CN216372189U

CN216372189U - Robot walking frame manipulator suitable for article clamping at different heights

Info

Publication number: CN216372189U
Application number: CN202122556738.4U
Authority: CN
Inventors: 周慧珍
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-10-24
Filing date: 2021-10-24
Publication date: 2022-04-26
Anticipated expiration: 2031-10-24

Abstract

The utility model discloses a robot walking frame manipulator suitable for clamping articles with different heights, and particularly relates to the technical field of manipulators. The utility model can clamp objects at different positions and heights, has simple structure and higher clamping efficiency.

Description

Robot walking frame manipulator suitable for article clamping at different heights

Technical Field

The utility model relates to the technical field of manipulators, in particular to a robot walking frame manipulator suitable for clamping articles with different heights.

Background

The mechanical finger can imitate some action functions of human hand, and the automatic operation device for grabbing and carrying articles or operating tools according to fixed procedures mainly comprises three major parts of an execution mechanism, a driving mechanism and a control system. It can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, thus is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

Most of the existing robot walking frame manipulators need to set the moving stroke of the clamping device on the manipulator in a control system before being used, so that the manipulator can move to a corresponding position according to the stroke set in the control system, when clamping articles with different height distances, the moving stroke of the clamping device needs to be reset, and the robot walking frame manipulator is troublesome to use. In view of the above, it is desirable to provide a robot walking frame manipulator suitable for clamping articles with different heights.

SUMMERY OF THE UTILITY MODEL

In order to overcome the above defects in the prior art, the present invention provides a robotic walking frame manipulator suitable for gripping articles with different heights, so as to solve the problem mentioned in the background art that most of the existing robotic walking frame manipulators need to correct the moving stroke in the control system when gripping articles with different heights, and are troublesome to use.

In order to achieve the above purpose, the utility model provides the following technical scheme: a robot walking frame manipulator suitable for clamping articles with different heights, which comprises a support column and a transverse plate, the transverse plate is fixedly arranged at the upper end of the front side surface of the support column through a bolt, the lower end of the front side surface of the transverse plate is fixedly provided with a slide rail, the outer side of the sliding rail is connected with a sliding seat in a sliding way, the outer side of the sliding seat is fixedly provided with a connecting block, the front side of the connecting block is fixedly provided with an upright post, the upright post is provided with a chute in the vertical direction, the sliding groove penetrates through the upright post, a moving rod is connected inside the sliding groove in a sliding manner, a rack is fixedly arranged on the rear side surface of the moving rod, the bottom end of the moving rod is fixedly provided with a manipulator body, the upper surface of the connecting block is fixedly provided with a first driving motor, the output end of the first driving motor is sleeved with a gear, the gear is arranged on the rear side of the rack, and the gear is meshed with the rack.

In a preferred embodiment, a motor plate is fixedly mounted on the right side of the rear side face of the transverse plate, a second driving motor is arranged above the motor plate, the output end of the second driving motor penetrates through the transverse plate, a first belt pulley is sleeved on the output end of the second driving motor, the first belt pulley is arranged on the front side of the transverse plate, and the output end of the second driving motor drives the first belt pulley to rotate after the second driving motor is started.

In a preferred embodiment, a fixed shaft is fixedly mounted on the left side of the front side surface of the transverse plate, a second belt pulley is sleeved on the fixed shaft, the first belt pulley and the second belt pulley are located on the same horizontal plane, a transmission belt is sleeved on the outer sides of the first belt pulley and the second belt pulley, and the first belt pulley and the second belt pulley are driven to rotate after rotating.

In a preferred embodiment, the lower extreme of driving belt establishes in the top of slide, and the lower extreme driving belt's upside is equipped with the fixed plate, the fixed plate passes through bolt fixed connection with the upper surface of slide, and the lower extreme driving belt's upper surface contacts with the lower surface of fixed plate, and lower extreme driving belt's lower surface contacts with the upper surface of slide, when driving belt rotated, will drive the slide and remove along the slide rail under the connection of fixed plate.

In a preferred embodiment, the manipulator body is including connecting the mainboard, one side fixed mounting who connects the mainboard has micro motor, the opposite side of connecting the mainboard is equipped with two rotor plates, micro motor's output passes and connects the mainboard and is connected with one of them rotor plate, two the equal swing joint in bottom of rotor plate has splint, two both sides all are equipped with the connecting rod around the splint, the one end of connecting rod and the intermediate position swing joint of splint, and the other end of connecting rod and the bottom swing joint of connecting the mainboard, the top fixed mounting who connects the mainboard has the connecting seat, the bottom surface fixed connection of connecting seat and carriage release lever, two rotor plates will rotate after micro motor starts to realize opening and shutting of two splint, realize pressing from both sides the function of getting to the object.

In a preferred embodiment, the two rotating plates are provided with teeth, the two rotating plates are meshed, when one rotating plate rotates, the other rotating plate also rotates along with the rotating plate, the two rotating plates are meshed, and the inner sides of the two clamping plates are provided with tooth grooves, so that objects can be clamped quickly.

Compared with the prior art, the utility model has the beneficial effects that:

1. according to the utility model, through arranging the first driving motor, the gear, the rack, the chute and the movable rod, in order to clamp objects with different heights, a worker starts the first driving motor, the output end of the first driving motor drives the gear to rotate, the rack meshed with the gear moves in a vertical plane in the rotating process of the gear, and the rack drives the movable rod to move along the chute, so that the manipulator body moves in the vertical plane, and the clamping of the objects with different heights is convenient to realize;

2. according to the utility model, the second driving motor is started by arranging the second driving motor, the first belt pulley, the second belt pulley, the transmission belt and the slide rail, the output end of the second driving motor drives the first belt pulley to rotate, the first belt pulley drives the transmission belt to rotate, and the slide seat and the fixing plate are connected to two sides of the lower end of the transmission belt, so that the transmission belt drives the slide seat to move in the horizontal direction when rotating, thereby realizing the movement of the manipulator body in the horizontal direction and facilitating the clamping of objects at different positions.

Drawings

For a clearer explanation of the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

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

FIG. 2 is a rear elevational view of the overall construction of the present invention;

FIG. 3 is a side view of the overall structure of the present invention;

FIG. 4 is a front view of the robot body of the present invention;

figure 5 is a rear view of the robot body of the present invention.

Description of reference numerals:

1. a support pillar; 2. a transverse plate; 3. a slide rail; 4. a slide base; 5. connecting blocks; 6. a column; 7. a chute; 8. a travel bar; 9. a rack; 10. a manipulator body; 1001. connecting the main board; 1002. a micro motor; 1003. a rotating plate; 1004. a splint; 1005. a connecting rod; 1006. a connecting seat; 11. a first drive motor; 12. a gear; 13. a motor plate; 14. a second drive motor; 15. a first pulley; 16. a fixed shaft; 17. a second pulley; 18. a drive belt; 19. and (7) fixing the plate.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the utility model will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the utility model and that it is not intended to limit the utility model to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to the attached drawings 1-5 in the specification, the robot walking frame manipulator suitable for clamping articles with different heights comprises a supporting column 1 and a transverse plate 2, the transverse plate 2 is fixedly mounted at the upper end of the front side of the supporting column 1 through bolts, a slide rail 3 is fixedly mounted at the lower end of the front side of the transverse plate 2, a slide seat 4 is slidably connected to the outer side of the slide rail 3, a connecting block 5 is fixedly mounted at the outer side of the slide seat 4, an upright post 6 is fixedly mounted at the front side of the connecting block 5, a slide groove 7 is vertically formed in the upright post 6, the slide groove 7 penetrates through the upright post 6, a moving rod 8 is slidably connected to the inner portion of the slide groove 7, a rack 9 is fixedly mounted at the rear side of the moving rod 8, a manipulator body 10 is fixedly mounted at the bottom end of the moving rod 8, and a first driving motor 11 is fixedly mounted on the upper surface of the connecting block 5, the output end of the first driving motor 11 is sleeved with a gear 12, the gear 12 is arranged on the rear side of the rack 9, the gear 12 is meshed with the rack 9, and the rack 9 is driven to move in a vertical plane when the gear 12 rotates.

The manipulator body 10 comprises a connecting main board 1001, a micro motor 1002 is fixedly mounted on one side of the connecting main board 1001, two rotating plates 1003 are arranged on the other side of the connecting main board 1001, an output end of the micro motor 1002 penetrates through the connecting main board 1001 and is connected with one of the rotating plates 1003, clamping plates 1004 are movably connected to the bottom ends of the two rotating plates 1003, connecting rods 1005 are arranged on the front side and the rear side of each of the two clamping plates 1004, one end of each connecting rod 1005 is movably connected with the middle position of the corresponding clamping plate 1004, the other end of each connecting rod 1005 is movably connected with the bottom end of the connecting main board, the connecting rods 1005 limit the clamping plates 1004 to ensure that the clamping plates 1004 can be normally opened and closed, so as to clamp an object, a connecting seat 1006 is fixedly mounted on the top end of the connecting main board 1001, the connecting seat 1006 is fixedly connected with the bottom surface of a moving rod 8, and teeth are arranged on the two rotating plates 1003, two the rotor plate 1003 meshes mutually, and when micro motor 1002 started, its output will drive the rotor plate 1003 of being connected with it and rotate, and pivoted rotor plate 1003 will drive another rotor plate 1003 and rotate this moment to realize the process of opening and shutting of two rotor plates 1003, two the tooth's socket has all been seted up to the inboard of splint 1004, can strengthen the frictional force between manipulator body 10 and the object, be convenient for press from both sides the object.

The implementation scenario is specifically as follows: in order to clamp objects with different heights, in the using process of the manipulator, a worker needs to start the first driving motor 11, at this time, the output end of the first driving motor 11 drives the gear 12 to rotate, the rack 9 meshed with the gear 12 moves in a vertical plane in the rotating process of the gear 12, and the rack 9 drives the moving rod 8 to move along the sliding groove 7, so that the manipulator body 10 moves in the vertical plane, and the clamping of the objects with different heights is facilitated.

Referring to the attached drawings 1-3 in the specification, in the robot walking frame manipulator suitable for clamping articles with different heights, a motor plate 13 is fixedly installed on the right side of the rear side of a transverse plate 2, a second driving motor 14 is arranged above the motor plate 13, the output end of the second driving motor 14 penetrates through the transverse plate 2, a first belt pulley 15 is sleeved on the output end of the second driving motor 14, the first belt pulley 15 is arranged on the front side of the transverse plate 2, the output end of the second driving motor 14 drives the first belt pulley 15 to rotate after being started, a fixed shaft 16 is fixedly installed on the left side of the front side of the transverse plate 2, a second belt pulley 17 is sleeved on the fixed shaft 16, the first belt pulley 15 and the second belt pulley 17 are located on the same horizontal plane, a transmission belt 18 is sleeved on the outer sides of the first belt pulley 15 and the second belt pulley 17, first belt pulley 15 rotates the back, and under drive belt 18's connection, second belt pulley 17 will also rotate, drive belt 18's lower extreme is established in the top of slide 4, the lower extreme drive belt 18's upside is equipped with fixed plate 19, fixed plate 19 passes through bolt fixed connection with the upper surface of slide 4, the lower extreme drive belt 18's upper surface and fixed plate 19's lower surface contact, and lower extreme drive belt 18's lower surface contacts with the upper surface of slide 4, and when drive belt 18 rotated, will drive slide 4 and remove along slide rail 3 under the connection of fixed plate 19, and slide 4 can not roll-off slide rail 3 simultaneously.

The implementation scenario is specifically as follows: when the manipulator body 10 needs to move in the horizontal direction, the worker starts the second driving motor 14, the output end of the second driving motor 14 drives the first belt pulley 15 to rotate, the first belt pulley 15 drives the transmission belt 18 and the second belt pulley 17 to rotate, because the sliding seat 4 and the fixing plate 19 are connected on two sides of the transmission belt 18, the transmission belt 18 can drive the sliding seat 4 to move when rotating, the sliding seat 4 moves in the horizontal direction along the sliding rail 3, and therefore the manipulator body 10 can move in the horizontal direction.

The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the utility model, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the utility model can be combined with each other without conflict;

and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present invention are intended to be included in the scope of the present invention.

Claims

1. The utility model provides a robot walking frame manipulator suitable for different height article are got, includes support column (1) and diaphragm (2), its characterized in that: the device comprises a supporting column (1), a transverse plate (2) and a connecting block (4), wherein the transverse plate is fixedly installed at the upper end of the front side face of the supporting column (1) through bolts, a sliding rail (3) is fixedly installed at the lower end of the front side face of the transverse plate (2), the sliding block (4) is connected to the outer side of the sliding rail (3) in a sliding manner, the connecting block (5) is fixedly installed at the outer side of the sliding block (4), a stand column (6) is fixedly installed at the front side of the connecting block (5), a sliding groove (7) is formed in the stand column (6) in the vertical direction, the sliding groove (7) penetrates through the stand column (6), a moving rod (8) is connected to the inner portion of the sliding groove (7) in a sliding manner, a rack (9) is fixedly installed at the rear side face of the moving rod (8), a manipulator body (10) is fixedly installed at the bottom of the moving rod (8), a first driving motor (11) is fixedly installed at the upper surface of the connecting block (5), a gear (12) is sleeved at the output end of the first driving motor (11), the gear (12) is arranged on the rear side of the rack (9) and the gear (12) is meshed with the rack (9).

2. The robotic manipulator of claim 1, wherein the robotic manipulator is adapted for gripping articles at different heights: the rear side face right side fixed mounting of diaphragm (2) has motor board (13), the top of motor board (13) is equipped with second driving motor (14), diaphragm (2) are passed to the output of second driving motor (14), first belt pulley (15) have been cup jointed to the output of second driving motor (14), the front side at diaphragm (2) is established in first belt pulley (15).

3. The robotic manipulator of claim 2, wherein the robotic manipulator is adapted for gripping articles at different heights: the front side face left side of the transverse plate (2) is fixedly provided with a fixed shaft (16), the fixed shaft (16) is sleeved with a second belt pulley (17), the first belt pulley (15) and the second belt pulley (17) are located on the same horizontal plane, and the outer sides of the first belt pulley (15) and the second belt pulley (17) are sleeved with a transmission belt (18).

4. The robotic manipulator of claim 3, wherein the robotic manipulator is adapted for gripping articles at different heights: the lower extreme of drive belt (18) is established in the top of slide (4), the lower extreme the upside of drive belt (18) is equipped with fixed plate (19), fixed plate (19) pass through bolt fixed connection with the upper surface of slide (4), the lower extreme the upper surface of drive belt (18) contacts with the lower surface of fixed plate (19), and the lower surface of lower extreme drive belt (18) contacts with the upper surface of slide (4).

5. The robotic manipulator of claim 1, wherein the robotic manipulator is adapted for gripping articles at different heights: the manipulator body (10) comprises a connecting main board (1001), one side of the connecting main board (1001) is fixedly provided with a micro motor (1002), the other side of the connecting main board (1001) is provided with two rotating boards (1003), the output end of the micro motor (1002) penetrates through the connecting main board (1001) and is connected with one of the rotating boards (1003), the bottom ends of the two rotating boards (1003) are movably connected with clamping boards (1004), the front side and the rear side of each clamping board (1004) are respectively provided with a connecting rod (1005), one end of the connecting rod (1005) is movably connected with the middle position of the clamping plate (1004), the other end of the connecting rod (1005) is movably connected with the bottom end of the connecting main board (1001), the top end of the connecting main board (1001) is fixedly provided with a connecting seat (1006), and the connecting seat (1006) is fixedly connected with the bottom surface of the moving rod (8).

6. The robotic manipulator of claim 5, wherein the robotic manipulator is adapted for gripping articles at different heights: teeth are arranged on the two rotating plates (1003), the two rotating plates (1003) are meshed with each other, and tooth grooves are formed in the inner sides of the two clamping plates (1004).