A manipulator fixed adjustment table

Abstract

The present application provides a manipulator fixed adjustment platform, including: a fixed platform body; a fixed plate, which is arranged on the top of the fixed platform body, and a manipulator is fixedly connected to the side away from the fixed platform body, and the first side and the second side of the fixed plate are both provided with a first fixed structure, which is used to limit the displacement of the fixed plate relative to the fixed platform body in the horizontal direction; a fixed box, which is arranged on the top of the fixed platform, and the top of the fixed box is provided with a receiving seat, and the fixed plate is embedded in the receiving seat, and the fixed box is provided with a second fixed structure and a third fixed structure, which are used to limit the displacement of the fixed plate relative to the fixed platform body. When the manipulator is subjected to force, the force is shared by the fixed plate and the fixed box as well as the first fixed structure, the second fixed structure and the third fixed structure, so that the fixation is more stable.

Description

Technical Field

[0001] This application relates to the technical field of manipulators, and particularly to a manipulator fixing and adjusting table. Background Art

[0002] A manipulator refers to an automatic operating device that can imitate some action functions of human hands and arms and is used to grab, transport objects or operate tools according to a fixed program. It mainly consists of three major parts: an execution mechanism, a driving mechanism, and a control system. It can replace humans to perform heavy labor to achieve production mechanization and automation and is widely used in departments such as machinery manufacturing, light industry, and atomic energy.

[0003] In today's life, with the rapid progress of technology, the biggest difference between a robotic arm and a human arm lies in flexibility and endurance. That is, the greatest advantage of a manipulator is that it can repeat the same action and never get tired under normal mechanical conditions. The application of robotic arms will also become more and more extensive. A manipulator is a high-tech automatic production device developed in recent decades, an important branch of industrial robotic arms in terms of operation accuracy and the ability to complete operations in an environment.

[0004] When fixing a manipulator, it is mainly fixed on a placement table, and the manipulator is fixed by inserting a screw rod into a screw hole, which cannot well guarantee the stability of the manipulator. Therefore, for the improvement of the existing fixing and adjusting table, it is particularly important to design a new type of manipulator fixing and adjusting table to solve the above technical defects and improve the practicality of the overall fixing and adjusting table. Summary of the Invention

[0005] In view of this, the purpose of this application is to propose a manipulator fixing and adjusting table.

[0006] Based on the above purpose, this application provides a manipulator fixing and adjusting table, including:

[0007] A fixed table main body;

[0008] A fixing plate is arranged on the top of the fixed table main body. A manipulator is fixedly connected to one side away from the fixed table main body. First fixing structures are provided on both the first side and the second side of the fixing plate for restricting the displacement of the fixing plate relative to the fixed table main body in the horizontal direction;

[0009] A fixed box is arranged on the top of the fixed table main body. A receiving seat is provided on the top of the fixed box. The fixing plate is embedded in the receiving seat. Second fixing structures and third fixing structures are provided on both the first side and the second side of the fixed box where the fixing plate is located for restricting the displacement of the fixing plate relative to the fixed table main body.

[0010] Optionally, the first fixing structure includes: a fixing member, a rotating rod, a connecting member, a rotating block, a fixing block, and a fixing hole;

[0011] The fixing member is fixedly connected to the fixing plate. One end of the rotating rod and one end of the rotating block are rotatably connected to the fixing member. Two ends of the connecting member are respectively rotatably connected to the middle parts of the rotating rod and the rotating block. A fixing block is fixedly connected to the end of the rotating block away from the fixing member. A handle is provided at the end of the rotating rod away from the fixing member. Among them, the rotating directions of the rotating rod and the rotating block are the same;

[0012] The fixing hole is provided on the side of the fixing box close to the fixing plate, and the fixing hole is adapted to the fixing block.

[0013] Optionally, the second fixing structure includes: a connecting rod, a driving screw, and a clamping member;

[0014] A first cavity and a second cavity are provided inside the fixing box. The connecting rod is slidably connected to the fixing box and extends into the first cavity. The driving screw is rotatably connected to the fixing box and extends from the first cavity to the second cavity. The clamping member is threadedly connected to the driving screw, and the extending direction of the driving screw is perpendicular to the extending direction of the connecting rod. A first bevel gear is fixedly provided on the connecting rod, and a second bevel gear is provided at the end of the driving screw close to the connecting rod. The first bevel gear is engaged with the second bevel gear in an adapted manner. A turntable is fixedly provided at the end of the connecting rod away from the first cavity;

[0015] An opening is provided in the second cavity, and the size of the opening is adapted to the clamping member;

[0016] Receiving grooves are provided on both the first side and the second side of the fixing plate, and the receiving grooves are adapted to the clamping member.

[0017] Optionally, a sliding groove is provided on the side of the first cavity away from the turntable. First limiting grooves and second limiting grooves are provided on the side wall of the sliding groove. A compression cavity is provided at the end of the connecting rod away from the turntable. A compression spring is fixedly provided at the bottom end of the compression cavity. One end of the compression spring away from the bottom of the compression cavity is fixedly connected to a clamping block, and the clamping block is respectively adapted to the first limiting groove and the second limiting groove.

[0018] Optionally, the second fixing structure further includes limiting devices respectively provided on opposite sides of the connecting rod;

[0019] The limiting device includes: a fixing rod, a first rack, a second rack, a driving gear, and a limiting member;

[0020] The fixed rod is slidably connected to the fixed box and extends into the first cavity. The extending direction of the fixed rod is the same as that of the connecting rod. A first rack is fixedly connected to one end of the fixed rod extending into the first cavity. The driving gear is rotatably connected in the first cavity. The second rack is slidably connected in the first cavity. The first rack and the second rack are respectively engaged with the driving gear, and the extending direction of the first rack is perpendicular to that of the second rack. A limiting member is provided at one end of the second rack close to the connecting rod.

[0021] The connecting rod is provided with a clamping groove, and the limiting member is adapted to the contour of the clamping groove.

[0022] Optionally, a first sliding groove is formed at one end of the first rack away from the fixed rod, and a second sliding groove is formed at one end of the second rack away from the limiting member.

[0023] On the side wall of the first cavity along the extending direction of the fixed rod, a first sliding rod is provided. On the side wall of the first cavity along the extending direction of the second rack, a second sliding rod is provided. The first sliding groove is slidably connected to the first sliding rod, and the second sliding groove is slidably connected to the second sliding rod.

[0024] Optionally, the third fixing structure includes: a rotating member, a pressing block, and a return spring.

[0025] The rotating member is integrally Z-shaped and includes a pressure-receiving portion, a connecting portion, and a reset portion. The pressure-receiving portion and the reset portion are fixedly connected through the connecting portion.

[0026] The pressing block is integrally L-shaped and includes a pressing portion and a driving portion. One end of the pressing portion is fixedly connected to one end of the driving portion.

[0027] On both the first side and the second side of the fixed box close to the fixing plate, an operation cavity is provided. The connecting portion is rotatably connected in the operation cavity. The driving portion is slidably connected in the operation cavity. One end of the driving portion away from the pressing portion abuts against the pressure-receiving portion. The return spring is arranged on the side of the pressure-receiving portion away from the pressing portion and on the side of the reset portion close to the top of the operation cavity.

[0028] On the side of the operation cavity away from the fixing plate, a first displacement interval is provided for the displacement of the pressing portion. On the side of the operation cavity close to the fixing plate, a second displacement interval is provided for the displacement of the reset portion.

[0029] On both the first side and the second side of the fixing plate, a clamping groove is provided, and the clamping groove is adapted to the reset portion.

[0030] Optionally, the connecting rod includes a first position and a second position.

[0031] At the first position, the clamping block is located in the second limiting groove, and the first bevel gear meshes with the second bevel gear;

[0032] At the second position, the clamping block is located in the first limiting groove, the first bevel gear and the second bevel gear are separated, and the position of the limiting member is adapted to that of the clamping groove.

[0033] Optionally, a first stop block is provided at the opening, and a first limiting block is provided around the clamping member;

[0034] One end of the first limiting block away from the clamping member contacts the side wall of the second cavity, and the side wall of the second cavity is smoothly arranged.

[0035] Optionally, a second stop block is provided at the opening of the compression cavity, and a second limiting block is provided at one end of the clamping block close to the compression spring;

[0036] Arc chamfers are provided on one sides of the first limiting groove and the second limiting groove close to each other, and the clamping block has a slope from the end close to the compression spring to the end away from the compression spring.

[0037] As can be seen from the above, a manipulator fixing and adjusting table provided by the present application fixes the manipulator on the fixing plate, the fixing plate is embedded in the receiving seat, and the reset part of the rotating part of the third fixing structure is inserted into the engaging groove, so that the fixing plate is fixed in the receiving seat, realizing the preliminary fixing of the fixing plate and the fixing box. By pushing the connecting rod of the second fixing structure, the connecting rod slides in the sliding groove, the clamping block is inserted into the second limiting groove, the first bevel gear meshes with the second bevel gear, and the connecting rod is rotated, so that the driving screw drives the clamping member to extend out from the opening of the second cavity and is inserted into the receiving groove on the fixing plate, further realizing the fixing of the fixing plate and the fixing box. Finally, by rotating the handle of the first fixing structure to drive the rotating rod connecting piece to drive the rotating block to rotate, so that the fixing block is inserted into the fixing hole on the fixing box, further realizing the fixing between the fixing plate and the fixing box. Through the triple fixing of the first fixing structure, the second fixing structure and the third fixing structure, the manipulator is stably fixed on the fixing table main body. Description of the Drawings

[0038] In order to more clearly illustrate the technical solutions in the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1Overall schematic diagram of the manipulator fixing and adjusting table according to an embodiment of the present application;

[0040] Figure 2 Schematic diagram of the second fixing structure inside the fixing box according to an embodiment of the present application;

[0041] Figure 3 According to an embodiment of the present application Figure 2 Schematic diagram of the enlarged structure at A in

[0042] Figure 4 Schematic diagram of the cooperation between the first driving rack and the second driving rack according to an embodiment of the present application;

[0043] Figure 5 Schematic diagram of the third fixing structure according to an embodiment of the present application;

[0044] Figure 6 Schematic diagram of the first fixing structure according to an embodiment of the present application.

[0045] Description of the drawings: Fixing table main body 1, fixing plate 2, fixing box 3, manipulator, 4 fixing member 101, rotating rod 102, connecting member 103, rotating block 104, fixing block 105, fixing hole 106, handle 107, connecting rod 201, driving screw 202, clamping member 203, first cavity 204, second cavity 205, first bevel gear 206, second bevel gear 207, turntable 208, opening 209, sliding groove 211, first limiting groove 212, second limiting groove 213, compression cavity 214, compression spring 215, clamping block 216, fixing rod 221, first rack 222, second rack 223, driving gear 224, limiting member 225, clamping groove 226, first sliding groove 231, second sliding groove 232, first sliding rod 233, second sliding rod 234, rotating member 301, pressing block 302, return spring 303, pressed part 304, connecting part 305, return part 306, pressing part 307, driving part 308, operation cavity 309, first displacement interval 310, second displacement interval 311. Detailed implementation manners

[0046] To make the objectives, technical solutions, and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0047] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the ordinary meanings understood by those of ordinary skill in the field to which the present application belongs. The "first", "second" and similar terms used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0048] When fixing the manipulator, insert the screw into the screw hole. Then, during the use of the manipulator, the force-bearing situation of the manipulator is such that, to ensure the fixation of the manipulator, the forces for fixing the manipulator all act between the screw and the screw hole. When vibrations occur during the use of the manipulator, the connection between the screw and the hole will become loose, thus affecting the fixation of the manipulator. Then, to achieve the stability of the manipulator fixation, the acting force generated by the manipulator during operation cannot be only applied between the screw and the screw hole to achieve the stable fixation of the manipulator.

[0049] Based on this, referring to Figure 1 , the present application provides a manipulator fixing and adjusting table, including: a fixing table main body 1, a fixing plate 2, and a fixing box 3.

[0050] The fixing plate 2 is arranged on the top of the fixing table main body 1, and a manipulator 4 is fixedly connected to the side away from the fixing table main body 1. First fixing structures are provided on both the first side and the second side of the fixing plate 2 for restricting the displacement of the fixing plate 2 relative to the fixing table main body 1 in the horizontal direction;

[0051] The fixing box 3 is arranged on the top of the fixing table main body 1. A receiving seat is provided on the top of the fixing box 3, and the fixing plate 2 is embedded in the receiving seat. The fixing box 3 is provided with a second fixing structure and a third fixing structure for restricting the displacement of the fixing plate 2 relative to the fixing table main body 1.

[0052] It can be understood that by fixing the manipulator 4 on the fixing plate 2 and then placing the fixing plate 2 in the receiving seat of the fixing box 3, the fixing of the fixing plate 2 and the fixing box 3 is achieved through the provided first fixing structure, second fixing structure, and third fixing structure. When the manipulator 4 on the fixing plate 2 is stressed, the stress is distributed to the fixing plate 2 and the fixing box 3 through the first fixing structure, second fixing structure, and third fixing structure. At the same time, the multiple fixing structures of the first fixing structure, second fixing structure, and third fixing structure are used to further stably fix the manipulator 4.

[0053] In some embodiments, referring to Figure 1 and Figure 6 as shown, the first fixing structure includes: a fixing member 101, a rotating rod 102, a connecting rod 201, a rotating block 104, a fixing block 105, and a fixing groove; wherein the fixing member 101 is fixedly connected to the fixing plate 2, one ends of the rotating rod 102 and the rotating block 104 are rotatably connected to the fixing member 101, two ends of the connecting member 103 are respectively rotatably connected to the middle parts of the rotating rod 102 and the rotating block 104, a fixing block 105 is fixedly connected to the end of the rotating block 104 away from the fixing member 101, a handle 107 is provided at the end of the rotating rod 102 away from the fixing member 101, and the rotating directions of the rotating rod 102 and the rotating block 104 are the same.

[0054] A fixing hole 106 is provided on one side of the fixing box 3 close to the fixing plate 2, and the fixing hole 106 is adapted to the fixing block 105.

[0055] In some embodiments, the fixing member 101 can be two L-shaped angle steels, the two L-shaped angle steels are arranged oppositely, the bottom end of the fixing member 101 can be fixed to the fixing plate 2 by screws or welding, there is a gap between the side walls of the fixing member 101 (the side walls of the L-shaped angle steel), one end of the rotating block 104 is inserted into the gap and rotatably connected to the fixing member 101 through a bearing, the rotating block 104 can rotate along the direction of the gap, the rotating rod 102 includes a first branch and a second branch, the first branch and the second branch are symmetrically arranged, the first branch and the second branch are parallel to the side wall of the fixing member 101, and the side wall of the fixing member 101 is rotatably connected to the first branch and the second branch through a bearing. The connecting member 103 can be in an I shape, one end of the connecting member 103 is inserted between the first branch and the second branch and rotatably connected through a bearing, and the other end is rotatably connected to the rotating block 104 through a bearing. A handle 107 is provided at the end of the rotating rod 102 away from the fixing member 101 to facilitate the adjustment of the rotating rod 102.

[0056] During specific implementation, by rotating the handle 107 to rotate the rotating rod 102, the connecting member 103 drives the rotating block 104 to rotate, so that the fixing block 105 is inserted into the fixing hole 106 on the fixing box 3, realizing the fixation of the fixing plate 2 and the fixing box 3. Through the fixation of the first fixing structure, when the manipulator 4 is stressed, the stress will be transmitted to the first fixing structure through the fixing plate 2. While fixing the manipulator 4, the acting force of the manipulator 4 on the fixing plate 2 is reduced, making the fixation of the manipulator 4 more stable.

[0057] In some embodiments, referring to Figure 1 and Figure 2 As shown, the second fixing structure includes: a connecting rod 201, a driving screw 202 and a clamping member 203; a first cavity 204 and a second cavity 205 are provided inside the fixing box 3. The connecting rod 201 is slidably connected to the fixing box 3 and extends into the first cavity 204. The driving screw 202 is rotatably connected to the fixing box 3 and extends from the first cavity 204 to the second cavity 205. The clamping member 203 is threadedly connected to the driving screw 202, and the extending direction of the driving screw 202 is perpendicular to the extending direction of the connecting rod 201. A first bevel gear 206 is fixedly provided on the connecting rod 201, and a second bevel gear 207 is provided at one end of the driving screw 202 close to the connecting rod 201. The first bevel gear 206 is adaptively engaged with the second bevel gear 207. A turntable 208 is fixedly provided at one end of the connecting rod 201 away from the first cavity 204; an opening 209 is provided in the second cavity 205, and the size of the opening 209 is adapted to the clamping member 203. Accommodating grooves are provided on both the first side and the second side of the fixing plate 2, and the accommodating grooves are adapted to the clamping member 203.

[0058] During specific implementation, by rotating the turntable 208, the connecting rod 201 is rotated, the first driving gear 224 and the second driving gear 224 cooperate to rotate the driving screw 202. The driving screw 202, through the threaded connection with the clamping member 203, displaces the clamping member 203 out of the second cavity 205 from the opening 209 until the clamping member 203 is inserted into the accommodating grooves on the first side and the second side of the fixing plate 2, realizing the fixation between the fixing plate 2 and the fixing box 3. The fixation between the clamping member 203 and the accommodating groove realizes the fixation between the fixing plate 2 and the fixing box 3 by means of plugging. The clamping member 203 realizes expansion and contraction through the cooperation of the rotating rod 102 and the driving screw 202, thereby realizing the fixation between the fixing plate 2 and the fixing box 3. When the manipulator 4 is stressed, the stress will be transmitted to the second fixing structure through the fixing plate 2. The force between the fixing box 3 and the fixing plate 2 reduces the force between the manipulator 4 and the fixing plate 2, making the fixation of the manipulator 4 more stable.

[0059] In some embodiments, referring to Figure 2 、 Figure 3As shown in the figure, a sliding groove 211 is provided on the side of the first cavity 204 away from the turntable 208. A first limiting groove 212 and a second limiting groove 213 are formed on the side wall of the sliding groove 211. One end of the connecting rod 201 away from the turntable 208 is provided with a compression cavity 214. A compression spring 215 is fixedly arranged at the bottom end of the compression cavity 214. One end of the compression spring 215 away from the bottom of the compression cavity 214 is fixedly connected with a clamping block 216. The clamping block 216 is respectively adapted to the first limiting groove 212 and the second limiting groove 213.

[0060] To facilitate the use of the manipulator 4, the fixed plate 2 and the fixed box 3 can be detachably connected. The connecting rod 201 is slidably connected to the fixed box 3. To prevent the connecting rod 201 from sliding due to operation errors, when it is necessary to fix the fixed box 3 and the fixed plate 2 through the second fixing structure, by sliding the end of the connecting rod 201 to the position of the second limiting groove 213, the clamping block 216 in the compression cavity 214 is inserted into the second limiting groove 213 through the compression spring 215, so that the first bevel gear 206 meshes with the second bevel gear 207. Then rotate the connecting rod 201 to drive the clamping member 203 to be inserted into the receiving groove, realizing the fixation of the fixed plate 2 and the fixed box 3. It can be understood that when the clamping block 216 is inserted into the second limiting groove 213, the clamping block 216 can also slide along the track of the second limiting groove 213 in the second limiting groove 213. When it is not necessary to fix through the second fixing structure or after the fixation is completed through the second fixing structure, pull the connecting rod 201 to make the clamping block 216 slide out of the second limiting groove 213 and retract into the compression cavity 214 until the end of the connecting rod 201 slides to the position of the first limiting groove 212. The clamping block 216 in the compression cavity 214 is inserted into the first limiting groove 212 through the compression spring 215, separating the first bevel gear 206 and the second bevel gear 207. Rotating the connecting rod 201 will not affect the cooperation between the clamping member 203 and the receiving groove.

[0061] Furthermore, referring to Figure 1 、 Figure 2 、 Figure 4 As shown in the figure, the second fixing structure further includes limiting devices respectively arranged on opposite sides of the connecting rod.

[0062] In some embodiments, the limiting device includes: a fixed rod 221, a first rack 222, a second rack 223, a driving gear 224, and a limiting member 225; the fixed rod 221 is slidably connected to the fixed box 3 and extends into the first cavity 204, wherein the sliding directions of the fixed rod 221 and the connecting rod 201 are the same, that is to say, the extending directions of the fixed rod 221 and the connecting rod 201 are the same. One end of the fixed rod 221 extending towards the first cavity 204 is fixedly connected to the first rack 222, the driving gear 224 is rotatably connected in the first cavity 204, the second rack 223 is slidably connected in the first cavity 204, the first rack 222 and the second rack 223 are respectively engaged with the driving gear 224, and the extending direction of the first rack 222 is perpendicular to the extending direction of the second rack 223. A limiting member 225 is provided at one end of the second rack 223 close to the connecting rod 201. The connecting rod is provided with a clamping groove 226, and the limiting member 225 is adapted to the contour of the clamping groove 226.

[0063] The connecting rod is slidably connected to the fixed box 3. When it is not necessary to fix through the second fixing structure or the fixing is completed through the second fixing structure, the clamping block 216 is inserted into the first limiting groove 212. It can be understood that the first limiting groove 212 and the second limiting groove 213 mainly play a positioning role. Due to the action of gravity, the connecting rod 201 may cause the clamping block 216 to escape from the first limiting groove 212, so that the connecting rod 201 slides downward, causing the first bevel gear 206 and the second bevel gear 207 to engage. When the connecting rod 201 is accidentally touched and rotated, it may cause the clamping member 203 to move out of the accommodating groove. When it is not necessary to fix through the second fixing structure or the fixing is completed through the second fixing structure, the connecting rod 201 is fixed. By sliding the fixed rod 221, the first rack 222 moves to rotate the driving gear 224, thereby driving the second rack 223 to move towards the connecting rod 201 until the limiting member 225 at one end of the second rack 223 close to the connecting rod 201 is inserted into the clamping groove 226 on the connecting rod 201, realizing the fixation of the connecting rod 201, making the connecting rod 201 unable to move, and avoiding the engagement of the first gear and the second gear.

[0064] In some embodiments, refer to Figure 2 、 Figure 4As shown, at one end of the first rack 222 away from the fixed rod 221, a first sliding groove 231 is provided. At one end of the second rack 223 away from the limiting member 225, a second sliding groove 232 is provided. On the side wall of the first cavity 204 along the extending direction of the fixed rod 221, a first sliding rod 233 is provided. On the side wall of the first cavity 204 along the extending direction of the second rack 223, a second sliding rod 234 is provided. The first sliding groove 231 is slidably connected to the first sliding rod 233, and the second sliding groove 232 is slidably connected to the second sliding rod 234. Through the sliding connection between the first sliding groove 231 and the first sliding rod 233 and the sliding connection between the second sliding groove 232 and the second sliding rod 234, the movement trajectories of the first rack 222 and the second rack 223 reciprocate in the extending directions of the first sliding rod 233 and the second sliding rod 234, enabling stable meshing between the first rack 222, the second rack 223, and the driving gear 224, and simultaneously realizing the sliding of the first rack 222 and the second rack 223 within the first cavity 204.

[0065] In some embodiments, referring to Figure 1 、 Figure 5 As shown, the third fixing structure includes: a rotating member 301, a pressing block 302, and a return spring 303.

[0066] The rotating member 301 is integrally Z-shaped and includes a pressure-receiving portion 304, a connecting portion 305, and a return portion 306. The pressure-receiving portion 304 and the return portion 306 are fixedly connected through the connecting portion 305. It can be understood that the whole formed by the pressure-receiving portion 304, the connecting portion 305, and the return portion 306 is Z-shaped.

[0067] The pressing block 302 is integrally L-shaped and includes a pressing portion 307 and a driving portion 308. One end of the pressing portion 307 is fixedly connected to one end of the driving portion 308, so that the pressing block 302 is integrally L-shaped.

[0068] Operation cavities 309 are provided on both the first side and the second side of the fixed box 3 close to the fixing plate 2. The connecting portion 305 is rotatably connected in the operation cavity 309, and the driving portion 308 is slidably connected within the operation cavity 309. One end of the driving portion 308 away from the pressing portion 307 abuts against the pressure-receiving portion 304. The return spring 303 is arranged on the side of the pressure-receiving portion away from the pressing portion 307 and on the side of the return portion 306 close to the top of the operation cavity 309. By pressing the pressing block 302, the driving portion 308 of the pressing block 302 abuts against the pressure-receiving portion 304 of the connecting member 103 to cause the connecting member 103 to rotate. When no force is applied to the pressing block 302, the acting force of the return spring 303 on the rotating member 301 is opposite to that of the pressing block 302, causing the connecting member 103 to rotate in the reverse direction.

[0069] On the side of the operation cavity 309 away from the fixed plate 2, there is a first displacement interval 310 for the displacement of the pressing part 307. On the side of the operation cavity 309 close to the fixed plate 2, there is a second displacement interval 311 for the displacement of the reset part 306. It can be understood that when pressing the pressing block 302 downward, the pressing part 307 can displace within the first displacement interval 310, and the rotating part 301 rotates. The reset part 306 also undergoes corresponding displacement within the second displacement interval 311 on the side of the operation cavity 309 close to the fixed plate 2, so that the reset part 306 can extend out of the operation cavity 309 towards the side close to the fixed plate 2 or retract into the operation cavity 309 according to the corresponding displacement.

[0070] On both the first side and the second side of the fixed plate 2, there are engaging grooves, which are adapted to the reset part 306. In specific implementation, first, press the pressing block 302, the rotating block 104 rotates to make the reset part 306 displace within the second displacement interval 311 and retract into the operation cavity 309. Then, place the fixed plate 2 into the receiving seat of the fixed box 3. Release the pressing block 302, and the reset spring 303 makes the rotating part 301 rotate in the reverse direction and displace in the reverse direction within the second displacement interval 311, extend out of the operation cavity 309, and be inserted into the engaging groove to realize the fixation of the fixed plate 2 and the fixed box 3.

[0071] In some embodiments, the connecting rod 201 includes a first position and a second position. In the first position, the clamping block 216 is located within the second limiting groove 213, and the first bevel gear 206 and the second bevel gear 207 are engaged. In the first position, the first bevel gear 206 and the second bevel gear 207 are engaged, and rotate the connecting rod 201 to realize the fixation of the fixed plate 2 and the fixed box 3 by the second fixing structure.

[0072] In the second position, the clamping block 216 is located within the first limiting groove 212, the first bevel gear 206 and the second bevel gear 207 are separated, and the limiting part 225 and the engaging groove 226 are in a suitable position. In the second position, by sliding the connecting rod 201, the clamping block 216 is disengaged from the second limiting groove 213 and enters the first limiting groove 212. The first bevel gear 206 and the second bevel gear 207 are separated, and through the adaptation of the limiting part 225 and the engaging groove 226, the limiting part 225 fixes the connecting rod 201.

[0073] In some embodiments, refer to Figure 2As shown, a stop block is provided at the opening 209, and the clamping member 203 is provided with a first limit block. During the process of inserting the clamping member 203 into the receiving groove, since the driving screw 202 and the clamping member 203 are connected by threads, in order to prevent the clamping member 203 from disengaging from the driving screw 202, the first stop block at the opening 209 is used in cooperation with the first limit block of the clamping member 203, so that while the clamping member 203 is inserted into the receiving groove to fix the fixing plate 2 and the fixing box 3, the clamping member 203 will not protrude too much from the opening 209, resulting in the clamping member 203 disengaging from the driving screw 202.

[0074] One end of the first limit block away from the clamping member 203 contacts the side wall of the second cavity 205, and the side wall of the second cavity 205 is smoothly arranged. In some embodiments, since the driving screw 202 rotates to make the clamping member 203 protrude from the opening 209 and be inserted into the receiving groove, and the clamping member 203 itself does not need to rotate, the cross-sectional shape of the second cavity 205 can be square or rectangular, etc., and the cross-sectional shape of the second cavity 205 cannot be circular, to prevent the driving screw 202 from driving the clamping member 203 to rotate in the second cavity 205 while rotating. One end of the first limit block away from the clamping member 203 contacts the side wall of the second cavity 205, playing a role in limiting the clamping member 203 in the second cavity 205 to prevent the clamping member 203 from shaking under force. The smooth arrangement of the side wall of the second cavity 205 enables the sliding of the first limit block in the second cavity 205 to be unaffected.

[0075] In some embodiments, referring to Figure 2 As shown, a second stop block is provided at the opening 209 of the compression cavity 214, and a second limit block is provided at one end of the clamping block 216 close to the compression spring 215. During the process of inserting the clamping block 216 into the first limit groove 212 or the second limit groove 213, due to the elastic force of the compression spring 215, in order to prevent the clamping block 216 from disengaging from the compression cavity 214, the second stop block of the compression cavity 214 is used in cooperation with the second limit block of the clamping block 216, so that while the clamping block 216 is inserted into the first limit groove 212 or the second limit groove 213 to position the connecting rod 201 in the first cavity 204, the clamping block 216 is prevented from disengaging from the compression cavity 214, and at the same time, the clamping block 216 is also limited to prevent the clamping block 216 from contacting the first limit groove 212 or the second limit groove 213 too much and wearing the clamping block 216 and the first limit groove 212 and the second limit groove 213 when the connecting rod 201 is rotated.

[0076] Arc chamfers are provided on the sides of the first limiting groove 212 and the second limiting groove 213 that are close to each other. The clamping block 216 has a slope from the end close to the compression spring 215 to the end away from the compression spring 215. Through the slope setting of the clamping block 216 and the arc chamfers on the sides of the first limiting groove 212 and the second limiting groove 213 that are close to each other, when the second fixing structure is needed for fixing, when pushing the connecting rod, it is convenient for the clamping block 216 to slide out of the first limiting groove 212 and then be inserted into the second limiting groove 213. When the second fixing structure is not needed for fixing or the second fixing structure has completed over-fixing, it is also convenient for the clamping block 216 to slide out of the second limiting groove 213 and be inserted into the first limiting groove 212.

[0077] In some embodiments, the engaging groove and the receiving groove are respectively arranged at different positions on the first side and the second side of the fixing plate 2. It can be understood that in order to stably fix the fixing plate 2 on the fixing box 3, there are two second fixing structures and two third fixing structures respectively. The two second fixing structures are respectively arranged in the directions of the first side and the second side of the fixing plate 2, and the two third fixing structures are also respectively arranged in the directions of the first side and the second side of the fixing plate 2. The second fixing structure uses the clamping member 203 to be inserted into the receiving groove to realize the fixing of the fixing plate 2 and the fixing box 3, and the third fixing structure uses the rotating member 301 to be inserted into the engaging groove to realize the fixing of the fixing plate 2 and the fixing box. Then, whether on the first side or the second side of the fixing plate 2, a receiving groove and an engaging groove need to be provided. In order to achieve stable fixing, the receiving groove is adapted to the clamping member 203, the engaging groove is adapted to the rotating member 301, and the receiving groove and the engaging groove are arranged at different positions on the first side and the second side of the fixing plate 2.

[0078] In specific implementation, first fix the manipulator 4 on the fixing plate 2, and then fix the fixing box 3 on the fixing table main body 1. Press the pressing block 302 to retract the rotating member 301 into the operation cavity 309. Place the fixing plate 2 in the receiving seat, release the pressing block 302, and the rotating member 301 is reset by the return spring 303. The reset portion 306 of the rotating member 301 is inserted into the engaging groove to achieve the preliminary fixation between the fixing plate 2 and the fixing box 3. Then push the connecting rod 201 to make the connecting rod 201 slide in the sliding groove 211. The engaging block 216 is inserted into the second limiting groove 213. The first bevel gear 206 and the second bevel gear 207 are engaged. Rotate the connecting rod 201 to drive the clamping member 203 to extend from the opening 209 of the second cavity 205 and be inserted into the receiving groove on the fixing plate 2 to further achieve the fixation of the fixing plate 2 and the fixing box 3. Then pull the connecting rod 201 to make the connecting rod 201 slide in the sliding groove 211. The engaging block 216 is inserted into the first limiting groove 212, and the first bevel gear 206 and the second bevel gear 207 are separated. Push the fixing rod 221, and the first rack 222, the driving gear 224 and the second rack 223 cooperate to make the second rack 223 move towards the connecting rod 201. The limiting member 225 at the end of the second rack 223 close to the connecting rod 201 is inserted into the engaging groove 226 on the connecting rod 201 to achieve the fixation of the connecting rod 201, avoid the shaking of the connecting rod 201, make the force of the connecting rod 201 in the first cavity 204 stable, and at the same time avoid the connecting rod 201 sliding down due to its own gravity, so that the first bevel gear 206 and the second bevel gear 207 are engaged. Then rotate the rotating rod 102 through the handle 107, and the connecting member 103 drives the rotating block 104 to rotate so that the fixing block 105 is inserted into the fixing hole 106 on the fixing box 3 to further achieve the fixation between the fixing plate 2 and the fixing box 3. While the fixation of the manipulator 4 is stably achieved through the first fixing structure, the second fixing structure and the third fixing structure, in the case where the manipulator 4 is stressed, the first fixing structure, the second fixing structure and the third fixing structure share the force, avoiding the situation where the force is only achieved through the cooperation of screws and screw holes, and also avoiding the unstable situation of simply using the cooperation of screws and screw holes.

[0079] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is only exemplary, and is not intended to imply that the scope of the present application (including the claims) is limited to these examples; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the embodiments of the present application as described above, and they are not provided in detail for the sake of brevity.

[0080] In addition, for simplicity of explanation and discussion, and in order not to make the embodiments of the present application difficult to understand, well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Further, the devices may be shown in block diagram form in order to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present application are to be implemented (i.e., these details should be entirely within the understanding of those skilled in the art). In cases where specific details (such as circuits) are set forth to describe exemplary embodiments of the present application, it will be apparent to those skilled in the art that the embodiments of the present application may be practiced without these specific details or with variations of these specific details. Accordingly, these descriptions should be considered illustrative rather than restrictive.

[0081] Although the present application has been described in connection with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (such as dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0082] Embodiments of the present application are intended to cover all such alternatives, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the embodiments of the present application shall be included within the protection scope of the present application.

Claims

1. A manipulator fixed adjustment platform, characterized in that: include: Fixed table body; A fixing plate is arranged on the top of the fixing platform body, a side away from the fixing platform body is fixedly connected with a manipulator, and a first fixing structure is arranged on the first side and the second side of the fixing plate to limit the displacement of the fixing plate relative to the fixing platform body in the horizontal direction; A fixing box is arranged on the top of the fixing platform body, a receiving seat is arranged on the top of the fixing box, the fixing plate is embedded in the receiving seat, and a second fixing structure and a third fixing structure are arranged on the first side and the second side of the fixing box located on the fixing plate, for limiting the displacement of the fixing plate relative to the fixing platform body; The first fixing structure comprises: a fixing member, a rotating rod, a connecting member, a rotating block, a fixing block and a fixing hole; The fixing member is fixedly connected to the fixing plate, one end of the rotating rod and the rotating block are both rotatably connected to the fixing member, two ends of the connecting member are rotatably connected to the middle parts of the rotating rod and the rotating block respectively, one end of the rotating block away from the fixing member is fixedly connected to the fixing block, and one end of the rotating rod away from the fixing member is provided with a handle, wherein the rotating rod and the rotating block have the same rotation direction; The fixing hole is arranged on a side of the fixing box close to the fixing plate, and the fixing hole is adapted to the fixing block; The fixing members are two L-shaped angle steels, and the two L-shaped angle steels are arranged opposite to each other.

2. The manipulator fixing and adjusting platform according to claim 1, characterized in that: The second fixing structure comprises: a connecting rod, a driving screw rod and a clamping member; The fixing box is provided with a first cavity and a second cavity inside, the connecting rod is slidably connected to the fixing box and extends into the first cavity, the driving screw is rotatably connected to the fixing box and extends from the first cavity to the second cavity, the clamping piece is threadedly connected to the driving screw, and the extending direction of the driving screw is perpendicular to the extending direction of the connecting rod, a first bevel gear is fixedly provided on the connecting rod, a second bevel gear is provided at one end of the driving screw close to the connecting rod, the first bevel gear is adaptively meshed with the second bevel gear, and a rotating disk is fixedly provided at one end of the connecting rod away from the first cavity; The second cavity is provided with an opening, and the size of the opening is adapted to the clamping member; The first side and the second side of the fixing plate are both provided with accommodating grooves, and the accommodating grooves are adapted to the clamping members.

3. The manipulator fixing and adjusting platform according to claim 2, characterized in that: A sliding groove is provided on a side of the first cavity away from the turntable, and a first limiting groove and a second limiting groove are provided on the side wall along the extension direction of the sliding groove. A compression cavity is provided at one end of the connecting rod away from the turntable, a compression spring is fixedly provided at the bottom end of the compression cavity, and a clamping block is fixedly connected to one end of the compression spring away from the bottom of the compression cavity, and the clamping blocks are respectively adapted to the first limiting groove and the second limiting groove.

4. The manipulator fixing and adjusting platform according to claim 3, characterized in that: The second fixing structure also includes limiting devices respectively arranged on opposite sides of the connecting rod; The limiting device comprises: a fixing rod, a first rack, a second rack, a driving gear and a limiting member; The fixing rod is slidably connected to the fixing box and extends into the first cavity. The extension direction of the fixing rod is the same as that of the connecting rod. One end of the fixing rod extending into the first cavity is fixedly connected with a first rack. The driving gear is rotatably connected in the first cavity. The second rack is slidably connected in the first cavity. The first rack and the second rack are respectively meshed with the driving gear, and the extension direction of the first rack is perpendicular to that of the second rack. A stopper is provided at one end of the second rack close to the connecting rod. The connecting rod is provided with a clamping groove, and the limiting member is adapted to the contour of the clamping groove.

5. The robot fixing and adjusting platform according to claim 4, characterized in that: A first sliding groove is formed at one end of the first rack away from the fixing rod, and a second sliding groove is formed at one end of the second rack away from the limiting member; A first sliding rod is provided on the side wall of the first cavity along the extension direction of the fixed rod, a second sliding rod is provided on the side wall of the first cavity along the extension direction of the second rack, the first sliding groove is slidably connected to the first sliding rod, and the second sliding groove is slidably connected to the second sliding rod.

6. The manipulator fixing and adjusting platform according to claim 1, characterized in that: The third fixing structure comprises: a rotating member, a pressing block and a return spring; The rotating member is in a Z shape as a whole, and comprises a pressure-bearing portion, a connecting portion and a restoring portion, wherein the pressure-bearing portion and the restoring portion are fixedly connected via the connecting portion; The pressing block is L-shaped as a whole, and comprises a pressing portion and a driving portion, wherein one end of the pressing portion is fixedly connected to one end of the driving portion; The fixing box is provided with an operation cavity on a first side and a second side close to the fixing plate, the connecting portion is rotatably connected in the operation cavity, the driving portion is slidably connected in the operation cavity, an end of the driving portion away from the pressing portion abuts against the pressed portion, and the return spring is arranged on a side of the pressed portion away from the pressing portion and on a side of the return portion close to the top of the operation cavity; A first displacement zone is provided on a side of the operating cavity away from the fixing plate for displacement of the pressing portion, and a second displacement zone is provided on a side of the operating cavity close to the fixing plate for displacement of the resetting portion; The first side and the second side of the fixing plate are both provided with engaging grooves, and the engaging grooves are adapted to the resetting portion.

7. The robot fixing and adjusting platform according to claim 4, characterized in that: The connecting rod includes a first position and a second position; In the first position, the clamping block is located in the second limiting groove, and the first bevel gear is meshed with the second bevel gear; In the second position, the engaging block is located in the first limiting groove, the first bevel gear and the second bevel gear are separated, and the limiting member and the engaging groove are matched in position.

8. The manipulator fixing and adjusting platform according to claim 2, characterized in that: The opening is provided with a first stopper, and the clamping member is provided with a first limiting block; One end of the first limiting block away from the clamping member contacts the side wall of the second cavity, and the side wall of the second cavity is smoothly arranged.

9. The robot fixing and adjusting platform according to claim 3, characterized in that: A second stopper is provided at the opening of the compression chamber, and a second limiting block is provided at one end of the clamping block close to the compression spring; The first limiting groove and the second limiting groove are both provided with arc chamfers on their adjacent sides, and the clamping block is provided with a slope from an end close to the compression spring to an end away from the compression spring.

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