CN115091497A

CN115091497A - Automatic change manipulator

Info

Publication number: CN115091497A
Application number: CN202210551665.6A
Authority: CN
Inventors: 王振严
Original assignee: Qingdao University of Science and Technology
Current assignee: Qingdao University of Science and Technology
Priority date: 2022-05-18
Filing date: 2022-05-18
Publication date: 2022-09-23

Abstract

The invention discloses an automatic manipulator which comprises a longitudinal top plate, wherein the bottom side wall of the longitudinal top plate is connected with a transverse top plate through a longitudinal displacement device, the bottom side wall of the transverse top plate is connected with a sliding plate through a transverse displacement device, the bottom side wall of the sliding plate is fixedly connected with a telescopic mechanism, the telescopic mechanism is vertically arranged, the bottom end of the telescopic mechanism is fixedly connected with a mounting plate, the bottom side wall of the mounting plate is fixedly connected with two clamping plates, each clamping plate is provided with a gas transmission device, and a compression cavity is formed in each clamping plate. The mechanical gripper is reasonable in design and ingenious in conception, can clamp articles in different shapes, greatly improves the practicability of the mechanical gripper, and meanwhile, only the longitudinal top plate needs to be installed on the top side wall of the machine room wall body through the bolts, installation is completed quickly, and the mechanical gripper is simple and convenient to install.

Description

Automatic change manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to an automatic manipulator.

Background

The existing hydraulic tongs have the following problems: at present, the mechanical gripper is single in grabbing mode, basically comprises a sucker type, a clamping type, an electromagnetic magnetic type and the like, wherein the sucker type and the electromagnetic magnetic type are the most common and are most applied, but in any form, objects which can be grabbed are single, the sucker type can only grab objects which are lightened in weight and have smooth surfaces, the electromagnetic magnetic type can only grab magnets which mainly comprise iron materials, the surfaces of the grabbed objects are smooth, the grabbing is limited more during grabbing, and the single function adaptability is poor; the construction volume is great when current mechanical tongs are installed, and current mechanical tongs mostly adopt the structural style of similar transport driving, erects the track in the mid-air in workshop promptly, follows the track motion with mechanical tongs, realizes snatching the transport effect, arranges whole construction volume big like this, and the installation is inconvenient.

Therefore, the multifunctional or practical performance of the mechanical gripper needs to be improved, and the problem that the installation is difficult and the construction amount is large in the existing installation mode is solved.

Disclosure of Invention

The present invention provides an automated manipulator to solve the problems set forth in the background above.

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

an automatic manipulator comprises a longitudinal top plate, wherein a transverse top plate is connected to the bottom side wall of the longitudinal top plate through a longitudinal displacement device, a sliding plate is connected to the bottom side wall of the transverse top plate through a transverse displacement device, a telescopic mechanism is fixedly connected to the bottom side wall of the sliding plate and is vertically arranged, a mounting plate is fixedly connected to the bottom end of the telescopic mechanism, two clamping plates are fixedly connected to the bottom side wall of the mounting plate, an air conveying device is arranged on each clamping plate, a compression chamber is arranged inside each clamping plate, a plurality of sliding channels are arranged on the side wall of each compression chamber, each sliding channel is arranged in a penetrating manner, a sliding plug is slidably connected in each sliding channel, an extrusion rod is fixedly connected to the side wall of each sliding plug, and a fixing ring is fixedly connected to the inner ring side wall of each sliding channel, every the cover is equipped with reset spring on the extrusion stem, every reset spring's one end fixed connection is on the lateral wall of slip stopper, every reset spring's the other end fixed connection is on the lateral wall of retainer plate, two the grip block is the symmetry setting.

As a further improvement scheme of the technical scheme: the longitudinal displacement device comprises two first fixing plates, two first fixing plates are fixedly connected to the bottom side wall of the longitudinal top plate, two first fixing rods are fixedly connected between the first fixing plates, two first threaded rods are rotatably connected between the first fixing plates, the two ends of each first threaded rod penetrate through the side walls of the two first fixing plates respectively, a first servo motor is fixedly connected to the bottom side wall of the longitudinal top plate, and an output shaft of the first servo motor is fixedly connected to one end of each first threaded rod.

As a further improvement scheme of the technical scheme: the transverse displacement device comprises two second fixing plates and two second fixing plates, wherein the two second fixing plates are fixedly connected to the bottom side wall of the transverse top plate and two second fixing rods are fixedly connected between the second fixing plates and two second threaded rods are rotatably connected between the second fixing plates, two second fixing plates are respectively penetrated through the two ends of each second threaded rod and are arranged on the side wall of the transverse top plate, a second servo motor is fixedly connected to the bottom side wall of the transverse top plate, and an output shaft of the second servo motor is fixedly connected to one end of each second threaded rod.

As a further improvement scheme of the technical scheme: the telescopic mechanism is a multi-stage hydraulic cylinder and is vertically arranged.

As a further improvement scheme of the technical scheme: every air delivery device includes the air suction pump, air suction pump fixed connection is on the lateral wall of grip block, every the air outlet end fixedly connected with air-supply pipe of air suction pump, the one end of air-supply pipe runs through the lateral wall of grip block and enters into inside the compression chamber.

As a further improvement scheme of the technical scheme: every the one end fixedly connected with of extrusion stem supports the pressure head, every it is the hemisphere setting to support the pressure head, every it adopts the rubber material to support the pressure head.

As a further improvement scheme of the technical scheme: each sliding channel is cylindrically arranged, and each sliding plug is arranged in a disc shape matched with the cross section of the sliding channel.

As a further improvement scheme of the technical scheme: and the outer side wall of the sliding plug is fixedly connected with a sealing ring.

As a further improvement scheme of the technical scheme: and a plurality of extrusion rods arranged in a rectangular array are arranged on the side wall of each clamping plate.

As a further improvement scheme of the technical scheme: first threaded rod and second threaded rod all adopt wear-resisting steel material.

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

the sliding plate can be moved to the position right above an article to be clamped by controlling the first servo motor and the second servo motor, then the telescopic mechanism is controlled to extend to drive the mounting plate to move downwards, when the article to be clamped is positioned between the two clamping plates below the mounting plate, two air suction pumps can be started to extend a plurality of extrusion rods out of the sliding channel at the moment, until one end of each extrusion rod is pressed against the side wall of the article through the pressing head, after the article is clamped, the first servo motor and the second servo motor are controlled to drive the article to go to the next process, then the air suction pumps are stopped to supply air to the compression chamber, and the air in the compression chamber is sucked out, at the moment, each reset spring can drive the extrusion rods to leave the side wall of the article through the sliding plugs, the device has reasonable design and ingenious conception, can clamp articles of different shapes, and the practicability of the mechanical gripper is greatly improved, meanwhile, only the longitudinal top plate is required to be mounted on the top side wall of the machine room wall through the bolt, so that the mounting is completed quickly, and the mounting is simple and convenient.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to make the technical solutions of the present invention practical in accordance with the contents of the specification, the following detailed description is given of preferred embodiments of the present invention with reference to the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.

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 application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention to a proper form. In the drawings:

fig. 1 is a schematic front structural view of an automated manipulator according to the present invention;

fig. 2 is a schematic perspective view of a clamping plate in an automated manipulator according to the present invention;

FIG. 3 is a schematic bottom view of an automated robot according to the present invention;

FIG. 4 is a schematic cross-sectional view of a bottom surface of a mounting plate of an automated robot according to the present invention;

fig. 5 is a schematic perspective view of a sliding plug and an extrusion rod of an automated robot according to the present invention;

fig. 6 is a partially enlarged structural diagram of a in fig. 4.

In the drawings, the components represented by the respective reference numerals are listed below:

1. a longitudinal top plate; 2. a first threaded rod; 3. a first fixing plate; 4. a first servo motor; 5. a first fixing lever; 6. a second fixing bar; 7. a transverse top plate; 8. a second threaded rod; 9. mounting a plate; 10. a clamping plate; 11. a second fixing plate; 12. a second servo motor; 13. an air suction pump; 14. an extrusion stem; 15. a telescoping mechanism; 16. a sliding plate; 17. pressing head; 18. a return spring; 19. a gas delivery pipe; 20. a compression chamber; 21. a sliding plug; 22. a seal ring; 23. a slide channel; 24. a stationary ring; 25. a wall body.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, the examples of which are set forth to illustrate the invention and are not intended to limit the scope of the invention. The present invention is more particularly described in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in simplified form and are not to precise scale, which is provided for the purpose of facilitating and distinctly claiming the embodiments of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for purposes of illustration only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 6, in an embodiment of the present invention, an automated manipulator includes a longitudinal top plate 1, a transverse top plate 7 is connected to a bottom side wall of the longitudinal top plate 1 through a longitudinal displacement device, a sliding plate 16 is connected to a bottom side wall of the transverse top plate 7 through a transverse displacement device, a telescoping mechanism 15 is fixedly connected to a bottom side wall of the sliding plate 16, the telescoping mechanism 15 is vertically disposed, a mounting plate 9 is fixedly connected to a bottom end of the telescoping mechanism 15, two clamping plates 10 are fixedly connected to a bottom side wall of the mounting plate 9, an air conveying device is disposed on each clamping plate 10, a compression chamber 20 is disposed inside each clamping plate 10, a plurality of sliding channels 23 are disposed on a side wall of each compression chamber 20, each sliding channel 23 is disposed in a penetrating manner, a sliding plug 21 is slidably connected to each sliding channel 23, and an extrusion rod 14 is fixedly connected to a side wall of each sliding plug 21, a fixed ring 24 is fixedly connected to the side wall of the inner ring of each sliding channel 23, a return spring 18 is sleeved on each extrusion rod 14, one end of each return spring 18 is fixedly connected to the side wall of the sliding plug 21, the other end of each return spring 18 is fixedly connected to the side wall of the fixed ring 24, and the two clamping plates 10 are symmetrically arranged.

Specifically, longitudinal displacement device includes two first fixed plates 3, the equal fixed connection of two first fixed plates 3 is on the end lateral wall of vertical roof 1, the first dead lever 5 of fixedly connected with between two first fixed plates 3, it is connected with first threaded rod 2 to rotate between two first fixed plates 3, the lateral wall of two first fixed plates 3 is run through respectively at the both ends of first threaded rod 2, the first servo motor 4 of fixedly connected with on the end lateral wall of vertical roof 1, the output shaft fixed connection of first servo motor 4 is in the one end of first threaded rod 2, the first servo motor 4 of accessible carries out in the same direction as rotating or anticlockwise rotation, first servo motor 4 can drive first threaded rod 2 and rotate, first threaded rod 2 rotates and can drive horizontal roof 7 and control longitudinal movement.

Specifically, the lateral displacement device includes two second fixed plates 11, the equal fixed connection of two second fixed plates 11 is on the end lateral wall of horizontal roof 7, fixedly connected with second dead lever 6 between two second fixed plates 11, it is connected with second threaded rod 8 to rotate between two second fixed plates 11, two second fixed plates 11 are run through respectively at the lateral wall at the both ends of second threaded rod 8, fixedly connected with second servo motor 12 on the end lateral wall of horizontal roof 7, the output shaft fixed connection of second servo motor 12 is in the one end of second threaded rod 8, control second servo motor 12 and go on in the same direction as rotating or anticlockwise rotation, second servo motor 12 can drive second threaded rod 8 and rotate, second threaded rod 8 rotates and can drive sliding plate 16 and carry out front and back lateral shifting.

Specifically, the telescopic mechanism 15 is a multi-stage hydraulic cylinder, and the telescopic mechanism 15 is vertically arranged.

Specifically, every air delivery device includes air suction pump 13, and air suction pump 13 fixed connection is on the lateral wall of grip block 10, and the air-out end fixed connection of every air suction pump 13 has air-supply pipe 19, and inside the lateral wall of grip block 10 and entering into compression chamber 20 was run through to the one end of air-supply pipe 19, and air suction pump 13 compresses in carrying compression chamber 20 with external air, and the air of compression this moment accessible a plurality of sliding plugs 21 drive a plurality of crushing poles 14 and stretch out sliding channel 23.

Specifically, one end of each extrusion rod 14 is fixedly connected with a pressure resisting head 17, each pressure resisting head 17 is arranged in a hemispherical shape, and each pressure resisting head 17 is made of rubber.

Specifically, each sliding channel 23 is arranged in a cylindrical shape, each sliding plug 21 is arranged in a disc shape matched with the cross section of the sliding channel 23, a sealing ring 22 is fixedly connected to the outer side wall of the sliding plug 21, and the sealing ring 22 can improve the sealing performance of the sliding plug 21 when sliding on the side wall of the sliding channel 23.

Specifically, a plurality of extrusion rods 14 arranged in a rectangular array are arranged on the side wall of each clamping plate 10, and the side walls of the clamped object can be clamped more firmly by the plurality of extrusion rods 14.

Specifically, the first threaded rod 2 and the second threaded rod 8 are made of wear-resistant steel.

The working principle of the invention is as follows:

firstly, a longitudinal top plate 1 is arranged on the top side wall of a wall body 25 through a bolt, then when an object needs to be grabbed, the longitudinal top plate can rotate clockwise or anticlockwise through a first servo motor 4, the first servo motor 4 can drive a first threaded rod 2 to rotate, the first threaded rod 2 can drive a transverse top plate 7 to move longitudinally left and right, and similarly, a second servo motor 12 can be controlled to rotate clockwise or anticlockwise, a second servo motor 12 can drive a second threaded rod 8 to rotate, the second threaded rod 8 can drive a sliding plate 16 to move transversely back and forth, so that the sliding plate 16 can be moved right above the object to be clamped through controlling the first servo motor 4 and the second servo motor 12, then a telescopic mechanism 15 is controlled to extend to drive a mounting plate 9 to move downwards, when the object to be clamped is positioned between two clamping plates 10 below the mounting plate 9, at this time, two air suction pumps 13 can be started to deliver outside air into the compression chamber 20 for compression, the compressed air can drive the extrusion rods 14 to extend out of the sliding channel 23 through the sliding plugs 21, when the extrusion rods 14 extend out, the sliding plugs 21 can compress the return spring 18, when the plurality of pressing bars 14 are extended, until one end of each pressing bar 14 is pressed against the side wall of the article by the pressing head 17, the plurality of squeezing rods 14 can squeeze the clamped object appropriately according to the concave-convex degree of the side wall of the clamped object, so as to clamp articles with different shapes, and then control the first servo motor 4 and the second servo motor 12 to drive the articles to be processed at the next step after clamping the articles, then, the air suction pump 13 is stopped to supply air to the compression chamber 20, and the air in the compression chamber 20 is sucked out of the outside, and each return spring 18 can drive the pressing rod 14 away from the side wall of the article through the sliding plug 21.

The foregoing is illustrative of the preferred embodiments of the present invention, and is not to be construed as limiting the invention in any way; one of ordinary skill in the art will readily appreciate from the disclosure that the present invention can be practiced as illustrated in the accompanying drawings and described above; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any equivalent changes, modifications and evolutions made to the above embodiments according to the substantial technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. The automatic manipulator comprises a longitudinal top plate (1) and is characterized in that a transverse top plate (7) is connected to the bottom side wall of the longitudinal top plate (1) through a longitudinal displacement device, a sliding plate (16) is connected to the bottom side wall of the transverse top plate (7) through a transverse displacement device, a telescopic mechanism (15) is fixedly connected to the bottom side wall of the sliding plate (16), the telescopic mechanism (15) is vertically arranged, a mounting plate (9) is fixedly connected to the bottom end of the telescopic mechanism (15), two clamping plates (10) are fixedly connected to the bottom side wall of the mounting plate (9), an air conveying device is arranged on each clamping plate (10), a compression chamber (20) is arranged inside each clamping plate (10), a plurality of sliding channels (23) are arranged on the side wall of each compression chamber (20), and each sliding channel (23) is arranged in a penetrating manner, every sliding connection has slip stopper (21) in sliding channel (23), every fixedly connected with extrusion pole (14), every on the lateral wall of slip stopper (21) fixedly connected with retainer plate (24), every on the inner circle lateral wall of sliding channel (23) the cover is equipped with reset spring (18), every on extrusion pole (14) the one end fixed connection of reset spring (18) is on the lateral wall of slip stopper (21), every the other end fixed connection of reset spring (18) is on the lateral wall of retainer plate (24), two grip block (10) is the symmetry and sets up.

2. The automated manipulator according to claim 1, wherein the longitudinal displacement device comprises two first fixing plates (3), the two first fixing plates (3) are fixedly connected to the bottom side wall of the longitudinal top plate (1), a first fixing rod (5) is fixedly connected between the two first fixing plates (3), a first threaded rod (2) is rotatably connected between the two first fixing plates (3), two ends of the first threaded rod (2) respectively penetrate through the side walls of the two first fixing plates (3), a first servo motor (4) is fixedly connected to the bottom side wall of the longitudinal top plate (1), and an output shaft of the first servo motor (4) is fixedly connected to one end of the first threaded rod (2).

3. The automated manipulator according to claim 2, wherein the lateral displacement device comprises two second fixing plates (11), the two second fixing plates (11) are fixedly connected to the bottom side wall of the lateral top plate (7), a second fixing rod (6) is fixedly connected between the two second fixing plates (11), a second threaded rod (8) is rotatably connected between the two second fixing plates (11), two ends of the second threaded rod (8) respectively penetrate through the two second fixing plates (11) to the side wall, a second servo motor (12) is fixedly connected to the bottom side wall of the lateral top plate (7), and an output shaft of the second servo motor (12) is fixedly connected to one end of the second threaded rod (8).

4. An automated manipulator according to claim 3, wherein the telescopic mechanism (15) is a multi-stage hydraulic cylinder, and the telescopic mechanism (15) is arranged vertically.

5. The automatic mechanical arm according to claim 4, wherein each air transmission device comprises an air suction pump (13), the air suction pumps (13) are fixedly connected to the side wall of the clamping plate (10), an air transmission pipe (19) is fixedly connected to an air outlet end of each air suction pump (13), and one end of each air transmission pipe (19) penetrates through the side wall of the clamping plate (10) and enters the compression chamber (20).

6. The automated manipulator according to claim 5, wherein one end of each extrusion rod (14) is fixedly connected with a pressure resisting head (17), each pressure resisting head (17) is arranged in a hemispherical shape, and each pressure resisting head (17) is made of rubber.

7. An automated manipulator according to claim 6, wherein each sliding channel (23) is cylindrical and each sliding plug (21) is disc-shaped and adapted to the cross section of the sliding channel (23).

8. An automated manipulator according to claim 7, characterized in that a sealing ring (22) is fixedly connected to the outer side wall of the sliding plug (21).

9. An automated manipulator according to claim 8, characterized in that a plurality of pressing rods (14) are provided in a rectangular array on the side walls of each clamping plate (10).

10. An automated manipulator according to claim 9, wherein the first threaded rod (2) and the second threaded rod (8) are made of wear-resistant steel.