CN209850950U

CN209850950U - Adjustable connecting rod type grabbing manipulator

Info

Publication number: CN209850950U
Application number: CN201920679494.9U
Authority: CN
Inventors: 不公告发明人
Original assignee: Guizhou Huixincheng Technology Co Ltd
Current assignee: Guizhou Huixincheng Technology Co Ltd
Priority date: 2019-05-12
Filing date: 2019-05-12
Publication date: 2019-12-27
Anticipated expiration: 2029-05-12

Abstract

The utility model relates to a manipulator technical field just discloses an adjustable connecting rod formula snatchs manipulator. This manipulator is snatched to adjustable connecting rod formula, including the base, the inside movable mounting of base has adjusting gear, and adjusting gear meshing has the driving gear, and the top fixed mounting of driving gear has the carousel. This manipulator is snatched to adjustable connecting rod formula promotes the height that comes the adjustment manipulator with the support arm through the action of third cylinder, and rethread electric telescopic handle's removal drives the removal arm and rotates on the linking arm and make anchor clamps be close to the object. Rethread first cylinder remove promotion anchor clamps after that to remove to the object, after anchor clamps are located the top of object, let the more accurate object that is close to of anchor clamps through the effect of steering column, the second cylinder promotes the transfer line through the action and removes simultaneously, and the transfer line makes connecting rod both sides open through the effect of pivot, makes the connecting rod remove in opposite directions again to let anchor clamps press from both sides the object tight, realize more accurate and intact object clamp through multiple power control.

Description

Adjustable connecting rod type grabbing manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is an adjustable connecting rod formula snatchs manipulator.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

When the existing manipulator is used for grabbing, the grabbing position is prone to being inaccurate or the action carry is too large when the grabbing is carried out, so that objects to be grabbed are knocked down or damaged.

SUMMERY OF THE UTILITY MODEL

The not enough to prior art, the utility model provides an adjustable connecting rod formula snatchs manipulator possesses multistage power and promotes to take to accurate clamp to get advantages such as, has solved the not accurate problem of current manipulator precision.

The utility model provides a technical scheme that its technical problem adopted is: an adjustable connecting rod type grabbing manipulator comprises a base, wherein an adjusting gear is movably mounted inside the base, the adjusting gear is meshed with a driving gear, a turntable is fixedly mounted at the top of the driving gear, a chute is fixedly mounted inside the turntable, a limiting block is movably mounted inside the chute, a spring is fixedly mounted at one end of the limiting block, a supporting leg is movably mounted inside the chute, a supporting arm is movably mounted at the top of the supporting leg through a rotating shaft, a connecting arm is movably mounted at the top of the supporting arm through a rotating shaft, a moving arm is movably mounted at one end of the connecting arm through a rotating shaft, a first air cylinder is movably mounted at the center of the moving arm through a rotating shaft, a rotating rod is movably mounted at the output end of the first air cylinder, electric telescopic rods are fixedly mounted on two sides of the rotating rod, and a steering rod is movably mounted, the bottom movable mounting of bull stick has universal ball, the bottom fixed mounting of universal ball has the mounting box, the inside fixed mounting of mounting box has the second cylinder, the output fixed mounting of second cylinder has the transfer line, the one end of transfer line has the connecting rod through pivot movable mounting, the one end of connecting rod has anchor clamps through pivot movable mounting, the lateral wall transmission of support arm is connected with the third cylinder.

Furthermore, the supporting legs are provided with grooves matched with the limiting blocks in the side walls at the two sides.

Furthermore, the supporting arm is in transmission connection with the connecting arm through an electric telescopic rod.

Furthermore, the number of the transmission rods is two, and the two transmission rods are movably mounted on two sides of the mounting box in a symmetrical mode.

Furthermore, one end, far away from the supporting arm, of the third cylinder is fixedly installed at the top of the turntable.

Furthermore, the number of the adjusting gears is four, and the four adjusting gears are mutually distributed on the periphery of the driving gear in a symmetrical mode.

The utility model has the advantages that:

1. this manipulator is snatched to adjustable connecting rod formula when the manipulator need be made and is got the action, and the action that communicates with the third cylinder according to the position of object promotes the support arm, adjusts the height of manipulator through the removal of support arm, and rethread electric telescopic handle's removal drives the movable arm and rotates on the link arm and makes anchor clamps be close to the object. Rethread first cylinder's removal promotes anchor clamps to remove to the object afterwards, after anchor clamps are located the top of object, action through electric telescopic handle, the effect through the steering column lets anchor clamps more accurate be close to the object, the second cylinder promotes the transfer line through the action simultaneously and removes, the transfer line makes the connecting rod both sides open through the effect of pivot, and let anchor clamps paste behind the object, the action of rethread second cylinder upwards stimulates the transfer line, and make the connecting rod remove in opposite directions, thereby let anchor clamps press from both sides the object tight, realize more accurate and intact clamp up the object through multiple power control.

2. This adjustable connecting rod formula snatchs manipulator, the action cooperation of recycling third cylinder and electric telescopic handle lifts the back with the object, through the inside adjusting gear of base and the meshing effect of driving gear, drives the carousel and rotates, realizes the removal of article and ensures the accurate nature of turning to the angle through angular velocity's control.

Drawings

In order to more clearly illustrate the embodiments of the present 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.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the internal structure of the base of the present invention;

fig. 3 is a schematic view of the internal structure of the turntable of the present invention.

Description of reference numerals: the device comprises a base 1, a regulating gear 2, a driving gear 3, a turntable 4, a chute 5, a limiting block 6, a spring 7, a supporting foot 8, a supporting arm 9, a connecting arm 10, a moving arm 11, a first cylinder 12, a rotating rod 13, an electric telescopic rod 14, a steering rod 15, a universal ball 16, a mounting box 17, a second cylinder 18, a transmission rod 19, a connecting rod 20, a clamp 21 and a third cylinder 22.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Referring to fig. 1-3, an adjustable connecting rod type grabbing manipulator comprises a base 1, adjusting gears 2 are movably mounted inside the base 1, the number of the adjusting gears 2 is four, the four adjusting gears 2 are symmetrically distributed on the periphery of a driving gear 3, the adjusting gear 2 is meshed with the driving gear 3, a turntable 4 is fixedly mounted at the top of the driving gear 3, a chute 5 is fixedly mounted inside the turntable 4, a limit block 6 is movably mounted inside the chute 5, a spring 7 is fixedly mounted at one end of the limit block 6, supporting legs 8 are movably mounted inside the chute 5, grooves matched with the limit block 6 are formed in the side walls on the two sides of each supporting leg 8, so that the supporting legs 8 can be positioned by the limit block 6 after stopping moving, supporting arms 9 are movably mounted at the tops of the supporting legs 8 through rotating shafts, and connecting arms 10 are movably mounted at the tops of the supporting arms, the supporting arm 9 is in transmission connection with the connecting arm 10 through an electric telescopic rod 14, one end of the connecting arm 10 is movably provided with a moving arm 11 through a rotating shaft, the center of the moving arm 11 is movably provided with a first air cylinder 12 through the rotating shaft, the output end of the first air cylinder 12 is movably provided with a rotating rod 13, both sides of the rotating rod 13 are fixedly provided with the electric telescopic rods 14, the output end of the electric telescopic rod 14 is movably provided with a steering rod 15 through the rotating shaft, the bottom of the rotating rod 13 is movably provided with a universal ball 16, the bottom of the universal ball 16 is fixedly provided with a mounting box 17, the inside of the mounting box 17 is fixedly provided with a second air cylinder 18, the output end of the second air cylinder 18 is fixedly provided with two transmission rods 19, the two transmission rods 19 are movably mounted at both sides of the mounting box 17 in a symmetrical manner, one end of each transmission rod 19 is movably provided, the side wall of the supporting arm 9 is connected with a third cylinder 22 in a transmission manner, and one end of the third cylinder 22 far away from the supporting arm 9 is fixedly installed at the top of the turntable 4.

When the manipulator is used, the manipulator is controlled by an external control system, when the manipulator needs to perform a clamping action, the supporting arm 9 is pushed by the action of the third air cylinder 22 according to the position of an object, the height of the manipulator is adjusted by the movement of the supporting arm 9, and the moving arm 11 is driven by the movement of the electric telescopic rod 4 to rotate on the connecting arm 10 to enable the clamp 21 to be close to the object. Then the clamp 21 is pushed to move towards the object by the movement of the first air cylinder 12, when the clamp 21 is positioned above the object, the clamp 21 is enabled to be more accurately close to the object by the action of the electric telescopic rod 14 and the action of the steering rod 15, meanwhile, the second air cylinder 18 is enabled to push the transmission rod 19 to move by the action, the transmission rod 19 enables two sides of the connecting rod 20 to be opened by the action of the rotating shaft, after the clamp 21 is enabled to be attached to the object, the transmission rod 19 is pulled upwards by the action of the second air cylinder 18, the connecting rod 20 is enabled to move oppositely, so that the clamp 21 clamps the object tightly, when the supporting arm 9 moves, the supporting foot 8 can also move inside the sliding groove 5, when the supporting foot 8 stops moving, the limiting block 6 is jacked into a groove inside the supporting foot 8 by the action of the spring 7 to position the supporting foot 8, and the object is lifted by the action cooperation of the third air cylinder 22, and through the meshing effect of adjusting gear 2 and driving gear 3 inside base 1, drive carousel 4 and rotate, realize the removal of article and guarantee the precision of turning to the angle through the control of angular velocity.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a manipulator is snatched to adjustable connecting rod formula, includes base (1), its characterized in that: the adjustable-type automobile seat is characterized in that an adjusting gear (2) is movably mounted inside the base (1), the adjusting gear (2) is meshed with a driving gear (3), a turntable (4) is fixedly mounted at the top of the driving gear (3), a chute (5) is fixedly mounted inside the turntable (4), a limiting block (6) is movably mounted inside the chute (5), a spring (7) is fixedly mounted at one end of the limiting block (6), supporting legs (8) are movably mounted inside the chute (5), supporting arms (9) are movably mounted at the tops of the supporting legs (8) through rotating shafts, a connecting arm (10) is movably mounted at the top of the supporting arm (9) through rotating shafts, a moving arm (11) is movably mounted at one end of the connecting arm (10) through rotating shafts, and a first air cylinder (12) is movably mounted at the center of the moving arm (11, the utility model discloses a pneumatic power transmission device, including first cylinder (12), the output movable mounting of first cylinder (12) has bull stick (13), the equal fixed mounting in both sides of bull stick (13) has electric telescopic handle (14), the output of electric telescopic handle (14) has steering column (15) through pivot movable mounting, the bottom movable mounting of bull stick (13) has universal ball (16), the bottom fixed mounting of universal ball (16) has mounting box (17), the inside fixed mounting of mounting box (17) has second cylinder (18), the output fixed mounting of second cylinder (18) has transfer line (19), the one end of transfer line (19) has connecting rod (20) through pivot movable mounting, the one end of connecting rod (20) has anchor clamps (21) through pivot movable mounting, the lateral wall transmission of support arm (9) is connected with third cylinder (22).

2. The adjustable link type grabbing manipulator according to claim 1, wherein: the supporting legs (8) are provided with grooves matched with the limiting blocks (6) in the side walls at the two sides.

3. The adjustable link type grabbing manipulator according to claim 1, wherein: the supporting arm (9) is in transmission connection with the connecting arm (10) through an electric telescopic rod (14).

4. The adjustable link type grabbing manipulator according to claim 1, wherein: the number of the transmission rods (19) is two, and the two transmission rods (19) are movably mounted on two sides of the mounting box (17) in a symmetrical mode.

5. The adjustable link type grabbing manipulator according to claim 1, wherein: and one end of the third cylinder (22) far away from the supporting arm (9) is fixedly arranged at the top of the turntable (4).

6. The adjustable link type grabbing manipulator according to claim 1, wherein: the number of the adjusting gears (2) is four, and the four adjusting gears (2) are mutually distributed on the periphery of the driving gear (3) in a symmetrical mode.