CN111872926A

CN111872926A - Manipulator device convenient to adjust

Info

Publication number: CN111872926A
Application number: CN202010770810.0A
Authority: CN
Inventors: 熊祥
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-04
Filing date: 2020-08-04
Publication date: 2020-11-03

Abstract

The invention discloses a manipulator device convenient to adjust, which comprises a bottom plate, a fixed frame and a clamping plate, wherein the upper end of the bottom plate is provided with a first rotating shaft, a first air cylinder, the fixed frame and a second rotating shaft; the middle part of the top end of the fixed frame is provided with a cylinder, a first rolling bearing and a first support rod, the bottom end of the first support rod is provided with a first gear, and the right end of the inner side of the fixed frame is provided with a first motor and a second gear; a second cylinder and a second support rod are mounted on the inner side of the upper end of the first support rod, and a long rod is mounted at the top end of the second support rod; spacing frame is installed at the stock both ends, and third cylinder and connecting rod are installed on the inboard top of spacing frame, and the carriage is installed to the connecting rod bottom, and the inboard mid-mounting of carriage has the threaded rod, and the threaded rod mid-mounting has second bevel gear, and second motor and first bevel gear are installed to connecting rod bottom inboard, and slider and clamp plate are installed in the threaded rod outside. The invention has reasonable structure, is convenient to adjust, and improves the grabbing efficiency and the grabbing effect.

Description

Manipulator device convenient to adjust

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator device convenient to adjust.

Background

The mechanical arm is production equipment which is often used in production and manufacturing, and the mechanical arm can improve the production efficiency and reduce the working intensity of workers. The rotary mechanical arm is a common mechanical arm in the prior art, the working range of the mechanical arm is large, and the mechanical arm can rotate around a rotary connecting column. In production, a manipulator is often required to grab a part with low hardness and perform centering installation, marks cannot be pressed on the surface of the part when the part is grabbed, and the position range of the part needs to be adjusted so as to be smoothly butted with an installation interface when the part is installed. The rotating position of the existing mechanical hand device is fixed, the part is not convenient to grab, the operation of the mechanical hand is complex, the surface of the part is easy to damage, and the grabbing efficiency of the part is easy to influence.

Disclosure of Invention

The present invention is directed to a manipulator apparatus with easy adjustment to solve the above problems in the prior art.

In order to achieve the purpose, the invention provides the following technical scheme:

a manipulator device convenient to adjust comprises a bottom plate, a fixing frame and a clamping plate, wherein a first rotating shaft is installed at the edge of the upper end of the bottom plate, a first air cylinder is installed on the outer side of the first rotating shaft, the fixing frame is arranged at the front end of the first air cylinder, and a second rotating shaft is installed between the first air cylinder and the fixing frame; the universal wheel is installed at the bottom end of the fixed frame, the cylinder is installed in the middle of the top end of the fixed frame, the first rolling bearing is installed on the inner side of the cylinder, the first support rod is installed on the inner side of the first rolling bearing, the first gear is installed at the bottom end of the first support rod, the first motor is installed at the right end of the inner side of the fixed frame, and the second gear is installed at the front end of the rotating shaft of the; a second cylinder is installed on the inner side of the upper end of the first supporting rod, a second supporting rod is installed at the front end of the second cylinder, and a long rod is installed at the top end of the second supporting rod.

Spacing frame is all installed at both ends about the stock, and the third cylinder is installed on the inboard top of spacing frame, and the connecting rod is installed to the third cylinder front end, and the carriage is installed to the connecting rod bottom, and the inboard mid-mounting of carriage has the threaded rod, and the threaded rod mid-mounting has second bevel gear, and the second motor is installed to connecting rod bottom inboard, and first bevel gear is installed to second motor shaft front end, and the slider is installed in the threaded rod outside, and the grip block is installed to the slider bottom, and the slipmat is installed to grip block bottom side face.

As a further scheme of the invention: the shape of bottom plate and fixed frame is circular, and first axis of rotation, first cylinder and second axis of rotation all are equipped with four, divide into four groups evenly distributed in the fixed frame outside.

As a further scheme of the invention: the first gear and the second gear are on the same horizontal line, the first gear is connected with the second gear in a meshing connection mode.

As a further scheme of the invention: four universal wheels are uniformly distributed at the bottom end of the fixing frame, and the long rod and the second supporting rod are T-shaped.

As a further scheme of the invention: the first bevel gear is connected with the second bevel gear in a meshing connection mode, and the second bevel gear is fixedly connected with the middle of the threaded rod.

As a further scheme of the invention: second antifriction bearing is all installed at both ends about the threaded rod, and the threaded rod outside is equipped with two sliders, and two slider middle parts all are equipped with the screw, and the rotation of two screws is to opposite.

As a further scheme of the invention: the shape that clamping plate and slipmat are constituteed is the L shape, and the material of slipmat is rubber.

Compared with the prior art, the invention has the beneficial effects that:

a manipulator device convenient to adjust comprises a bottom plate and a fixing frame, wherein universal wheels are arranged at the bottom end of the fixing frame, the fixing frame can move conveniently, a first air cylinder, a first rotating shaft and a second rotating shaft can adjust the position of the fixing frame conveniently, and a clamping plate can grab parts conveniently; the first motor controls the first supporting rod and the second supporting rod to rotate through the first gear and the second gear, so that the height of the clamping plate can be conveniently adjusted; the left end and the right end of the long rod are respectively provided with the limiting frame, the supporting frame and the clamping plate, so that the long rod is convenient to keep balanced, and a plurality of parts can be grabbed at one time; the third cylinder is arranged on the inner side of the limiting frame, so that the height of the clamping plates can be conveniently controlled, the second motor rotates, the two clamping plates can be conveniently separated from and close to each other, and parts can be conveniently grabbed; the lateral surface of the bottom end of the clamping plate is provided with the anti-slip pad, so that the clamping effect of the clamping plate on the part is improved, and the part is prevented from falling off in the clamping process. The invention has reasonable structure, simple operation and convenient adjustment, and improves the grabbing efficiency and the grabbing effect.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic structural view of the upper end of the bottom plate according to the present invention.

Fig. 3 is a schematic structural view of the fixing frame and the first support bar according to the present invention.

Fig. 4 is a schematic structural view of the limiting frame, the supporting frame and the clamping plate of the present invention.

FIG. 5 is a schematic structural diagram of example 2 of the present invention.

In the figure: 1-bottom plate, 2-first rotating shaft, 3-first cylinder, 4-second rotating shaft, 5-fixing frame, 6-universal wheel, 7-cylinder, 8-first rolling bearing, 9-first supporting rod, 10-second cylinder, 11-second supporting rod, 12-first gear, 13-first motor, 14-second gear, 15-long rod, 16-limiting frame, 17-third cylinder, 18-connecting rod, 19-supporting frame, 20-clamping plate, 21-second motor, 22-first bevel gear, 23-threaded rod, 24-second rolling bearing, 25-sliding block, 26-second bevel gear, 27-anti-skid pad and 28-connecting plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1 to 4, in the embodiment of the invention, a manipulator device convenient to adjust comprises a bottom plate 1, a fixing frame 5 and a clamping plate 20, wherein a first rotating shaft 2 is installed at the edge of the upper end of the bottom plate 1, a first cylinder 3 is installed on the outer side of the first rotating shaft 2, the fixing frame 5 is arranged at the front end of the first cylinder 3, a second rotating shaft 4 is installed between the first cylinder 3 and the fixing frame 5, the bottom plate 1 and the fixing frame 5 are both circular in shape, and four first rotating shafts 2, four first cylinders 3 and four second rotating shafts 4 are arranged and uniformly distributed on the outer side of the fixing frame 5 in four groups; the universal wheel 6 is installed at the bottom end of the fixed frame 5, the cylinder 7 is installed in the middle of the top end of the fixed frame 5, the first rolling bearing 8 is installed on the inner side of the cylinder 7, the first supporting rod 9 is installed on the inner side of the first rolling bearing 8, the first gear 12 is installed at the bottom end of the first supporting rod 9, the first motor 13 is installed at the right end of the inner side of the fixed frame 5, the second gear 14 is installed at the front end of the rotating shaft of the first motor 13, the first gear 12 and the second gear 14 are on the same horizontal line, the first gear 12 is connected with the second gear 14, and; the second cylinder 10 is installed to 9 upper ends inboard of first bracing piece, and second bracing piece 11 is installed to the second cylinder 10 front end, and stock 15 is installed on 11 tops of second bracing piece, and 5 bottom evenly distributed of fixed frame have four universal wheels 6, and the shape that stock 15 and second bracing piece 11 are constituteed is T shape.

The left end and the right end of the long rod 15 are both provided with a limiting frame 16, the top end of the inner side of the limiting frame 16 is provided with a third air cylinder 17, the front end of the third air cylinder 17 is provided with a connecting rod 18, the bottom end of the connecting rod 18 is provided with a supporting frame 19, the middle part of the inner side of the supporting frame 19 is provided with a threaded rod 23, the middle part of the threaded rod 23 is provided with a second bevel gear 26, the inner side of the bottom end of the connecting rod 18 is provided with a second motor 21, the front end of a rotating shaft of the second motor 21 is provided with a first bevel gear 22, the first bevel; the outer side of the threaded rod 23 is provided with a sliding block 25, the left end and the right end of the threaded rod 23 are both provided with a second rolling bearing 24, the outer side of the threaded rod 23 is provided with two sliding blocks 25, the middle parts of the two sliding blocks 25 are both provided with screw holes, and the rotating directions of the two screw holes are opposite; the bottom end of the sliding block 25 is provided with a clamping plate 20, the side surface of the bottom end of the clamping plate 20 is provided with an anti-slip pad 27, the left end and the right end of the long rod 15 are respectively provided with a limiting frame 16, a supporting frame 19 and the clamping plate 20, so that the long rod 15 can be kept balanced conveniently, and a plurality of parts can be grabbed at one time; the shape that pinch-off blades 20 and slipmat 27 are constituteed is the L shape, and the material of slipmat 27 is rubber, and slipmat 27 improves the effect of pressing from both sides the getting of pinch-off blades 20 to the part, avoids the part to drop at the clamp in-process of getting.

Example 2

Referring to fig. 5, in the embodiment of the present invention, a manipulator device convenient to adjust includes a bottom plate 1, a fixing frame 5 and a clamping plate 20, wherein a first rotating shaft 2 is installed at an edge of an upper end of the bottom plate 1, a first cylinder 3 is installed outside the first rotating shaft 2, the fixing frame 5 is installed at a front end of the first cylinder 3, and a second rotating shaft 4 is installed between the first cylinder 3 and the fixing frame 5; the universal wheel 6 is installed at the bottom end of the fixed frame 5, the cylinder 7 is installed in the middle of the top end of the fixed frame 5, the first rolling bearing 8 is installed on the inner side of the cylinder 7, the first supporting rod 9 is installed on the inner side of the first rolling bearing 8, the first gear 12 is installed at the bottom end of the first supporting rod 9, the first motor 13 is installed at the right end of the inner side of the fixed frame 5, and the second gear 14 is installed at the front end of the rotating shaft of the first; first bracing piece 9 upper end is equipped with stock 15, installs connecting plate 28 between first bracing piece 9 and the stock 15, and the connecting plate improves the stability that first bracing piece 9 and stock 15 are connected. The other structure in this embodiment is the same as that in embodiment 1.

The working principle of the invention is as follows:

a manipulator device convenient to adjust comprises a bottom plate 1 and a fixed frame 5, wherein universal wheels 6 are arranged at the bottom end of the fixed frame 5, so that the fixed frame 5 can be conveniently moved, a first air cylinder 3, a first rotating shaft 2 and a second rotating shaft 4 are convenient to adjust the position of the fixed frame 5, and a clamping plate 20 is convenient to grab a part; the first motor 13 controls the first supporting rod 9 and the second supporting rod 11 to rotate through the first gear 12 and the second gear 14, so that the height of the clamping plate 20 can be conveniently adjusted; the left end and the right end of the long rod 15 are respectively provided with a limiting frame 16, a supporting frame 19 and a clamping plate 20, so that the long rod 15 is kept balanced, and a plurality of parts can be grabbed at one time; the third cylinder 17 is arranged on the inner side of the limiting frame 16, so that the height of the clamping plates 20 can be conveniently controlled, the second motor 21 rotates, the two clamping plates 20 can be conveniently separated from and close to each other, and a part can be conveniently grabbed; the anti-slip pad 27 is arranged on the side face of the bottom end of the clamping plate 20, so that the clamping effect of the clamping plate 20 on the part is improved, and the part is prevented from falling off in the clamping process. The invention has reasonable structure, simple operation and convenient adjustment, and improves the grabbing efficiency and the grabbing effect.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention 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 description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A manipulator device convenient to adjust comprises a bottom plate (1), a fixing frame (5) and a clamping plate (20), and is characterized in that a first rotating shaft (2) is installed at the edge of the upper end of the bottom plate (1), a first air cylinder (3) is installed on the outer side of the first rotating shaft (2), the fixing frame (5) is arranged at the front end of the first air cylinder (3), and a second rotating shaft (4) is installed between the first air cylinder (3) and the fixing frame (5); the universal wheel (6) is installed at the bottom end of the fixing frame (5), the cylinder (7) is installed in the middle of the top end of the fixing frame (5), the first rolling bearing (8) is installed on the inner side of the cylinder (7), the first supporting rod (9) is installed on the inner side of the first rolling bearing (8), the first gear (12) is installed at the bottom end of the first supporting rod (9), the first motor (13) is installed at the right end of the inner side of the fixing frame (5), and the second gear (14) is installed at the front end of a rotating shaft of the first motor; a second cylinder (10) is installed on the inner side of the upper end of the first supporting rod (9), a second supporting rod (11) is installed at the front end of the second cylinder (10), and a long rod (15) is installed at the top end of the second supporting rod (11).

2. The manipulator device convenient to adjust of claim 1, wherein the limiting frame (16) is installed at each of the left end and the right end of the long rod (15), the third cylinder (17) is installed at the top end of the inner side of the limiting frame (16), the connecting rod (18) is installed at the front end of the third cylinder (17), the supporting frame (19) is installed at the bottom end of the connecting rod (18), the threaded rod (23) is installed at the middle portion of the inner side of the supporting frame (19), the second bevel gear (26) is installed at the middle portion of the threaded rod (23), the second motor (21) is installed at the inner side of the bottom end of the connecting rod (18), the first bevel gear (22) is installed at the front end of the rotating shaft of the second motor (21), the sliding block (25) is installed at the outer side of the threaded rod (23.

3. The manipulator device convenient for adjustment according to claim 1, characterized in that the bottom plate (1) and the fixed frame (5) are both circular in shape, and four first rotating shafts (2), four first air cylinders (3) and four second rotating shafts (4) are provided and are evenly distributed outside the fixed frame (5) in four groups.

4. The manipulator device for facilitating adjustment according to claim 3, wherein the first gear (12) and the second gear (14) are on the same horizontal line, and the first gear (12) is connected with the second gear (14) in a meshing manner.

5. The manipulator device convenient for adjustment according to claim 4, characterized in that four universal wheels (6) are evenly distributed on the bottom end of the fixed frame (5), and the long rod (15) and the second support rod (11) are T-shaped.

6. The manipulator device for facilitating adjustment according to claim 2, characterized in that the first bevel gear (22) is connected with a second bevel gear (26) in a meshing connection, and the second bevel gear (26) is fixedly connected with the middle part of the threaded rod (23).

7. The manipulator device convenient to adjust according to claim 6, wherein the left end and the right end of the threaded rod (23) are respectively provided with a second rolling bearing (24), two sliding blocks (25) are arranged on the outer side of the threaded rod (23), screw holes are formed in the middles of the two sliding blocks (25), and the rotation directions of the two screw holes are opposite.

8. The manipulator device for facilitating adjustment according to claim 7, wherein the clamping plate (20) and the non-slip mat (27) are formed in an L shape, and the non-slip mat (27) is made of rubber.