CN220463948U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN220463948U CN220463948U CN202320957663.7U CN202320957663U CN220463948U CN 220463948 U CN220463948 U CN 220463948U CN 202320957663 U CN202320957663 U CN 202320957663U CN 220463948 U CN220463948 U CN 220463948U
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- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
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Abstract
The utility model discloses a manipulator which comprises a machine base and a manipulator, wherein the manipulator comprises a tool table and a clamping device, the manipulator is connected with the tool table, the tool table is provided with a mounting plate and a fixing plate, the fixing plate is provided with a first connecting part and a second connecting part, the first connecting part is detachably connected with the mounting plate, the second connecting part is detachably connected with the clamping device, the positions of the first connecting part and the second connecting part are different, and the fixing plate is connected between the mounting plate and the clamping device. The manipulator is good in universality.
Description
Technical Field
The utility model belongs to the technical field of assembly production lines, and particularly relates to a manipulator.
Background
In automated production lines, manipulators are commonly employed to replace manual operations. The manipulator is provided with a specific clamping jaw for grabbing specific products, the clamping jaw has a plurality of different structures due to different structures of different products, the specific clamping jaw is required for the specific products, and the fixed positions of the specific clamping jaw and the manipulator are different, so that the specific clamping jaw is required to be matched with a clamping jaw connecting structure, and the manipulator can only be used for grabbing one specific product.
Because some assembly lines can be used for assembling a plurality of different products, if each manipulator can only be used for grabbing a specific product, then the assembly lines need to be provided with a plurality of manipulators, the occupied space is larger, and the assembly lines are used for grabbing a product each time, so that the rest manipulators are empty, so that the utilization rate of the manipulators of the assembly lines is low, and the occupied space is large. Therefore, how to adapt the grabbing of different products by one manipulator is a technical problem to be solved at present.
Disclosure of Invention
The utility model aims to provide a manipulator which is convenient to use and good in universality.
In order to achieve the above purpose, the following technical scheme is adopted:
the utility model provides a manipulator, includes frame, arm and clamping device, the arm includes the tool table, the arm with the tool table is connected, the tool table has mounting panel and fixed plate, the fixed plate has first connecting portion and second connecting portion, first connecting portion with the mounting panel can dismantle the connection, second connecting portion with clamping device can dismantle the connection, first connecting portion with second connecting portion position is different, the fixed plate connect in the mounting panel with between the clamping device.
Above-mentioned technical scheme's tool table has mounting panel and fixed plate, the fixed plate has first connecting portion and second connecting portion, first connecting portion with the mounting panel can dismantle the connection, second connecting portion with clamping device can dismantle the connection, first connecting portion with second connecting portion position is different, so, when needing to change clamping device, dismantle fixed plate and mounting panel to dismantle fixed plate and clamping device, and install the clamping device after changing in the second connecting portion of fixed plate, be connected the first connecting portion of mounting panel and fixed plate, first connecting portion and second connecting portion position are different, and first connecting portion is used for being connected with the mounting panel, and the position is fixed, and second connecting portion is connected with clamping device, and second connecting portion position and clamping device cooperate, so, fix through the fixed plate between mounting panel and the clamping device, applicable clamping device of different grade type, the commonality is good.
In order to achieve the above purpose, the following technical scheme is adopted:
the mechanical arm comprises a tool table, the mechanical arm is connected with the tool table, the tool table is provided with a mounting plate and a fixing plate, the fixing plate is provided with a first connecting part and a second connecting part, the first connecting part is detachably connected with the mounting plate, the positions of the first connecting part and the second connecting part are different, and the fixing plate is connected between the mounting plate and the clamping device; the second connecting part is provided with more than two connecting blocks, and at least one of the connecting blocks is detachably connected with the clamping device.
Above-mentioned technical scheme's tool table has mounting panel and fixed plate, the fixed plate has first connecting portion and second connecting portion, first connecting portion with the mounting panel can dismantle the connection, first connecting portion with second connecting portion position is different, the second connecting portion has more than two connection blocks, at least one of connection blocks with clamping device can dismantle the connection. So, when needing to change clamping device, dismantle fixed plate and mounting panel, and dismantle fixed plate and clamping device, and install the clamping device after changing in at least one connection block of the second connecting portion of fixed plate, be connected the first connecting portion of mounting panel and fixed plate, first connecting portion and second connecting portion position are different, first connecting portion are used for being connected with the mounting panel, the position is determined, there are more than two connection blocks in the second connecting portion, can be used to be connected with different clamping device, so, it is fixed through the fixed plate between mounting panel and the clamping device, applicable to the clamping device of different grade type, the commonality is good.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present utility model;
FIG. 2 is a schematic view of an embodiment of a clamping device;
FIG. 3 is a schematic view of the back of the mounting plate of FIG. 1, wherein the dashed box is for illustration;
FIG. 4 is a schematic diagram of another view of the structure of FIG. 2;
FIG. 5 is a schematic view of the structure of FIG. 1 from another perspective;
FIG. 6 is a schematic view of the structure of the connecting seat member in the structure shown in FIG. 1;
FIG. 7 is a schematic view of a portion of another embodiment of the present utility model;
fig. 8 is a schematic plan view of a fixing plate according to still another embodiment of the present utility model, wherein a dotted frame is used for illustration.
Wherein, the manipulator 10, the base 11, the mechanical arm 12 and the pivot shaft 121; tooling table 13, mounting plate 131, first mounting portion 1312, tooling mounting hole 1313, main body portion 132, second mounting portion 1321, third mounting hole 1322, connection seat member 133, connection seat 1331, chassis portion 1332, tightening portion 1333, first elastic arm 1334, second elastic arm 1335; the fixing plates 14,14', the first mounting hole 141, the second mounting hole 142, the first connection portion 143, the second connection portion 144; a connection block 145; a camera assembly 15, a camera accommodating hole 151, an image pickup section 152, and a mount 153; the clamping device 2, the positioning plate 21, the clamping jaw 22, the driving cylinder 23 and the supporting plate 26; an L-shaped plate 16.
Detailed Description
Specific embodiments of the present utility model are described in detail below with reference to the accompanying drawings. It is to be understood that the following is exemplary only and is not to be taken as limiting the utility model.
Referring to fig. 1-6, fig. 1 illustrates a schematic configuration of a robot 10. The manipulator 10 includes frame 11 and arm 12, and the manipulator 10 includes tool table 13 and clamping device 2, and the tool table is connected with arm 12, and tool table 13 has mounting panel 131 and fixed plate 14, and the fixed plate has first connecting portion 143 and second connecting portion 144, and first connecting portion 143 and mounting panel 131 can dismantle the connection, and second connecting portion 144 and clamping device 2 can dismantle the connection, and first connecting portion 143 and second connecting portion 144 position are different, and fixed plate 14 is connected between mounting panel 131 and clamping device 2.
Thus, when the clamping device needs to be replaced, the fixing plate 14 and the mounting plate 131 are detached, the fixing plate 14 and the clamping device 2 are detached, the replaced clamping device 2 is mounted on the second connecting portion 144 of the fixing plate 14, the mounting plate 131 is connected with the first connecting portion 143 of the fixing plate 14, the positions of the first connecting portion 143 and the second connecting portion 144 are different, the first connecting portion 143 is used for being connected with the mounting plate, the position is determined, the second connecting portion 144 is connected with the clamping device 2, the position of the second connecting portion 144 is matched with the clamping device, and therefore the mounting plate 131 and the clamping device 4 are fixed through the fixing plate 14, and the clamping device is applicable to clamping devices of different types and good in universality.
The mounting plate 131 has a tooling mounting hole 1313, the first connection portion 143 of the fixing plate 14 has a first mounting hole 141, the duct extension direction of the first mounting hole 141 is identical to the duct extension direction of the tooling mounting hole 1313, the fixing plate 14 is detachably connected to the mounting plate 131, the second connection portion 144 of the fixing plate 14 has a second mounting hole 142, the clamping device 2 has a clamping jaw fixing hole (not shown in the figure, the clamping jaw fixing hole corresponds to the second mounting hole 142), and the duct extension direction of the second mounting hole 142 is identical to the duct extension direction of the clamping jaw fixing hole, and the fixing plate 14 is detachably connected to the clamping device 2.
The clamping device 2 is adapted to the workpiece to be gripped, different workpieces corresponding to different clamping devices 2.
The tooling table 13 is provided with a mounting plate 131 and a fixing plate 14, the mounting plate 131 and the fixing plate 14 are in a plate form, the thickness is low, and the bearing weight of the mechanical arm can be reduced on the premise of mounting supporting force.
The tooling table 13 of the above technical scheme has the mounting plate 131 and the fixed plate 14, the mounting plate 131 has the tooling mounting hole 1313, the first connecting portion of the fixed plate 14 has the first mounting hole 141, the duct extending direction of the first mounting hole 141 is consistent with the duct extending direction of the tooling mounting hole 1313, the fixed plate 14 is detachably connected with the mounting plate 131, and the second mounting hole 142 of the fixed plate 14 is consistent with the duct extending direction of the clamping jaw fixing hole, the fixed plate 14 is detachably connected with the clamping device 2, in this way, the mounting plate and the fixed plate are correspondingly connected, the thickness of the mounting plate and the fixed plate can be relatively small, and weight reduction is facilitated.
Thus, when the clamping device 2 needs to be replaced, the fixing plate 14 and the mounting plate 131 are detached, the fixing plate 14 and the clamping device 2 are detached, the replaced clamping device 2 is mounted in the second mounting hole of the fixing plate 14, the replaced fixing plate 14 is mounted in the tool mounting hole 1313, and the mounting plate 131 and the clamping device 2 are fixed through the fixing plate 14, because the mounting position on the fixing plate 14 for being matched with the clamping device 2 can be changed along with products, and the connecting position on the fixing plate 14 for being matched with the mounting plate is always corresponding to the tool mounting hole 1313, so that the clamping device 2 is applicable to different types, and the universality is good.
Specifically, the mounting plate 131 and the fixing plate 14 may be detachably connected by a screw or a bolt inserted into the first mounting hole 141 and the tool mounting hole 1313; the clamping device 2 and the fixing plate 14 may be detachably coupled by a screw or bolt or the like inserted into the second mounting hole 142.
The mechanical arm 12 is connected to one side of the tooling table 13 along the length direction, the fixing plate 14 is connected to the other side of the tooling table along the length direction, and the thickness of the fixing plate 14 is not more than half of the thickness of the mounting plate 131. Therefore, the clamping device connected with the fixing plate can be located on one side of the length direction of the tool table, and the clamping device is connected with the mechanical arm on the other side of the length direction of the tool table, so that the mechanical arm can be facilitated to drive the clamping device to move in different positions.
In the embodiment shown in fig. 1, the clamping device 2 has a support plate 26, the support plate 26 being detachably connected to the fixing plate 14, the top of the support plate 26 and the fixing plate 14 being detachably connected, for example by means of screws, the top of the support plate 26 having jaw fixing holes which cooperate with the second mounting holes 142 of the fixing plate 14. Specifically, the support plate 26 is substantially perpendicular to the layout direction of the positioning plate 21.
The clamping device 2 is detachably connected with the fixed plate 14 through the supporting plate, the connection parts of the supporting plate and the fixed plate 14 can be set to be different according to different clamping devices 2, but the connection positions between the fixed plate 14 and the mounting plate 131 are unchanged, so that the clamping devices 2 can be replaced conveniently.
In the embodiment shown in fig. 1, the support plate is located at one of the sides. As other embodiments, the support plates may also be located at two sides, for example, at two sides corresponding to the positions of the tooling mounting holes. As other embodiments, the support plate may be located in other positions without being overly limited in position.
The mounting plate 131 has a first mounting portion 1312, the first mounting portion 1312 has a tooling mounting hole 1313, and a side of the fixing plate 14 facing away from the mounting plate 131 is left open or a side of the first mounting portion 1312 facing away from the fixing plate 14 is left open; the fixing plate 14 is detachably connected with the mounting plate 131 by screws or bolts or the like; the fixing plate 14 is detachably connected to the clamping device 2 by screws or bolts or the like.
The mounting plate 131 has a second mounting portion 1321, the second mounting portion 1321 has a third mounting hole 1322, the mechanical arm 12 has a pivot shaft 121, a portion of the pivot shaft 121 is located in the third mounting hole 1322, and the pivot shaft 121 is fixed to the second mounting portion 1321, and the pivot shaft 121 can drive the tooling table 13 to move. The pivotal shaft 121 drives the tooling table 13 to move, so that the tooling table 13 can move at multiple angles.
The tooling table 13 has a first mounting portion 1312 and a second mounting portion 1321, and the second mounting portion 1321 is fixed to the pivot shaft 121 of the mechanical arm 12, so that the tooling table 13 can be driven to move by the movement of the mechanical arm 12. The first mounting portion 1312 is used for being detachably connected with the clamping device 2, so, when the clamping device 2 of the manipulator 10 needs to be replaced, the clamping device can be detached through the fixing plate 14 and the first mounting portion 1312 of the tool table 13, and the clamping device 2 is connected after being replaced, so that the manipulator 10 can be simply used for replacing different clamping devices 2, and the universality is strong. The side of the fixing plate 14 facing away from the mounting plate 131 is left blank or the side of the first mounting portion 1312 facing away from the fixing plate 14 is left blank, facilitating the detachable connection between the fixing plate 14 and the mounting plate 131. The fixing plate 14 and the mounting plate 131 are detachably connected by screws or bolts, etc., and are convenient to assemble and disassemble.
The manipulator 10 of the present application may be three-axis, four-axis, or five-axis and above. The mechanical arm 12 can drive the tool table to move more tracks, can be more conveniently applicable to different stations and has more moving actions.
The clamping device 2 has a positioning plate 21 and at least two clamping jaws 22, the clamping jaws 22 being connected to one side of the positioning plate 21, the other side of the positioning plate 21 being detachably connected to the fixing plate 14. The support plate 26 is connected to the side of the positioning plate 21 facing away from the clamping jaw 22. The positioning plate and the fixing plate are connected through the supporting plate 26, so that the connection is convenient. The support plate 26 is substantially perpendicular to the layout direction of the positioning plate 21.
The clamping device 2 is provided with a driving air cylinder 23, the driving air cylinder 23 is positioned between the positioning plate 21 and the fixing plate 14, and the driving air cylinder can be connected with a supporting plate 26, so that the stability of the structures such as the driving air cylinder, the positioning plate, the fixing plate and the like is facilitated. The piston of the driving cylinder is connected with the positioning plate 21, and the cylinder body of the driving cylinder is fixed relative to the fixed plate 14.
The manipulator 10 is provided with a camera assembly 15, the camera assembly 15 is provided with a camera shooting component 152, and the camera shooting component 152 and the clamping device 2 are positioned on the same side of the tool table 13; the first mounting portion 1312 and the camera assembly 15 are located on the same side along the length of the tooling table with respect to the second mounting portion 1321.
The manipulator is provided with a camera assembly 15, and the manipulator can take a picture of and identify the position through the camera assembly 15. The manipulator is provided with a clamping device, and after the camera component of the manipulator performs position photographing identification, the workpiece is grasped by the clamping device.
The mounting plate 131 has a camera accommodating hole 151, at least part of the camera assembly 15 is located in the camera accommodating hole 151, the camera assembly 15 has a fixing frame 153, one end portion of the fixing frame 153 is connected to the mounting plate 131, and the other end portion of the fixing frame 153 is connected to the image pickup section. Specifically, the fixing frame 153 may be L-shaped, and the fixing frame 153 is used for connecting the image capturing component and the mounting board. Through punching mounting plate 131, insert the part of camera subassembly into the camera accommodation hole, compare the mode of camera subassembly direct and mounting plate installation, can more do benefit to and subtract heavy, be favorable to the bearing of the arm of manipulator.
The mounting plate 131 has a connecting seat member 133 and a main body 132, the connecting seat member 133 has a connecting seat 1331, the connecting seat 1331 is fixedly arranged with the main body 132, the connecting seat 1331 is sleeved on the pivot shaft 121, and the connecting seat 1331 is limited with the pivot shaft 121. The pivot shaft 121 of the manipulator is in limit connection with the connecting seat 1331, and the action of the pivot shaft drives the action of the main body part through the connecting seat, so that the implementation mode is simple.
The connecting seat 1331 comprises a chassis portion 1332 and a tightening portion 1333, the chassis portion 1332 and the main body portion 132 are fixedly arranged, the tightening portion 1333 and the chassis portion 1332 are integrated into a whole, the tightening portion 1333 is provided with a first elastic arm 1334 and a second elastic arm 1335, the first elastic arm 1334 and the chassis portion 1332 are separated, the second elastic arm 1335 and the chassis portion 1332 are separated, a through hole is formed in the middle of the tightening portion 1333, the pivot shaft 121 is located in the through hole, and the first elastic arm 1334 and the second elastic arm 1335 are fixedly connected with the pivot shaft 121.
The pivot shaft 121 is held by the first elastic arm 1334 and the second elastic arm 1335, and the pivot shaft 121 is fixed conveniently and effectively.
The manipulator can be used for feeding or other stations, can be used for accurately grabbing and moving workpieces, and can also move the workpieces to other matched stations, such as grabbing the workpieces for subsequent compacting stations or other stations.
As another embodiment, referring to fig. 7, the fixing plate 14 and the mounting plate 131 may be connected by a structure such as an L-shape 16, and after the fixing plate 14 and the mounting plate 131 are positioned, the fixing plate 14 is connected by one end of the L-shape 16, and the fixing plate 131 is connected by the other end of the L-shape 16. The connecting mode requires that the fixing plate has larger thickness, and is convenient to connect.
As a further embodiment, referring to fig. 8, fig. 8 illustrates a schematic view of another embodiment of a fixation plate. The general structure of the manipulator refers to the technical scheme. The manipulator includes frame 11 and arm 12, and manipulator 10 includes tool table 13 and clamping device 2, and the tool table is connected with arm 12, and tool table 13 has mounting panel 131 and fixed plate 14', and fixed plate 14' has first connecting portion 143 and second connecting portion 144, and first connecting portion 143 and mounting panel 131 can dismantle the connection, and second connecting portion 144 and clamping device 2 can dismantle the connection, and first connecting portion 143 and second connecting portion 144 position are different, and fixed plate 14' is connected between mounting panel 131 and clamping device 2. The second connecting portion 144 has more than two connecting blocks 145, and at least one of the connecting blocks 145 is detachably connected to the clamping device. In fig. 8, the number of connection blocks is illustrated as 4, and the number of connection blocks is not limited, depending on the clamping device required for the actual assembly line.
So, when needing to change clamping device, dismantle fixed plate and mounting panel, and dismantle fixed plate and clamping device, and install the clamping device after changing in at least one connection block of the second connecting portion of fixed plate, be connected the first connecting portion of mounting panel and fixed plate, first connecting portion and second connecting portion position are different, first connecting portion are used for being connected with the mounting panel, the position is determined, there are more than two connection blocks in the second connecting portion, can be used to be connected with different clamping device, so, it is fixed through the fixed plate between mounting panel and the clamping device, applicable to the clamping device of different grade type, the commonality is good.
The mounting plate 131 has a tooling mounting hole 1313, the first connection portion 143 of the fixing plate 14' has a first mounting hole 141, the direction of the duct extension of the first mounting hole 141 is identical to the direction of the duct extension of the tooling mounting hole 1313, and the fixing plate 14 and the mounting plate 131 can be detachably connected by, for example, a screw or a bolt.
One of the connection blocks 145 of the second connection portion 144 of the fixing plate 14 'has a second mounting hole 142, the clamping device 2 has a jaw fixing hole, the hole path extending direction of the second mounting hole 142 is identical to the hole path extending direction of the jaw fixing hole, and the fixing plate 14' and the clamping device 2 can be detachably connected by, for example, a screw or a bolt.
The other connecting blocks of the second connecting part can also be provided with a plurality of mounting holes, and the plurality of mounting holes can be used for assembling clamping devices with different specifications.
When the assembly line needs three different clamping devices, different connecting blocks connected by the three different clamping devices can be arranged on the second connecting part, and the positions of the connecting blocks are different, so that the fewer and determined clamping devices can be replaced. The rest of the structure of the present embodiment can be referred to the above embodiment.
It should be noted that: the above embodiments are only for illustrating the present utility model and not for limiting the technical solutions described in the present utility model, for example, the directions of "front", "rear", "left", "right", "up", "down", etc., and although the present utility model has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the present utility model may be combined, modified or substituted with each other, and all the technical solutions and modifications thereof without departing from the spirit and scope of the present utility model are intended to be included in the scope of the claims of the present utility model.
Claims (10)
1. The utility model provides a manipulator, includes frame (11), arm (12) and clamping device (2), its characterized in that, the manipulator includes tool table (13), arm (12) with tool table (13) are connected, tool table (13) have mounting panel (131) and fixed plate (14, 14 '), fixed plate (14, 14 ') have first connecting portion (143) and second connecting portion (144), first connecting portion (143) with mounting panel (131) are dismantled and are connected, second connecting portion (144) with clamping device (2) are dismantled and are connected, first connecting portion (143) with second connecting portion (144) position is different, fixed plate (14, 14 ') connect in between mounting panel (131) and clamping device (2).
2. The manipulator comprises a machine base (11), a mechanical arm (12) and a clamping device (2), and is characterized in that the manipulator comprises a tool table (13), the mechanical arm (12) is connected with the tool table (13), the tool table (13) is provided with a mounting plate (131) and fixing plates (14, 14 '), the fixing plates (14, 14 ') are provided with a first connecting part (143) and a second connecting part (144), the first connecting part (143) is detachably connected with the mounting plate (131), the positions of the first connecting part (143) and the second connecting part (144) are different, and the fixing plates (14, 14 ') are connected between the mounting plate (131) and the clamping device (2); the second connection part (144) has more than two connection blocks (145), at least one of the connection blocks (145) being detachably connected with the clamping device (2).
3. The manipulator according to claim 1 or 2, wherein the manipulator (12) is connected to one side of the tooling table (13) in the length direction, the fixing plates (14, 14 ') are connected to the other side of the tooling table (13) in the length direction, and the thickness of the fixing plates (14, 14') is not more than one half of the thickness of the mounting plate (131);
the mounting plate (131) is provided with a tooling mounting hole (1313), the first connecting part (143) is provided with a first mounting hole (141), and the pore canal extending direction of the first mounting hole (141) is consistent with the pore canal extending direction of the tooling mounting hole (1313);
the second connecting part (144) is provided with a second mounting hole (142), the clamping device (2) is provided with a clamping jaw fixing hole, and the pore canal extending direction of the second mounting hole (142) is consistent with the pore canal extending direction of the clamping jaw fixing hole.
4. The manipulator according to claim 1 or 2, characterized in that the mounting plate (131) has a first mounting portion (1312), the first mounting portion (1312) having a tool mounting hole (1313), the side of the fixing plate (14, 14 ') facing away from the mounting plate (131) being left open or the side of the first mounting portion (1312) facing away from the fixing plate (14, 14') being left open; the fixing plates (14, 14') are detachably connected with the mounting plate (131) through screws or bolts; the fixing plate (14, 14') is detachably connected to the clamping device (2) by means of screws or bolts.
5. The manipulator according to claim 1 or 2, wherein the mounting plate (131) has a second mounting portion (1321), the second mounting portion (1321) has a third mounting hole (1322), the manipulator (12) has a pivot shaft (121), a portion of the pivot shaft (121) is located in the third mounting hole (1322), and the pivot shaft (121) is fixed with the second mounting portion (1321), the pivot shaft (121) is capable of driving the tooling table (13) to move.
6. Manipulator according to claim 1 or 2, characterized in that the clamping device (2) has at least two clamping jaws (22), which clamping jaws (22) are located on the side of the fixing plate (14, 14') facing away from the mounting plate (131);
the clamping device (2) is provided with a positioning plate (21) and a supporting plate (26), the supporting plate (26) is detachably connected with the fixing plates (14, 14'), the clamping jaw (22) is connected to one side of the positioning plate (21), the other side of the positioning plate (21) is connected with the supporting plate (26), the two supporting plates (26) are arranged on two sides of the positioning plate (21), and the layout direction of the supporting plate (26) relative to the positioning plate (21) is approximately vertical.
7. The manipulator according to claim 1 or 2, characterized in that the manipulator has a camera assembly (15), the camera assembly (15) having a camera component (152), the camera component (152) and the clamping device (2) being located on the same side of the tooling table (13);
the mounting plate (131) is provided with a first mounting part (1312), the tool table (13) is provided with a second mounting part (1321), the second mounting part (1321) is opposite to the first mounting part (1321), the second mounting part (1321) is located on one side of the tool table (13), and the first mounting part (1312) and the camera assembly (15) are located on the other side of the tool table (13).
8. The manipulator according to claim 1 or 2, characterized in that the manipulator has a camera assembly (15), the mounting plate (131) has a camera receiving hole (151), at least part of the camera assembly (15) being located in the camera receiving hole (151);
the camera assembly (15) is provided with a fixing frame (153) and an image pickup component (152), wherein the fixing frame (153) is L-shaped, one end part of the fixing frame (153) is connected with the mounting plate (131), and the other end part of the fixing frame (153) is connected with the image pickup component (152).
9. The manipulator according to claim 1 or 2, wherein the mounting plate (131) has a connection seat part (133) and a main body part (132), the connection seat part (133) has a connection seat (1331), the connection seat (1331) is fixedly arranged with the main body part (132), the manipulator (12) has a pivot shaft (121), the connection seat (1331) is sleeved on the pivot shaft (121), and the connection seat (1331) is arranged with the pivot shaft (121) in a limiting manner; the connecting seat (1331) comprises a chassis part (1332) and a tightening part (1333), the chassis part (1332) and the main body part (132) are fixedly arranged, the tightening part (1333) and the chassis part (1332) are integrated into a whole, the tightening part (1333) is provided with a first elastic arm (1334) and a second elastic arm (1335), the first elastic arm (1334) and the chassis part (1332) are arranged in a separated mode, the second elastic arm (1335) and the chassis part (1332) are arranged in a separated mode, the middle of the tightening part (1333) is provided with a through hole, the pivot (121) is located in the through hole, and the first elastic arm (1334) and the second elastic arm (1335) are hooped with the pivot (121).
10. The manipulator according to claim 1 or 2, wherein the manipulator (12) is connected to one side of the tooling table (13) in the length direction, the fixing plates (14, 14 ') are connected to the other side of the tooling table (13) in the length direction, and the thickness of the fixing plates (14, 14') is not more than one half of the thickness of the mounting plate (131);
the mounting plate (131) is provided with a first mounting part (1312), the mounting plate (131) is provided with a tool mounting hole (1313), the fixing plates (14, 14') are provided with first mounting holes (141), and the pore canal extending direction of the first mounting holes (141) is consistent with the pore canal extending direction of the tool mounting hole (1313); the fixing plates (14, 14') are provided with second mounting holes (142), the clamping device (2) is provided with clamping jaw fixing holes, and the pore canal extending direction of the second mounting holes (142) is consistent with that of the clamping jaw fixing holes; the side of the fixing plate (14, 14 ') facing away from the mounting plate (131) is left open or the side of the first mounting portion (1312) facing away from the fixing plate (14, 14') is left open; the fixing plates (14, 14') are detachably connected with the mounting plate (131) through screws or bolts; the fixing plates (14, 14') are detachably connected with the clamping device (2) through screws or bolts;
the mounting plate (131) is provided with a second mounting part (1321), the second mounting part (1321) is provided with a third mounting hole (1322), the mechanical arm (12) is provided with a pivot shaft (121), part of the pivot shaft (121) is positioned in the third mounting hole (1322), the pivot shaft (121) is fixed with the second mounting part (1321), and the pivot shaft (121) can drive the tool table (13) to move;
the manipulator is provided with a camera assembly (15), the camera assembly (15) is provided with a shooting component (152), and the shooting component (152) and the clamping device (2) are positioned on the same side of the tool table (13); the tool table (13) is provided with a second mounting part (1321), the second mounting part (1321) is positioned on one side of the tool table (13) along the length direction of the tool table (13) relative to the second mounting part (1321), and the first mounting part (1312) and the camera assembly (15) are positioned on the other side of the tool table (13); -the mounting plate (131) has a camera receiving aperture (151), at least part of the camera assembly (15) being located in the camera receiving aperture (151);
the camera assembly (15) is provided with a fixing frame (153), wherein the fixing frame (153) is L-shaped, one end part of the fixing frame (153) is connected with the mounting plate (131), and the other end part of the fixing frame (153) is connected with the image pickup component (152); the mounting plate (131) is provided with a connecting seat component (133) and a main body part (132), the connecting seat component (133) is provided with a connecting seat (1331), the connecting seat (1331) and the main body part (132) are fixedly arranged, the connecting seat (1331) is sleeved on the pivot shaft (121), and the connecting seat (1331) and the pivot shaft (121) are in limit arrangement; the connecting seat (1331) comprises a chassis part (1332) and a tightening part (1333), the chassis part (1332) and the main body part (132) are fixedly arranged, the tightening part (1333) and the chassis part (1332) are integrated into a structural part, the tightening part (1333) is provided with a first elastic arm (1334) and a second elastic arm (1335), the first elastic arm (1334) and the chassis part (1332) are arranged in a separated mode, the second elastic arm (1335) and the chassis part (1332) are arranged in a separated mode, a through hole is formed in the middle of the tightening part (1333), the pivot shaft (121) is located in the through hole, and the first elastic arm (1334) and the second elastic arm (1335) are hooped with the pivot shaft (121);
the clamping device (2) has at least two clamping jaws (22), the clamping jaws (22) being located on the side of the fixing plate (14, 14') facing away from the mounting plate (131); the clamping device (2) is provided with a positioning plate (21), a supporting plate (26) and a driving cylinder, the supporting plate (26) is detachably connected with the fixing plates (14, 14'), the clamping jaw (22) is connected to one side of the positioning plate (21), the other side of the positioning plate (21) is connected with the supporting plate (26), the two supporting plates (26) are arranged on two sides of the positioning plate (21), and the layout direction of the supporting plate (26) relative to the positioning plate (21) is approximately vertical; the driving cylinder is positioned between the fixing plates (14, 14 ') and the positioning plate (21), the piston of the driving cylinder is connected with the positioning plate (21), and the cylinder body of the driving cylinder is fixed relative to the fixing plates (14, 14').
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320957663.7U CN220463948U (en) | 2023-04-23 | 2023-04-23 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320957663.7U CN220463948U (en) | 2023-04-23 | 2023-04-23 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220463948U true CN220463948U (en) | 2024-02-09 |
Family
ID=89773573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320957663.7U Active CN220463948U (en) | 2023-04-23 | 2023-04-23 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220463948U (en) |
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2023
- 2023-04-23 CN CN202320957663.7U patent/CN220463948U/en active Active
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