CN220463899U

CN220463899U - Rotatable manipulator

Info

Publication number: CN220463899U
Application number: CN202322044387.8U
Authority: CN
Inventors: 田开洋; 杨明; 郝树德; 张军
Original assignee: Weifang Sophie Intelligent Equipment Co ltd
Current assignee: Weifang Sophie Intelligent Equipment Co ltd
Priority date: 2023-08-01
Filing date: 2023-08-01
Publication date: 2024-02-09
Anticipated expiration: 2033-08-01

Abstract

The utility model belongs to the technical field of automatic mechanical devices, and particularly relates to a rotatable manipulator which comprises a mounting frame, wherein a clamping assembly and a rotating assembly are arranged on the mounting frame, the clamping assembly is positioned below the rotating assembly and comprises an inner cylinder, an outer cylinder and four clamping blocks, and a pressure spring is arranged between the clamping blocks and the inner side wall of the inner cylinder; the rotating assembly comprises a motor, an output shaft of the motor is connected with a first bevel gear, the first bevel gear is connected with a second bevel gear in a meshed mode, and the other end of the second bevel gear is connected with a third bevel gear in a meshed mode; the cylinder is connected to the top of interior barrel, and the lifter is connected to the bottom of cylinder, and the bottom of lifter is equipped with the round platform, and the upper end of pressing from both sides tight piece is equipped with the lug, and the round platform is located the cavity and cooperates sliding connection with the lug. The rotatable manipulator is compact in structure and simple in appearance, the structure in the clamping assembly is not greatly influenced on the working process after being worn, and the practicability is high.

Description

Rotatable manipulator

Technical Field

The utility model belongs to the technical field of automatic mechanical devices, and particularly relates to a rotatable manipulator.

Background

A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The method is characterized in that various expected operations can be completed through programming, and the method has the advantages of both human and manipulator machines in terms of construction and performance. The manipulator can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like. In the automated production process, there are a number of situations where it is necessary to use a robot to grip a part or product for rotation, such as unscrewing nuts, unscrewing screws, screwing caps, and the like.

The utility model patent with the application number of CN202122128582.X provides a single-station manipulator, which comprises a motor, a swing support plate, a pre-rotation driving gear, a pre-rotation transmission gear, a cap screwing mandrel, a connecting mandrel, a cap screwing head and a fixed cap, wherein the output end of the motor is connected with the shaft of the pre-rotation driving gear, the motor is arranged above the fixed cap, the pre-rotation driving gear is meshed with the pre-rotation transmission gear, the pre-rotation driving gear, the pre-rotation transmission gear and the fixed cap are arranged above the swing support plate, the pre-rotation driving gear and the pre-rotation transmission gear are positioned in the fixed cap, the center of the pre-rotation transmission gear is arranged on the cap screwing mandrel, the connecting mandrel penetrates through the swing support plate, the outer ring of the connecting mandrel is provided with the cap screwing mandrel, the thread sleeve is sleeved on the outer sides of the cap screwing mandrel and the connecting mandrel, and the cap screwing head is arranged at the bottom of the connecting mandrel. The manipulator in this application is higher to the cooperation precision requirement of gear, thread bush, connection dabber and spiral cover dabber, and each part produces wearing and tearing back probably can influence normal working process in the use.

Disclosure of Invention

The utility model aims to provide a rotatable manipulator with compact structure and strong adaptability, so as to solve the problems in the background technology.

In order to achieve the technical purpose, the technical scheme of the utility model comprises the following steps:

the rotatable manipulator comprises a mounting frame, wherein a clamping assembly and a rotating assembly are arranged on the mounting frame, the clamping assembly is positioned below the rotating assembly, and the rotatable manipulator is characterized in that the mounting frame comprises two mounting plates which are perpendicular to each other at the upper part, a mounting seat is arranged at the bottom of each mounting plate, the clamping assembly comprises an inner cylinder body and an outer cylinder body, the outer cylinder body is fixedly arranged at the inner side of the mounting seat, the inner cylinder body is rotatably arranged in the outer cylinder body through a first bearing, four clamping blocks which are distributed in a square shape are slidably arranged in the inner cylinder body, the bottoms of the clamping blocks downwards extend to be positioned at the outer part of the inner cylinder body, a cavity is formed between the inner walls of the four clamping blocks, and a pressure spring is arranged between one side, close to the inner cylinder body, of each clamping block and the inner side wall of the inner cylinder body;

the upper part of the mounting seat is fixedly provided with an air cylinder, a push rod of the air cylinder is vertically downward, the bottom of the air cylinder is connected with a lifting rod, the bottom of the lifting rod is provided with a round table, the diameter of the round table is gradually increased from top to bottom, the upper end of the clamping block is provided with a lug, and the round table is positioned in the cavity and is matched and connected with the lug in a sliding manner;

the rotating assembly comprises a motor, the motor is fixedly installed on the upper portion of the mounting plate, an output shaft of the motor is vertically downward and connected with a first bevel gear, the first bevel gear is connected with a second bevel gear in a meshed mode, the second bevel gear is connected with a third bevel gear in a meshed mode, the first bevel gear is parallel to the third bevel gear and is horizontally arranged, and the third bevel gear is fixedly connected with the top of the inner cylinder body.

As an improvement, wear to be equipped with horizontal locating lever on the clamp block, two opposite clamp block in the locating lever is parallel, the both ends of locating lever extend clamp block, the level is equipped with on the inner wall of interior barrel with locating lever matched with spout, the locating lever along interior barrel radially with spout sliding fit is equipped with two parallels and is located same vertical plane on the same clamp block the locating lever.

As a further improvement, four groups of fixing pieces which are uniformly distributed along the circumferential direction are arranged on the inner wall of the inner cylinder body, each group of fixing pieces comprises two fixing plates which are perpendicular to each other, one side, far away from the axis, of each fixing plate is connected with the inner wall of the inner cylinder body, a space is formed between two adjacent fixing pieces, the clamping blocks are located in the space, and the sliding grooves are located on the fixing plates.

As a further improvement, a groove is arranged in the middle of the lug, a vertically installed second bearing is arranged in the groove, and the outer edge of the second bearing protrudes out of the edge of the lug and is in rolling connection with the outer wall of the round table.

As a further improvement, a protective net is arranged at the bottom of the inner cylinder body, a cross-shaped opening is arranged on the protective net, and the clamping block vertically penetrates through the opening.

By adopting the technical scheme, the utility model has the beneficial effects that:

according to the rotatable manipulator provided by the utility model, the workpiece is clamped by arranging the movable clamping block in the clamping assembly to be matched with the round table; the first bevel gear, the second bevel gear and the third bevel gear which are arranged in the rotating assembly are matched with each other, so that the inner cylinder body and the clamping block are driven to rotate simultaneously, and the workpiece is rotated. The manipulator in this embodiment compact structure and outward appearance are succinct, and the structure in the clamp assembly takes place to wear back and influences not much to the working process, and the practicality is stronger.

Drawings

FIG. 1 is a cross-sectional view of a clamping assembly of the present utility model;

FIG. 2 is a schematic diagram of the structure of the present utility model;

FIG. 3 is a bottom view of the present utility model;

FIG. 4 is a side view of the clamping block of the present utility model;

wherein: the device comprises a 1-inner cylinder body, a 2-outer cylinder body, a 3-clamping block, a 4-mounting frame, a 5-pressure spring, a 6-motor, a 7-first bevel gear, a 8-second bevel gear, a 9-third bevel gear, a 10-cylinder, a 11-lifting rod, a 12-round platform, a 13-lug, a 14-positioning rod, a 15-sliding chute, a 16-second bearing, a 17-first bearing, a 18-protective net and a 19-fixing plate.

Detailed Description

The utility model will be further described with reference to the following detailed description and the accompanying drawings. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the utility model, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numbers in the drawings of embodiments of the utility model correspond to the same or similar components; in the description of the present utility model, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present utility model and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.

As shown in fig. 1-4, a rotatable manipulator comprises a mounting frame 4, wherein a clamping assembly and a rotating assembly are arranged on the mounting frame 4, the clamping assembly is positioned below the rotating assembly, the mounting frame 4 comprises two mounting plates which are perpendicular to each other on the upper portion, and a mounting seat is arranged at the bottom of the mounting plate. The clamping assembly comprises an inner cylinder body 1 and an outer cylinder body 2, the outer cylinder body 2 is fixedly arranged on the inner side of an installation seat, the inner cylinder body 1 is rotatably arranged in the outer cylinder body 2 through a first bearing 17, four clamping blocks 3 which are distributed in square are slidably arranged in the inner cylinder body 1, the bottoms of the clamping blocks 3 downwards extend to be located on the outer side of the inner cylinder body 1, a cavity is formed between the inner walls of the four clamping blocks 3, a pressure spring 5 is arranged between one side, close to the inner cylinder body 1, of the clamping blocks 3 and the inner side wall of the inner cylinder body 1, and the pressure spring 5 pushes the clamping blocks 3 to move along the radial direction of the inner cylinder body 1. The mounting frame 4 is regular in structure, most structures in the clamping assembly and the rotating assembly are fixed inside the mounting frame 4, the stability of the structure of the manipulator during operation is improved, and the whole structure of the manipulator is compact and the appearance is concise.

The cylinder 10 is fixedly arranged above the mounting seat, the push rod of the cylinder 10 is vertically downwards connected with the lifting rod 11 at the bottom, the bottom of the lifting rod 11 is provided with the round table 12, the diameter of the round table 12 is gradually increased from top to bottom, the upper end of the clamping block 3 is provided with the lug 13, and the round table 12 is positioned in the cavity and is matched with the lug 13 in a sliding connection. In this embodiment, the initial state of the clamping assembly is that the upper end of the round table 12 abuts against the protruding block 13, and when the clamping assembly works, the motor 6 drives the lifting rod 11 to lift or descend, so as to drive the round table 12 to lift or descend. When the round table 12 descends, the lower end of the round table 12 is contacted with the convex block 13, the upper end of the round table 12 is contacted with the convex block 13, at the moment, the cavity is reduced, the four clamping blocks 3 move in the direction away from the inner cylinder body 1, and the clamping blocks 3 clamp a workpiece. After long-time use, even if the round table 12 and the convex blocks 13 are worn, the clamping effect of the clamping block 3 on the workpiece is not affected due to the elastic space of the pressure spring 5, and the adaptability is high.

The rotating assembly comprises a motor 6, the motor 6 is fixedly arranged on the upper portion of the mounting plate, an output shaft of the motor 6 is vertically downward and connected with a first bevel gear 7, the first bevel gear 7 is in meshed connection with a second bevel gear 8, the second bevel gear 8 is in meshed connection with a third bevel gear 9, the second bevel gear 8 and the third bevel gear 9 are fixed on the mounting plate, the first bevel gear 7 and the third bevel gear 9 are parallel and are horizontally arranged, and the third bevel gear 9 is fixedly connected with the top of the inner cylinder body 1. When the inner cylinder 1 is in operation, the motor 6 drives the first bevel gear 7 to rotate, the first bevel gear 7 drives the second bevel gear 8 to rotate, and the second bevel gear 8 drives the third bevel gear 9 to rotate, so that the inner cylinder 1 is driven to rotate, and meanwhile, the clamping block 3 inside the inner cylinder 1 is driven to rotate.

Specifically, the clamping blocks 3 are penetrated with horizontal positioning rods 14, the positioning rods 14 in the two opposite clamping blocks 3 are parallel, two ends of each positioning rod 14 extend out of the clamping blocks 3, the inner wall of the inner cylinder 1 is horizontally provided with sliding grooves 15 matched with the positioning rods 14, the positioning rods 14 are in sliding fit with the sliding grooves 15 along the radial direction of the inner cylinder 1, and two parallel positioning rods 14 positioned on the same vertical plane are arranged on the same clamping block 3. The positioning rod 14 is matched with the chute 15, so that the clamping block 3 can stably move along the horizontal direction when the round table 12 ascends or descends, and the clamping block 3 is guided.

In this embodiment, four groups of fixing pieces uniformly distributed along the circumferential direction are disposed on the inner wall of the inner cylinder 1, each group of fixing pieces includes two fixing plates 19 perpendicular to each other, one side of the fixing plate 19 away from the axis is connected with the inner wall of the inner cylinder 1, a space is formed between two adjacent fixing pieces, the clamping block 3 is located in the space, and the sliding groove 15 is located on the fixing plate 19. The positioning rod 14 is conveniently installed and moved by the fixing piece and the sliding groove 15 on the fixing piece.

Specifically, a groove is formed in the middle of the protruding block 13, a vertically installed second bearing 16 is arranged in the groove, and the outer edge of the second bearing 16 protrudes out of the edge of the protruding block 13 and is in rolling connection with the outer wall of the circular table 12. By making direct contact with the second bearing 16 when the table 12 is raised or lowered, wear can be reduced, maintaining accuracy of the device.

In this embodiment, the bottom of the inner cylinder 1 is provided with a protection net 18, the protection net 18 is provided with a cross-shaped opening, and the clamping block 3 vertically passes through the opening. When the round table 12 is lifted, the clamping block 3 can move in the opening of the protective net 18, and the protective net 18 plays a protective role and can not prevent the clamping block 3 from clamping and rotating a workpiece.

The working process of the utility model is as follows: when the cylinder 10 drives the lifting rod 11 to descend, the round table 12 descends, the four clamping blocks 3 move in the direction away from the inner cylinder body 1, and the clamping blocks 3 clamp a workpiece. The motor 6 drives the first bevel gear 7 to rotate, then drives the second bevel gear 8 and the third bevel gear 9 to rotate in sequence, the third bevel gear 9 drives the inner cylinder body 1 to rotate through a bearing, and simultaneously the clamping blocks 3 inside the inner cylinder body 1 rotate together, so that workpieces at the bottoms of the clamping blocks 3 rotate. The manipulator in this embodiment compact structure and outward appearance are succinct, and the structure in the clamp assembly takes place to wear back and influences not much to the working process, and the practicality is stronger.

The above-described embodiments of the present utility model do not limit the scope of the present utility model. Any other corresponding changes and modifications made in accordance with the technical idea of the present utility model shall be included in the scope of the claims of the present utility model.

Claims

1. The rotatable manipulator comprises a mounting frame, wherein a clamping assembly and a rotating assembly are arranged on the mounting frame, the clamping assembly is positioned below the rotating assembly, and the rotatable manipulator is characterized in that the mounting frame comprises two mounting plates which are perpendicular to each other at the upper part, a mounting seat is arranged at the bottom of each mounting plate, the clamping assembly comprises an inner cylinder body and an outer cylinder body, the outer cylinder body is fixedly arranged at the inner side of the mounting seat, the inner cylinder body is rotatably arranged in the outer cylinder body through a first bearing, four clamping blocks which are distributed in a square shape are slidably arranged in the inner cylinder body, the bottoms of the clamping blocks downwards extend to be positioned at the outer part of the inner cylinder body, a cavity is formed between the inner walls of the four clamping blocks, and a pressure spring is arranged between one side, close to the inner cylinder body, of each clamping block and the inner side wall of the inner cylinder body;

2. The rotatable manipulator according to claim 1, wherein the clamping blocks are provided with horizontal positioning rods in a penetrating manner, the two positioning rods in the two opposite clamping blocks are parallel, the two ends of each positioning rod extend out of the clamping blocks, the inner wall of the inner cylinder is horizontally provided with a sliding groove matched with each positioning rod, the positioning rods are in sliding fit with the sliding grooves along the radial direction of the inner cylinder, and two parallel positioning rods which are positioned on the same vertical plane are arranged on the same clamping block.

3. The rotatable manipulator according to claim 2, wherein four groups of fixing pieces are uniformly distributed along the circumferential direction on the inner wall of the inner cylinder, each group of fixing pieces comprises two perpendicular fixing plates, one side, far away from the axis, of each fixing plate is connected with the inner wall of the inner cylinder, a space is formed between two adjacent fixing pieces, the clamping blocks are located in the space, and the sliding grooves are located on the fixing plates.

4. A rotatable manipulator according to claim 3, wherein the middle of the boss is provided with a recess, the interior of the recess is provided with a vertically mounted second bearing, the outer edge of which protrudes beyond the edge of the boss and is in rolling connection with the outer wall of the boss.

5. The rotatable manipulator of claim 1, wherein the bottom of the inner cylinder is provided with a protective mesh, the protective mesh is provided with a cross-shaped opening, and the clamping block vertically passes through the opening.