CN210139413U

CN210139413U - Assembled manipulator equipment

Info

Publication number: CN210139413U
Application number: CN201920427748.8U
Authority: CN
Inventors: 朱集锦
Original assignee: Guangdong University of Science and Technology
Current assignee: Guangdong University of Science and Technology
Priority date: 2019-03-29
Filing date: 2019-03-29
Publication date: 2020-03-13
Anticipated expiration: 2029-03-29

Abstract

The utility model relates to the technical field of mechanical arm equipment, in particular to assembled mechanical arm equipment, which comprises a frame body, a mechanical arm body and a clamping mechanism arranged at the top of the frame body, wherein a cylindrical mounting column is arranged at the middle part of the top of the frame body, the clamping mechanism comprises two clamp plates which are just opposite to each other, two sides of the top of the frame body are both provided with a baffle plate, the two clamp plates are positioned between the two baffle plates, the mounting column is positioned between the two clamp plates, an elastic part is arranged between the baffle plate and the adjacent clamp plate, and one end of the elastic part is connected with the clamp plates; the top end of the splint is connected with a handle. The utility model discloses simple structure, novelty make things convenient for manipulator body equipment and dismantlement, convenient to use moreover realizes the heating to the work piece promptly, also realizes the transfer to the work piece, can also adjust the angle of manipulator body simultaneously through the angle of rotating the socket, uses in a flexible way, and the suitability is strong, assembles simply to make things convenient for the staff to get material or instrument at any time.

Description

Assembled manipulator equipment

Technical Field

The utility model belongs to the technical field of the manipulator equipment technique and specifically relates to indicate an assembled manipulator equipment.

Background

At present, manipulator equipment is required to be provided with a supporting base to realize the support of a manipulator and the protection of the bottom; the existing supporting base is fixed at the bottom of the manipulator, so that the assembly is difficult, the use is inconvenient, the structure is complex, and the angle of the manipulator cannot be adjusted; in addition, the existing supporting base only has a supporting function and a single function.

Disclosure of Invention

The utility model discloses problem to prior art provides an assembled manipulator equipment, simple structure, novelty make things convenient for manipulator body equipment and dismantlement, convenient to use moreover realizes the heating to the work piece promptly, also realizes the transfer to the work piece, can also come the angle of adjusting the manipulator body simultaneously through the angle that rotates the socket, uses in a flexible way, and the suitability is strong, assembles simply to make things convenient for staff to get material or instrument at any time.

In order to solve the technical problem, the utility model discloses a following technical scheme:

the utility model provides an assembled mechanical arm device, including frame body, manipulator body and the fixture who sets up in frame body top, the middle part at frame body top is provided with cylindric erection column, fixture includes two just to the splint that set up, and the both sides at frame body top all are provided with the baffle, and two splint are located between two baffles, and the erection column is located between two splint, is provided with the elastic component between baffle and the adjacent splint, and the one end of elastic component is connected with splint, and the other end of elastic component is connected with the baffle; the top end of the clamping plate is connected with a handle;

the manipulator body comprises a socket, a four-axis manipulator arranged on the socket and a manipulator assembly arranged at the output end of the four-axis manipulator, the bottom of the socket is provided with a plug hole for being movably plugged with the mounting column, and the clamping mechanism is used for clamping the socket;

the socket is provided with a plurality of through holes and a plurality of positioning bolts movably penetrating through the through holes, the surface of the top of the rack body is provided with a plurality of locking holes used for being matched with the positioning bolts, and one side of the top end of each positioning bolt is provided with an extending block used for being abutted against the socket;

the material tray is characterized in that supporting seats are arranged on two sides of the rack body, a plurality of connecting seats are arranged on the supporting seats in a stacking mode, and a material tray is hung on one side of each connecting seat;

the manipulator assembly comprises an arm, wherein the bottom end of the arm is rotatably connected with a rotating part, a rotating driving unit for driving the rotating part to rotate is arranged in the arm, the bottom end of the rotating part is connected with a rotating drum, eight finger units are annularly arranged on the periphery of the bottom end of the rotating drum at equal intervals, each finger unit is correspondingly connected with one finger driving unit, and the finger driving units drive the corresponding finger units to stretch and bend through a finger linkage piece; the middle part in the rotary drum is provided with and holds the groove, it is provided with heating element to hold the inslot, heating element includes heating block and the heating drive unit that the drive heating block removed, the middle part of rotary drum bottom is provided with and supplies the heating block to stretch out outside opening from holding the groove.

One side of the handle is connected with a pull ring, and the handle and the clamping plate are integrally formed.

Wherein, one side that splint are close to the erection column is provided with the protection cushion.

The middle part of the rack body is provided with an accommodating cavity, and a drawer box is arranged in the accommodating cavity in a sliding manner; sliding rails are arranged on two sides of the inner bottom wall of the accommodating cavity, pulleys are arranged on two sides of the bottom of the drawer box, and the pulleys are connected with the sliding rails in a sliding mode; the drawer box is provided with a handle.

Wherein, the bottom of frame body is provided with buffer gear, buffer gear includes flat cushion, lower flat cushion and sets up the buffer layer between flat cushion and the lower flat cushion on last, and the buffer layer is provided with a plurality of elastomers, and the both ends of elastomer are connected with flat cushion, lower flat cushion respectively.

The top of supporting seat and the top of every connecting seat all set up the spliced pole, and the bottom of every connecting seat is provided with the connecting hole that is used for with the spliced pole grafting, the top of spliced pole is provided with first magnet piece.

The connecting seat is provided with a bearing block for bearing the material disc, the bearing block is provided with a second magnet block, the connecting seat is also provided with a top block for propping against the material disc, the top block is positioned above the bearing block, and the material disc is arranged between the bearing block and the top block; the two ends of the material tray are hinged with hooks, the two ends of the connecting seat are provided with buckling blocks, and the hooks are buckled with the buckling blocks.

Wherein, the bottom of splint rolls and is provided with the ball.

Wherein a plurality of CCD visual detectors are arranged at equal intervals on the periphery of the opening.

The utility model has the advantages that:

the utility model discloses simple structure, novelty make things convenient for manipulator body equipment and dismantlement, convenient to use moreover realizes the heating to the work piece promptly, also realizes the transfer to the work piece, can also adjust the angle of manipulator body simultaneously through the angle of rotating the socket, uses in a flexible way, and the suitability is strong, assembles simply to make things convenient for the staff to get material or instrument at any time.

Drawings

Fig. 1 is an exploded view of an assembled robot apparatus according to the present invention.

Fig. 2 is a schematic structural diagram of the robot assembly of the present invention.

Fig. 3 is an exploded view of the supporting seat and the connecting seat of the present invention.

Fig. 4 is a schematic structural diagram of the buffer mechanism of the present invention.

Fig. 5 is a schematic structural view of the rotary member and the rotary drum of the present invention.

The reference numerals in fig. 1 to 5 include:

1-frame body 2-mounting column 3-clamping plate

4-baffle 5-elastic piece 6-locking hole

7-support seat 8-connecting seat 9-material tray

10-accommodating chamber 11-drawer box 12-handle

13-pull ring 14-protective rubber cushion 15-slide rail

16-pulley 17-handle 18-buffer mechanism

19-upper flat rubber cushion 20-lower flat rubber cushion 21-buffer layer

22-elastomer 23-socket 24-connecting column

25-connecting hole 26-first magnet block 27-bearing block

28-second magnet block 29-top block 30-hook

31-buckling block 32-ball 33-four-shaft manipulator

34-plug hole 35-perforation 36-positioning bolt

37-extension block 38-arm 39-swivel

40-rotating cylinder 41-finger unit 42-containing groove

43-heating block 44-heating drive unit 45-CCD vision detector.

Detailed Description

In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention. The present invention will be described in detail with reference to the accompanying drawings.

An assembled mechanical arm device is shown in figures 1 to 5 and comprises a rack body 1, a mechanical arm body and a clamping mechanism arranged at the top of the rack body 1, wherein a cylindrical mounting column 2 is arranged in the middle of the top of the rack body 1, the clamping mechanism comprises two clamp plates 3 which are arranged just opposite to each other, baffle plates 4 are arranged on two sides of the top of the rack body 1, the two clamp plates 3 are positioned between the two baffle plates 4, the mounting column 2 is positioned between the two clamp plates 3, an elastic part 5 is arranged between each baffle plate 4 and the adjacent clamp plate 3, one end of each elastic part 5 is connected with the corresponding clamp plate 3, and the other end of each elastic part 5 is connected with the corresponding baffle plate 4; the top end of the splint 3 is connected with a handle 12;

the manipulator body comprises a socket 23, a four-axis manipulator 33 arranged on the socket 23 and a manipulator assembly arranged at the output end of the four-axis manipulator 33, the bottom of the socket 23 is provided with a plug hole 34 for being movably plugged with the mounting column 2, and the clamping mechanism is used for clamping the socket 23;

the socket 23 is provided with a plurality of through holes 35 and a plurality of positioning pins 36 movably penetrating through the through holes 35, the top surface of the rack body 1 is provided with a plurality of locking holes 6 used for being matched with the positioning pins 36, and one side of the top end of the positioning pins 36 is provided with an extending block 37 used for being abutted against the socket 23;

the material tray is characterized in that supporting seats 7 are arranged on two sides of the rack body 1, a plurality of connecting seats 8 are arranged on the supporting seats 7 in a stacked mode, and a material tray 9 is hung on one side of each connecting seat 8;

the manipulator assembly comprises an arm 38, the bottom end of the arm 38 is rotatably connected with a rotating member 39, a rotating driving unit for driving the rotating member 39 to rotate is arranged in the arm 38, the bottom end of the rotating member 39 is connected with a rotating drum 40, eight finger units 41 are annularly arranged on the periphery of the bottom end of the rotating drum 40 at equal intervals, each finger unit 41 is correspondingly connected with one finger driving unit, and the finger driving units drive the corresponding finger units 41 to extend and bend through finger linkage members; a containing groove 42 is formed in the middle of the inside of the rotary drum 40, a heating assembly is arranged in the containing groove 42, the heating assembly comprises a heating block 43 and a heating driving unit 44 for driving the heating block 43 to move, and an opening for enabling the heating block 43 to extend out of the containing groove 42 is formed in the middle of the bottom end of the rotary drum 40.

The utility model has the advantages of simple and novel structure, can fix a position the equipment with the spliced eye 34 of the socket 23 of manipulator body through setting up of erection column 2, when installing the erection column 2 of frame with socket 23, operating personnel pulling handle 12, enlarge the interval of two splint 3, make things convenient for socket 23 to assemble to erection column 2, because erection column 2 is cylindric, socket 23 can rotate relative erection column 2, make things convenient for the angle modulation of socket 23, then loosen handle 12, under the elastic restoring force of elastic component 5, order about splint 3 to clip socket 23, and be provided with locking hole 6, pass perforation 35 through location bolt 36 and lock together with locking hole 6, improve the reliability and the stability of socket 23 installation, the setting of extension block 37 and the upper surface butt of socket 23, prevent that location bolt 36 from inserting completely in socket 23 and can't take out; in addition, a plurality of connecting seats 8 and a material tray 9 arranged on the connecting seats 8 are arranged on one side of the rack body 1, a plurality of materials or tools can be stored in the material tray 9, workers can conveniently take the materials or tools at any time, and the materials are arranged in a stacked mode and are convenient to classify; the elastic part 5 comprises a plurality of compression springs, one end of each compression spring is connected with the clamping plate 3, and the other end of each compression spring is connected with the baffle 4; the finger unit 41 of the manipulator assembly clamps the workpiece, the workpiece is clamped through the finger unit 41, meanwhile, the heating driving unit 44 can drive the heating block 43 to extend out of the accommodating groove 42 from the opening, the heating block 43 is abutted against the workpiece, the workpiece is heated, and the position of the manipulator assembly can be moved by the arrangement of the four-axis manipulator 33, namely, the workpiece is transferred; in addition, the heating temperature of the heating block 43 can be set by the temperature preset by the external controller, and the external controller can be a single chip microcomputer in the prior art, which is not described herein again; the utility model discloses simple structure, novelty make things convenient for manipulator body equipment and dismantlement, convenient to use moreover realizes the heating to the work piece promptly, also realizes the transfer to the work piece, can also adjust the angle of manipulator body simultaneously through the angle that rotates socket 23, uses in a flexible way, and the suitability is strong, and the equipment is simple.

In the assembled manipulator device of this embodiment, one side of the handle 12 is connected with a pull ring 13, and the handle 12 and the clamping plate 3 are integrally formed. Specifically, the setting of pull ring 13 is convenient for operating personnel pulling handle 12, convenient to use, and handle 12 and splint 3 integrated into one piece, stable in structure, firm.

In the assembled manipulator device of this embodiment, a protective rubber pad 14 is disposed on one side of the clamping plate 3 close to the mounting column 2. Specifically, the protective rubber pad 14 can reduce the abrasion of the clamping plate 3 caused by collision with external machines and devices, and improve the safety and reliability.

According to the assembled mechanical arm device, the middle of the rack body 1 is provided with an accommodating cavity 10, and a drawer box 11 is slidably arranged in the accommodating cavity 10; two sides of the inner bottom wall of the accommodating cavity 10 are provided with slide rails 15, two sides of the bottom of the drawer box 11 are provided with pulleys 16, and the pulleys 16 are connected with the slide rails 15 in a sliding manner; the drawer box 11 is provided with a handle 17. Specifically, under the action of the drawer box 11, different tools can be stored and used at any time, and the use is convenient and flexible; under the matching of the sliding rail 15 and the pulley 16, the drawer box 11 is conveniently pulled out of the accommodating cavity 10 by an operator, and the handle 17 is convenient for the operator to operate.

This embodiment an assembled manipulator equipment, the bottom of frame body 1 is provided with buffer gear 18, buffer gear 18 includes flat cushion 19, flat cushion 20 down and sets up buffer layer 21 between flat cushion 19 and flat cushion 20 down on last, and buffer layer 21 is provided with a plurality of elastomers 22, and the both ends of elastomer 22 are connected with flat cushion 19, flat cushion 20 down respectively. Specifically, go up flat cushion 19, lower flat cushion 20 self and possess elastic restoring force, play and see your effect, recycle a plurality of elastomers 22 in buffer layer 21, a plurality of elastomers 22 evenly distributed, elastomer 22 is spring, shell fragment or, and buffer gear 18 plays buffering shock attenuation effect.

The assembled manipulator equipment of this embodiment, the top of supporting seat 7 and the top of every connecting seat 8 all set up spliced pole 24, and the bottom of every connecting seat 8 is provided with the connecting hole 25 that is used for pegging graft with spliced pole 24, the top of spliced pole 24 is provided with first magnet piece 26. Specifically, the support seats 7 and the connecting seats 8 are stacked and assembled through the matching of the connection seats and the connecting holes 25, the plurality of support seats 7 can be conveniently stacked, the height of the material disc 9 on the connecting seat 8 can be adjusted, the material disc is suitable for different workers, and the stability of the support seats 7 and the connecting seats 8 after being assembled can be improved and the stability of the plurality of connecting seats 8 after being assembled can also be improved by the arrangement of the first magnet blocks 26; the connecting seat 8 is made of metal.

In the assembled manipulator device according to this embodiment, the connecting seat 8 is provided with a bearing block 27 for bearing the material tray 9, the bearing block 27 is provided with a second magnet block 28, the connecting seat 8 is further provided with a top block 29 for supporting the material tray 9, the top block 29 is located above the bearing block 27, and the material tray 9 is installed between the bearing block 27 and the top block 29; both ends of the material tray 9 are hinged with hooks 30, both ends of the connecting seat 8 are provided with buckling blocks 31, and the hooks 30 are buckled with the buckling blocks 31. Specifically, withstand the bottom of material dish 9 through carrier block 27, withstand the top of material dish 9 through kicking block 29, rethread couple 30 and knot piece 31 lock joint realize that material dish 9 hangs and establish on connecting seat 8, and material dish 9 is the metal material, convenient and the cooperation of inhaling of second magnet piece 28 magnetism.

In the assembled robot apparatus of this embodiment, the bottom end of the clamping plate 3 is provided with a rolling ball 32 in a rolling manner. Specifically, the balls 32 can facilitate the sliding of the clamping plate 3, and improve the sliding fluency.

In the assembled manipulator apparatus of the present embodiment, a plurality of CCD vision detectors 45 are disposed at equal intervals around the periphery of the opening. Specifically, the position of the workpiece fed by the external feeding device is identified through the CCD vision detector 45 at the bottom end of the rotary drum 40, and after the CCD vision detector 45 identifies the position of the workpiece, the finger unit 41 of the manipulator body clamps the workpiece, so that the working accuracy is improved.

The rotary driving unit and the finger driving unit comprise but are not limited to a steering engine, a micro motor and other driving devices; the heating driving unit 44 may be a cylinder; further, the finger unit 41 is composed of four small parts (a fingertip, a first finger pad, a second finger pad, and a third finger pad), each joint part is hinged to each other, and a traction rope is threaded through a winding part of each joint part and controlled by a corresponding driving unit, so that each part is bent and straightened.

The above description is only for the preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention is disclosed in the preferred embodiment, it is not limited to the above description, and any person skilled in the art can make some changes or modifications to equivalent embodiments without departing from the scope of the present invention, but all the technical solutions of the present invention are within the scope of the present invention.

Claims

1. An assembled manipulator equipment which characterized in that: the manipulator comprises a rack body, a manipulator body and a clamping mechanism arranged at the top of the rack body, wherein a cylindrical mounting column is arranged in the middle of the top of the rack body, the clamping mechanism comprises two clamp plates which are arranged just opposite to each other, two baffle plates are arranged on two sides of the top of the rack body, the two clamp plates are positioned between the two baffle plates, the mounting column is positioned between the two clamp plates, an elastic part is arranged between each baffle plate and the adjacent clamp plate, one end of each elastic part is connected with each clamp plate, and the other end of each elastic part is connected with each baffle; the top end of the clamping plate is connected with a handle; the manipulator body comprises a socket, a four-axis manipulator arranged on the socket and a manipulator assembly arranged at the output end of the four-axis manipulator, the bottom of the socket is provided with a plug hole for being movably plugged with the mounting column, and the clamping mechanism is used for clamping the socket;

2. The modular robot apparatus of claim 1, wherein: one side of the handle is connected with a pull ring, and the handle and the clamping plate are integrally formed.

3. The modular robot apparatus of claim 1, wherein: one side of the clamping plate close to the mounting column is provided with a protective rubber cushion.

4. The modular robot apparatus of claim 1, wherein: the middle part of the rack body is provided with an accommodating cavity, and a drawer box is arranged in the accommodating cavity in a sliding manner; sliding rails are arranged on two sides of the inner bottom wall of the accommodating cavity, pulleys are arranged on two sides of the bottom of the drawer box, and the pulleys are connected with the sliding rails in a sliding mode; the drawer box is provided with a handle.

5. The modular robot apparatus of claim 1, wherein: the bottom of frame body is provided with buffer gear, buffer gear includes last flat cushion, lower flat cushion and sets up the buffer layer between last flat cushion and lower flat cushion, and the buffer layer is provided with a plurality of elastomers, and the both ends of elastomer are connected with last flat cushion, lower flat cushion respectively.

6. The modular robot apparatus of claim 1, wherein: the top of supporting seat and the top of every connecting seat all set up the spliced pole, the bottom of every connecting seat is provided with the connecting hole that is used for with the spliced pole grafting, the top of spliced pole is provided with first magnet piece.

7. The modular robot apparatus of claim 1, wherein: the connecting seat is provided with a bearing block for bearing the material disc, the bearing block is provided with a second magnet block, the connecting seat is also provided with a top block for propping against the material disc, the top block is positioned above the bearing block, and the material disc is arranged between the bearing block and the top block; the two ends of the material tray are hinged with hooks, the two ends of the connecting seat are provided with buckling blocks, and the hooks are buckled with the buckling blocks.

8. The modular robot apparatus of claim 1, wherein: the bottom of the clamping plate is provided with a ball in a rolling way.

9. The modular robot apparatus of claim 1, wherein: and a plurality of CCD visual detectors are arranged on the periphery of the opening at equal intervals.