CN111872924A

CN111872924A - Press from both sides and get stable manipulator device

Info

Publication number: CN111872924A
Application number: CN202010770677.9A
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 with stable clamping, which comprises a motor frame, a fixed frame and a fixed frame, wherein a first motor and a first threaded rod are installed on the inner side of the motor frame, and a sliding block and the fixed frame are arranged on the outer side of the first threaded rod; a limiting plate is mounted at the bottom end of the sliding block, a telescopic motor and a fixing plate are mounted at the bottom end of the limiting plate, a second motor and a second threaded rod are mounted in the middle of the bottom end of the fixing plate, and limiting rods are arranged on the left side and the right side of the second threaded rod; a cylinder is arranged on the outer side of the second threaded rod, a first rotating shaft, a first connecting rod, a second rotating shaft, a second connecting rod and a third rotating shaft are arranged on the outer side of the cylinder, and a clamping plate is arranged at the bottom end of the second connecting rod; the clamping plate bottom is equipped with the recess, and pressure sensor is installed to the inboard bottom of recess, and the quarter butt is installed to the pressure sensor front end, and spacing ring and spring are installed in the quarter butt outside, and the pressing plate is installed to the quarter butt front end. The clamping device is reasonable in structure, facilitates clamping of the workpiece by the manipulator, effectively protects the workpiece and improves the working efficiency.

Description

Press from both sides and get stable manipulator device

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator device with stable clamping.

Background

The automatic production technology can effectively shorten and stabilize the production period, not only improves the production efficiency, but also reduces the production cost, so that the manipulator applying the automatic production technology is widely applied in production in recent years. The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots at present, can see the figure of the robot in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like, and has the common characteristic of receiving an instruction and accurately positioning to a certain point on a three-dimensional (or two-dimensional) space to operate although the shapes of the robot are different; industrially, robots can replace the heavy labor of humans to achieve mechanization and automation of production. In order to improve the efficiency of industrial production and processing, the manipulator is mostly adopted to clamp and move articles, and the existing manipulator is easy to damage workpieces due to overlarge clamping force when clamping the workpieces; or the clamping force is small, so that the workpiece falls off in the process of clamping the moving workpiece, and the production efficiency of the workpiece is influenced.

Disclosure of Invention

The present invention is directed to a manipulator device with stable gripping, so as to solve the problems mentioned in the background art.

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

a manipulator device capable of stably clamping comprises a motor frame, a fixing frame and a fixing frame, wherein a first motor is installed on the inner side of the motor frame, a first threaded rod is installed at the front end of a rotating shaft of the first motor, a first rolling bearing is installed at the front end of the first threaded rod, a sliding block is installed on the outer side of the first threaded rod, and the fixing frame is installed on the front side of the motor frame; the limiting plate is installed to the slider bottom, and flexible motor is installed to the limiting plate bottom, and the fixed plate is installed to flexible motor front end, and the mount is installed to the fixed plate bottom left and right sides, and fixed plate bottom mid-mounting has the second motor, and the second threaded rod is installed to second motor shaft front end, and second antifriction bearing is installed to second threaded rod bottom, and the backup pad is installed in the second antifriction bearing outside, and the second threaded rod left and right sides is equipped with the gag lever post.

A cylinder is arranged on the outer side of the second threaded rod, a first rotating shaft is arranged on the outer side of the cylinder, a first connecting rod is arranged on the outer side of the first rotating shaft, a second rotating shaft is arranged at one end, away from the first rotating shaft, of the first connecting rod, a second connecting rod is arranged on the outer side of the second rotating shaft, a third rotating shaft is arranged in the middle of the second connecting rod, and a clamping plate is arranged at the bottom end of the second connecting rod; foam pad is installed to the clamp plate inboard, and the clamp plate bottom is equipped with the recess, and pressure sensor is installed to the inboard bottom of recess, and the quarter butt is installed to the pressure sensor front end, and the spacing ring is installed in the quarter butt outside, and the spring is installed to the spacing ring bottom, and the press board is installed to the quarter butt front end, presses the press board surface mounting to have the slipmat.

As a further scheme of the invention: the middle part of the sliding block is provided with a screw hole, the inner side of the screw hole is meshed with the outer side of the first threaded rod, and a first rolling bearing is arranged at the joint of the first threaded rod and the fixing frame.

As a further scheme of the invention: the limiting plate is I-shaped in cross section.

As a further scheme of the invention: the inner side of the cylinder is provided with threads, and the outer side of the second threaded rod is meshed with the inner side of the cylinder.

As a further scheme of the invention: the section shapes of the fixing frame and the limiting rod are in the shape of a Chinese character kou, the fixing frame and the limiting rod are both provided with two groups of fixing frames and two groups of limiting rods, and the two groups of fixing frames are arranged at the bottom end of the fixing plate and are symmetrical about the middle of the fixing plate.

As a further scheme of the invention: the clamping plate is arc-shaped, and the front end of the pressure sensor is connected with the bottom end of the short rod.

As a further scheme of the invention: the shape of recess is cylindric, and recess inboard and spacing ring unsmooth connection, the section shape of slipmat is the wave form.

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

in the manipulator device for stably clamping, a first motor controls a first threaded rod to rotate, so that a sliding block can conveniently move left and right on the inner side of a fixed frame, and a limiting plate is in concave-convex connection with the bottom end of the fixed frame, so that the sliding block can conveniently move; the second motor rotates to control the second threaded rod to rotate, so that the cylinder can move up and down conveniently, the cylinder drives the first rotating shaft to move on the inner side of the limiting rod, the rotation of the cylinder is avoided, and the first rotating shaft, the first connecting rod, the second rotating shaft, the second connecting rod and the third rotating shaft drive the clamping plate to rotate, so that the clamping is convenient; the bottom end of the clamping plate is provided with a pressure sensor and a pressing plate, when the value of the pressure sensor reaches a set value, the second motor stops rotating, the clamping plate finishes clamping the workpiece, and the condition that the workpiece is damaged or falls is avoided. The clamping device is reasonable in structure and simple in operation, facilitates clamping of a workpiece by the manipulator, guarantees clamping force of the manipulator, effectively protects the workpiece and improves working efficiency.

Drawings

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

Fig. 2 is a schematic structural view of a sliding block and a fixing frame in the present invention.

Fig. 3 is a schematic structural view of the bottom end of the fixing plate of the present invention.

Fig. 4 is a schematic view of the bottom end of 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-motor frame, 2-first motor, 3-first threaded rod, 4-first rolling bearing, 5-fixing frame, 6-sliding block, 7-limiting plate, 8-telescopic motor, 9-fixing plate, 10-fixing frame, 11-second motor, 12-second threaded rod, 13-limiting rod, 14-supporting plate, 15-second rolling bearing, 16-cylinder, 17-first rotating shaft, 18-first connecting rod, 19-second rotating shaft, 20-second connecting rod, 21-third rotating shaft, 22-clamping plate, 23-foam pad, 24-groove, 25-pressure sensor, 26-short rod, 27-limiting ring, 28-spring, 29-pressing plate, 30-anti-slip pad, 31-pulley.

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 for stably clamping comprises a motor frame 1, a fixing frame 5 and a fixing frame 10, wherein a first motor 2 is installed on the inner side of the motor frame 1, a first threaded rod 3 is installed at the front end of a rotating shaft of the first motor 2, a first rolling bearing 4 is installed at the front end of the first threaded rod 3, a sliding block 6 is installed on the outer side of the first threaded rod 3, the fixing frame 5 is installed on the front side of the motor frame 1, a screw hole is formed in the middle of the sliding block 6, the inner side of the screw hole is meshed and connected with the outer side of the first threaded rod 3, and the first rolling bearing 4 is installed at; a limiting plate 7 is arranged at the bottom end of the sliding block 6, and the section of the limiting plate 7 is I-shaped; flexible motor 8 is installed to 7 bottoms of limiting plate, fixed plate 9 is installed to flexible motor 8 front ends, mount 10 is installed to the 9 bottom left and right sides of fixed plate, 9 bottom mid-mounting of fixed plate has second motor 11, second threaded rod 12 is installed to 11 pivot front ends of second motor, second antifriction bearing 15 is installed to 12 bottoms of second threaded rod, backup pad 14 is installed in the 15 outside of second antifriction bearing, the 12 left and right sides of second threaded rod are equipped with gag lever post 13,

mount

10 and 13's profile shape are the mouth style of calligraphy, mount 10 and gag lever post 13 all are equipped with two, divide into two sets ofly and install in fixed plate 9 bottom, and about 9 middle part symmetries of fixed plate.

A cylinder 16 is arranged on the outer side of the second threaded rod 12, threads are arranged on the inner side of the cylinder 16, and the outer side of the second threaded rod 12 is meshed with the inner side of the cylinder 16; a first rotating shaft 17 is installed on the outer side of the cylinder 16, a first connecting rod 18 is installed on the outer side of the first rotating shaft 17, a second rotating shaft 19 is installed at one end, far away from the first rotating shaft 17, of the first connecting rod 18, a second connecting rod 20 is installed on the outer side of the second rotating shaft 19, a third rotating shaft 21 is installed in the middle of the second connecting rod 20, and a clamping plate 22 is installed at the bottom end of the second connecting rod 20; a foam pad 23 is arranged on the inner side of the clamping plate 22, a groove 24 is formed in the bottom end of the clamping plate 22, a pressure sensor 25 is arranged at the bottom end of the inner side of the groove 24, a short rod 26 is arranged at the front end of the pressure sensor 25, the clamping plate 22 is arc-shaped, and the front end of the pressure sensor 25 is connected with the bottom end of the short rod 26; a limiting ring 27 is arranged on the outer side of the short rod 26, a spring 28 is arranged at the bottom end of the limiting ring 27, a pressing plate 29 is arranged at the front end of the short rod 26, an anti-skid pad 30 is arranged on the surface of the pressing plate 29, the groove 24 is cylindrical, the inner side of the groove 24 is in concave-convex connection with the limiting ring 27, and the cross section of the anti-skid pad 30 is wavy; when the value of the pressure sensor 25 reaches a set value, the second motor 11 stops rotating, and the clamping plate 22 finishes clamping the workpiece, so that the workpiece is prevented from being damaged or falling.

Example 2

Referring to fig. 5, in the embodiment of the present invention, a manipulator device for stably clamping includes a motor frame 1, a fixing frame 5 and a fixing frame 10, a first motor 2 is installed inside the motor frame 1, a first threaded rod 3 is installed at a front end of a rotating shaft of the first motor 2, a first rolling bearing 4 is installed at a front end of the first threaded rod 3, a sliding block 6 is installed outside the first threaded rod 4, and the fixing frame 5 is installed at a front side of the motor frame 1; a limiting plate 7 is mounted at the bottom end of the sliding block 6, a telescopic motor 8 is mounted at the bottom end of the limiting plate 7, a fixing plate 9 is mounted at the front end of the telescopic motor 8, fixing frames 10 are mounted on the left side and the right side of the bottom end of the fixing plate 9, and a second motor 11 is mounted in the middle of the bottom end of the fixing plate 9; the section shape of limiting plate 7 is the I shape, and limiting

plate

7 and 5 bottom concave-convex connections of fixed frame are installed to limiting plate 7 upper end inboard and are had pulley 31, and pulley 31 makes things convenient for limiting plate 7 to drive slider 6 and removes in 5 inboards of fixed frame, is convenient for adjust the position of manipulator, effectual improvement work efficiency. The other structure in this embodiment is the same as that in embodiment 1.

The working principle of the invention is as follows:

in the manipulator device for stably clamping, the first motor 2 controls the first threaded rod 3 to rotate, so that the sliding block 6 can conveniently move left and right on the inner side of the fixed frame 5, and the limiting plate 7 is in concave-convex connection with the bottom end of the fixed frame 5, so that the sliding block 6 can conveniently move; the second motor 11 rotates to control the second threaded rod 12 to rotate, so that the cylinder 16 can move up and down conveniently, the cylinder 16 drives the first rotating shaft 17 to move on the inner side of the limiting rod 13, the cylinder 16 is prevented from rotating, and the first rotating shaft 17, the first connecting rod 18, the second rotating shaft 19, the second connecting rod 20 and the third rotating shaft 21 drive the clamping plate 22 to rotate, so that clamping is convenient; the bottom end of the clamping plate 22 is provided with a pressure sensor 25 and a pressing plate 29, when the value of the pressure sensor 25 reaches a set value, the second motor 11 stops rotating, the clamping plate 22 finishes clamping the workpiece, and the condition that the workpiece is damaged or falls is avoided. The clamping device is reasonable in structure and simple in operation, facilitates clamping of a workpiece by the manipulator, guarantees clamping force of the manipulator, effectively protects the workpiece and improves working efficiency.

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. The utility model provides a press from both sides and get stable manipulator device, includes motor frame (1), fixed frame (5) and mount (10), and fixed frame (5) are installed to motor frame (1) front side, and fixed frame (5) below is equipped with mount (10), its characterized in that, first motor (2) are installed to motor frame (1) inboard, and first threaded rod (3) are installed to first motor (2) pivot front end, and first antifriction bearing (4) are installed to first threaded rod (3) front end, and slider (6) are installed in first threaded rod (3) outside, and limiting plate (7) are installed to slider (6) bottom, and flexible motor (8) are installed to limiting plate (7) bottom, and fixed plate (9) are installed to flexible motor (8) front end, and mount (10) are installed to fixed plate (9) bottom left and right sides, and the mid-mounting has second motor (11) in fixed, a second threaded rod (12) is installed at the front end of a rotating shaft of a second motor (11), a second rolling bearing (15) is installed at the bottom end of the second threaded rod (12), a supporting plate (14) is installed on the outer side of the second rolling bearing (15), and limiting rods (13) are arranged on the left side and the right side of the second threaded rod (12).

2. The manipulator device for clamping stability as claimed in claim 1, wherein a cylinder (16) is installed outside the second threaded rod (12), a first rotating shaft (17) is installed outside the cylinder (16), a first connecting rod (18) is installed outside the first rotating shaft (17), a second rotating shaft (19) is installed at one end of the first connecting rod (18) far away from the first rotating shaft (17), a second connecting rod (20) is installed outside the second rotating shaft (19), a third rotating shaft (21) is installed in the middle of the second connecting rod (20), and a clamping plate (22) is installed at the bottom end of the second connecting rod (20).

3. The manipulator device for clamping stability according to claim 2, wherein a foam pad (23) is installed on the inner side of the clamping plate (22), a groove (24) is formed in the bottom end of the clamping plate (22), a pressure sensor (25) is installed on the bottom end of the inner side of the groove (24), a short rod (26) is installed at the front end of the pressure sensor (25), a limiting ring (27) is installed on the outer side of the short rod (26), a spring (28) is installed at the bottom end of the limiting ring (27), a pressing plate (29) is installed at the front end of the short rod (26), and an anti-skid pad (30) is installed on the surface of the pressing plate.

4. The manipulator device for clamping stability as claimed in claim 3, wherein a screw hole is formed in the middle of the sliding block (6), the inner side of the screw hole is engaged with the outer side of the first threaded rod (3), and a first rolling bearing (4) is mounted at the joint of the first threaded rod (3) and the fixing frame (5).

5. The manipulator device for clamping stability as claimed in claim 4, wherein the cross-sectional shape of the limiting plate (7) is I-shaped.

6. The manipulator device for clamping stability as claimed in claim 5, characterized in that the cylinder (16) is internally threaded, the outside of the second threaded rod (12) engaging with the inside of the cylinder (16).

7. The manipulator device for clamping and stabilizing as claimed in claim 6, wherein the cross-sectional shapes of the fixed frame (10) and the limiting rod (13) are both square, and two fixed frames (10) and two limiting rods (13) are provided, are divided into two groups, are arranged at the bottom end of the fixing plate (9), and are symmetrical with respect to the middle of the fixing plate (9).

8. The manipulator device with stable gripping as claimed in claim 7, wherein the shape of the gripping plate (22) is circular arc, and the front end of the pressure sensor (25) is connected to the bottom end of the short rod (26).

9. The manipulator device for clamping stability as claimed in claim 7, wherein the groove (24) is cylindrical, the inner side of the groove (24) is concave-convex connected with the limiting ring (27), and the cross section of the non-slip mat (30) is wavy.