CN117140491A - Clamping anti-drop structure of slidable manipulator - Google Patents
Clamping anti-drop structure of slidable manipulator Download PDFInfo
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- CN117140491A CN117140491A CN202311422987.1A CN202311422987A CN117140491A CN 117140491 A CN117140491 A CN 117140491A CN 202311422987 A CN202311422987 A CN 202311422987A CN 117140491 A CN117140491 A CN 117140491A
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- 230000001681 protective effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 17
- 230000008569 process Effects 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a clamping anti-drop structure of a slidable manipulator, which comprises a base, wherein a fixed pipe is arranged above the base, a rotating support rod is arranged above the fixed pipe, a slide rail rod is arranged on one side of the rotating support rod, one end of the slide rail rod is provided with a free movable block, an accuracy steering mechanism is arranged below the free movable block, an accuracy telescopic structure is arranged below the accuracy steering mechanism, the accuracy telescopic structure comprises an accuracy rotating shaft, and a clamping mechanism is arranged below the accuracy telescopic structure. This centre gripping anti falling structure of slidable formula manipulator, at the in-process of carrying out daily use, the accessible rotates the bracing piece and adjusts the approximate position of fixture and centre gripping thing, can carry out the adjustment on the position to fixture through precision steering mechanism and the precision telescopic machanism that sets up, makes fixture's clamping lever and centre gripping thing closely laminate, can make fixture quick travel through the free movable block that sets up, can make centre gripping object quick travel position.
Description
Technical Field
The invention relates to the technical field of new generation information, in particular to a clamping anti-falling structure of a slidable manipulator.
Background
A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The robot arm is characterized in that various expected operations can be completed through programming, the structure and the performance of the robot arm have the advantages of people and a mechanical mobile phone, the mechanical arm is the earliest industrial robot, and is the earliest modern robot, the robot arm can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environments to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like, and the robot arm is the biggest difference from the arm with people in terms of flexibility and strength under the development of technological daily and lunar benefits in the present life. That is, the maximum advantage of the manipulator can repeatedly do the same action and the manipulator can never feel tired under normal conditions-! The application of mechanical arms is also becoming more and more widespread, and mechanical arms are a high-tech automatic production device developed in recent decades, and the accuracy of operation and the ability to complete operation in the environment. An important branch of industrial manipulator robots is that mechanical gripping is required in the process of grabbing objects by a manipulator, typically, a gripper is placed at the end, and the gripper is a device for holding the objects and further manipulating the objects. It is capable of clamping and unclamping objects while performing certain actions. The movement device often mimics the movement of a human body and, in the case of a gripper, the movement of a finger. The "fingers" themselves do not belong to the gripper, they are simply dedicated custom tools for gripping objects, called "jaws", which generally have two main gripping actions, external gripping: this is the most common method of gripping objects, which is the simplest and requires the shortest stroke length. The object is gripped by the clamp force applied by the clamp when the clamp jaws are closed. Internal clamping: in some applications, it is desirable to grip the object from the center, either due to the geometry of the object, or because access to the outside of the object is required. In this case, the holder will hold the object by an expanding force, while a moving or sliding device is usually used in combination for facilitating the movement of the held object.
The clamping device of traditional manipulator snatchs the object through the arm of a plurality of clamps generally, and this clamping lever of grabbing is used a plurality of power supplies or need other mechanisms to assist just can firmly grasp the object, and traditional manipulator wants to remove the position of object after the centre gripping object simultaneously, then needs a plurality of mechanisms to mutually support and use, just can make the object remove, can't remove the position conversion of object completion fast, and in the removal in-process if want to let the state of object invariable then need the axis of rotation on the manipulator to cooperate the manipulator to rotate, can make the rotation range of whole manipulator grow, can send the problem with other object collisions at the removal in-process.
Disclosure of Invention
The invention aims to provide a clamping anti-drop structure of a sliding manipulator, so as to solve the problems that in the prior art, a clamping device of the traditional manipulator is required to grab an object through a plurality of clamping arms, meanwhile, the traditional manipulator is required to move the position of the object after clamping the object, a plurality of mechanisms are required to be mutually matched for use, the object cannot be moved rapidly to finish position conversion of the object, and in the moving process, if the state of the object is required to be unchanged, a rotating shaft of the manipulator is required to be matched with the manipulator for rotation, the rotation amplitude of the whole manipulator is increased, and collision with other objects is transmitted in the moving process.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a slidable formula manipulator's centre gripping anti falling structure, includes the base, the top of base is provided with the fixed pipe, the bottom surface of fixed pipe and the top surface fixed connection of base, the top of fixed pipe is provided with the rotation bracing piece, the upper end of rotation bracing piece is provided with the connecting block, one side of connecting block is provided with the slide pole, the one end of slide pole is provided with the free movable block, the below of free movable block is provided with precision steering mechanism, precision steering mechanism is including pivot and U-shaped stopper, the bottom surface of pivot and the top surface fixed connection of U-shaped stopper, the below of U-shaped stopper is provided with the rotation connecting rod, the below of rotation connecting rod is provided with precision telescopic structure, precision telescopic structure is including the precision pivot, precision telescopic structure's below is provided with clamping mechanism, clamping mechanism is including flexible clamping lever.
Preferably, the bottom surface of base is provided with the rubber slab, the standing groove has been seted up to the four corners of base, the top surface of standing groove is provided with dumbbell piece gag lever post, the excircle wall of dumbbell piece gag lever post is provided with opening dumbbell piece, the inside of fixed pipe is provided with the steering pivot, the top surface of fixed pipe is provided with the track pole, the top surface of steering pivot is provided with the screw thread bull stick, the bottom surface of rotation bracing piece is provided with spacing expansion ring, the top surface of rotation bracing piece is provided with the button head gag lever post, the top surface of rotation bracing piece is provided with the button head spacing axle.
Preferably, a connecting plate is arranged on one side of the slideway rod, a connecting nail is arranged on one side of the connecting plate, a pulley groove is formed in the top surface of the slideway rod, and a T-shaped stop block is arranged at one end of the slideway rod.
Preferably, the top surface of the free movable block is provided with a motor, a movable groove is formed in the free movable block, two pulleys are arranged in the movable groove, and a connecting bottom plate is arranged on the bottom surface of the free movable block.
Preferably, an angle steering shaft is arranged on one side of the U-shaped limiting block, a fixed block is arranged on the bottom surface of the rotating connecting rod, and a fixed nail is arranged on the top surface of the fixed block.
Preferably, the top surface of the precision steering mechanism is provided with a threaded connection nail, and the top surface of the precision steering mechanism is provided with a fixed connecting rod.
Preferably, the top of precision pivot is provided with smart spiral shell pole, the top of precision pivot is provided with spacing quarter butt, the top surface of spacing quarter butt is provided with foraminiferous spacing circle piece, the outside of precision pivot is provided with protecting sheathing, fixed connection hole has been seted up to the top surface of precision extending structure.
Preferably, the clamping mechanism comprises a telescopic clamping rod and a clamping linkage shaft, and a linkage toothed bar is arranged in the telescopic clamping rod.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the clamping anti-drop structure of the slidable manipulator, in the daily use process, the clamping mechanism can be moved to an accessory of an object to be clamped through the rotating support rod, the steering of the clamping mechanism is adjusted through the precision steering mechanism, clamping is carried out by matching the clamping object at an optimal angle, the distance between the clamping mechanism and the clamping object is adjusted through the precision telescopic structure, the clamping object and the clamping rod of the clamping mechanism are precisely attached to each other for mutual matching, the clamping object can be simply and rapidly clamped, the clamping object and the clamping rod are precisely attached to each other, the complexity of mutual matching and use of the clamping assembly is effectively reduced, and the problem that the clamping object can be sent loose in the clamping process is effectively avoided;
2. according to the clamping anti-drop structure of the slidable manipulator, in the daily use process, the supporting rods can be rotated to adjust the approximate positions of the clamping mechanism and the clamping object, so that the clamping mechanism is arranged above the clamping object, the clamping mechanism can be adjusted in position through the arranged precision steering mechanism and the precision telescopic mechanism, the clamping rod of the clamping mechanism is tightly attached to the clamping object, the clamping mechanism can be moved quickly through the arranged free movable blocks, and the clamping object can be moved quickly;
3. this a centre gripping anti-drop structure of slidable formula manipulator, in the in-process of carrying out daily use, through the rotation bracing piece that sets up, can make fixture carry out free rotation in the horizontal direction, make the fixture can be quick remove the top of centre gripping thing, can carry out the adjustment of a small circle to fixture through the precision steering mechanism and the precision telescopic machanism that set up, the problem that makes the too big other objects of collision of subassembly cooperation operation range when the centre gripping object has been avoided to fixture, simultaneously through the free movable block that sets up, can make fixture remove the assigned position fast in the removal in-process, and do not need other subassembly cooperation rotation, effectively avoid the problem that the movable type of object needs the too big other objects of collision of subassembly cooperation operation range.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a schematic view of a portion of a rotary support mechanism according to the present invention;
FIG. 3 is a schematic view of a portion of a slide bar mechanism according to the present invention;
FIG. 4 is a schematic view of the structure of the free moving block mechanism part of the present invention;
FIG. 5 is a schematic diagram of a portion of the structure of the precision steering mechanism of the present invention;
fig. 6 is a schematic view of a part of the structure of the precision telescoping mechanism of the present invention.
In the figure: 1. a base; 101. a rubber plate; 102. a placement groove; 103. dumbbell piece limit bars; 104. opening dumbbell sheet; 2. a fixed tube; 201. a direction-adjusting rotating shaft; 202. a track rod; 203. a threaded rotating rod; 3. rotating the support rod; 301. a limiting movable ring; 302. a round head limit rod; 4. a connecting block; 5. a slideway rod; 501. a connecting plate; 502. connecting nails; 503. pulley grooves; 504. a T-shaped stop; 6. a free movable block; 601. a motor; 602. a movable groove; 603. a pulley; 604. a connecting bottom plate; 7. a precision steering mechanism; 701. a rotation shaft; 702. a U-shaped limiting block; 703. rotating the connecting rod; 704. an angle steering shaft; 705. a screw thread is connected with the nail; 706. fixing the connecting rod; 707. a fixed block; 708. fixing nails; 8. a precision telescoping structure; 801. a precision rotating shaft; 802. finely rotating the threaded rod; 803. a limit short rod; 804. limiting round blocks with holes; 805. a protective housing; 806. fixing the connecting hole; 9. a clamping mechanism; 901. a telescopic clamping rod; 902. clamping the linkage shaft; 903. and (5) linkage toothed bars.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Example 1: referring to fig. 1-6, a clamping anti-falling structure of a slidable manipulator includes a base 1, and is characterized in that: the top of base 1 is provided with fixed pipe 2, the bottom surface of fixed pipe 2 and the top surface fixed connection of base 1, the top of fixed pipe 2 is provided with rotates bracing piece 3, the upper end of rotating bracing piece 3 is provided with connecting block 4, one side of connecting block 4 is provided with slide bar 5, one end of slide bar 5 is provided with free movable block 6, the below of free movable block 6 is provided with precision steering mechanism 7, precision steering mechanism 7 is including spin shaft 701 and U-shaped stopper 702, the bottom surface of spin shaft 701 and the top surface fixed connection of U-shaped stopper 702, the below of U-shaped stopper 702 is provided with rotates connecting rod 703, the below of rotating connecting rod 703 is provided with precision telescopic structure 8, precision telescopic structure 8 is including precision pivot 801, the below of precision telescopic structure 8 is provided with fixture 9, fixture 9 is including flexible clamping rod 901.
According to the invention, the rotary support rod 3 can rotate at one fixed point through the fixed tube 2, so that the clamping mechanism 9 can reach any place in a certain range, the clamping mechanism 9 can rotate at various angles on a plane through the arranged rotary support rod 3, the clamping mechanism 9 can move to the upper side of a clamping object, the position of the clamping object is adjusted relatively, clamping operation is carried out at the optimal angle and direction, the slideway rod 5 can be fixed at one side of the rotary support rod 3 through the arranged connecting block 4, the clamping mechanism 9 can slide for adjusting the position while rotating for adjusting the angle, the free movable block 6 is used for driving the clamping mechanism 9, the clamping mechanism 9 can move freely on the slideway rod 5 and can move quickly in a certain range, the clamping speed and the object transmission speed are improved, the clamping mechanism 7 is rotated through the arranged precision, the clamping mechanism 9 can be adjusted for a second time at a position close to the clamping object, the telescopic clamping rod 901 is in contact with the clamping object, the telescopic clamping rod 901 is tightly attached to the clamping object, the U-shaped limiting block 702 is matched with the connecting rod 703, the clamping mechanism 901 can be moved for adjusting the position of the clamping mechanism to the clamping mechanism 9 firmly, and the clamping mechanism can be adjusted for the clamping object with the clamping mechanism 9 accurately, and the clamping mechanism can be adjusted for clamping the clamping object through the telescopic clamping mechanism 9, and the clamping mechanism can be adjusted for clamping the clamping mechanism 9 firmly.
Example 2: referring to fig. 1-6, a clamping anti-drop structure of a slidable manipulator comprises a base 1, a fixed pipe 2 is arranged above the base 1, the bottom surface of the fixed pipe 2 is fixedly connected with the top surface of the base 1, a rotary support rod 3 is arranged above the fixed pipe 2, a connecting block 4 is arranged at the upper end of the rotary support rod 3, a slide rod 5 is arranged at one side of the connecting block 4, a free movable block 6 is arranged at one end of the slide rod 5, an accuracy steering mechanism 7 is arranged below the free movable block 6, the accuracy steering mechanism 7 comprises a rotation shaft 701 and a U-shaped limiting block 702, the bottom surface of the rotation shaft 701 is fixedly connected with the top surface of the U-shaped limiting block 702, a rotary connecting rod 703 is arranged below the U-shaped limiting block 702, an accuracy telescopic structure 8 is arranged below the rotary connecting rod 703, the precision telescopic structure 8 comprises a precision rotating shaft 801, a clamping mechanism 9 is arranged below the precision telescopic structure 8, the clamping mechanism 9 comprises a telescopic clamping rod 901, a rubber plate 101 is arranged on the bottom surface of a base 1, a placing groove 102 is formed in four corners of the base 1, a dumbbell piece limiting rod 103 is arranged on the top surface of the placing groove 102, an opening dumbbell piece 104 is arranged on the outer circular wall of the dumbbell piece limiting rod 103, a steering rotating shaft 201 is arranged in the fixed tube 2, a track rod 202 is arranged on the top surface of the fixed tube 2, a threaded rotating rod 203 is arranged on the top surface of the steering rotating shaft 201, a limiting movable ring 301 is arranged on the bottom surface of a rotating supporting rod 3, a round head limiting rod 302 is arranged on the top surface of the rotating supporting rod 3, and a round head limiting shaft 303 is arranged on the top surface of the rotating supporting rod 3.
In the invention, before the device is started, the opening dumbbell plates 104 are placed on the placing grooves 102 on the four corners of the base 1 to assist in fixing the base 1, meanwhile, the rubber plate 101 arranged on the bottom surface of the base 1 can increase the friction force between the bottom surface of the base 1 and the ground, when the device clamps heavy objects, the opening dumbbell plates 104 are placed on the placing grooves 102, so that the opening dumbbell plates 104 are clamped on the outer circular wall surface of the dumbbell plate limiting rod 103 on the top surface of the placing grooves 102, the problem that the whole device is overturned due to the fact that the object is overweight when the device clamps the heavy objects is avoided, when the rotating supporting rod 3 rotates, the rotating shaft 201 is adjusted to rotate, and the rotating supporting rod 3 is carried to synchronously rotate, so that the rotating angle and the position of the clamping mechanism 9 are more accurate, and meanwhile, the object clamped by the clamping mechanism 9 is prevented from loosening on the telescopic clamping rod 901 due to overlarge or overfast rotating amplitude when the rotating supporting rod 3 rotates, the rotation support rod 3 is blocked to carry out the general height adjustment, the rotation support rod 3 can be vertically moved along a given road, the rotation support rod 3 is ensured not to send offset when carrying out the position adjustment, meanwhile, the shaking of the sending distance of the clamping mechanism 9 when carrying out the position adjustment of the rotation support rod 3 is avoided, the threaded rotating rod 203 is used for rotating the rotation support rod 3, the rotation support rod 3 is enabled to be more accurate in the vertical position adjustment, the bottom end of the rotation support rod 3 can not send offset when rotating through the arranged limiting movable ring 301, the problem that the rotation support rod 3 is separated from the track due to the too high moving position of the threaded rotating rod 203 can be avoided, meanwhile, the rotation support rod 3 can lead the connection between the components to be more compact when being connected with other components through the round-head limiting rod 302, the round-head limiting shaft 303 on the top surface of the rotation support rod 3 is used for connecting and limiting the connecting block 4, the problem that the connecting part is loose due to the fact that the clamping object is too heavy is solved by the slide rail on one side of the connecting block 4.
Example 3: referring to fig. 1-6, a clamping anti-drop structure of a slidable manipulator comprises a base 1, a fixed pipe 2 is arranged above the base 1, the bottom surface of the fixed pipe 2 is fixedly connected with the top surface of the base 1, a rotary support rod 3 is arranged above the fixed pipe 2, a connecting block 4 is arranged at the upper end of the rotary support rod 3, a slideway rod 5 is arranged at one side of the connecting block 4, a free movable block 6 is arranged at one end of the slideway rod 5, an accuracy steering mechanism 7 is arranged below the free movable block 6, the accuracy steering mechanism 7 comprises a rotation shaft 701 and a U-shaped limiting block 702, the bottom surface of the rotation shaft 701 is fixedly connected with the top surface of the U-shaped limiting block 702, the below of U-shaped stopper 702 is provided with rotates connecting rod 703, the below of rotating connecting rod 703 is provided with precision telescopic structure 8, precision telescopic structure 8 is including precision pivot 801, the below of precision telescopic structure 8 is provided with fixture 9, fixture 9 is including flexible clamping rod 901, one side of slide pole 5 is provided with connecting plate 501, one side of connecting plate 501 is provided with connecting nail 502, the top surface of slide pole 5 is provided with pulley groove 503, the one end of slide pole 5 is provided with T shape dog 504, the top surface of free movable block 6 is provided with Motor 601, motor 601 model is Y80M2-4, the Motor (monitor) is a device to the electric energy conversion mechanical energy. The magnetic power rotating torque is formed by generating a rotating magnetic field by using an electrified coil (namely a stator winding) and acting on a rotor (such as a squirrel-cage closed aluminum frame). The motors are classified into direct current motors and alternating current motors according to the power supply, and most of the motors in the power system are alternating current motors, and can be synchronous motors or asynchronous motors (the magnetic field rotating speed of a motor stator and the rotating speed of a rotor do not keep synchronous speed). The motor mainly comprises a stator and a rotor, and the direction of forced movement of an electrified wire in a magnetic field is related to the current direction and the direction of a magnetic induction line (magnetic field direction). The motor works in the principle that the magnetic field acts on the current to rotate the motor. The inside of the free movable block 6 is provided with a movable groove 602, the inside of the movable groove 602 is provided with two pulleys 603, and the bottom surface of the free movable block 6 is provided with a connecting bottom plate 604.
According to the invention, when the clamping mechanism 9 needs to move a clamping object, the free movable block 6 on the slideway rod 5 can move, the free movable block can move to drive the clamping mechanism 9 to move, the slideway rod 5 can limit the free movable block 6 in position, so that the situation that the clamping mechanism 9 cannot be operated rapidly and accurately due to the fact that the free movable block 6 is shifted to be separated from a track in the moving process is avoided, meanwhile, the pulley 603 can be driven to rotate through the motor 601, the rotating speed of the pulley 603 is freely controlled, the speed of the clamping mechanism 9 driving an object to move is adjusted, the faster the motor 601 rotates, the faster the clamping mechanism 9 drives the object to move, the slower the operation is, the object clamped by the clamping mechanism 9 can be adjusted freely, the connecting plate 501 on the slideway rod 5 can be matched with the connecting nails 502 to be connected with other components, precise connection between the components is increased, the problem that the clamping mechanism 9 cannot be operated rapidly and accurately due to the fact that the connecting bottom plate 604 is used for being connected with other components in the fixing position in the using process is further avoided.
Example 4: referring to fig. 1-6, a clamping anti-falling structure of a slidable manipulator includes a base 1, a fixed tube 2 is disposed above the base 1, a bottom surface of the fixed tube 2 is fixedly connected with a top surface of the base 1, a rotating support rod 3 is disposed above the fixed tube 2, a connecting block 4 is disposed at an upper end of the rotating support rod 3, a slide rod 5 is disposed at one side of the connecting block 4, a free movable block 6 is disposed at one end of the slide rod 5, a precision steering mechanism 7 is disposed below the free movable block 6, the precision steering mechanism 7 includes a rotation shaft 701 and a U-shaped limiting block 702, a bottom surface of the rotation shaft 701 is fixedly connected with a top surface of the U-shaped limiting block 702, a rotation connecting rod 703 is disposed below the U-shaped limiting block 702, a precision telescopic structure 8 is disposed below the rotation connecting rod 703, the precision telescopic structure 8 includes a precision rotation shaft 801, a clamping mechanism 9 is disposed below the precision telescopic structure 8, the clamping mechanism 9 includes a telescopic clamping rod 901, an angle steering shaft 704 is disposed at one side of the U-shaped limiting block 702, a bottom surface of the rotation connecting rod 703 is provided with a fixed block 707, a top surface of the fixed block 707 is provided with a top surface of the fixed block 707, and a top surface of the fixed block 707 is provided with a precision steering mechanism 706 is in a screw 706.
In the invention, before the clamping mechanism 9 clamps an object, the angle of the rotating connecting rod 703 can be adjusted through the angle steering shaft 704 at one side of the U-shaped limiting block 702, so that the clamping mechanism 9 at the lower end can freely rotate 360 degrees on the same plane with the angle steering shaft 704, the position of the clamping mechanism 9 with the optimal clamping angle is achieved, the clamping object is clamped, the object is prevented from being shifted when the clamping mechanism 9 clamps the object again, the clamping difficulty of the clamping mechanism 9 is increased, meanwhile, the collision of the object is avoided, other objects are also collided and damaged, the rotating connecting rod 703 and the fixed block 707 are used for being connected with other components at the lower end, precise connection among the components is increased, the clamping mechanism 9 cannot be operated quickly and accurately due to the fact that the fixed position of the device is transmitted in the use process, the fixed pin 708 is matched with the fixed block 707, the clamping mechanism 9 cannot be operated quickly and accurately due to the fact that the fixed position of the rotating connecting rod 703 and other components at the lower end are transmitted in the use process, the threaded connecting pin 705 and the fixed connecting rod 706 are used for being connected with other components, the clamping mechanism 9 cannot be controlled accurately and accurately due to the fact that the position of the transmission of the fixed position of the device is transmitted in the use process of the precise steering mechanism.
Example 5: referring to fig. 1-6, a clamping anti-falling structure of a slidable manipulator comprises a base 1, a fixed pipe 2 is arranged above the base 1, the bottom surface of the fixed pipe 2 is fixedly connected with the top surface of the base 1, a rotary support rod 3 is arranged above the fixed pipe 2, a connecting block 4 is arranged at the upper end of the rotary support rod 3, a slide rod 5 is arranged on one side of the connecting block 4, a free movable block 6 is arranged at one end of the slide rod 5, a precision steering mechanism 7 is arranged below the free movable block 6, the precision steering mechanism 7 comprises a rotating shaft 701 and a U-shaped limiting block 702, the bottom surface of the rotating shaft 701 is fixedly connected with the top surface of the U-shaped limiting block 702, a rotating connecting rod 703 is arranged below the U-shaped limiting block 702, a precision telescopic structure 8 is arranged below the rotating connecting rod 703, the precision telescopic structure 8 comprises a precision rotating shaft 801, a clamping mechanism 9 is arranged below the precision telescopic structure 8, a precision rotating threaded rod 802 is arranged above the precision rotating shaft 801, a limit short rod 803 is arranged above the precision rotating shaft 803, a limit short rod is arranged below the precision rotating shaft, a limit rod is provided with a protection sleeve 805 is arranged on the top surface of the limit short rod, a precision clamping mechanism is provided with a connecting sleeve 805, and the top surface of the precision telescopic structure is provided with a connecting sleeve 801, and the precision sleeve is provided with a connecting rod is provided with a precision sleeve hole, and the precision sleeve 801 is provided with a precision sleeve, and is provided with a precision.
According to the invention, the top surface of the body of the precision telescopic structure 8 is provided with the fixed connection hole 806, the fixed connection hole 806 is matched with the precision steering mechanism 7 to be tightly connected, the two mechanisms of the precision steering mechanism 7 and the precision telescopic structure 8 can be matched with each other to use and ensure the precision of the precision telescopic structure 8, the overall clamping precision of the device is improved, before the clamping mechanism 9 clamps the clamped objects, the precision rotating shaft 801 can drive the precision rotating threaded rod 802 to rotate, the threaded hole in the clamping mechanism can enable the clamping mechanism 9 at the bottom to move in position in a matched progress telescopic structure, so that the position of the clamping mechanism 9 and the clamped objects can be shortened, the clamping mechanism 9 can conveniently and rapidly clamp the clamped objects, the moving position of the clamping mechanism 9 is limited by the arranged limiting short rod 803 and the limiting round rod 804 with holes, the moving position of the clamping mechanism 9 is prevented from being excessively large or excessively far from colliding with the objects, meanwhile, the components in the clamping mechanism 8 can be effectively protected, the clamping mechanism can not normally run through the arranged precision telescopic structure 8, the clamping mechanism can be prevented from colliding with the components in the clamping mechanism, the clamping mechanism can be prevented from moving in a normal operation, the clamping range, the clamping mechanism can be firmly clamped 902 can be clamped by the telescopic mechanism 902 through the telescopic structure 901, and the clamping mechanism can be firmly clamped to one end 902 through the telescopic shaft or the telescopic structure.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a centre gripping anti falling structure of slidable formula manipulator, includes base (1), its characterized in that: the utility model discloses a precision steering mechanism, including fixed pipe (2), fixed pipe (2)'s bottom surface and base (1) top surface fixed connection, fixed pipe (2)'s top is provided with rotation bracing piece (3), rotation bracing piece (3)'s upper end is provided with connecting block (4), one side of connecting block (4) is provided with slide pole (5), slide pole (5) one end is provided with free movable block (6), free movable block (6) below is provided with precision steering mechanism (7), precision steering mechanism (7) are including pivot (701) and U-shaped stopper (702), pivot (701) bottom surface and U-shaped stopper (702) top surface fixed connection, U-shaped stopper (702) below is provided with rotation connecting rod (703), rotation connecting rod (703) below is provided with precision telescopic structure (8), precision telescopic structure (8) are including precision pivot (801), precision telescopic structure (8) below is provided with fixture (9), fixture (901) are including telescopic link (9).
2. The clamping anti-drop structure of a slidable manipulator according to claim 1, wherein: the novel dumbbell piece comprises a base (1), wherein a rubber plate (101) is arranged on the bottom surface of the base (1), a placing groove (102) is formed in four corners of the base (1), a dumbbell piece limiting rod (103) is arranged on the top surface of the placing groove (102), an opening dumbbell piece (104) is arranged on the outer circular wall of the dumbbell piece limiting rod (103), a steering rotating shaft (201) is arranged inside a fixed pipe (2), a track rod (202) is arranged on the top surface of the fixed pipe (2), a threaded rotating rod (203) is arranged on the top surface of the steering rotating shaft (201), a limiting movable ring (301) is arranged on the bottom surface of a rotating supporting rod (3), a round head limiting rod (302) is arranged on the top surface of the rotating supporting rod (3), and a round head limiting shaft (303) is arranged on the top surface of the rotating supporting rod (3).
3. The clamping anti-drop structure of a slidable manipulator according to claim 1, wherein: one side of slide pole (5) is provided with connecting plate (501), one side of connecting plate (501) is provided with connecting nail (502), the top surface of slide pole (5) is provided with pulley groove (503), the one end of slide pole (5) is provided with T shape dog (504).
4. The clamping anti-drop structure of a slidable manipulator according to claim 1, wherein: the top surface of free movable block (6) is provided with motor (601), movable groove (602) have been seted up to the inside of free movable block (6), the inside of movable groove (602) is provided with two pulleys (603), the bottom surface of free movable block (6) is provided with connecting bottom plate (604).
5. The clamping anti-drop structure of a slidable manipulator according to claim 1, wherein: one side of the U-shaped limiting block (702) is provided with an angle steering shaft (704), the bottom surface of the rotating connecting rod (703) is provided with a fixed block (707), and the top surface of the fixed block (707) is provided with a fixed nail (708).
6. The clamping anti-drop structure of a slidable manipulator according to claim 1, wherein: the top surface of precision steering mechanism (7) is provided with threaded connection nail (705), the top surface of precision steering mechanism (7) is provided with fixed connecting rod (706).
7. The clamping anti-drop structure of a slidable manipulator according to claim 1, wherein: the precision rotating shaft is characterized in that a precision rotating screw rod (802) is arranged above the precision rotating shaft (801), a limit short rod (803) is arranged above the precision rotating shaft (801), a hole-containing limit round block (804) is arranged on the top surface of the limit short rod (803), a protective shell (805) is arranged outside the precision rotating shaft (801), and a fixed connection hole (806) is formed in the top surface of the precision telescopic structure (8).
8. The clamping anti-drop structure of a slidable manipulator according to claim 1, wherein: the clamping mechanism (9) comprises a telescopic clamping rod (901) and a clamping linkage shaft (902), and a linkage toothed rod (903) is arranged in the telescopic clamping rod (901).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311422987.1A CN117140491A (en) | 2023-10-31 | 2023-10-31 | Clamping anti-drop structure of slidable manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311422987.1A CN117140491A (en) | 2023-10-31 | 2023-10-31 | Clamping anti-drop structure of slidable manipulator |
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| CN117140491A true CN117140491A (en) | 2023-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311422987.1A Pending CN117140491A (en) | 2023-10-31 | 2023-10-31 | Clamping anti-drop structure of slidable manipulator |
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| CN110228061A (en) * | 2019-07-19 | 2019-09-13 | 河南理工大学 | One kind grabbing hand for industrial robot |
| CN110962066A (en) * | 2019-12-19 | 2020-04-07 | 成都工业学院 | Automatic overturning robot for assembling electrical appliance |
| CN210551225U (en) * | 2019-07-19 | 2020-05-19 | 肖昌远 | Multi-dimensional positioning industrial robot |
| CN210790970U (en) * | 2019-09-26 | 2020-06-19 | 云南创盛智能设备有限公司 | Multifunctional manipulator |
| CN213859271U (en) * | 2020-11-25 | 2021-08-03 | 徐州时代机械科技有限公司 | Pneumatic general feeding and discharging mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06335878A (en) * | 1993-05-27 | 1994-12-06 | Canon Inc | Robot |
| CN106078712A (en) * | 2016-07-18 | 2016-11-09 | 佛山市联智新创科技有限公司 | A kind of robot being provided with fixing anglec of rotation execution end |
| CN108015755A (en) * | 2017-11-08 | 2018-05-11 | 江苏新光数控技术有限公司 | A kind of robot device for tubing shipment |
| CN110228061A (en) * | 2019-07-19 | 2019-09-13 | 河南理工大学 | One kind grabbing hand for industrial robot |
| CN210551225U (en) * | 2019-07-19 | 2020-05-19 | 肖昌远 | Multi-dimensional positioning industrial robot |
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