CN113478518A

CN113478518A - Manipulator convenient to adjust and used for robot

Info

Publication number: CN113478518A
Application number: CN202110841705.6A
Authority: CN
Inventors: 杨威
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-07-26
Filing date: 2021-07-26
Publication date: 2021-10-08

Abstract

The invention discloses a manipulator convenient to adjust and used for a robot, which comprises a mechanical arm, a grabbing execution mechanism and a manipulator body, wherein the grabbing execution mechanism is arranged at the bottom of the mechanical arm, two manipulator bodies are symmetrically arranged at the bottom of the grabbing execution mechanism, a driving assembly for driving the two manipulator bodies to move relatively is arranged at the inner side of the grabbing execution mechanism, and the manipulator body comprises a manipulator seat, a mounting plate, a second bidirectional cylinder, a connecting block, an adjusting block, a mechanical finger, a stabilizing block, a guide rod and a guide column. The invention realizes the function of automatically adjusting the distance between the mechanical fingers, can ensure that materials with different widths or thicknesses are grabbed, ensures the position precision of the mechanical fingers after moving, further ensures the position precision of the grabbed materials, and can drive the two mechanical hand bodies to move relatively through the driving assembly, further enables the mechanical fingers at corresponding positions to move relatively, and realizes the grabbing of the materials.

Description

Manipulator convenient to adjust and used for robot

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator which is used for a robot and is convenient to adjust.

Background

In the technical fields of machining, transportation and the like, equipment is heavy, has large mass and is not suitable for manual transportation, so that the multifunctional manipulator, the electric hoist and the like are grabbed and transported. However, the distance between the mechanical fingers in the prior art is fixed and unadjustable, and only machines with fixed width or thickness can be grabbed and transported, so that the use is inconvenient, and the flexibility is poor. In current manipulator device, for example, utility model patent with application number 201320834983.X, including the manipulator seat, the manipulator seat is gone up the parallel and is equipped with a plurality of manipulator installation poles, and movable mounting has the mechanical finger on the manipulator installation pole, and this patent is adjusted the position of mechanical finger, and nevertheless the fixed effect of the mechanical finger after adjusting is relatively poor, leads to grabbing the position inaccuracy in the grabbing fortune process to the article of grabbing very easily drop, and its security performance is relatively poor, does not have convenient work.

Chinese patent publication No. CN206254198U discloses a manipulator device convenient for adjustment, which includes a manipulator seat, wherein mechanical fingers are disposed at upper and lower ends of the front surface of the manipulator seat, the mechanical fingers are connected to the manipulator seat through adjusting bolts, a chuck is disposed at the left side of the mechanical fingers, a bottom moving table is mounted at the bottom end of the mechanical fingers, and an adjusting rod is movably connected to the inside of the fixed table. Although the device adjusts the position of mechanical finger, the adjustment process is comparatively troublesome, and for manual adjustment, it is time-consuming and laborious to do not describe the concrete connection of another manipulator that corresponds with it.

Disclosure of Invention

The present invention has been made to solve the above problems, and an object of the present invention is to provide a robot hand for a robot, which is easy to adjust.

The invention realizes the purpose through the following technical scheme:

a manipulator convenient to adjust for a robot comprises a manipulator arm, a grabbing actuator and manipulator bodies, wherein the grabbing actuator is arranged at the bottom of the manipulator arm, two manipulator bodies are symmetrically arranged at the bottom of the grabbing actuator, a driving assembly for driving the two manipulator bodies to move synchronously and in opposite moving directions is arranged at the inner side of the grabbing actuator, each manipulator body comprises a manipulator seat, a mounting plate, a second bidirectional cylinder, a connecting block, an adjusting block, a mechanical finger, a stabilizing block, a guide rod and a guide column, the connecting block is connected to the middle of the top of the manipulator seat through a bolt and connected with the driving assembly, one side of the manipulator seat, which is far away from the other manipulator body, is connected with the mounting plate through a bolt, the second bidirectional cylinder is connected to the mounting plate through a bolt and is positioned at the inner side of the manipulator seat, two output ends of the second bidirectional cylinder are connected with an adjusting block through bolts, the adjusting block is connected to the inner side of the manipulator seat in a sliding manner, the inner side of the manipulator seat is further connected with a guide post through bolts, the guide post penetrates through the adjusting block and is connected with the adjusting block in a sliding manner, one side, close to the other manipulator body, of the adjusting block is fixedly connected with a mechanical finger, one side, far away from the adjusting block, of the mechanical finger is provided with a groove, a friction pad is bonded to the inner side of the groove, the bottom, close to the other manipulator body, of the manipulator seat is connected with a stabilizing block through bolts, two sides of the stabilizing block are connected with guide rods through bolts, one end, far away from the stabilizing block, of each guide rod penetrates through the mechanical finger and is connected with the mechanical finger in a sliding manner, the two adjusting blocks can be driven to move relatively through the second bidirectional cylinder, the adjusting block drives the mechanical finger to move, and the function of automatically adjusting the distance between the mechanical fingers is further realized, can guarantee to snatch the material of different width or thickness, can also lead to the regulating block through the guide post, make more stable when the regulating block removes, can also lead to mechanical finger through the guide bar, make more stable when mechanical finger removes, consequently, the precision of mechanical finger removal back position has been guaranteed, and then the precision of guaranteeing to snatch the material position, can also drive two manipulator body relative movement through drive assembly, and then make the mechanical finger relative movement of corresponding position, the snatching of material has been realized.

Preferably, drive assembly includes mount pad, first bidirectional cylinder, and the mount pad passes through bolted connection and snatchs the inboard top of actuating mechanism, and bolted connection has first bidirectional cylinder bottom the mount pad, and two output and connecting block fixed connection of first bidirectional cylinder set up like this and can pass through fixed first bidirectional cylinder of mount pad, and first bidirectional cylinder drives two manipulator bodies and removes, has realized the function of snatching the material.

Preferably, the drive assembly includes the centre block, positive and negative drive screw, actuating motor, the centre block passes through bolted connection and snatchs the inboard top of actuating mechanism, the centre block inboard is connected with positive and negative drive screw through the bearing, and positive and negative drive screw both ends extend to the centre block both sides, and pass through the bearing with snatching actuating mechanism and be connected, positive and negative drive screw one end still passes and snatchs actuating mechanism, and there is actuating motor through the coupling joint, it can drive positive and negative drive screw through actuating motor and rotate to set up like this, positive and negative drive screw drives two manipulator bodies and moves relatively, and then realized the function of snatching the material.

Preferably, the mechanical finger is connected with the adjusting block through a bolt and a positioning pin, so that the connection precision of the mechanical finger and the adjusting block is higher.

Preferably, the material of friction pad is rubber, and this setting can increase the friction between mechanical finger and the material through the friction pad, prevents to take place relative movement between material and the mechanical finger, leads to processing or assembly to receive the influence.

Preferably, the thickness of friction pad is greater than the degree of depth of recess, and the difference is 1mm, sets up like this and can pass through the deformation of friction pad for the mechanical finger snatchs the higher height of material.

Preferably, a certain gap exists between the lower end face of the friction pad and the side wall of the groove, so that after the friction pad is deformed, the deformed part is located between the material and the mechanical finger, and the grabbing of the material is influenced.

Preferably, the gap between the lower end surface of the friction pad and the side wall of the groove is 3-5 mm.

Preferably, two sets of stabilizing mean are arranged between the grabbing execution mechanism and the manipulator body, and the two sets of stabilizing mean are arranged on two sides of the driving component, so that the stability of the movement of the two manipulator bodies is improved.

Preferably, stabilizing mean includes stabilizer bar, slider, and the stabilizer bar passes through bolted connection and snatchs actuating mechanism inside bottom, and stabilizer bar outside sliding connection has two sliders, and two sliders are respectively through the manipulator seat top of bolted connection in two manipulator bodies, and the setting can be through the stabilizer bar to the slider direction like this, and the slider is fixed on the manipulator seat, and then has realized the function to the manipulator seat direction.

The technical scheme provided by the invention can have the following beneficial effects:

1. the two adjusting blocks can be driven by the second bidirectional cylinder to move relatively, and the adjusting blocks drive the mechanical fingers to move, so that the function of automatically adjusting the distance between the mechanical fingers is realized, and the materials with different widths or thicknesses can be guaranteed to be grabbed;

2. the adjusting block can be guided through the guide column, so that the adjusting block is more stable when moving, and the mechanical finger can be guided through the guide rod, so that the mechanical finger is more stable when moving, the position precision of the mechanical finger after moving is ensured, and the material grabbing position precision is further ensured;

3. can drive two manipulator bodies relative movement through drive assembly, and then make the mechanical finger relative movement of corresponding position, realize snatching the material.

Additional features of the invention and advantages thereof will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic diagram of an adjustable manipulator for a robot according to the present invention;

FIG. 2 is a front view of an adjustable manipulator for a robot according to the present invention;

FIG. 3 is a cross-sectional view A-A of an adjustable manipulator of the present invention for use with the robot of FIG. 2;

FIG. 4 is a B-B cross-sectional view of a first embodiment of an adjustable manipulator for a robot of the present invention shown in FIG. 2;

FIG. 5 is a schematic structural diagram of a manipulator body of an adjustable manipulator for a robot according to the present invention;

FIG. 6 is a front view of a manipulator body of an adjustable manipulator for a robot in accordance with the present invention;

figure 7 is a C-C cross-sectional view of a manipulator body of an adjustable manipulator for use in the robot of the invention of figure 6;

figure 8 is a B-B cross-sectional view of a second embodiment of an adjustable manipulator of the present invention for use with the robot of figure 2.

The reference numerals are explained below:

1. a robot arm; 2. a grabbing executing mechanism; 3. a manipulator body; 4. a stabilizing mechanism; 202. a mounting seat; 203. a first bidirectional cylinder; 21. a center block; 22. a forward and reverse drive lead screw; 23. an actuator motor; 301. a manipulator base; 302. mounting a plate; 303. a second bidirectional cylinder; 304. connecting blocks; 305. an adjusting block; 306. a mechanical finger; 307. a stabilizing block; 308. a guide bar; 309. a guide post; 3061. a groove; 3062. a friction pad; 401. a stabilizer bar; 402. a slide block.

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.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Example 1

As shown in fig. 1-7, a manipulator convenient to adjust for a robot includes a manipulator 1, a grabbing actuator 2 and a manipulator body 3, the grabbing actuator 2 is disposed at the bottom of the manipulator 1, two manipulator bodies 3 are symmetrically disposed at the bottom of the grabbing actuator 2, a driving assembly is disposed inside the grabbing actuator 2 and drives the two manipulator bodies 3 to move synchronously and move in opposite directions, the manipulator body 3 includes a manipulator base 301, a mounting plate 302, a second bidirectional cylinder 303, a connecting block 304, an adjusting block 305, a manipulator finger 306, a stabilizing block 307, a guide rod 308, and a guide column 309, the connecting block 304 is connected to a middle position of the top of the manipulator base 301 through a bolt, the connecting block 304 is connected to the driving assembly, the mounting plate 302 is connected to one side of the manipulator base 301 away from the other manipulator body 3 through a bolt, the mounting plate 302 is connected with a second bidirectional cylinder 303 through a bolt, the second bidirectional cylinder 303 is positioned on the inner side of the manipulator base 301, two output ends of the second bidirectional cylinder 303 are connected with an adjusting block 305 through a bolt, the adjusting block 305 is connected on the inner side of the manipulator base 301 in a sliding manner, the inner side of the manipulator base 301 is further connected with a guide post 309 through a bolt, the guide post 309 penetrates through the adjusting block 305 and is connected with the adjusting block 305 in a sliding manner, one side of the adjusting block 305 close to the other manipulator body 3 is fixedly connected with a mechanical finger 306, one side of the mechanical finger 306 far away from the adjusting block 305 is provided with a groove 3061, the inner side of the groove 3061 is bonded with a friction pad 3062, the bottom of one side of the manipulator base 301 close to the other manipulator body 3 is connected with a stabilizing block 307 through a bolt, two sides of the stabilizing block 307 are connected with a guide rod 308 through a bolt, one end of the guide rod 308 far away from the stabilizing block 307 passes through the mechanical finger 306, and is connected with the mechanical finger 306 in a sliding manner, so that the two adjusting blocks 305 can be driven to move relatively by the second bidirectional cylinder 303, the adjusting blocks 305 drive the mechanical finger 306 to move, thereby realizing the function of automatically adjusting the distance between the mechanical fingers 306, and ensuring that materials with different widths or thicknesses can be grabbed, the adjusting blocks 305 can be guided by the guide posts 309, so that the adjusting blocks 305 are more stable when moving, the mechanical finger 306 can be guided by the guide rods 308, so that the mechanical finger 306 is more stable when moving, the position precision of the mechanical finger 306 after moving is ensured, and the position precision of the grabbed materials is ensured, the two manipulator bodies 3 can be driven to move relatively by the driving assembly, thereby the mechanical fingers 306 at corresponding positions can move relatively, and the grabbing of the materials is realized, and the driving assembly comprises the mounting base 202, the positioning device and the positioning device, The first bidirectional cylinder 203, the mounting base 202 is connected to the top of the inner side of the grabbing actuator 2 through a bolt, the first bidirectional cylinder 203 is connected to the bottom of the mounting base 202 through a bolt, two output ends of the first bidirectional cylinder 203 are fixedly connected with the connecting block 304, the first bidirectional cylinder 203 can be fixed through the mounting base 202 in such a way, the first bidirectional cylinder 203 drives the two manipulator bodies 3 to move, so that the grabbing function of the material is realized, the mechanical finger 306 is connected with the adjusting block 305 through a bolt and is also connected through a positioning pin, so that the connection precision of the mechanical finger 306 and the adjusting block 305 is higher, the friction pad 3062 is made of rubber, the friction between the mechanical finger 306 and the material can be increased through the friction pad 3062 in such a way, the relative movement between the material and the mechanical finger 306 is prevented, the machining or assembling is prevented from being influenced, and the thickness of the friction pad 3062 is larger than the depth of the groove 3061, the difference is 1mm, so that the mechanical finger 306 can grasp the material by the deformation of the friction pad 3062, a certain gap exists between the lower end surface of the friction pad 3062 and the side wall of the groove 3061, so that after the deformation of the friction pad 3062, the deformed part is positioned between the material and the mechanical finger 306 to influence the grasping of the material, the gap between the lower end surface of the friction pad 3062 and the side wall of the groove 3061 is 3-5mm, two groups of stabilizing mechanisms 4 are arranged between the grasping executing mechanism 2 and the mechanical arm body 3, and the two groups of stabilizing mechanisms 4 are positioned at two sides of the driving assembly, so that the moving stability of the two mechanical arm bodies 3 is improved, the stabilizing mechanisms 4 comprise stabilizing rods 401 and sliding blocks 402, the stabilizing rods 401 are connected to the bottom of the inner side of the grasping executing mechanism 2 through bolts, two sliding blocks 402 are connected to the outer side of the stabilizing rods 401 in a sliding manner, and the two sliding blocks 402 are respectively connected to the tops of the mechanical arm seats 301 in the two mechanical arm bodies 3 through bolts, in this way, the slider 402 can be guided by the stabilizer bar 401, and the slider 402 is fixed to the robot base 301, thereby realizing the function of guiding the robot base 301.

In the structure, before use, according to the width or thickness of a material, the distance between the mechanical fingers 306 in the manipulator body 3 is adjusted, the second bidirectional cylinder 303 is started, the second bidirectional cylinder 303 drives the two adjusting blocks 305 to move, the adjusting blocks 305 drive the mechanical fingers 306 to move, at this time, the two mechanical fingers 306 relatively move until the distance between the two mechanical fingers 306 is proper, the position between the two mechanical fingers 306 in the other manipulator body 3 is adjusted by the same method, and the positions of the mechanical fingers 306 in the two manipulator bodies 3 are ensured to be corresponding, when in use, the grabbing executing mechanism 2 and the manipulator body 3 are driven by the mechanical arm 1 to move, so that the manipulator body 3 moves to the proper position, then the first bidirectional cylinder 203 is started, the first bidirectional cylinder 203 drives the two connecting blocks 304 to relatively move, and the connecting block 304 drives the manipulator base 301 to move, the manipulator seat 301 drives the adjusting block 305 to move, the adjusting block 305 drives the mechanical fingers 306 to move, and then the mechanical fingers 306 in the two manipulator bodies 3 move relatively, so that the function of grabbing and loosening materials is realized.

Example 2

As shown in fig. 8, embodiment 2 differs from embodiment 1 in that: drive assembly includes center block 21, positive and negative drive screw 22, actuating motor 23, center block 21 is connected at snatching 2 inboard tops of actuating mechanism through bolted connection, center block 21 is inboard to be connected with positive and negative drive screw 22 through the bearing, and positive and negative drive screw 22 both ends extend to center block 21 both sides, and with snatch actuating mechanism 2 and be connected through the bearing, positive and negative drive screw 22 one end is still passed and is snatched actuating mechanism 2, and there is actuating motor 23 through the coupling joint, it can drive positive and negative drive screw 22 through actuating motor 23 and rotate to set up like this, positive and negative drive screw 22 drives two manipulator body 3 relative movement, and then realized the function of snatching to the material.

In the structure, before use, the distance between the mechanical fingers 306 in the manipulator body 3 is adjusted according to the width or thickness of a material, the second bidirectional cylinder 303 is started, the second bidirectional cylinder 303 drives the two adjusting blocks 305 to move, the adjusting blocks 305 drive the mechanical fingers 306 to move, at the moment, the two mechanical fingers 306 move relatively until the distance between the two mechanical fingers 306 is proper, the position between the two mechanical fingers 306 in the other manipulator body 3 is adjusted by the same method, and the positions of the mechanical fingers 306 in the two manipulator bodies 3 are ensured to be corresponding, when in use, the grabbing actuator 2 and the manipulator body 3 are driven by the mechanical arm 1 to move, so that the manipulator body 3 moves to the proper position, then the actuator motor 23 is started, the actuator motor 23 drives the forward and reverse transmission lead screw 22 to rotate, the forward and reverse transmission lead screw 22 drives the two connecting blocks 304 to move relatively, the connecting block 304 drives the manipulator base 301 to move, the manipulator base 301 drives the adjusting block 305 to move, the adjusting block 305 drives the mechanical finger 306 to move, and then the mechanical finger 306 in the two manipulator bodies 3 moves relatively, so that the functions of grabbing and loosening materials are realized.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A manipulator that is convenient for adjust for robot, includes robotic arm, its characterized in that: the manipulator comprises a manipulator seat, a mounting plate, a second bidirectional cylinder, a connecting block, an adjusting block, a mechanical finger, a stabilizing block, a guide rod and a guide column, wherein the middle position of the top of the manipulator seat is connected with the connecting block through a bolt, the connecting block is connected with the driving assembly, one side of the manipulator seat, which is far away from the other manipulator body, is connected with the mounting plate through a bolt, the mounting plate is connected with the second bidirectional cylinder through a bolt, the second bidirectional cylinder is positioned at the inner side of the manipulator seat, the inner side of the manipulator seat is also connected with the guide column through a bolt, and the guide column penetrates through the adjusting block, and with regulating block sliding connection, there is the regulating block two outputs of second bidirectional cylinder through bolted connection, and regulating block sliding connection is inboard at the manipulator seat, one side fixedly connected with mechanical finger that the regulating block is close to another manipulator body, one side that the regulating block was kept away from to the mechanical finger is seted up flutedly, the inboard friction pad that bonds of recess, there is the steady piece manipulator seat one side bottom that is close to another manipulator body through bolted connection, there is the guide bar through bolted connection in the steady piece both sides, the one end that the steady piece was kept away from to the guide bar passes the mechanical finger, and with mechanical finger sliding connection.

2. An adjustable manipulator for a robot according to claim 1, characterized in that: the driving assembly comprises a mounting seat and a first bidirectional cylinder, the mounting seat is connected with the top of the inner side of the grabbing executing mechanism through a bolt, the bottom of the mounting seat is connected with the first bidirectional cylinder through a bolt, and two output ends of the first bidirectional cylinder are fixedly connected with the connecting block.

3. An adjustable manipulator for a robot according to claim 1, characterized in that: the drive assembly comprises a center block, a positive and negative transmission lead screw and an actuating motor, wherein the center block is connected with the top of the inner side of the actuating mechanism through a bolt, the inner side of the center block is connected with the positive and negative transmission lead screw through a bearing, the two ends of the positive and negative transmission lead screw extend to the two sides of the center block and are connected with the actuating mechanism through a bearing, one end of the positive and negative transmission lead screw penetrates through the actuating mechanism and is connected with the actuating motor through a coupler.

4. An adjustable manipulator for a robot according to claim 1, characterized in that: the mechanical fingers are connected with the adjusting blocks through bolts and are also connected through positioning pins.

5. An adjustable manipulator for a robot according to claim 1, characterized in that: the friction pad is made of rubber.

6. An adjustable manipulator for a robot according to claim 5, wherein: the thickness of the friction pad is larger than the depth of the groove, and the difference value is 1 mm.

7. An adjustable manipulator for a robot according to claim 6, wherein: a certain gap is formed between the lower end face of the friction pad and the side wall of the groove.

8. An adjustable manipulator for a robot according to claim 7, wherein: and the gap between the lower end surface of the friction pad and the side wall of the groove is 3-5 mm.

9. An adjustable manipulator for a robot according to claim 1, characterized in that: two groups of stabilizing mechanisms are arranged between the grabbing executing mechanism and the manipulator body and are positioned on two sides of the driving assembly.

10. An adjustable manipulator for a robot according to claim 9, wherein: the stabilizing mechanism comprises a stabilizer bar and two sliding blocks, the stabilizer bar is connected to the bottom of the inner side of the grabbing executing mechanism through bolts, the two sliding blocks are connected to the outer side of the stabilizer bar in a sliding mode, and the two sliding blocks are connected to the top of the manipulator seat in the manipulator body through bolts respectively.