CN112659188A - Fixed program manipulator capable of testing autonomously - Google Patents
Fixed program manipulator capable of testing autonomously Download PDFInfo
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- CN112659188A CN112659188A CN202110050109.6A CN202110050109A CN112659188A CN 112659188 A CN112659188 A CN 112659188A CN 202110050109 A CN202110050109 A CN 202110050109A CN 112659188 A CN112659188 A CN 112659188A
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Abstract
The invention discloses a fixed program manipulator capable of being automatically tested, which comprises a control rod, wherein a control body is fixedly arranged on the lower end surface of the control rod, a control cavity is arranged in the control body, a power motor is fixedly arranged in the control rod, a connecting rod chute with a downward opening is communicated with the lower side of the control cavity, a threaded sleeve is fixedly connected between the front wall and the rear wall of the connecting rod chute, the lower end surface of the power motor extends into the control cavity and is connected with a worm sleeve in a power connection mode, and the left side and the right side of the worm sleeve are respectively meshed with a worm wheel rotatably connected to the rear wall of the control cavity. The installation cost and the manpower and material resources consumed by the test are saved, and the clamping injury of workers due to improper test is avoided.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a fixed program manipulator capable of performing autonomous test.
Background
In industrial production, the mechanical arm gradually replaces manual work to work, the mechanical arm is inevitably aged after being used for a long time and needs to be maintained, and once the mechanical arm is not maintained timely, production accidents that workpieces fall off can occur. The detection of the existing fixed program manipulator needs manual detection, wastes time and labor, needs higher working experience, and can hurt workers once the test is improper.
Disclosure of Invention
In order to solve the problems, the fixed program manipulator capable of performing the autonomous test is designed, and comprises a control rod, a control body is fixedly arranged on the lower end face of the control rod, a control cavity is arranged in the control body, a power motor is fixedly arranged in the control rod, a connecting rod chute with a downward opening is communicated with the lower side of the control cavity, a threaded sleeve is fixedly connected between the front wall and the rear wall of the connecting rod chute, the power of the lower end face of the power motor extends into the control cavity and is in power connection with a worm sleeve, the left side and the right side of the worm sleeve are respectively meshed with worm wheels rotatably connected to the rear wall of the control cavity, the front end faces of the left worm wheel and the right worm wheel are fixedly connected with first cranks, and the front end faces of the left crank and the right crank are both rotatably connected with first crank rotating shafts at positions far away from the, the front end surfaces of the left and right first crank rotating shafts are fixedly connected with a first connecting rod, second cranks respectively positioned at the lower sides of the left and right worm gears are arranged in the control cavity, the left and right second cranks are both rotationally connected with the rear wall of the control cavity, the front end surfaces of the left and right second cranks, which are far away from the axis, are both rotationally connected with a second crank rotating shaft, the front end surfaces of the left and right second crank rotating shafts are both fixedly connected with a connecting rod telescopic cavity, a telescopic sliding plate cavity is respectively arranged in the left and right telescopic sliding plate cavities, telescopic sliding plates capable of sliding up and down are respectively arranged in the left and right telescopic sliding plate cavities, a telescopic sliding plate spring is fixedly connected between the lower end surfaces of the left and right telescopic sliding plates and the lower wall of the telescopic sliding plate cavity, a telescopic sliding plate connecting rod is fixedly connected with the upper end surfaces of the left and right telescopic sliding plate, control two the terminal surface extends to under the flexible chamber of connecting rod control terminal surface downside and difference fixedly connected with jack catch connecting rod under the fuselage, control two equal fixedly connected with jack catch of jack catch connecting rod downside controls two the jack catch can carry out the centre gripping with the work piece.
Preferably, the left side right-hand member face of the jack catch and the right side left-hand member face of the jack catch are provided with anti-skidding grooves, and the left anti-skidding grooves and the right anti-skidding grooves can increase friction force.
Preferably, a worm sleeve cavity with a downward opening is arranged in the worm sleeve, a lifting screw rod capable of sliding up and down is arranged in the worm sleeve cavity, a telescopic spline chute with a forward opening is arranged in the lifting screw rod, a telescopic slide block cavity which is right opposite to the telescopic spline chute is arranged in the worm sleeve, a telescopic slide block capable of sliding back and forth is arranged in the telescopic slide block cavity, a telescopic spring is fixedly connected between the front end surface of the telescopic slide block and the front wall of the telescopic slide block cavity, an electromagnet is fixedly arranged in the front wall of the telescopic slide block cavity, a telescopic slide block connecting rod is fixedly arranged on the rear end face of the telescopic slide block, the rear end face of the telescopic sliding block connecting rod is fixedly connected with a telescopic spline, the rear end face of the telescopic spline is semicircular, the rear end face of the telescopic spline extends into the telescopic spline sliding groove and can slide up and down in the telescopic spline sliding groove.
Preferably, the lower end surface of the lifting screw rod penetrates through the threaded sleeve and extends to the lower side of the threaded sleeve, the outer circular surface of the lifting screw rod is in threaded connection with the threaded sleeve, the lower end surface of the lifting screw rod is fixedly connected with a detection box, the detection box is internally provided with a translation sliding groove with an opening which is left and right respectively, and is controlled by two translation sliding plates capable of sliding left and right and a left side are arranged in the translation sliding groove.
Preferably, the left end surface and the right end surface of the left translation sliding plate connecting rod and the right end surface of the right translation sliding plate connecting rod are respectively fixedly connected with a translation box, the left translation box and the right translation box are respectively internally provided with a lifting cavity, a guide sliding rod is fixedly connected between the upper wall and the lower wall of the left lifting cavity and the right lifting cavity, a lifting block capable of sliding up and down is respectively arranged in the left lifting cavity and the right lifting cavity, the left guide sliding rod and the right guide sliding rod respectively penetrate through the upper end surface and the lower end surface of the left lifting block and the right lifting block, a lifting block spring surrounding the guide sliding rod is fixedly connected between the upper end surface of the left lifting block and the upper wall of the right lifting cavity, the left end surface and the right end surface of the left lifting block are respectively fixedly connected with a lifting connecting rod, the left side and the right side of the lifting cavity are respectively communicated with a lifting, and the lower end surfaces of the left lifting block and the right lifting block are fixedly provided with third contact switches, and the lower walls of the left lifting cavity and the right lifting cavity are fixedly provided with fourth contact switches right opposite to the third contact switches.
But preferably, be equipped with bilateral symmetry's belt drive chamber in the control chamber back wall, control two worm wheel rear end face power extends to belt drive intracavity and axle center fixedly connected with driving pulley controls two second crank rear end face power extends to belt drive intracavity and axle center fixedly connected with driven pulley controls two driven pulley respectively with control two around being equipped with the belt between the driving pulley.
The invention has the beneficial effects that: according to the invention, by means of the mode designed in the manipulator, the worm gear drives the manipulator to work, and then the working state is switched by controlling the telescopic spline to stretch, so that a worker can detect the clamping capacity of the fixed program manipulator at any time and any place, the installation cost and the manpower and material resources consumed by testing are saved, and the worker is prevented from being injured by clamping due to improper testing.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic diagram of the overall structure of a fixed program manipulator capable of autonomous testing according to the present invention.
Fig. 2 is a schematic view of the structure a-a in fig. 1.
FIG. 3 is a schematic diagram of B-B in FIG. 1.
Fig. 4 is an enlarged schematic view of C in fig. 1.
Fig. 5 is an enlarged schematic view of D in fig. 2.
Detailed Description
The invention will now be described in detail with reference to fig. 1-5, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.
The invention relates to a fixed program manipulator capable of performing autonomous test, which comprises a control rod 11, wherein a control body 12 is fixedly arranged on the lower end surface of the control rod 11, a control cavity 14 is arranged in the control body 12, a power motor 13 is fixedly arranged in the control rod 11, a connecting rod chute 37 with a downward opening is communicated with the lower side of the control cavity 14, a threaded sleeve 38 is fixedly connected between the front wall and the rear wall of the connecting rod chute 37, the lower end surface of the power motor 13 extends into the control cavity 14 and is in power connection with a worm sleeve 15, the left side and the right side of the worm sleeve 15 are respectively engaged with a worm wheel 26 which is rotatably connected with the rear wall of the control cavity 14, the front end surfaces of the left worm wheel 26 and the right worm wheel 26 are fixedly connected with first cranks 27, and the front end surfaces of the left crank 27 and the right crank 27 are both rotatably connected with first crank, the front end surfaces of the left and right first crank rotating shafts 28 are fixedly connected with a first connecting rod 29, second cranks 30 respectively positioned at the lower sides of the left and right worm gears 26 are arranged in the control cavity 14, the left and right second cranks 30 are both rotatably connected with the rear wall of the control cavity 14, the positions, away from the axis, of the front end surfaces of the left and right second cranks 30 are both rotatably connected with a second crank rotating shaft 31, the front end surfaces of the left and right second crank rotating shafts 31 are both fixedly connected with a connecting rod telescopic cavity 32, the left and right connecting rod telescopic cavities 32 are both provided with telescopic sliding plate cavities 33, the left and right telescopic sliding plate cavities 33 are both provided with telescopic sliding plates 34 capable of sliding up and down, a telescopic sliding plate spring 36 is fixedly connected between the lower end surfaces of the left and right telescopic sliding plates 34 and the lower wall of the telescopic sliding plate cavity 33, and the upper end surfaces of the left and right telescopic, control two telescopic slide connecting rod 35 up end difference fixed connection is in controlling two terminal surface about under the first connecting rod 29 controls two terminal surface extends to under the flexible chamber 32 of connecting rod under the control fuselage 12 terminal surface downside and respectively fixedly connected with jack catch connecting rod 40 control two the equal fixedly connected with jack catch 41 of jack catch connecting rod 40 downside controls two jack catch 41 can carry out the centre gripping with the work piece.
Advantageously, the right end face of the left-side claw 41 and the left end face of the right-side claw 41 are provided with anti-slip grooves 42, and the left anti-slip grooves 42 and the right anti-slip grooves 42 can increase friction force.
Advantageously, a worm sleeve cavity 16 with a downward opening is arranged in the worm sleeve 15, a lifting screw rod 17 capable of sliding up and down is arranged in the worm sleeve cavity 16, a telescopic spline chute 18 with a forward opening is arranged in the lifting screw rod 17, a telescopic slide block cavity 20 opposite to the telescopic spline chute 18 is arranged in the worm sleeve 15, a telescopic slide block 21 capable of sliding back and forth is arranged in the telescopic slide block cavity 20, a telescopic spring 22 is fixedly connected between the front end surface of the telescopic slide block 21 and the front wall of the telescopic slide block cavity 20, an electromagnet 23 is fixedly arranged in the front wall of the telescopic slide block cavity 20, a telescopic slide block connecting rod 24 is fixedly arranged on the rear end face of the telescopic slide block 21, the rear end face of the telescopic sliding block connecting rod 24 is fixedly connected with a telescopic spline 25, the rear end face of the telescopic spline 25 is semicircular, the rear end face of the telescopic spline 25 extends into the telescopic spline sliding groove 18 and can slide up and down in the telescopic spline sliding groove 18.
Beneficially, the lower end surface of the lifting screw 17 penetrates through the threaded sleeve 38 and extends to the lower side of the threaded sleeve 38, the outer circular surface of the lifting screw 17 is in threaded connection with the threaded sleeve 38, the lower end surface of the lifting screw 17 is fixedly connected with a detection box 50, translation sliding grooves 51 with openings respectively towards left and right are arranged in the detection box 50, translation sliding plates 52 capable of sliding left and right are respectively arranged in the left and right translation sliding grooves 51, translation sliding plate connecting rods 56 are respectively and fixedly connected to the left end surface of the left translation sliding plate 52 and the right end surface of the right translation sliding plate 52, first contact switches 54 are respectively and fixedly connected to the right end surface of the left translation sliding plate 52 and the left end surface of the right translation sliding plate 52, second contact switches 55 directly facing the left and right first contact switches 54 are respectively and fixedly arranged on the left and right walls of the left and right translation sliding, the left and right end faces of the left and right translation sliding plates 52 are fixedly connected with the left and right walls of the left and right translation sliding grooves 51 through translation sliding plate springs 53.
Beneficially, the left end face and the right end face of the left translation sliding plate connecting rod 56 and the right end face of the right translation sliding plate connecting rod 56 are fixedly connected with a translation box 57, the left translation box 57 and the right translation box 57 are respectively internally provided with a lifting cavity 58, the left lifting cavity 58 and the right lifting cavity 58 are respectively fixedly connected with a guide slide rod 59, the left lifting cavity 58 and the right lifting cavity 58 are internally provided with a lifting block 60 capable of sliding up and down, the left guide slide rod 59 and the right guide slide rod 59 respectively penetrate through the upper end face and the lower end face of the left lifting block 60 and the lower end face of the right lifting block 60, the upper end face of the left lifting block 60 and the upper wall of the left lifting cavity 58 are fixedly connected with a lifting block spring 66 surrounding the guide slide rod 59, the left lifting block 60 and the right end faces are respectively fixedly connected with a lifting connecting rod 62, the left lifting cavity 58 and the right lifting cavity are respectively communicated with a lifting connecting rod sliding groove 61 The friction plate 63 is arranged, the lower end faces of the left lifting block 60 and the right lifting block 60 are respectively fixedly provided with a third contact switch 64, and the lower walls of the left lifting cavity 58 and the right lifting cavity 58 are respectively fixedly provided with a fourth contact switch 65 opposite to the third contact switches 64.
Beneficially, be equipped with bilateral symmetry's belt drive chamber 43 in the control chamber 14 back wall, control two worm wheel 26 rear end face power extends to in the belt drive chamber 43 and axle center fixedly connected with driving pulley 45, control two second crank 30 rear end face power extends to in the belt drive chamber 43 and axle center fixedly connected with driven pulley 46, control two driven pulley 46 respectively with control two around being equipped with belt 47 between the driving pulley 45.
The following describes in detail the use steps of a self-test capable fixed program manipulator in this document with reference to fig. 1 to 5:
in the initial state, the left and right first cranks 27 are located at the upper limit position, the left and right jaws 41 are located at the upper limit position, the lifting screw 17 is located at the upper limit position in the worm sleeve cavity 16, the telescopic slider 21 is located at the front limit position in the telescopic slider cavity 20, the left and right translational slide plate springs 53 make the left and right translational slide plates 52 away from each other, and the left and right lifting block springs 66 make the left and right lifting blocks 60 located at the upper limit position.
When the clamping device works, the power motor 13 is started, the power motor 13 drives the worm sleeve 15 to rotate, the worm sleeve 15 drives the worm wheel 26 to rotate through gear tooth meshing, the left and right worm wheels 26 drive the left and right first cranks 27 to rotate downwards, the left and right first cranks 27 drive the left and right first connecting rods 29 to slide downwards through the left and right first crank rotating shafts 28 respectively, the left and right worm wheels 26 drive the left and right driving belt pulleys 45 to rotate respectively, the left and right driving belt pulleys 45 drive the left and right driven belt pulleys 46 to rotate through the left and right belts 47 respectively, and further drive the left and right second cranks 30 to rotate, the left and right second cranks 30 drive the left and right connecting rod telescopic cavities 32 to swing downwards through the left and right second crank rotating shafts 31 respectively, the left and right connecting rod telescopic cavities 32 drive the left and right jaw connecting rods 40 to swing downwards, and further drive the left and right jaws 41, when a user needs to detect the durability of the manipulator, the electromagnet 23 is powered on, the electromagnet 23 drives the telescopic slider 21 to slide backwards and stretch to the telescopic spring 22 through magnetic force, the telescopic slider 21 drives the telescopic slider connecting rod 24 to slide backwards, so that the telescopic spline 25 extends into the telescopic spline sliding groove 18, the worm sleeve 15 drives the lifting screw rod 17 to rotate through the telescopic spline 25, the second crank 30 drives the lifting screw rod 17 to move downwards through threads, so that the detection box 50 is driven to move to a lower limit position, when the left and right claws 41 are close to each other, the left and right claws 41 drive the left and right friction plates 63 to approach each other, the left and right friction plates 63 drive the left and right lifting blocks 60 to approach each other through the left and right lifting connecting rods 62, and the left and right lifting blocks 60 drive the left and right translation boxes 57 to approach each other through the left and right guide slide rods 59, the left and right translation boxes 57 respectively drive the left and right translation sliding plates 52 to approach each other through the left and right translation sliding plate connecting rods 56, the left and right translation sliding plates 52 drive the left and right first contact switches 54 to approach each other and compress the translation sliding plate springs 53, when the left and right first contact switches 54 contact with the left and right second contact switches 55, the worker is reminded that the clamping force between the left and right clamping claws 41 reaches the standard, meanwhile, the left and right claws 41 drive the left and right friction plates 63 to move downwards, the left and right friction plates 63 drive the left and right lifting blocks 60 to move downwards through the left and right lifting connecting rods 62 and stretch the lifting block springs 66 respectively, the left and right lifting blocks 60 drive the left and right third contact switches 64 to slide downwards respectively, when the left and right third contact switches 64 contact with the fourth contact switch 65, the friction force between the left and right claws 41 is reminded to reach the standard.
The invention has the beneficial effects that: according to the invention, by means of the mode designed in the manipulator, the worm gear drives the manipulator to work, and then the working state is switched by controlling the telescopic spline to stretch, so that a worker can detect the clamping capacity of the fixed program manipulator at any time and any place, the installation cost and the manpower and material resources consumed by testing are saved, and the worker is prevented from being injured by clamping due to improper testing.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (6)
1. A fixed program manipulator capable of testing autonomously comprises a control rod, and is characterized in that: the lower end face of the control rod is fixedly provided with a control body, the control body is internally provided with a control cavity, the control rod is internally and fixedly provided with a power motor, the lower side of the control cavity is communicated with a connecting rod chute with a downward opening, a threaded sleeve is fixedly connected between the front wall and the rear wall of the connecting rod chute, the lower end face of the power motor extends into the control cavity and is connected with a worm sleeve in a power mode, the left side and the right side of the worm sleeve are respectively meshed with a worm wheel which is rotatably connected with the rear wall of the control cavity, the front end faces of the left worm wheel and the right worm wheel are fixedly connected with a first crank, the positions of the front end faces of the left crank and the right crank, which are far away from the axis of the worm wheel, are respectively and rotatably connected with a first crank rotating shaft, the front end faces of, the left and right second cranks are rotatably connected with the rear wall of the control cavity, the front end faces of the left and right second cranks are rotatably connected with a second crank rotating shaft far away from the axle center, the front end faces of the left and right second crank rotating shafts are fixedly connected with a connecting rod telescopic cavity, the left and right connecting rod telescopic cavities are respectively provided with a telescopic sliding plate cavity, the left and right telescopic sliding plate cavities are respectively provided with a telescopic sliding plate capable of sliding up and down, a telescopic sliding plate spring is fixedly connected between the lower end faces of the left and right telescopic sliding plates and the lower wall of the telescopic sliding plate cavity, the upper end faces of the left and right telescopic sliding plate cavities are respectively fixedly connected with a telescopic sliding plate connecting rod, the upper end faces of the left and right telescopic sliding plate connecting rods are respectively fixedly connected with the lower end faces of the left and right first connecting rods, the lower end faces of the left and, the left and right clamping jaws are fixedly connected to the lower sides of the clamping jaw connecting rods and can clamp a workpiece.
2. A fixed-program robot capable of autonomous testing as claimed in claim 1, characterized by: the left side the jack catch right-hand member face is equipped with anti-skidding groove with the right side the jack catch left end face, control two anti-skidding groove can increase frictional force.
3. A fixed-program robot capable of autonomous testing as claimed in claim 1, characterized by: the telescopic screw rod is characterized in that a worm sleeve cavity with a downward opening is formed in the worm sleeve, a lifting screw rod capable of sliding up and down is arranged in the worm sleeve cavity, a telescopic spline chute with a forward opening is arranged in the lifting screw rod, a telescopic slider cavity facing the telescopic spline chute is arranged in the worm sleeve, a telescopic slider capable of sliding back and forth is arranged in the telescopic slider cavity, a telescopic spring is fixedly connected between the front end face of the telescopic slider and the front wall of the telescopic slider cavity, an electromagnet is fixedly arranged in the front wall of the telescopic slider cavity, a telescopic slider connecting rod is fixedly arranged on the rear end face of the telescopic slider connecting rod, a telescopic spline is fixedly connected to the rear end face of the telescopic slider connecting rod, the rear end face of the telescopic spline is semicircular, and the rear end face of the telescopic spline extends into the telescopic spline chute and can slide up and down.
4. A fixed-program robot capable of autonomous testing as claimed in claim 1, characterized by: the lower end surface of the lifting screw rod penetrates through the threaded sleeve and extends to the lower side of the threaded sleeve, the outer circular surface of the lifting screw rod is in threaded connection with the threaded sleeve, terminal surface fixedly connected with detection case under the lift lead screw, be equipped with the opening respectively left and right translation spout in the detection case, control two all be equipped with ability horizontal slip's translation slide in the translation spout, the left side translation slide left end face and right side the equal fixedly connected with translation slide connecting rod of translation slide right-hand member face, left side translation slide right-hand member face and right side translation slide left end face is the first contact switch of fixedly connected with respectively, controls two about the translation spout two walls are fixed respectively just to controlling two about the translation spout the second contact switch of first contact switch controls two about translation slide both ends face respectively with control two between the translation spout left and right sides fixedly connected with translation slide spring between the two walls.
5. A fixed-program robot capable of autonomous testing as claimed in claim 4, characterized by: the left end surface and the right end surface of the left translation sliding plate connecting rod and the right end surface of the right translation sliding plate connecting rod are respectively fixedly connected with a translation box, a lifting cavity is respectively arranged in the left translation box and the right translation box, a guide sliding rod is fixedly connected between the upper wall and the lower wall of the left lifting cavity and the lower wall of the right lifting cavity, a lifting block capable of sliding up and down is respectively arranged in the left lifting cavity and the right lifting cavity, the left guide sliding rod and the right guide sliding rod respectively penetrate through the upper end surface and the lower end surface of the left lifting block and the right lifting block, a lifting block spring surrounding the guide sliding rod is fixedly connected between the upper end surface of the left lifting cavity and the upper wall of the right lifting cavity, the left end surface and the right end surface of the left lifting block are respectively fixedly connected with a lifting connecting rod, the left end surface and the right end surface of the left, and the lower end surfaces of the left lifting block and the right lifting block are fixedly provided with third contact switches, and the lower walls of the left lifting cavity and the right lifting cavity are fixedly provided with fourth contact switches right opposite to the third contact switches.
6. A fixed-program robot capable of autonomous testing as claimed in claim 5, characterized by: be equipped with bilateral symmetry's belt drive chamber in the control chamber back wall, control two worm wheel rear end face power extends to belt drive intracavity and axle center fixedly connected with drive pulley controls two second crank rear end face power extends to belt drive intracavity and axle center fixedly connected with driven pulley controls two driven pulley respectively with control two around being equipped with the belt between the drive pulley.
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| CN202110050109.6A CN112659188B (en) | 2021-01-14 | 2021-01-14 | Fixed program manipulator capable of testing autonomously |
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| CN202110050109.6A CN112659188B (en) | 2021-01-14 | 2021-01-14 | Fixed program manipulator capable of testing autonomously |
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| CN112659188B CN112659188B (en) | 2022-12-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113276148A (en) * | 2021-07-26 | 2021-08-20 | 南通海泰机械设备有限公司 | Mechanical clamping jaw manufactured by mechanical equipment |
| CN113478407A (en) * | 2021-06-02 | 2021-10-08 | 机械工业第九设计研究院有限公司 | Accurate clamping and positioning mechanism with elastic tensioning function |
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