CN221232563U - Automatic manipulator with accurate positioning and guiding functions - Google Patents

Abstract

The utility model is applicable to the technical field of water dispensers, and provides an automatic manipulator with a precise positioning and guiding function, which comprises a base; the upper end of the base is rotationally fixed with a supporting frame. According to the automatic manipulator with the accurate positioning and guiding functions, the pressure sensor is arranged, the pressure between the clamping jaw and the workpiece can be detected, the clamping device stops shrinking after the pressure reaches the set value, the grabbing force of the clamping jaw can be kept constant through the arrangement, the problem that the clamping force is larger or smaller is solved, the grabbing work is more accurate, the clamping device can rotate through the rotating mechanism, the clamping device can conduct guiding grabbing through changing the grabbing direction, the clamping jaw is slidably inserted into the lower side of the connecting plate and fixed through the clamping block, the clamping jaw can be replaced conveniently and easily in a labor-saving mode, sundry dust in the sliding rail is wiped through the arrangement of the wiping plate, and the fluency of the manipulator is improved.

Description

Automatic manipulator with accurate positioning and guiding functions

Technical Field

The utility model belongs to the technical field of manipulators, and particularly relates to an automatic manipulator with a precise positioning and guiding function.

Background

The automatic manipulator is composed of three parts, i.e. an executing mechanism, a driving mechanism and a control system, and can replace heavy labor of people to realize mechanization and automation of production, and can operate under harmful environment to protect personal safety, thus being widely applied to mechanical manufacture, metallurgy, electronics, light industry and atomic energy.

The manipulator that uses in the present market still has some problems when in-service use, at first the not good control of the dynamics of snatching of manipulator, need accurate control to the work piece of different materials snatch the dynamics, snatch the dynamics too big and can lead to the work piece to warp, snatch the dynamics too little and can lead to the work piece easily to drop.

Disclosure of utility model

The utility model provides an automatic manipulator with a precise positioning and guiding function, and aims to solve the problem that the grabbing force of the existing manipulator is difficult to control.

The utility model is realized in such a way that the automatic manipulator with the accurate positioning and guiding functions comprises a base; the upper end rotation of base is fixed with the support frame, the inside of base is seted up flutedly, and the recess internal fixation has the motor, the output shaft of motor and the lower extreme of support frame are fixed with a set of intermeshing's gear, the top of support frame is fixed with horizontal slip table, the inboard sliding connection of horizontal slip table has the rail, the right side of rail is fixed with erects the slip table, the inboard sliding connection who erects the slip table has erects the rail, the lower extreme of erectting the rail is fixed with rotary mechanism, rotary mechanism's downside is connected with clamping device, clamping device's downside is connected with the clamping jaw, the clamping face of clamping jaw is fixed with pressure sensor, pressure sensor links to each other with the actuating mechanism electrical property in the clamping device.

Preferably, the rotation mechanism drives the clamping device to rotate within a range of 180 °.

Preferably, the drive plate downside of clamping device is fixed with the connecting plate, the slot with clamping jaw top shape looks adaptation is seted up to the downside of connecting plate, the recess has been seted up to the side of connecting plate, and sliding connection has the pull rod in the recess, the inboard of pull rod is fixed with the fixture block, the outside cover of pull rod is equipped with first spring, first spring is located the recess of connecting plate, the draw-in groove with fixture block size looks adaptation is seted up to the side of clamping jaw.

Preferably, the side of horizontal slip table is connected with the fixed plate, the inboard of fixed plate is fixed with the board of wiping, wipe the board and laminate with the track surface of rail mutually, erect the slip table and be the same with the structure of horizontal slip table.

Preferably, the inner side of the fixed plate is fixed with two groups of sleeve plates, the outer side of the wiping plate is connected with a sliding plate which is in sliding connection with the two groups of sleeve plates, a second spring is fixed in the sleeve plate, and the movable end of the second spring is fixedly connected with the sliding plate.

Preferably, the gripping surface of the gripping jaw is provided with a rough surface.

Compared with the prior art, the embodiment of the application has the following main beneficial effects:

Through being provided with pressure sensor, pressure sensor can detect the pressure between clamping jaw and the work piece to make clamping device stop the shrink after pressure reaches the setting value, can make the gripping force of clamping jaw keep invariable through this setting, solved the problem that clamping force is bigger or undersize, make snatch work more accurate, can make clamping device rotate through setting up rotary mechanism, carry out the direction through the mode that changes the direction of snatching and snatch, clamping jaw slip grafting is fixed in the downside of connecting plate and through the fixture block, this kind of fixed mode can make the change of clamping jaw more convenient laborsaving, clean debris dust in the slide rail through setting up the board of wiping, improve the smoothness nature of this manipulator.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is an enlarged schematic view of the structure of FIG. 1A in accordance with the present utility model;

FIG. 3 is a schematic side cross-sectional view of the scrubbing plate structure of the present utility model;

In the figure: 1. a base; 2. a support frame; 3. a motor; 4. a gear; 5. a transverse sliding table; 6. a transverse rail; 7. a vertical sliding table; 8. a vertical rail; 9. a rotation mechanism; 10. a clamping device; 11. a clamping jaw; 12. a pressure sensor; 13. a connecting plate; 14. a pull rod; 15. a clamping block; 16. a first spring; 17. a fixing plate; 18. a rubbing plate; 19. a sleeve plate; 20. a slide plate; 21. and a second spring.

Detailed Description

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description of the application and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The embodiment of the utility model provides an automatic manipulator with accurate positioning and guiding functions, as shown in fig. 1-3, the automatic manipulator comprises a base 1, a support frame 2 is rotationally fixed at the upper end of the base 1, a groove is formed in the base 1, a motor 3 is fixed in the groove, an output shaft of the motor 3 and the lower end of the support frame 2 are fixed with a group of gears 4 meshed with each other, a horizontal sliding table 5 is fixed at the top of the support frame 2, a horizontal rail 6 is slidingly connected to the inner side of the horizontal sliding table 5, a vertical sliding table 7 is fixed to the right side of the horizontal rail 6, a vertical sliding table 8 is slidingly connected to the inner side of the vertical sliding table 7, a rotating mechanism 9 is fixed at the lower end of the vertical sliding table 8, a clamping device 10 is connected to the lower side of the rotating mechanism 9, a clamping jaw 11 is connected to the lower side of the clamping device 10, a pressure sensor 12 is fixed on the clamping surface of the clamping jaw 11, the pressure sensor 12 is electrically connected with a driving mechanism in the clamping device 10, the pressure sensor 13 is in BRW100, the model number of the motor 3 and the gears 4 are arranged, the motor 3 drives the gears 4 to rotate to adjust the angle of the support frame 2, the horizontal sliding table 5 and the horizontal sliding table 6 are matched with the horizontal sliding table 6, the horizontal sliding table 7 and the vertical sliding table 8 can be matched with the vertical sliding table 8, the clamping jaw 8 can be matched with the clamping jaw 11 to achieve accurate clamping force to achieve clamping of the workpiece 11, the clamping device can be matched with the clamping device by the clamping jaw 11, the clamping force can be more accurate clamping force can be matched with the clamping device 11, and can be matched with the clamping device 11, the clamping force can be used to achieve the clamping force can be more accurate clamping device, and can be used for achieving the accurate clamping and can, and the clamping device can be used for achieving the clamping and accurate clamping can.

The rotation mechanism 9 drives the gripping device 10 to rotate within a range of 180 degrees, and the gripping device 10 can be rotated by arranging the rotation mechanism 9, and guided gripping is performed by changing the gripping direction.

The drive plate downside of clamping device 10 is fixed with connecting plate 13, the slot with clamping jaw 11 top shape looks adaptation is seted up to the downside of connecting plate 13, the side of connecting plate 13 is seted up flutedly, and sliding connection has pull rod 14 in the recess, the inboard of pull rod 14 is fixed with fixture block 15, the outside cover of pull rod 14 has first spring 16, first spring 16 is located the recess of connecting plate 13, the draw-in groove with fixture block 15 size looks adaptation is seted up to the side of clamping jaw 11, through being provided with connecting plate 13, clamping jaw 11 slip grafting is fixed in the downside of connecting plate 13 and through fixture block 15, accessible pulling pull rod 14 makes fixture block 15 break away from the draw-in groove of clamping jaw 11 side come with clamping jaw 11 tear down, this kind of fixed mode can make the change of clamping jaw 11 more convenient laborsaving.

The side of horizontal slip table 5 is connected with fixed plate 17, and the inboard of fixed plate 17 is fixed with scrapes the board 18, scrapes the board 18 and laminate mutually with the track surface of cross rail 6, erects slip table 7 and the structure of horizontal slip table 5 the same, through being provided with fixed plate 17 and scrapes the board 18, scrapes the board 18 and is fixed in the both sides of horizontal slip table 5 and erects slip table 7 through fixed plate 17, can clean debris dust in the slide rail at both during operation through this setting, improves the smoothness nature of this manipulator.

The inside of fixed plate 17 is fixed with two sets of sleeve plates 19, and the outside of wiping plate 18 is connected with the slide 20 of pegging graft with two sets of sleeve plates 19 slip, and the inside of sleeve plate 19 is fixed with second spring 21, and the expansion end and the slide 20 of second spring 21 link to each other, through being provided with second spring 21, through sleeve plate 19 and slide 20 telescopic connection between wiping plate 18 and the fixed plate 17, second spring 21 is located sleeve plate 19 can produce elasticity to slide 20 to this can make wiping plate 18 hug closely the slide inboard, thereby improve the cleaning performance of wiping plate 18.

The clamping surface of the clamping jaw 11 is set to be a rough surface, slipping off during grabbing can be prevented by setting the clamping surface of the clamping jaw 11 to be a rough surface, and grabbing stability is improved.

It should be noted that, for simplicity of description, the foregoing embodiments are all illustrated as a series of acts, but it should be understood by those skilled in the art that the present utility model is not limited by the order of acts, as some steps may be performed in other order or concurrently in accordance with the present utility model. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present utility model.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and such partitioning of the above-described elements may be implemented in other manners, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or communication connection shown or discussed as being between each other may be an indirect coupling or communication connection between devices or elements via some interfaces, which may be in the form of telecommunications or otherwise.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

The above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the scope of the present utility model. It will be apparent that the described embodiments are merely some, but not all, embodiments of the utility model. Based on these embodiments, all other embodiments that may be obtained by one of ordinary skill in the art without inventive effort are within the scope of the utility model. Although the present utility model has been described in detail with reference to the above embodiments, those skilled in the art may still combine, add or delete features of the embodiments of the present utility model or make other adjustments according to circumstances without any conflict, so as to obtain different technical solutions without substantially departing from the spirit of the present utility model, which also falls within the scope of the present utility model.

Claims (6)

1. An automatic manipulator with accurate location direction function, its characterized in that includes base (1): the utility model discloses a clamping jaw device, including base (1), support frame (2) are rotationally fixed with to the upper end of base (1), the inside of base (1) is seted up flutedly, and is fixed with motor (3) in the recess, the output shaft of motor (3) and the lower extreme of support frame (2) are fixed with a set of intermeshing's gear (4), the top of support frame (2) is fixed with cross slide (5), the inboard sliding connection of cross slide (5) has cross rail (6), the right side of cross rail (6) is fixed with erects slip table (7), the inboard sliding connection of erects slip table (7) has erects rail (8), the lower extreme of erectting rail (8) is fixed with rotary mechanism (9), the downside of rotary mechanism (9) is connected with clamping device (10), the downside of clamping device (10) is connected with clamping jaw (11), the clamping face of clamping jaw (11) is fixed with pressure sensor (12), actuating mechanism electrical connection in pressure sensor (12) and clamping device (10).

2. An automated manipulator with accurate positioning and guiding function according to claim 1, characterized in that the rotation mechanism (9) drives the gripping device (10) to rotate within 180 °.

3. The automatic manipulator with accurate positioning and guiding functions according to claim 1, characterized in that a connecting plate (13) is fixed on the lower side of a driving plate of the clamping device (10), a slot matched with the top shape of the clamping jaw (11) is formed on the lower side of the connecting plate (13), a groove is formed in the side face of the connecting plate (13), a pull rod (14) is slidably connected in the groove, a clamping block (15) is fixed on the inner side of the pull rod (14), a first spring (16) is sleeved on the outer side of the pull rod (14), the first spring (16) is located in the groove of the connecting plate (13), and a clamping groove matched with the clamping block (15) in size is formed in the side face of the clamping jaw (11).

4. The automatic manipulator with the accurate positioning and guiding functions according to claim 1, wherein a fixing plate (17) is connected to the side face of the horizontal sliding table (5), a wiping plate (18) is fixed to the inner side of the fixing plate (17), the wiping plate (18) is attached to the track surface of the horizontal rail (6), and the vertical sliding table (7) and the horizontal sliding table (5) are identical in structure.

5. The automatic manipulator with the accurate positioning and guiding functions according to claim 4, wherein two groups of sleeve plates (19) are fixed on the inner side of the fixed plate (17), a sliding plate (20) which is in sliding connection with the two groups of sleeve plates (19) is connected on the outer side of the wiping plate (18), a second spring (21) is fixed in the sleeve plate (19), and the movable end of the second spring (21) is fixedly connected with the sliding plate (20).

6. An automated manipulator with accurate positioning and guiding function according to claim 1, characterized in that the gripping surface of the gripping jaw (11) is provided as a matte surface.