Manipulator with anti-deformation positioning function

Abstract

The invention discloses a manipulator with an anti-deformation positioning function, and relates to the technical field of manipulators, the manipulator comprises a positioning mechanism, the positioning mechanism is mounted at the bottom end of a mounting plate, and the positioning mechanism comprises a mounting frame, a movable frame, a first electric push rod, a sliding plate and a rotating plate. By arranging a pressure sensor, a positioning mechanism and a buffer pad, in the working and stretching process of a first electric push rod, a sliding plate drives movable frames to move close to each other through a rotating plate, and therefore clamping and positioning of materials can be achieved through a positioning plate; meanwhile, the pressure sensor senses the pressure for clamping the material and sends a pressure signal, so that the positioning plate can stop or continue the clamping operation according to the pressure signal, the deformation and damage of the material caused by overlarge pressure can be prevented, in addition, the material can be effectively buffered and protected through the buffer pad, the deformation and damage of the material are further prevented, and the production efficiency is improved. And defective products of the materials are reduced, so that the practicability of the grabbing manipulator is improved.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a manipulator with an anti-deformation positioning function. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed program. It can be programmed to complete various expected operations, and has the advantages of both human and mechanical machines in structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

[0003] When materials are being transported, a grabbing robot is needed. When the existing grabbing robots are performing grabbing operations, the clamping force cannot be effectively controlled, which makes the materials often prone to grasping and deformation. This deformation not only damages the integrity of the materials, but also leads to an increase in defective products, seriously affecting product quality and production efficiency, thereby reducing the practicality of the grabbing robot. Summary of the invention

[0004] The purpose of the present invention is to provide a manipulator with an anti-deformation positioning function to solve the technical problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a manipulator with an anti-deformation positioning function, comprising a positioning mechanism, the positioning mechanism is installed at the bottom end of a mounting plate, and the positioning mechanism comprises a mounting frame, a movable frame, a No. 1 electric push rod, a slide plate and a rotating plate, the movable frame is slidably connected to the inner side of the mounting frame;

[0006] A switching mechanism is provided at the bottom end of the movable frame, and the switching mechanism includes a fixed plate, a switching frame, a gear, a gear plate, a No. 2 electric push rod and a support column. The fixed plate is welded to the movable frame, and the switching frame is movably connected below the fixed plate. A positioning plate is provided on the outer side of the switching frame, and a buffer pad is provided on the outer side of the positioning plate. A pressure sensor penetrating the buffer pad is installed on the outer side of the positioning plate.

[0007] Preferably, the number one electric push rod is installed at one end inside the installation frame, and a slide plate is provided at one end of the number one electric push rod.

[0008] Preferably, a rotating plate is rotatably connected between the slide plate and the movable frame via a hinge seat, and two rotating plates and two movable frames are symmetrically arranged about the center axis of the slide plate.

[0009] Preferably, the installation frame is symmetrically provided with limit rods inside, the slide plate is symmetrically provided with limit holes inside, and the slide plate and the installation frame form a sliding structure through the limit holes and the limit rods.

[0010] Preferably, the movable frame is composed of a horizontal plate and a vertical plate, and the horizontal plate and the vertical plate together form a "T"-shaped structure.

[0011] Preferably, a support column rotatably connected to the fixed plate via a bearing is provided at the top of the exchange rack, and a gear is sleeved on the outer surface of the support column.

[0012] Preferably, a toothed plate meshing with a gear is slidably connected to the top of the fixed plate, and a replacement frame connected with the gear is installed on the top of the fixed plate.

[0013] Preferably, an annular groove is provided at the bottom end of the fixed plate, a limiting plate is provided at an equal angle at the top end of the exchange frame, and the exchange frame and the fixed plate form a rotating structure through the annular groove of the limiting plate.

[0014] Preferably, a plug-in plate penetrating the exchange frame is provided on one side of the positioning plate, and a connecting mechanism extending to the inside of the plug-in plate is provided inside the exchange frame, and the connecting mechanism consists of a connecting groove, a connecting plate, a connecting rope, a supporting spring and a pulling ring.

[0015] Preferably, the connecting plate is slidably connected to the inside of the replacement frame, the connecting groove is opened at the top of the plug-in plate, a supporting spring constituting an elastic structure is connected between the connecting plate and the replacement frame, a lifting ring is provided on the inner side of the replacement frame, and a connecting rope is connected between the lifting ring and the connecting plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The existing manipulator cannot effectively control the clamping force, so that the material is often prone to deformation due to grasping. This deformation not only damages the integrity of the material, but also leads to an increase in defective products. The present invention is provided with a pressure sensor, a positioning mechanism and a buffer pad. Since the movable frame and the slide plate are linked by a rotating plate, during the operation and extension of the No. 1 electric push rod, the slide plate drives the movable frame to move closer to each other through the rotating plate, so that the material can be clamped and positioned by the positioning plate. At the same time, the pressure of the clamped material is sensed by the pressure sensor and a pressure signal is sent, so that the positioning plate can stop or continue the clamping operation according to the pressure signal, thereby preventing the material from being deformed and damaged due to excessive pressure. In addition, the buffer pad can effectively buffer and protect the material, further preventing the material from being deformed and damaged, reducing the defective material, and thus improving the practicality of the grasping manipulator.

[0018] 2. The shape of the positioning plate of the existing manipulator is generally fixed and cannot be replaced according to the shape of the material. The present invention is provided with a replacement mechanism. Since the replacement frame and the fixed plate are rotatably connected through the support column, and the tooth plate is meshingly connected with the gear, during the operation and extension of the No. 2 electric push rod, the tooth plate slides horizontally, and the gear, support column and replacement frame rotate at the same time, so that positioning plates of different shapes can be replaced according to the shape of the material, so that the mechanical claw can clamp and grab materials of different shapes, thereby expanding the scope of application of the mechanical claw.

[0019] 3. The positioning plates of existing manipulators are generally connected by bolts, which makes subsequent disassembly and replacement inconvenient. The present invention is provided with a plug-in plate and a connecting mechanism. Since the lifting ring and the connecting plate are linked by a connecting rope, and the plug-in plate and the replacement frame are clamped by the connecting plate and the connecting groove under the action of the supporting spring, the connecting plate can be separated from the connecting groove by pulling the lifting ring outward. At this time, the positioning plate is pulled to one side to separate the plug-in plate from the replacement frame, thereby facilitating the disassembly of the positioning plate for replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0021] Figure 2 It is a three-dimensional cutaway exploded view of the positioning mechanism of the present invention;

[0022] Figure 3 It is a three-dimensional exploded view of the positioning plate and the buffer pad of the present invention;

[0023] Figure 4 It is a three-dimensional exploded view of the switching mechanism of the present invention;

[0024] Figure 5 It is a three-dimensional cutaway exploded view of the connection mechanism of the present invention;

[0025] Figure 6 It is a bottom-up exploded perspective view of the limit plate and the annular groove of the present invention.

[0026] In the figure: 1. positioning mechanism; 101. mounting frame; 102. movable frame; 103. No. 1 electric push rod; 104. slide plate; 105. rotating plate; 2. positioning plate; 3. buffer pad; 4. pressure sensor; 5. switching mechanism; 501. fixed plate; 502. switching frame; 503. gear; 504. gear plate; 505. No. 2 electric push rod; 506. support column; 6. plug-in board; 7. connecting mechanism; 701. connecting groove; 702. connecting plate; 703. connecting rope; 704. supporting spring; 705. lifting ring; 8. limiting hole; 9. limiting rod; 10. limiting plate; 11. annular groove; 12. mounting plate. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1 and Figure 6 The present invention provides a technical solution: a manipulator with an anti-deformation positioning function, comprising a positioning mechanism 1, the positioning mechanism 1 is mounted at the bottom end of a mounting plate 12, and the positioning mechanism 1 comprises a mounting frame 101, a movable frame 102, a first electric push rod 103, a slide plate 104 and a rotating plate 105, the movable frame 102 is slidably connected to the inner side of the mounting frame 101, the first electric push rod 103 is mounted at one end inside the mounting frame 101, and one end of the first electric push rod 103 is provided with a sliding The slide plate 104 is rotatably connected with the movable frame 102 by a hinge seat, and the rotating plate 105 and the movable frame 102 are both symmetrically provided with two about the central axis of the slide plate 104, and the movable frame 102 is composed of a horizontal plate and a vertical plate, and the horizontal plate and the vertical plate together form a "T"-shaped structure, and a positioning plate 2 is arranged on the outer side of the exchange frame 502, and a buffer pad 3 is arranged on the outer side of the positioning plate 2, and a pressure sensor 4 penetrating the buffer pad 3 is installed on the outer side of the positioning plate 2;

[0029] See also Figure 1 and Figure 6 It can be seen that since the movable frame 102 and the slide plate 104 are linked through the rotating plate 105, during the operation and extension of the No. 1 electric push rod 103, the slide plate 104 drives the movable frame 102 to move closer to each other through the rotating plate 105, so that the material can be clamped and positioned through the positioning plate 2. At the same time, the pressure of the clamped material is sensed by the pressure sensor 4 and a pressure signal is sent, so that the positioning plate 2 can stop or continue the clamping operation according to the pressure signal, thereby preventing the material from being deformed and damaged due to excessive pressure. In addition, the material can be effectively buffered and protected by the buffer pad 3, further preventing the material from being deformed and damaged, reducing the defective material, and thus improving the practicability of the grabbing robot.

[0030] See also Figure 1 and Figure 6It can be seen that the bottom end of the movable frame 102 is provided with a switching mechanism 5, and the switching mechanism 5 includes a fixed plate 501, a switching frame 502, a gear 503, a tooth plate 504, a second electric push rod 505 and a support column 506. The fixed plate 501 is welded to the movable frame 102, and the switching frame 502 is movably connected below the fixed plate 501. The top of the switching frame 502 is provided with a support column 506 rotatably connected to the fixed plate 501 through a bearing, and the outer surface of the support column 506 is sleeved with a gear 503. The top of the fixed plate 501 is slidably connected to a tooth plate 504 meshing with the gear 503, and the top of the fixed plate 501 is installed with a switching frame 502 connected to the gear 503;

[0031] See also Figure 1 and Figure 6 It can be seen that since the replacement frame 502 and the fixed plate 501 are rotatably connected through the support column 506, and the tooth plate 504 is meshingly connected with the gear 503, during the operation and extension of the No. 2 electric push rod 505, the tooth plate 504 slides horizontally, and at the same time the gear 503, the support column 506 and the replacement frame 502 rotate, so that the positioning plates 2 of different shapes can be replaced according to the shape of the material, so that the mechanical claw can clamp and grasp materials of different shapes, thereby expanding the application range of the mechanical claw.

[0032] See also Figure 2 It can be seen that the limiting rods 9 are symmetrically arranged inside the installation frame 101, and the limiting holes 8 are symmetrically opened inside the slide plate 104. The slide plate 104 and the installation frame 101 form a sliding structure through the limiting holes 8 and the limiting rods 9, which can play a role in supporting and limiting the slide plate 104, thereby increasing the stability of the slide plate 104 during sliding and preventing displacement.

[0033] See also Figure 1 , Figure 2 and Figure 4 It can be seen that a plug-in board 6 penetrating the exchange frame 502 is provided on one side of the positioning plate 2, and a connecting mechanism 7 extending to the inside of the plug-in board 6 is provided inside the exchange frame 502, and the connecting mechanism 7 is composed of a connecting groove 701, a connecting plate 702, a connecting rope 703, a supporting spring 704 and a lifting ring 705. The connecting plate 702 is slidably connected to the inside of the exchange frame 502, and the connecting groove 701 is provided at the top of the plug-in board 6. A supporting spring 704 constituting an elastic structure is connected between the connecting plate 702 and the exchange frame 502, and a lifting ring 705 is provided on the inner side of the exchange frame 502, and a connecting rope 703 is connected between the lifting ring 705 and the connecting plate 702;

[0034] See also Figure 1 , Figure 2 and Figure 4When the locking cam 705 is unlocked, the locking cam 705 can be unlocked, and the locking cam 705 can be unlocked when the locking cam 705 is unlocked.

[0035] See also Figure 4 and Figure 6 It can be seen that an annular groove 11 is provided at the bottom end of the fixed plate 501, and a limiting plate 10 is provided at an equal angle at the top of the replacement frame 502. The replacement frame 502 and the fixed plate 501 form a rotating structure through the annular groove 11 of the limiting plate 10, which can play a role in supporting and limiting the replacement frame 502, thereby increasing the stability of the replacement frame 502 during rotation.

[0036] Working principle: When using the manipulator with anti-deformation positioning function, the No. 2 electric push rod 505 is operated and extended. During this process, the tooth plate 504 slides horizontally, so that the gear 503, the support column 506 and the replacement frame 502 are rotated, so that the positioning plate 2 of different shapes can be replaced according to the shape of the material. At this time, the No. 1 electric push rod 103 is operated and extended. During this process, the slide plate 104 slides horizontally, and the rotating plate 105 drives the movable frame 102 to move closer to each other, so that the material can be clamped and positioned by the positioning plate 2. At the same time, the pressure of the clamped material is sensed by the pressure sensor 4 and a pressure signal is sent, so that the positioning plate 2 can stop or continue the clamping operation according to the pressure signal, thereby preventing the material from being deformed and damaged due to excessive pressure. The contents not described in detail in this description belong to the prior art known to professional and technical personnel in this field.

[0037] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A manipulator with an anti-deformation positioning function, comprising a positioning mechanism (1), characterized in that: The positioning mechanism (1) is installed at the bottom end of the mounting plate (12), and the positioning mechanism (1) comprises a mounting frame (101), a movable frame (102), a first electric push rod (103), a slide plate (104) and a rotating plate (105), and the movable frame (102) is slidably connected to the inner side of the mounting frame (101); The bottom end of the movable frame (102) is provided with a switching mechanism (5), and the switching mechanism (5) comprises a fixed plate (501), a switching frame (502), a gear (503), a toothed plate (504), a second electric push rod (505) and a support column (506). The fixed plate (501) is welded to the movable frame (102), and the switching frame (502) is movably connected below the fixed plate (501). A positioning plate (2) is provided on the outer side of the switching frame (502), and a buffer pad (3) is provided on the outer side of the positioning plate (2). A pressure sensor (4) penetrating the buffer pad (3) is installed on the outer side of the positioning plate (2).

2. The robot with anti-deformation positioning function according to claim 1, characterized in that: The first electric push rod (103) is installed at one end inside the installation frame (101), and a slide plate (104) is provided at one end of the first electric push rod (103).

3. The robot with anti-deformation positioning function according to claim 1, characterized in that: A rotating plate (105) is rotatably connected between the slide plate (104) and the movable frame (102) via a hinge seat, and two rotating plates (105) and two movable frames (102) are symmetrically arranged about the central axis of the slide plate (104).

4. The robot with anti-deformation positioning function according to claim 1, characterized in that: The installation frame (101) is symmetrically provided with limit rods (9), the slide plate (104) is symmetrically provided with limit holes (8), and the slide plate (104) and the installation frame (101) form a sliding structure through the limit holes (8) and the limit rods (9).

5. The robot with anti-deformation positioning function according to claim 1, characterized in that: The movable frame (102) is composed of a horizontal plate and a vertical plate, and the horizontal plate and the vertical plate together form a "T"-shaped structure.

6. The robot with anti-deformation positioning function according to claim 1, characterized in that: A support column (506) is provided at the top end of the exchange frame (502) and is rotatably connected to the fixed plate (501) via a bearing, and a gear (503) is sleeved on the outer surface of the support column (506).

7. The robot with anti-deformation positioning function according to claim 6, characterized in that: The top end of the fixed plate (501) is slidably connected to a toothed plate (504) meshingly connected to a gear (503), and the top end of the fixed plate (501) is provided with a replacement frame (502) connected to the gear (503).

8. The manipulator with anti-deformation positioning function according to claim 7, characterized in that: An annular groove (11) is provided at the bottom end of the fixed plate (501), a limiting plate (10) is provided at an equal angle at the top end of the exchange frame (502), and the exchange frame (502) and the fixed plate (501) form a rotating structure through the annular groove (11) of the limiting plate (10).

9. The robot with anti-deformation positioning function according to claim 1, characterized in that: A plug-in plate (6) penetrating the exchange frame (502) is arranged on one side of the positioning plate (2); a connecting mechanism (7) extending to the inside of the plug-in plate (6) is arranged inside the exchange frame (502); the connecting mechanism (7) is composed of a connecting groove (701), a connecting plate (702), a connecting rope (703), a supporting spring (704) and a lifting ring (705).

10. The robot with anti-deformation positioning function according to claim 9, characterized in that: The connecting plate (702) is slidably connected to the inside of the replacement frame (502), the connecting groove (701) is opened at the top of the plug-in plate (6), a supporting spring (704) constituting an elastic structure is connected between the connecting plate (702) and the replacement frame (502), a lifting ring (705) is arranged on the inner side of the replacement frame (502), and a connecting rope (703) is connected between the lifting ring (705) and the connecting plate (702).

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