CN210139414U

CN210139414U - Improved mechanical hand device

Info

Publication number: CN210139414U
Application number: CN201920436240.4U
Authority: CN
Inventors: 赵利平; 于维斌; 叶卫文
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 manipulator equipment, in particular to an improved manipulator device, which comprises a manipulator body, a main base and a plurality of movable bases arranged on the main base in a sliding way, wherein the movable bases are arranged in a row and comprise auxiliary bases and a plurality of assembly bases; the movable base further comprises a plurality of telescopic insertion rods for positioning the auxiliary base and the assembling base on the main base; the manipulator body includes the socket, installs four-axis manipulator on the socket and install in the manipulator subassembly of four-axis manipulator output. The utility model has simple and novel structure, is convenient for assembling and disassembling the manipulator body, is convenient for use, realizes heating of the workpiece and transferring of the workpiece, can adjust the distance between the manipulator bodies on the movable base, and is flexible for use; in addition, the height of the manipulator body can be adjusted by adjusting the number of the assembling bases according to needs, the use is flexible, and the assembling is rapid.

Description

Improved mechanical hand device

Technical Field

The utility model belongs to the technical field of manipulator equipment technique and specifically relates to indicate a modified manipulator device.

Background

The existing manipulator equipment needs to be provided with a supporting base to realize the support of the equipment and the device and the protection of the bottom; the existing supporting base is fixed at the bottom of equipment and devices, so that the equipment is difficult to assemble, and if a plurality of manipulator equipment arranged side by side are fixed behind the supporting base, the distance between the manipulators cannot be adjusted, so that the use is inconvenient, and the structure is complex; in addition, the height of the manipulator assembled on the supporting base cannot be adjusted, and the flexibility is very low.

SUMMERY OF THE UTILITY MODEL

The utility model provides an improved manipulator device aiming at the problems of the prior art, which has simple and novel structure, is convenient for assembling and disassembling the manipulator body, is convenient for use, namely realizes heating of the workpiece and transferring of the workpiece, can adjust the distance between the manipulator bodies on the movable base, and has flexible use and strong applicability; in addition, the height of the manipulator body can be adjusted by adjusting the number of the assembling bases according to needs, the use is flexible, and the assembling is rapid.

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

the utility model provides an improved manipulator device, including manipulator body, main base and a plurality of mobile bases that slide and set up on main base, a plurality of mobile bases are one row of formula and arrange, mobile base includes sub-base and a plurality of equipment base, a plurality of equipment bases are range upon range of formula and arrange on sub-base, the top of sub-base and the top of every equipment base all are provided with a plurality of support columns, the bottom of every equipment base all is provided with a plurality of support holes that are used for pegging graft with the support column, the support column holds and locates in the support hole; the movable base further comprises a plurality of telescopic insertion rods for positioning the auxiliary base and the assembling base on the main base; 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, a plurality of insertion holes used for being in insertion fit with the support columns are formed in the bottom of the socket, the manipulator assembly comprises an arm part, the bottom end of the arm part is rotatably connected with a rotating part, a rotation driving unit used for driving the rotating part to rotate is arranged in the arm part, the bottom end of the rotating part is connected with a rotary drum, ten finger units are arranged on the periphery of the bottom end of the rotary drum in an equally-spaced mode, each finger unit is correspondingly connected with one finger driving unit, and the finger driving units drive the corresponding finger units to extend and; a containing groove is formed in the middle of the inside of the rotary drum, a heating assembly is arranged in the containing groove and comprises a heating block and a heating driving unit for driving the heating block to move, and an opening for the heating block to extend out of the containing groove is formed in the middle of the bottom end of the rotary drum; and a buffer mechanism is arranged at the bottom of the main base.

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

The main base is provided with a plurality of locking holes used for being matched with the telescopic insertion rods; the telescopic inserted link comprises a first telescopic pipe, a second telescopic pipe and a third telescopic pipe, the second telescopic pipe is slidably sleeved on the periphery of the third telescopic pipe, the first telescopic pipe is slidably sleeved on the periphery of the second telescopic pipe, and one side of the top end of the first telescopic pipe extends to form a resisting block; the length of the third telescopic pipe is greater than that of the second telescopic pipe, and the length of the second telescopic pipe is greater than that of the first telescopic pipe.

Wherein, the top of every support column all is provided with the magnet piece.

The protective rubber pad is arranged on the inner side of the baffle.

The mounting blocks are arranged on two sides of the main base and provided with mounting holes.

The bottom of the auxiliary base is provided with a plurality of pulleys, the pulleys are arranged in two rows in parallel, and the main base is provided with a sliding rail used for sliding in a matching mode with the pulleys.

Wherein, buffer gear includes flat cushion, lower flat cushion and sets up in last flat cushion and the lower buffer layer between the flat cushion, the built-in a plurality of compression spring that are equipped with of buffer layer, a plurality of compression spring evenly distributed in the buffer layer, compression spring's one end and last flat cushion are connected, and compression spring's the other end and lower flat cushion are connected.

Wherein, the abutting block and the first telescopic pipe are integrally formed.

The utility model has the advantages that:

the utility model has simple and novel structure, convenient assembly and disassembly of the manipulator body and convenient use, namely realizes heating of the workpiece and transfer of the workpiece, can also adjust the distance between the manipulator bodies on the movable base, and has flexible use and strong applicability; in addition, the height of the manipulator body can be adjusted by adjusting the number of the assembling bases according to needs, the use is flexible, and the assembling is rapid.

Drawings

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

Fig. 2 is a top view of the main base of the present invention.

Fig. 3 is an enlarged view of a point a in fig. 1.

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

Fig. 5 is a schematic structural diagram of the robot assembly of the present invention.

Fig. 6 is a schematic structural view of the rotary member and the drum of the present invention.

The reference numerals in fig. 1 to 6 include:

1-main base 2-auxiliary base 3-assembly base

4-support column 5-support hole 6-first perforation

7-second through hole 8-telescopic inserted rod 9-locking hole

10-first telescopic pipe 11-second telescopic pipe 12-third telescopic pipe

13-resisting block 14-buffer mechanism 15-magnet block

16-baffle 17-protective rubber cushion 18-mounting block

19-mounting hole 20-pulley 21-slide rail

22-upper flat rubber cushion 23-lower flat rubber cushion 24-buffer layer

25-compression spring 26-socket 27-four-shaft manipulator

28-manipulator assembly 29-plug hole 30-arm part

31-rotating member 32-drum 33-finger unit

34-vessel 35-heating block 36-heating driving unit

38-CCD visual 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 improved manipulator device is shown in fig. 1 to 6, and comprises a manipulator body, a main base 1 and a plurality of movable bases arranged on the main base 1 in a sliding manner, wherein the plurality of movable bases are arranged in a row, each movable base comprises a sub-base 2 and a plurality of assembling bases 3, the plurality of assembling bases 3 are arranged on the sub-base 2 in a stacking manner, a plurality of supporting columns 4 are arranged at the top of the sub-base 2 and the top of each assembling base 3, a plurality of supporting holes 5 used for being inserted into the supporting columns 4 are arranged at the bottom of each assembling base 3, and the supporting columns 4 are accommodated in the supporting holes 5; the mobile base also comprises a plurality of telescopic insertion rods 8 for positioning the auxiliary base 2 and the assembly base 3 on the main base 1; the manipulator body comprises a socket 26, a four-axis manipulator 27 mounted on the socket 26 and a manipulator assembly 28 mounted at the output end of the four-axis manipulator 27, the bottom of the socket 26 is provided with a plurality of insertion holes 29 used for being in insertion fit with the support column 4, the manipulator assembly 28 comprises an arm 30, the bottom end of the arm 30 is rotatably connected with a rotating part 31, a rotation driving unit used for driving the rotating part 31 to rotate is arranged in the arm 30, the bottom end of the rotating part 31 is connected with a rotating drum 32, ten finger units 33 are arranged on the periphery of the bottom end of the rotating drum 32 in an equally-spaced ring mode, each finger unit 33 is correspondingly connected with one finger driving unit, and the finger driving unit drives the corresponding finger unit 33 to extend and bend through a; a containing groove 34 is formed in the middle of the inside of the rotary drum 32, a heating assembly is arranged in the containing groove 34, the heating assembly comprises a heating block 35 and a heating driving unit 36 for driving the heating block 35 to move, and an opening for enabling the heating block 35 to extend out of the containing groove 34 is formed in the middle of the bottom end of the rotary drum 32; the bottom of the main base 1 is provided with a buffer mechanism 14.

Particularly, the utility model has simple and novel structure, a plurality of mobile bases can slide relative to the main base 1, the space between the mobile bases can be adjusted, namely the space between the equipment and the device arranged on the mobile bases can be adjusted, the use is convenient, and the adjustment is flexible; furthermore, each movable base comprises an auxiliary base 2 and a plurality of assembling bases 3 which are arranged on the auxiliary base 2 in a stacked mode, the assembling bases 3 are arranged on the auxiliary base 2 in the stacked mode through the insertion and matching of the supporting columns 4 and the supporting holes 5, the assembling bases 3 can be adjusted only by assembling or disassembling the assembling bases 3, the height of each movable base is convenient to adjust, the flexibility is high, the supporting columns 4 which are arranged at the topmost ends are inserted into the sockets 26 of the manipulator body, the positioning and installation of the manipulator body are achieved, the auxiliary bases 2 can be positioned on the main base 1 through the arrangement of the telescopic insertion rods 8, the position of the manipulator body is positioned on the main base 1, the stability is good, and the manipulator body is not prone to shaking; the finger unit 33 of the manipulator assembly 28 clamps the workpiece, the workpiece is clamped through the finger unit 33, meanwhile, the heating driving unit 36 can drive the heating block 35 to extend out of the accommodating groove 34 from the opening, the workpiece is heated through the abutting of the heating block 35 and the workpiece, and the position of the manipulator assembly 28 can be moved, namely the workpiece is transferred through the arrangement of the four-axis manipulator 27; in addition, the heating temperature of the heating block 35 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 has simple and novel structure, convenient assembly and disassembly of the manipulator body and convenient use, namely realizes heating of the workpiece and transfer of the workpiece, can also adjust the distance between the manipulator bodies on the movable base, and has flexible use and strong applicability; in addition, the height of the manipulator body can be adjusted by adjusting the number of the assembling bases 3 according to needs, so that the manipulator is flexible to use and quick to assemble; wherein, buffer gear 14 can play the effect of shock attenuation, buffering, improves and uses the utility model discloses a stability.

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 36 may be a cylinder; further, the finger unit 33 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.

In the improved manipulator device of the embodiment, a plurality of CCD vision detectors 38 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 38 at the bottom end of the rotary drum 32, and after the CCD vision detector 38 identifies the position of the workpiece, the finger unit 33 of the manipulator body clamps the workpiece, so that the working accuracy is improved.

In the improved manipulator device of this embodiment, the corners of the sub-base 2 are provided with first through holes 6, the corners of the assembly base 3 are provided with second through holes 7 for matching with the first through holes 6, the telescopic insertion rods 8 are movably inserted into the first through holes 6 and the second through holes 7, and the main base 1 is provided with a plurality of locking holes 9 for matching with the telescopic insertion rods; the telescopic inserted link 8 comprises a first telescopic pipe 10, a second telescopic pipe 11 and a third telescopic pipe 12, the second telescopic pipe 11 is slidably sleeved on the periphery of the third telescopic pipe 12, the first telescopic pipe 10 is slidably sleeved on the periphery of the second telescopic pipe 11, and one side of the top end of the first telescopic pipe 10 is provided with a butting block 13 in an extending manner; the length of the third telescopic tube 12 is greater than the length of the second telescopic tube 11, the length of the second telescopic tube 11 being greater than the length of the first telescopic tube 10. Specifically, the movable base is fixed on the main base 1 by inserting the telescopic insertion rod 8 into the locking hole 9 of the main base 1 after passing through the second through hole 7 and the first through hole 6, so that the movable base is prevented from sliding due to dead weight or external force, and the movable base is good in working stability and strong in reliability; the supporting block 13 can be abutted against the upper surface of the assembling base 3, so that the telescopic insertion rod 8 is prevented from completely extending into the second through hole 7 and being not easy to take out, and when the moving base needs to be moved, the supporting block 13 is pulled to enable the telescopic insertion rod 8 to be separated from the locking hole 9; furthermore, the length of the third telescopic tube 12 is greater than that of the second telescopic tube 11, and the length of the second telescopic tube 11 is greater than that of the first telescopic tube 10, so that the convenience of the use of the telescopic insertion rod 8 is effectively guaranteed, the third telescopic tube 12 is prevented from being sleeved in the second telescopic tube 11 and being not easy to pull out, and the second telescopic tube 11 is prevented from being sleeved in the first telescopic tube 10 and being not easy to pull out.

In the improved manipulator apparatus of this embodiment, a magnet block 15 is provided on the top end of each support column 4. Specifically, equipment base 3 is the metal material, and magnet piece 15 is convenient for the equipment between a plurality of equipment bases 3 stable, and adsorption efficiency is strong, and is difficult not hard up, and socket 26 is metal casing, and magnet piece 15 effectively improves the stability after pegging graft with socket 26.

In the improved manipulator device of this embodiment, baffles 16 are arranged above two sides of the main base 1, and protective rubber pads 17 are arranged on the inner sides of the baffles 16. Specifically, the baffle 16 is arranged to prevent the movable base from sliding out of the main base 1, and the protective rubber pad 17 is arranged to reduce collision and abrasion between the movable base and the baffle 16.

In the improved manipulator device of this embodiment, the two sides of the main base 1 are both provided with the mounting blocks 18, and the mounting blocks 18 are provided with the mounting holes 19. Specifically, the mounting holes 19 are provided to facilitate the mounting of the main base structure to a work platform or ground by fasteners such as bolts.

In the improved manipulator device of this embodiment, the bottom of the sub-base 2 is provided with a plurality of pulleys 20, the plurality of pulleys 20 are arranged in two rows, and the main base 1 is provided with a slide rail 21 for sliding in cooperation with the pulleys 20. Specifically, through the sliding connection of the pulley 20 and the slide rail 21, the sliding connection between the sub-base 2 and the main base 1 is realized, and the arrangement of the pulley 20 can reduce the friction when the sub-base 2 and the main base 1 slide, and improve the sliding fluency.

This embodiment an improved manipulator device, buffer gear 14 includes flat cushion 22, flat cushion 23 down and sets up the buffer layer 24 between flat cushion 22 and flat cushion 23 down, the built-in a plurality of compression spring 25 that is equipped with of buffer layer 24, a plurality of compression spring 25 evenly distributed in the buffer layer 24, compression spring 25's one end and last flat cushion 22 are connected, compression spring 25's the other end and flat cushion 23 down are connected. Specifically, go up flat cushion 22, flat cushion 23 self is the plastic material down, possesses elastic restoring force, and compression spring 25 in the cooperation buffer layer 24 further improves the buffering effect, plays the effect of shock attenuation and buffering.

In the improved manipulator device of this embodiment, the abutting block 13 is integrally formed with the first telescopic tube 10. Specifically, the integrally formed abutting block 13 and the first telescopic tube 10 have strong structural stability and reliable use.

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 improved manipulator device, characterized in that: the manipulator comprises a manipulator body, a main base and a plurality of movable bases arranged on the main base in a sliding manner, wherein the movable bases are arranged in a row, each movable base comprises an auxiliary base and a plurality of assembly bases, the assembly bases are arranged on the auxiliary bases in a stacking manner, a plurality of support columns are arranged at the tops of the auxiliary bases and the tops of the assembly bases, a plurality of support holes used for being inserted into the support columns are formed in the bottom of each assembly base, and the support columns are accommodated in the support holes; the movable base further comprises a plurality of telescopic insertion rods for positioning the auxiliary base and the assembling base on the main base; 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, a plurality of insertion holes used for being in insertion fit with the support columns are formed in the bottom of the socket, the manipulator assembly comprises an arm part, the bottom end of the arm part is rotatably connected with a rotating part, a rotation driving unit used for driving the rotating part to rotate is arranged in the arm part, the bottom end of the rotating part is connected with a rotary drum, ten finger units are arranged on the periphery of the bottom end of the rotary drum in an equally-spaced mode, each finger unit is correspondingly connected with one finger driving unit, and the finger driving units drive the corresponding finger units to extend and; a containing groove is formed in the middle of the inside of the rotary drum, a heating assembly is arranged in the containing groove and comprises a heating block and a heating driving unit for driving the heating block to move, and an opening for the heating block to extend out of the containing groove is formed in the middle of the bottom end of the rotary drum; and a buffer mechanism is arranged at the bottom of the main base.

2. An improved robot apparatus as set forth in claim 1, wherein: and a plurality of CCD visual detectors are arranged on the periphery of the opening at equal intervals.

3. An improved robot apparatus as set forth in claim 1, wherein: the edge of the auxiliary base is provided with a first through hole, the edge of the assembly base is provided with a second through hole correspondingly matched with the first through hole, the telescopic inserted bar movably penetrates through the first through hole and the second through hole, and the main base is provided with a plurality of locking holes matched with the telescopic inserted bar; the telescopic inserted link comprises a first telescopic pipe, a second telescopic pipe and a third telescopic pipe, the second telescopic pipe is slidably sleeved on the periphery of the third telescopic pipe, the first telescopic pipe is slidably sleeved on the periphery of the second telescopic pipe, and one side of the top end of the first telescopic pipe extends to form a resisting block; the length of the third telescopic pipe is greater than that of the second telescopic pipe, and the length of the second telescopic pipe is greater than that of the first telescopic pipe.

4. An improved robot apparatus as set forth in claim 1, wherein: the top of every support column all is provided with the magnet piece.

5. An improved robot apparatus as set forth in claim 1, wherein: the both sides top of main base all is provided with the baffle, the inboard of baffle is provided with the protection cushion.

6. An improved robot apparatus as set forth in claim 1, wherein: the both sides of main base all are provided with the installation piece, and the installation piece is provided with the mounting hole.

7. An improved robot apparatus as set forth in claim 1, wherein: the bottom of the auxiliary base is provided with a plurality of pulleys, the pulleys are arranged in two rows, and the main base is provided with a sliding rail used for sliding in a matching mode with the pulleys.

8. An improved robot apparatus as set forth in claim 1, wherein: buffer gear includes flat cushion, lower flat cushion and sets up in last flat cushion and the buffer layer between the flat cushion down, the built-in a plurality of compression spring that are equipped with of buffer layer, a plurality of compression spring evenly distributed in the buffer layer, compression spring's one end and last flat cushion are connected, and compression spring's the other end and lower flat cushion are connected.

9. An improved robot apparatus as set forth in claim 3, wherein: the abutting block and the first telescopic pipe are integrally formed.