Positioning device for gripping mechanism of robot

Abstract

The present invention relates to a positioning device for a gripping mechanism of a manipulator, which comprises an electrical cabinet placed on the ground or on an operating table, wherein the electrical cabinet is provided with electrical components required for a control program, wherein a bracket is provided on the upper end surface of the electrical cabinet, wherein a track, a motor and a circuit box are fixedly provided on the bracket, wherein a control line coming out of the motor is connected to power-consuming equipment after passing through the circuit box, wherein the track is connected to a manipulator fixing frame, wherein the manipulator fixing frame is fixedly connected to a manipulator frame, wherein the manipulator frame comprises a telescopic guide rail, a telescopic cylinder, a fixing plate and a telescopic guide rod, wherein the telescopic guide rail is provided in a sleeve, wherein a positioning mechanism is detachably connected to the lower end surface of the fixing plate, wherein the positioning mechanism comprises a mounting block fixedly connected to the fixing plate, wherein the mounting block is provided with a countersunk hole for fixing the mounting block on the fixing plate; the present invention has the advantages of convenient adjustment, suitability for fine adjustment and good stability.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a positioning device for a clamping mechanism of a manipulator. Background Art

[0002] The manipulator is replaced by manual operation. Due to the low degree of automation of manual operation, the production efficiency of the product is affected. In the prior art, manipulator auxiliary tools are also used to pick up products. Generally, one or two rotary arms are fixed horizontally on the base to pick up the product processing parts through the rotary arms. When this manipulator auxiliary tool picks up the product processing parts, the position is relatively fixed and the positioning is accurate. However, due to its inflexible position fixation, when the product processing parts are transferred, the manipulator auxiliary tool must be manually disassembled and then installed in a suitable position before it can be used, which brings inconvenience to production and reduces production efficiency. The patent number is CN201911082730.X, and the patent name is a clamp and a manipulator using the clamp. The public material describes a positioning device for the manipulator, which adopts adjusting top screws, locking nuts and other components to achieve positioning. The disadvantage of this positioning structure is that it is more complicated to adjust, and due to the addition of a spring, the expansion and contraction of the spring is uncertain, so the adjustment positioning is not very stable. In view of these shortcomings, it is necessary to develop a positioning device for the clamping mechanism of the manipulator that is easy to adjust, suitable for fine-tuning and has good stability. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a positioning device for a gripping mechanism of a manipulator which is easy to adjust, suitable for fine-tuning and has good stability.

[0004] The object of the present invention is achieved in this way: a positioning device for a manipulator comprises an electrical cabinet placed on the ground or on an operating table, the electrical cabinet is provided with electrical components required for a control program inside, a bracket is provided on the upper end surface of the electrical cabinet, a track, a motor and a circuit box are fixedly provided on the bracket, the control line coming out of the motor is connected to power-consuming equipment after passing through the circuit box, the track is connected to a manipulator fixing frame, the manipulator fixing frame is fixedly connected to a manipulator frame, the manipulator frame comprises a telescopic guide rail, a telescopic cylinder, a fixed plate and a telescopic guide rod, the telescopic guide rail is provided in a sleeve, the telescopic cylinder is fixedly connected to the sleeve, the sleeve is fixedly connected to the manipulator fixing frame, the lower end of the telescopic guide rail and the lower end of the telescopic guide rod are both fixedly connected to the fixed plate,

[0005] The lower end surface of the fixed plate is detachably connected to a positioning mechanism, and the positioning mechanism includes a mounting block fixedly connected to the fixed plate, the mounting block is provided with a countersunk hole for fixing the mounting block on the fixed plate, the mounting block is also provided with a connecting hole, a connecting piece is inserted into the connecting hole, the connecting piece is connected to an adjusting block, the adjusting block is provided with an adjusting hole, and the adjusting piece is inserted into the adjusting hole.

[0006] The countersunk hole extends through the mounting block.

[0007] The connection hole is in a sloped shape with a large outer diameter and a small inner diameter.

[0008] The connecting piece is fixedly connected to the adjusting block.

[0009] The number of the adjustment holes is six.

[0010] The adjusting member is threadedly connected to the adjusting hole.

[0011] Beneficial effects of the present invention: The advantage of the present invention is that the angle and tilt of the adjustment plate can be adjusted through the adjustment parts. After the robot frame is installed, it is inconvenient to remove it and reinstall it. At this time, if it is found that the positions do not correspond, the difference will not be very large, so fine-tuning is required. This patent is suitable for fine-tuning. Through the adjustment parts, the adjustment parts in this patent are preferably screws. The telescopic adjustment of multiple screws can realize the angle adjustment of the adjustment block. Other beneficial effects are described in detail in the specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is an overall equipment diagram of the positioning device of the clamping mechanism of the robot arm of the present invention.

[0013] Figure 2 It is a structural diagram of the manipulator frame.

[0014] Figure 3 It is a structural diagram of the positioning mechanism.

[0015] Figure 4 yes Figure 3 Exploded diagram of .

[0016] Figure 5 yes Figure 4 Top view of the mounting block.

[0017] Figure 6 yes Figure 4 Bottom view of the mounting block.

[0018] Figure 7 yes Figure 5 A cross-sectional view along the axis.

[0019] Figure 8This is the front view of the connector.

[0020] Fig. 9 It is a structural diagram of the adjustment block.

[0021] Fig.10 This is a schematic diagram of the adjustment block after adjustment.

[0022] In the figure: 1, electrical cabinet; 2, bracket; 3, track; 4, manipulator fixing frame; 5, manipulator frame; 6, motor; 7, circuit box; 8, positioning mechanism; 51, telescopic guide rail; 52, telescopic cylinder; 54, fixing plate 55, telescopic guide rod; 81, mounting block; 82, connecting piece; 83, adjusting block; 84, adjusting piece; 85, connecting hole; 86, countersunk hole; 87, adjusting hole. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0024] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by technicians in the technical field to which the present invention belongs. The terms used in this specification are only for the purpose of describing specific implementation methods and are not used to limit the present invention. Terms such as "and / or" used in this specification include any and all combinations of one or more related listed items; in addition, the technical features involved in the different implementation methods of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0025] Example 1

[0026] like Figure 1-10 As shown, a positioning device for a manipulator comprises an electrical cabinet 1 placed on the ground or on an operating table, wherein the electrical cabinet 1 is provided with electrical components required for a control program, a bracket 2 is provided on the upper end surface of the electrical cabinet 1, a track 3, a motor 6 and a circuit box 7 are fixedly provided on the bracket 2, a control line coming out of the motor 6 is connected to power-consuming equipment after passing through the circuit box, the track 3 is connected to a manipulator fixing frame 4, the manipulator fixing frame 4 is fixedly connected to a manipulator frame 5, the manipulator frame 5 comprises a telescopic guide rail 51, a telescopic cylinder 52, a fixing plate 54 and a telescopic guide rod 55, the telescopic guide rail 51 is provided in a sleeve, the telescopic cylinder 52 is fixedly connected to the sleeve, the sleeve is fixedly connected to the manipulator fixing frame 4, the lower end of the telescopic guide rail 51 and the lower end of the telescopic guide rod 55 are both fixedly connected to the fixing plate 54,

[0027] The lower end surface of the fixing plate 54 is detachably connected with a positioning mechanism 8, and the positioning mechanism 8 includes a mounting block 81 fixedly connected to the fixing plate 54, and the mounting block 81 is provided with a countersunk hole 86 for fixing the mounting block 81 on the fixing plate 54. The mounting block 81 is also provided with a connecting hole 85, and a connecting member 82 is inserted into the connecting hole 85. The connecting member 82 is connected to an adjusting block 83, and the adjusting block 83 is provided with an adjusting hole 87, and the adjusting member 84 is inserted into the adjusting hole 87.

[0028] In this embodiment, electrical components are placed inside the electrical cabinet 1. The upper end of the electrical cabinet 1 is used for support. The upper end is fixed with a mounting bracket 2, which can be fixed by bolts. The mounting track 3 and the motor 6 are fixed on the bracket 2. The motor 6 is used to provide electricity. The track 3 is used for the manipulator fixing frame 4 to walk on the track 3; in the positioning mechanism 8, the mounting block on the positioning mechanism 8 is used to be fixedly connected with the fixing plate. Specifically, a plurality of countersunk holes are provided on the mounting block. The advantage of the countersunk hole is that it avoids interference with the position adjustment between the mounting block and the adjustment block. Screws are provided in the countersunk holes. The screws penetrate the mounting plate and are threadedly connected to the fixing plate; in the middle position of the mounting hole, the center position is preferred in this patent , a connecting hole is provided, a connecting piece is inserted into the inside of the connecting hole, the connecting piece is a screw, the minor diameter of the connecting hole is smaller than the top diameter of the connecting piece, that is, the top of the connecting piece moves inside the connecting hole; a thread is provided on the lower end of the connecting piece for fixed connection with the adjusting block, a threaded hole connected to the connecting piece is provided on the adjusting block, and an adjusting hole is also provided on the adjusting block, the adjusting hole is a threaded hole for connecting the adjusting piece, the adjusting piece is a screw, after the screw is screwed into the adjusting hole, the amount of screwing in can be adjusted according to the situation, and the screw is against the mounting block after being screwed in. After multiple screws are provided, the mounting block is against the multiple screws, and the position of the adjusting plate can be changed by the amount of screwing in of each screw.

[0029] Example 2

[0030] The countersunk hole 86 passes through the mounting block 81 .

[0031] In this embodiment, the countersunk hole passes through the mounting block, and after screws are placed inside, it is fixedly connected to the fixing plate.

[0032] Example 3

[0033] The connection hole 85 is in a sloped shape with a large outer diameter and a small inner diameter.

[0034] In this embodiment, the connecting hole is used to connect the mounting block and the adjusting block, and has adjustment space when adjusting the adjusting block. Therefore, the connecting hole is designed to be sloped, and the connecting hole passes through the mounting block. The outer diameter is on the contact surface between the mounting block and the fixed plate. The outer diameter is large and the inner diameter is small. After the connecting piece is inserted into the connecting hole, the top of the connecting piece can move in the connecting hole.

[0035] Example 4

[0036] The connecting member 82 is fixedly connected to the adjusting block 83 .

[0037] In this embodiment, a thread is arranged on the rod portion of the connecting member, and is threadedly connected to the adjusting block.

[0038] Example 5

[0039] The number of the adjustment holes 87 is six.

[0040] In this embodiment, there are preferably six adjustment holes, and they are evenly arranged at the edge positions of the adjustment block. A six-position adjustment method is adopted, the adjustment accuracy is high, and the fine-tuning effect is good. Similarly, the number can be three, four, or five, or more than six can be set for greater precision. However, considering the comprehensive consideration of ease of operation and fine-tuning effect, this patent prefers six.

[0041] Example 6

[0042] The adjusting member 84 is threadedly connected to the adjusting hole 87 .

[0043] In this embodiment, the adjusting member is a screw, which is threadedly connected to the adjusting hole, that is, the screw passes through the threaded hole and abuts against the mounting block.

[0044] The specific implementation mode is a further description of the present invention rather than a limitation. It is possible for ordinary technicians in this field to make further changes to the structure without departing from the essential content of the present invention, and all these changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A positioning device for a gripping mechanism of a manipulator, comprising an electrical cabinet placed on the ground or on an operating table, wherein the electrical cabinet is provided with electrical components required for a control program, wherein a bracket is provided on the upper end surface of the electrical cabinet, wherein a track, a motor and a circuit box are fixedly provided on the bracket, wherein a control line coming out of the motor is connected to power-consuming equipment after passing through the circuit box, wherein the track is connected to a manipulator fixing frame, wherein the manipulator fixing frame is fixedly connected to a manipulator frame, wherein the manipulator frame comprises a telescopic guide rail, a telescopic cylinder, a fixing plate and a telescopic guide rod, wherein the telescopic guide rail is provided in a sleeve, wherein the telescopic cylinder is fixedly connected to the sleeve, wherein the sleeve is fixedly connected to the manipulator fixing frame, wherein the lower end of the telescopic guide rail and the lower end of the telescopic guide rod are fixedly connected to the fixing plate, Features: The lower end surface of the fixing plate is detachably connected with a positioning mechanism, and the positioning mechanism includes a mounting block fixedly connected to the fixing plate, the mounting block is provided with a countersunk hole for fixing the mounting block on the fixing plate, the mounting block is also provided with a connecting hole, a connecting piece is inserted into the connecting hole, the connecting piece is connected with an adjusting block, an adjusting hole is provided on the adjusting block, an adjusting piece is inserted into the adjusting hole, the countersunk hole passes through the mounting block, the connecting piece is a screw, and the shape of the connecting hole is sloped, with a large outer diameter and a small inner diameter, the top of the connecting piece is larger than the inner diameter of the connecting hole and smaller than the outer diameter of the connecting hole, the top of the connecting piece moves inside the connecting hole, and a thread is provided on the lower end of the connecting piece for fixed connection with the adjusting block.

2. The positioning device for the gripping mechanism of a robot according to claim 1, characterized in that: The connecting piece is fixedly connected to the adjusting block.

3. The positioning device for the gripping mechanism of a robot according to claim 1, characterized in that: The number of the adjustment holes is six.

4. The positioning device for the gripping mechanism of a robot according to claim 1, characterized in that: The adjusting member is threadedly connected to the adjusting hole.

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