the two-way screws 407 to rotate, and the two-way screws 407 to mutually approach or separate materials.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims

1. The utility model provides a manipulator of removable material gripping head, includes base (1), evenly be provided with a plurality of mounting (101) around base (1) lower limb, the cavity has been seted up in base (1), cavity internal fixation is provided with motor A (103), base (1) top rotation is provided with rotation post (102), motor A (103) output and rotation post (102) fixed connection, rotation post (102) top is fixed to be provided with dead lever (104), dead lever (104) one end is fixed to be provided with fixed chamber A (105), its characterized in that: the fixed cavity A (105) side rotates and is provided with rotating device A (2), rotating device A (2) are used for rotating and moving the gripping head, rotating device A (2) one end outer wall is fixed and is provided with rotating device B (3), rotating device B (3) are used for fixed gripping head, rotating device B (3) one end joint is provided with clamping device (4), clamping device (4) are used for being connected with rotating device B (3) and grip the material.

2. The robotic arm of claim 1, wherein: the rotating device A (2) comprises a motor B (202), one end of an output shaft of the motor B (202) is fixedly connected with a rotating rod (201), and one end of the rotating rod (201) is fixedly connected with a fixing cavity B (203).

3. The robotic arm of claim 2, wherein: rotating device B (3) include motor C (308), motor C (308) output shaft one end fixedly connected with fixed block (301), fixed block (301) one end is fixed to be provided with connecting rod (302), run through in connecting rod (302) and set up recess (303), connecting rod (302) interface one end outer wall evenly array all around is provided with a plurality of solid fixed ring (304), it is provided with rotation ring (305) to rotate on solid fixed ring (304), fixedly on rotation ring (305) be provided with buckle (306), recess (303) inner wall interface one end evenly array is provided with a plurality of joint key A (307), buckle (306) one end runs through and is provided with the screw hole, threaded connection has bolt (309) in the screw hole.

4. A manipulator with a replaceable material gripping head as claimed in claim 3, wherein: clamping device (4) are including threaded rod (401), draw-in groove (402) have been seted up to threaded rod (401) one end outer wall, threaded rod (401) screw thread end even array is provided with a plurality of joint keys B (403), threaded rod (401) one end is fixed to be provided with power chamber (4010), power chamber (4010) internal fixation is provided with fixed plate (408), fixed motor D (404) that are provided with on fixed plate (408), motor D (404) output shaft one end fixedly connected with gear A (405), gear A (405) one side meshing has gear B (406), fixed being provided with bi-directional lead screw (407) on gear B (406), bi-directional lead screw (407) both ends rotate and are provided with clip (409).

5. The manipulator of claim 4, wherein the material gripping head is replaceable: the screw thread direction of the two-way screw rod (407) is bilaterally symmetrical about the center of the two-way screw rod (407), and two clamps (409) are symmetrically arranged on two sides of the two-way screw rod (407).

6. The robotic arm of claim 5, wherein: the motor B (202) is fixedly arranged in the fixed cavity A (105), a through hole is formed in the fixed cavity A (105), one end of an output shaft of the motor B (202) penetrates through the through hole to be connected with the rotating rod (201), the motor C (308) is fixedly arranged in the fixed cavity B (203), a through hole is formed in the fixed cavity B (203), and one end of the output shaft of the fixed cavity B (203) penetrates through the through hole to be connected with the fixed block (301).