CN218255234U - Manipulator with steering assembly - Google Patents

Abstract

The utility model provides a manipulator with a steering component, which comprises a direct current gear motor, a steering component, a threaded column, a clamping claw component, a first connecting rod, a transmission component and a jacking component; a motor shaft of the direct-current speed reduction motor penetrates through a shaft ring of a thrust ball bearing in the steering assembly to be connected with a first end of a threaded column, a second end of the threaded column is provided with a magnet, and a first mounting end of a connecting piece in the clamping claw assembly is connected with a sliding end of a linear guide rail through a sliding block; the first end of a clamping jaw rod piece in the clamping jaw assembly is connected with the first end of a first connecting rod, the second end of the first connecting rod is connected with the first mounting end of the outer ring of the transmission piece, the first end of a second connecting rod in the jacking assembly is connected with the second mounting end of the outer ring of the transmission piece, and the mounting end of the inner ring of the transmission piece is in threaded connection with the middle of the threaded column. The utility model discloses under the condition of only installing a motor, realize the manipulator clamp and get the function and turn to the switching of function, reduced the volume and the quality of manipulator, saved the manufacturing cost of manipulator.

Description

Manipulator with steering assembly

Technical Field

The utility model relates to a robot manipulator field, in particular to manipulator with steering assembly.

Background

The manipulator is used as a common material clamping device and has very wide application in the industrial field. For example, the patent discloses a rack steel billet milling machine with a steering manipulator, the steering manipulator comprises a manipulator, a guide rod cylinder for driving the manipulator to do horizontal linear movement, a swing cylinder for swinging the guide rod cylinder and a pneumatic sliding table for vertically lifting the swing cylinder, and the manipulator comprises a seat plate fixed on a piston rod of the guide rod cylinder and a material clamping space arranged on the seat plate and used for clamping the end part of a rack steel billet.

However, most of existing manipulators need to realize driving of multiple functions in the working process, so that the manipulators need to be provided with a plurality of driving parts such as motors, cylinders and the like, the phenomena of large size and heavy weight of the manipulators occur, and certain influences are generated on the space utilization rate, the working efficiency and the like of manipulator equipment.

Therefore, we propose a robot with a steering assembly to solve the above problems.

SUMMERY OF THE UTILITY MODEL

Aiming at the problems in the prior art, the utility model provides a manipulator with a steering component, which changes the steering of the whole manipulator by controlling the power on/off of an electromagnetic lock in the steering component, and when the electromagnetic lock is powered on, the electromagnetic lock retracts from a limit hole to steer; when the electromagnetic lock loses the electricity, the electromagnetic lock is inserted into the limiting hole to prevent the steering assembly from rotating, and the direct-current speed reduction motor drives the threaded column, the clamping claw assembly, the first connecting rod and the transmission part to open and close the mechanical claw, so that corresponding grabbing is completed. Therefore, under the condition that only one direct current speed reducing motor is installed, the manipulator is switched between two functions of clamping and steering, the size and the quality of the manipulator are reduced, and the manufacturing cost of the manipulator is saved.

The utility model provides a manipulator with turn to subassembly, it includes direct current gear motor, motor backup pad, turns to subassembly, motor shaft extension piece, screw thread post, magnet, linear guide, slider, clamp and gets claw subassembly, first connecting rod, driving medium and roof pressure subassembly. The shell of the direct current gear motor with the first installation end of the motor support plate links firmly, the motor shaft of the direct current gear motor passes the shaft collar that turns to thrust ball bearing in the subassembly with the first end of motor shaft extension is connected, the second end of motor shaft extension pass through the shaft coupling with the first end of screw thread post is connected, the second end of screw thread post is equipped with magnet, turn to the stiff end of subassembly bearing frame with the second installation end of motor support plate links firmly, turn to in the subassembly first installation end and the second installation end of lower part connecting plate respectively with linear guide's stiff end and locating part are connected, press from both sides the first installation end of connecting piece in the claw subassembly pass through the slider with linear guide's slip end is connected. The clamping jaw assembly is characterized in that a first end of a clamping jaw rod piece in the clamping jaw assembly is connected with a first end of a first connecting rod, a second end of the first connecting rod is connected with a first mounting end of an outer ring of the transmission member, a first end of a second connecting rod in the jacking assembly is connected with a second mounting end of the outer ring of the transmission member, and a mounting end of an inner ring of the transmission member is in threaded connection with the middle of the threaded column. The steering assembly comprises a bearing seat, an electromagnetic lock, a lower connecting plate, a thrust ball bearing and a lower connecting piece, wherein an inner ring of the bearing seat is connected with a seat ring of the thrust ball bearing, a shaft ring of the thrust ball bearing is connected with a first end of the lower connecting piece, and a second end of the lower connecting piece and the electromagnetic lock are respectively connected with a third mounting end and a fourth mounting end of the lower connecting plate; the jacking assembly comprises a second connecting rod, a jacking block, a magnetic encoder, a round copper column and a sponge block, wherein the second end of the second connecting rod is connected with the first mounting end of the jacking block, the second mounting end of the jacking block is connected with the magnetic encoder through the round copper column, and the third mounting end of the jacking block is connected with the sponge block.

Preferably, in the steering assembly, limiting holes are uniformly distributed in the circumferential direction of the outer part of the bearing seat, the limiting holes are distributed at 90 degrees, the thrust ball bearing and the lower connecting piece are both positioned in an inner ring of the bearing seat, and the inner centers of the bearing seat, the thrust ball bearing and the lower connecting piece are on the same straight line; the axes of the motor shaft, the thrust ball bearing, the motor shaft extension piece, the threaded column, the magnet, the top pressing block and the magnetic encoder of the direct-current speed reducing motor are on the same straight line.

Preferably, the clamping jaw assembly comprises a connector, a clamping jaw rod and a clamping jaw end part, wherein the second mounting end of the connector is fixedly connected with the second end of the clamping jaw rod, and the third end of the clamping jaw rod is fixedly connected with the clamping jaw end part.

Preferably, the clamping claw assembly, the first connecting rod, the linear guide rail, the sliding block and the limiting piece are symmetrically distributed on two sides of the lower connecting plate.

Preferably, the number of the first connecting rod and the second connecting rod is two, and the first connecting rod and the second connecting rod are alternately distributed at the installation end of the outer ring of the transmission member at 90 degrees.

Compared with the prior art, the utility model, have following advantage:

1. the utility model discloses under only installing a direct current gear motor's condition, through outage and the circular telegram of control electromagnetic lock, realize the utility model discloses a press from both sides and get the function and turn to the function, realize respectively with two motors of installation that the clamp is got the function and is compared with the manipulator that turns to the function, has not only reduced the whole volume and the quality of manipulator, has saved the manufacturing cost of manipulator moreover.

2. The utility model discloses the roof pressure piece below adhesion of roof pressure subassembly has the sponge piece, to the damage on article surface when preventing to snatch the article.

3. The utility model discloses in getting claw subassembly, separately design into two parts of clamping jaw member and clamping jaw end part with the position that its execution clamp got work, it is used for and lies in that the person of facilitating the use is right the utility model discloses maintain, when clamping jaw end part appears damaging, can only change it, and need not change the whole clamp and get the claw, in addition, this kind of design can also the person of facilitating the use according to the clamping jaw end part of the corresponding change different shapes of different demands of the article of getting of institute, has better flexibility.

Drawings

FIG. 1 is an overall view of the manipulator with steering assembly of the present invention;

FIG. 2 is a structural diagram of the open state of the gripping jaws in the manipulator with steering assembly of the present invention;

FIG. 3 is a schematic view of the installation of the magnet in the manipulator with the steering assembly according to the present invention;

FIG. 4 is a diagram of a transmission member of the robot with steering assembly of the present invention;

FIG. 5 is a structural diagram of a steering assembly of the robot with the steering assembly of the present invention;

FIG. 6 is a structural diagram of a bearing seat of a steering assembly in the manipulator with the steering assembly of the present invention;

FIG. 7 is a structural diagram of a lower connecting member of a steering assembly in the robot having the steering assembly of the present invention;

FIG. 8 is a schematic diagram of a gripping jaw assembly of the manipulator with steering assembly of the present invention;

fig. 9 is a structural diagram of a top pressure assembly in the manipulator with the steering assembly of the present invention;

fig. 10 is a structural diagram of a top pressing block of the top pressing assembly in the robot hand with the steering assembly according to the present invention.

The main reference numbers:

direct current gear motor 1, motor supporting plate 2, turn to subassembly 3, bearing frame 301, electromagnetic lock 302, lower part connecting plate 303, thrust ball bearing 304, lower part connecting piece 305, motor shaft extension piece 4, shaft coupling 5, screw post 6, magnet 7, linear guide 8, slider 9, locating part 10, press from both sides and get claw subassembly 11, connecting piece 1101, clamping jaw member 1102, clamping jaw end part 1103, first connecting rod 12, driving medium 13, roof pressure subassembly 14, second connecting rod 1401, roof pressure piece 1402, magnetic encoder 1403, circular copper post 1404, sponge piece 1405.

Detailed Description

The technical contents, structural features, and objects and functions of the present invention will be described in detail below with reference to the accompanying drawings.

The manipulator with the steering assembly, as shown in fig. 1 and fig. 2, includes a dc gear motor 1, a motor support plate 2, a steering assembly 3, a motor shaft extension 4, a coupling 5, a threaded column 6, a magnet 7, a linear guide rail 8, a slider 9, a limiting member 10, a clamping claw assembly 11, a first link 12, a transmission member 13 and a pressing assembly 14.

As shown in fig. 1, the gripping claw assembly 11, the first link 12, the linear guide 8, the slider 9, and the stopper 10 are symmetrically disposed on both sides of the lower connecting plate 303.

The shell of the direct-current speed reduction motor 1 is fixedly connected with the first mounting end of the motor supporting plate 2, a motor shaft of the direct-current speed reduction motor 1 penetrates through a shaft ring of the thrust ball bearing 304 in the steering assembly 3 to be connected with the first end of the motor shaft extension piece 4, the second end of the motor shaft extension piece 4 is connected with the first end of the threaded column 6 through the shaft coupling 5, the second end of the threaded column 6 is provided with a magnet 7, as shown in fig. 3, the fixed end of the bearing seat 301 in the steering assembly 3 is fixedly connected with the second mounting end of the motor supporting plate 2, the first mounting end and the second mounting end of the lower connecting plate 303 in the steering assembly 3 are respectively connected with the fixed end and the limiting part 10 of the linear guide rail 8, and the first mounting end of the connecting piece 1101 in the clamping claw assembly 11 is connected with the sliding end of the linear guide rail 8 through the sliding block 9.

The first end of a clamping jaw rod member 1102 in the clamping jaw assembly 11 is connected with the first end of a first connecting rod 12, the second end of the first connecting rod 12 is connected with the first mounting end of the outer ring of the transmission piece 13, the first end of a second connecting rod 1401 in the jacking assembly 14 is connected with the second mounting end of the outer ring of the transmission piece 13, and the mounting end of the inner ring of the transmission piece 13 is connected with the middle part of the threaded column 6 in a spiral pair mode.

The steering assembly 3, as shown in fig. 5, 6 and 7, includes a bearing seat 301, an electromagnetic lock 302, a lower connecting plate 303, a thrust ball bearing 304 and a lower connecting member 305, wherein an inner ring of the bearing seat 301 is connected with a race of the thrust ball bearing 304, a collar of the thrust ball bearing 304 is connected with a first end of the lower connecting member 305, and a second end of the lower connecting member 305 and the electromagnetic lock 302 are respectively connected with a third mounting end and a fourth mounting end of the lower connecting plate 303.

Specifically, four limiting holes are uniformly distributed in the circumferential direction of the outer portion of the bearing seat 301, the four same limiting holes are distributed at 90 degrees, the thrust ball bearing 304 and the lower connecting piece 305 are packaged in an inner ring of the bearing seat 301, and the inner centers of the bearing seat 301, the thrust ball bearing 304 and the lower connecting piece 305 are on the same straight line.

In a preferred embodiment of the present invention, the axes of the motor shaft, the thrust ball bearing 304, the motor shaft extension 4, the threaded column 6, the magnet 7, the pressing block 1402 and the magnetic encoder 1403 of the dc gear motor 1 are on the same straight line.

The grasping jaw assembly 11, as shown in fig. 8, includes a connector 1101, a jaw lever 1102, and a jaw end member 1103, a second mounting end of the connector 1101 secured to a second end of the jaw lever 1102, and a third end of the jaw lever 1102 secured to the jaw end member 1103.

The pressing assembly 14, as shown in fig. 9 and 10, includes a second link 1401, a pressing block 1402, a magnetic encoder 1403, a circular copper pillar 1404, and a sponge block 1405, where a second end of the second link 1401 is connected to a first mounting end of the pressing block 1402 through a revolute pair, the pressing block 1402 is formed with a slanted edge at a connection with the second link 1401 to limit the second link 1401 from rotating greatly, the second mounting end of the pressing block 1402 is connected to the magnetic encoder 1403 through the circular copper pillar 1404, and a third mounting end of the pressing block 1402 is adhered to the sponge block 1405 through glue.

As shown in fig. 4, the first and second mounting ends of the outer ring of the transmission member 13 are alternately arranged at 90 degrees, the number of the first and second links 12 and 1401 is two, and the first and second links 12 and 1401 are alternately arranged at 90 degrees at the mounting end of the outer ring of the transmission member 13.

The following description is made in conjunction with the embodiments for a manipulator with a steering assembly of the present invention:

the utility model discloses manipulator with turn to subassembly has the clamp and gets the article, loosens functions such as article and automatic steering, and the main operation process of clamp getting the article as follows:

firstly, the electromagnetic locks 302 symmetrically distributed on two sides above the lower connecting plate 303 in the steering assembly 3 are powered off, and at the moment, the rod pieces of the electromagnetic locks 302 are inserted into the limiting holes of the bearing seat 301, so that the relative rotation of the bearing seat 301 and the lower connecting plate 303 is limited, and thus, the preparation work of clamping the function is completely completed. Then the direct current speed reducing motor 1 is controlled to rotate forwards to drive the threaded column 6 to rotate forwards, so that the transmission piece 13 connected with the threaded column 6 starts to move downwards, the clamping claw assemblies 11 on two sides below the lower connecting plate 303 drive the sliding blocks 9 fixedly connected with the connecting piece 1101 to move towards the direction close to the threaded column 6 along the linear guide rails 8 through the first connecting rods 12 connected with the clamping claw rod pieces 1102, so that the tail end parts 1103 of the clamping claws in the clamping claw assemblies 11 are driven by the transmission piece 13 to pass through the bottoms of the objects to be clamped to perform closing operation, finally the jacking blocks 1402 in the jacking assembly 14 above the objects to be clamped are driven by the second connecting rod 1401 connected with the second mounting end of the transmission piece 13 to move downwards, and the sponge blocks 1405 in the jacking assembly 14 are driven to press the upper surfaces of the objects to be clamped to complete the operation of clamping the objects by matching with the clamping claw assemblies 11.

The main operating process for releasing the article is as follows:

firstly, the direct current speed reducing motor 1 is controlled to rotate reversely to drive the threaded column 6 to rotate reversely, so that the transmission piece 13 connected with the threaded column 6 starts to move upwards, the clamping claw assemblies 11 symmetrically distributed on two sides of the middle lower connecting plate 303 of the steering assembly 3 drive the sliding blocks 9 fixedly connected with the connecting piece 1101 to move along the linear guide rail 8 towards the direction far away from the threaded column 6 through the first connecting rods 12 connected with the clamping claw rod pieces 1102, so that the clamping claw end parts 1103 in the clamping claw assemblies 11 are opened under the drive of the transmission piece 13, as shown in fig. 2, finally, the jacking blocks 1402 in the jacking assembly 14 above the object to be loosened are gradually lifted upwards under the drive of the second connecting rods 1401 connected with the second mounting ends of the transmission piece 13, so that the constraint on the clamped object is released, and the loosening operation is completed.

The main operation process of the automatic steering is as follows:

when the steering operation is performed, the two-side gripping claw assemblies 11 are in an open state, as shown in fig. 2, and the sliders 9 matched with the linear guide rails 8 respectively touch the limiting members 10 at the two ends, at this time, the sensor chip of the magnetic encoder 1403 in the top pressing assembly 14 is located in a range of a distance of 1mm to 2mm directly below the magnet 7, and the distance range meets the normal operation requirement of the magnetic encoder 1403.

Firstly, the electromagnetic locks 302 symmetrically distributed on two sides above the lower connecting plate 303 in the steering assembly 3 are electrified, the rod pieces of the electromagnetic locks 302 are attracted and retracted to be drawn out from the limiting holes of the bearing seat 301, the relative rotation constraint between the bearing seat 301 and the lower connecting plate 303 is removed, and thus, the preparation work for realizing the steering function is completely finished. And then, controlling the direct current speed reducing motor 1 to rotate reversely, enabling the parts below the bearing seat 301 and the electromagnetic locks 302 to start rotating under the driving of the direct current speed reducing motor 1, stopping the steering operation after the parts rotate to 90 degrees, powering off the electromagnetic locks 302 symmetrically distributed on two sides of the lower connecting plate 303, popping the rod pieces of the electromagnetic locks 302 again and inserting the rod pieces into the limiting holes of the bearing seat 301, and thus finishing the steering operation.

In the middle of the whole process that turns to the operation, when relative rotation takes place for screw post 6 and magnetic encoder 1403, the sensing chip of magnetic encoder 1403 can with 7 interact of magnet, record screw post 6 and magnetic encoder 1403 relative turned angle, the turned angle of DC gear motor 1 can be recorded to the attached encoder of DC gear motor 1, calculates through combining these two turned angle degrees the utility model discloses the device is turning to the turned angle error size that the in-process produced to control DC gear motor 1's rotation is with compensating the turned angle error, thereby has avoided because of the not high problem of direct current gear motor 1 steering function turned angle precision that factors such as friction or skidding lead to.

In the operation, through the outage and the circular telegram of reasonable control electromagnetic lock, realize the utility model discloses the device is pressing from both sides and is getting and turn to the automatic switch-over of function to the automatic demand of reality has been satisfied, and this device is compared for two motors of traditional installation realization clamps and the manipulator that turns to the function, and not only the automatic switching precision is high, has reduced the whole weight of manipulator moreover.

The above-mentioned embodiments are only described for the preferred embodiments of the present invention, but not for limiting the scope of the present invention, and various modifications and improvements made by those skilled in the art without departing from the design spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims (5)

1. A manipulator having a steering assembly, characterized by: which comprises a direct current speed reducing motor, a motor supporting plate, a steering component, a motor shaft extension piece, a threaded column, a magnet, a linear guide rail, a slide block, a clamping claw component, a first connecting rod, a transmission component and a jacking component,

the shell of the direct current speed reducing motor is fixedly connected with the first mounting end of the motor supporting plate, a motor shaft of the direct current speed reducing motor penetrates through a shaft ring of a thrust ball bearing in the steering assembly to be connected with the first end of the motor shaft extension piece, the second end of the motor shaft extension piece is connected with the first end of the threaded column through a coupler, the second end of the threaded column is provided with a magnet, the fixed end of a bearing seat in the steering assembly is fixedly connected with the second mounting end of the motor supporting plate, the first mounting end and the second mounting end of a lower connecting plate in the steering assembly are respectively connected with the fixed end and the limiting piece of the linear guide rail, and the first mounting end of a connecting piece in the clamping claw assembly is connected with the sliding end of the linear guide rail through a sliding block;

the first end of a clamping jaw rod piece in the clamping jaw assembly is connected with the first end of the first connecting rod, the second end of the first connecting rod is connected with the first mounting end of the outer ring of the transmission piece, the first end of a second connecting rod in the jacking assembly is connected with the second mounting end of the outer ring of the transmission piece, and the mounting end of the inner ring of the transmission piece is in threaded connection with the middle of the threaded column;

the steering assembly comprises a bearing seat, an electromagnetic lock, a lower connecting plate, a thrust ball bearing and a lower connecting piece, wherein an inner ring of the bearing seat is connected with a seat ring of the thrust ball bearing, a shaft ring of the thrust ball bearing is connected with a first end of the lower connecting piece, and a second end of the lower connecting piece and the electromagnetic lock are respectively connected with a third mounting end and a fourth mounting end of the lower connecting plate; the jacking assembly comprises a second connecting rod, a jacking block, a magnetic encoder, a round copper column and a sponge block, the second end of the second connecting rod is connected with the first mounting end of the jacking block, the second mounting end of the jacking block is connected with the magnetic encoder through the round copper column, and the third mounting end of the jacking block is connected with the sponge block.

2. The robot having a steering assembly of claim 1, wherein: in the steering assembly, limiting holes are uniformly distributed in the circumferential direction of the outer part of the bearing seat, the limiting holes are distributed in 90 degrees, the thrust ball bearing and the lower connecting piece are both positioned in an inner ring of the bearing seat, and the inner centers of the bearing seat, the thrust ball bearing and the lower connecting piece are on the same straight line; the axes of the motor shaft, the thrust ball bearing, the motor shaft extension piece, the threaded column, the magnet, the top pressing block and the magnetic encoder of the direct-current speed reducing motor are on the same straight line.

3. The robot having a steering assembly of claim 1, wherein: the clamping jaw assembly comprises a connecting piece, a clamping jaw rod piece and a clamping jaw tail end part, wherein a second mounting end of the connecting piece is fixedly connected with a second end of the clamping jaw rod piece, and a third end of the clamping jaw rod piece is fixedly connected with the clamping jaw tail end part.

4. The robot arm with steering assembly of claim 1 or 3, wherein: the clamping claw assembly, the first connecting rod, the linear guide rail, the sliding block and the limiting piece are symmetrically distributed on two sides of the lower connecting plate.

5. The robot having a steering assembly of claim 1, wherein: the number of the first connecting rods and the number of the second connecting rods are two, and the first connecting rods and the second connecting rods are alternately distributed at the mounting end of the outer ring of the transmission part in 90 degrees.

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