Telescopic folding manipulator

Abstract

The invention relates to the field of mechanical arm equipment, in particular to a telescopic folding type mechanical arm which comprises a fixing frame, a mechanical arm is arranged on the fixing frame, mounting boxes are integrally formed at the left end and the right end of the mechanical arm, the interiors of the mounting boxes are hollow, and the ends, close to each other, of the two mounting boxes are open. A rotating plate is arranged in the mounting box in the horizontal direction, a clamping mechanism and a driving mechanism are arranged on the rotating plate, the driving mechanism is used for driving the clamping mechanism to grab corresponding workpieces, and a lubricating mechanism is additionally arranged in the mounting box. And in the process that the driving mechanism drives the clamping mechanism to grab the workpiece, the lubricating mechanism synchronously lubricates the driving mechanism. The invention aims to optimize the lubricating step of the driving part of the manipulator, so that the operation efficiency of the manipulator can be remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of manipulator equipment, and in particular to a retractable and foldable manipulator. 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 is widely used in machinery manufacturing, metallurgy, electronics, light industry and other departments.

[0003] In the related art, the driving parts of the manipulator need to be lubricated in time after long-term use, so as to effectively avoid the driving parts of the manipulator being in a friction state for a long time and causing failures, thereby affecting the normal use of the manipulator.

[0004] The traditional lubrication method requires the robot to stop running first, and then manually fill the driving part with lubricating oil, which makes the robot unable to operate during the lubrication process, thus affecting the efficiency of the robot's daily operation. At the same time, when manually filling the lubricating oil, the phenomenon of insufficient lubrication or over-lubrication often occurs, which is not conducive to the daily maintenance of the robot. Summary of the invention

[0005] The present application provides a retractable and foldable manipulator, the purpose of which is to optimize the lubrication steps of the manipulator driving part, so that the manipulator operation and the lubrication of its driving part can be carried out simultaneously, thereby significantly improving the efficiency of the manipulator operation. At the same time, the lubrication of the manipulator driving part is effectively avoided from being insufficiently lubricated or over-lubricated.

[0006] The present application provides a retractable and foldable manipulator, which adopts the following technical solution: A retractable and foldable manipulator comprises a fixed frame, on which a manipulator arm is arranged, and installation boxes are integrally formed at both left and right ends of the manipulator arm, the interior of the installation box is hollow, and the ends of the two installation boxes that are close to each other are open, and a rotating plate is provided in the interior of the installation box along the horizontal direction, and a clamping mechanism and a driving mechanism are provided on the rotating plate, and the driving mechanism is used to drive the clamping mechanism to grab the corresponding workpiece, and a lubrication mechanism is also added in the installation box, and when the driving mechanism drives the clamping mechanism to grab the workpiece, the lubrication mechanism synchronously lubricates the driving mechanism.

[0007] By adopting the above technical solution, in this setting mode, the lubrication of the driving mechanism by the lubrication mechanism and the process of the driving mechanism driving the clamping mechanism to grasp the workpiece are carried out synchronously, which makes it possible for the robot operation and the lubrication of its driving parts to be carried out at the same time, thereby significantly improving the efficiency of the robot operation.

[0008] Preferably, the clamping mechanism includes a first clamp and a second clamp, the first clamp and the second clamp are distributed to the left and right ends of the rotating plate, the first clamp is used to grasp a square workpiece, and the second clamp is used to grasp a round workpiece.

[0009] By adopting the above technical solution and utilizing the first clamp and the second clamp, the robot arm can satisfy the requirements of both grasping round workpieces and grasping square workpieces. Therefore, when the round workpieces and the square workpieces are fed at the same time, there is no need to repeatedly replace the clamps on the robot arm, which is beneficial to simplify the entire process of picking and placing the workpieces and improve the efficiency of picking and placing the workpieces.

[0010] Preferably, the driving mechanism comprises a driving gear, a first rack and a second rack, the driving gear is rotatably arranged on the rotating plate, half of the peripheral side of the driving gear is tooth-shaped, and the other half is smooth, the first rack and the second rack are distributed to the upper and lower sides of the driving gear, and the driving gear is used to drive the first rack and the second rack to slide in the horizontal direction; An adjustment mechanism is provided on the rotating plate, and the adjustment mechanism includes a first adjustment component and a second adjustment component. The first adjustment component and the second adjustment component are distributed to the left and right sides of the driving gear. The first adjustment component is connected to the first rack, and the second adjustment component is connected to the second rack. The driving gear drives the first rack and the first adjustment component to cooperate to adjust the shape and size of the first clamp, and drives the second rack and the second adjustment component to cooperate to adjust the shape and size of the second clamp.

[0011] By adopting the above technical solution, the first adjustment component and the second adjustment component are used to adjust the shape and size of the first clamp and the second clamp respectively, so that the first clamp and the second clamp can adapt to workpieces of different specifications and models, which is beneficial to improve the overall adaptability of the robotic arm. When facing workpieces of different specifications and models, there is no need to replace the first clamp or the second clamp, which further improves the efficiency of the robotic arm in grasping the workpiece.

[0012] Preferably, the first adjusting assembly includes a first adapter plate, a first driving block and two connecting plates; the first rack is installed on the top of the rotating plate, the first rack is meshed with the driving gear, the first adapter plate is installed on the rotating plate, the side wall of the first adapter plate is integrally connected to the first rack, the side of the first adapter plate away from the first rack is integrally connected to the first driving block, the left and right ends of the first driving block are wedge-shaped, the two connecting plates are distributed to the left and right ends of the first driving block, the two connecting plates are wedge-matched with the left and right ends of the first driving block respectively, one end of the connecting plate is wedge-shaped and wedge-matched with one end of the corresponding first driving block, and the other end of the connecting plate is integrally connected to the first clamp.

[0013] By adopting the above technical solution, when the first rack slides toward the direction close to the first clamp, the first rack synchronously drives the first adapter plate and the first drive block to slide toward the direction close to the first clamp. When the first drive block slides toward the direction close to the first clamp, the left and right ends of the first drive block respectively cooperate with the two connecting blocks in a wedge shape. At this time, the two connecting plates slide toward the directions away from each other, and then drive the two clamping plates of the first clamp to slide toward the directions away from each other through the two connecting plates. At this time, the size of the first clamp becomes larger, and it can clamp and grasp square workpieces of larger sizes.

[0014] On the contrary, when the first rack slides in a direction away from the first clamp, the size of the first clamp becomes smaller, so that a smaller square workpiece can be clamped and grasped.

[0015] Preferably, the second adjustment assembly includes a second adapter plate, a second driving block and two driving plates; the second rack is meshed and connected with the driving gear, the second adapter plate is mounted on the rotating plate, the side wall of the second adapter plate is integrally connected with the second rack, the side of the second adapter plate away from the second rack is integrally connected with the second driving block, the left and right ends of the second driving block are wedge-shaped, the two driving plates are distributed to the left and right ends of the second driving block, and the two driving plates are wedge-matched with the left and right ends of the second driving block respectively; The driving plate includes a first plate body and a second plate body, the first plate body is hollow inside, the second plate body extends into the first plate body, the end of the first plate body away from the second plate body is wedge-shaped and wedge-matched with one end of the second driving block, one end of the second plate body extends into the first plate body, and the other end of the second plate body abuts against the second clamp, a driving spring is installed in the first plate body, one end of the driving spring is connected to the inner wall of the first plate body, and the other end of the driving spring is integrally connected to the second plate body, and the driving spring is used to drive the second plate body to extend and retract in the first plate body.

[0016] By adopting the above technical solution, when the second rack slides in the direction close to the second clamp, the second rack synchronously drives the second adapter plate and the second drive block to slide in the direction close to the second clamp. When the second drive block slides in the direction close to the second clamp, the left and right ends of the second drive block respectively cooperate with the two first plate bodies in a wedge shape. At this time, the two first plate bodies slide in the direction away from each other, and then the corresponding two second plate bodies are driven to slide in the direction away from each other through the two first plate bodies.

[0017] Since the second clamp is in an arc shape, when the two second plates slide away from each other, the two second plates slide toward the two ends of the second clamp. In this process, since the second clamp is in an arc shape, when the second plate slides toward the end of the second clamp, the driving spring gradually releases the elastic force. In this process, the driving spring pushes the second plate to slide away from the first plate. When the second plate slides away from the first plate, the second clamp is pressed down, and the second plate presses down on the second clamp to adjust the overall curvature of the second clamp. In this process, the curvature of the second clamp becomes larger, so that workpieces with smaller diameters can be grasped.

[0018] On the contrary, when the second rack slides in a direction away from the second clamp, the curvature of the second clamp becomes smaller, so that a workpiece with a larger diameter can be grasped.

[0019] Preferably, the lubrication mechanism includes a plurality of first lubrication components, the first rack and the second rack are both hollow inside, the chambers inside the first rack and the second rack are both set as oil storage chambers, and a plurality of the first lubrication components are arranged in the oil storage chambers of the first rack or the second rack and distributed at the bottom of the tooth grooves of the first rack or the second rack; The first lubrication assembly includes an oil outlet hole, a sealing plate, a guide plate and a guide sleeve. The oil outlet hole is opened at the bottom of the tooth groove of the first rack or the second rack, and the oil outlet hole is connected with the corresponding first rack and second rack. The sealing plate is located in the first rack or the second rack, and the sealing plate is slidably installed in the first rack or the second rack. The sealing plate is used to seal or open the oil outlet hole. The guide sleeve is arranged in the first rack or the second rack in a vertical direction, one end of the guide sleeve is integrally connected to the inner wall of the first rack or the second rack, and the other end of the guide sleeve is open. One end of the guide plate is integrally connected to the sealing plate, and the other end of the guide plate extends into the guide sleeve.

[0020] By adopting the above technical solution, when lubrication is performed, when the driving gear is not meshed with the first rack or the second rack, the sealing plate is sealed at the oil outlet hole on the first rack or the second rack. In this state, the lubricating oil in the first rack or the second rack cannot flow out from the inside.

[0021] When the driving gear is meshed with the first rack or the second rack, the teeth on the driving gear are inserted into the tooth grooves on the first rack or the second rack, and the sealing plate located at the tooth groove inside the corresponding first rack or the second rack slides in a direction away from the teeth of the driving gear. In this state, when the sealing plate slides in a direction away from the teeth of the driving gear, the oil outlet hole on the first rack or the second rack is in an open state, and the lubricating oil in the first rack or the second rack flows out from the corresponding oil outlet hole to the teeth of the driving gear, thereby lubricating the driving gear and the first rack or the second rack.

[0022] With this arrangement, lubricating oil will flow out from the first rack or the second rack to the teeth of the driving gear only when the teeth on the driving gear are engaged with the tooth grooves of the first rack or the second rack. If the driving gear is not engaged with the first rack or the second rack, the sealing plate at the non-engaged portion seals the oil outlet hole, and the non-engaged portion cannot be lubricated.

[0023] This setting method can accurately control the lubricated parts between the driving gear and the first rack or the second rack, that is, the meshing parts of the two will be lubricated, and the non-meshing parts will not be lubricated. In this way, the waste of lubricating oil can be effectively avoided, and the lubricated parts of the two can be accurately controlled. At the same time, this lubrication method needs to be carried out during the driving process of the driving gear, that is, the driving gear drives the first rack, the second rack adjusts the first clamp, and the second clamp to grasp workpieces of different models and sizes, and lubrication is carried out synchronously. This makes it possible for the robot to operate and lubricate its driving parts at the same time, which can significantly improve the efficiency of the robot operation. At the same time, it effectively avoids the phenomenon of insufficient lubrication or excessive lubrication of the driving parts of the robot.

[0024] Preferably, the sealing plate is made of magnet, the teeth of the driving gear are coated with magnetic material, and the magnetic material of the sealing plate and the magnetic material on the teeth of the driving gear repel each other.

[0025] By adopting the above technical solution, when the teeth of the driving gear are inserted into the first rack or the second rack, the corresponding sealing plate slides in a direction away from the teeth of the driving gear, thereby opening the oil outlet hole at the corresponding position. When the teeth on the driving gear are disengaged from the corresponding tooth groove, the sealing plate is reset to the oil outlet hole to reseal the oil outlet hole.

[0026] Preferably, the lubrication mechanism comprises a plurality of sets of second lubrication components, and the plurality of sets of the second lubrication components are arranged inside the first rack or the second rack; The second lubrication assembly includes two groups of lubrication parts, and the lubrication parts include a fixed pulley, a traction rope, a first sealing block, a sliding block and a second sealing block; The fixed pulley is fastened to the inner wall of the first rack or the second rack, the first sealing block is used to seal the oil outlet hole, and the first sealing block is slidably installed in the first rack or the second rack, the traction rope is sleeved on the fixed pulley, one end of the traction rope is connected to the first sealing block, and the other end of the traction rope is connected to the slider, and an abutment plate is integrally formed on the side wall of the slider, and the abutment plate extends to the outside of the tooth groove of the first rack or the second rack at one end away from the slider, the second sealing block is fixed inside the first rack or the second rack, and a sealing cavity is formed between the second sealing block and the corresponding side walls of the first rack or the second rack, the slider is slidably installed in the sealing cavity, and the traction rope passes through the cavity wall of the sealing cavity and is integrally connected with the slider.

[0027] By adopting the above technical solution, after the teeth on the driving gear are inserted into the tooth grooves of the first rack or the second rack, they abut against the abutment plate. During the rotation of the driving gear, the abutment plate is driven to slide in the sealing cavity, thereby synchronously driving the slider to slide. When the slider slides, the first sealing block is pulled up by the traction rope, thereby opening the position of the corresponding oil outlet hole in the first rack or the second rack, so that the lubricating oil can flow out from the position of the oil outlet hole to the tooth periphery side of the driving gear, thereby achieving lubrication during the rotation process between the driving gear and the first rack or the second rack.

[0028] In summary, the present application includes at least one of the following beneficial technical effects: 1. The lubrication of the driving mechanism by the lubrication mechanism and the process of the driving mechanism driving the clamping mechanism to grab the workpiece are carried out synchronously, which enables the manipulator to operate and lubricate its driving parts at the same time, thereby significantly improving the efficiency of the manipulator operation; 2. After the teeth of the driving gear are inserted into the first rack or the second rack, the corresponding sealing plate slides away from the teeth of the driving gear, thereby opening the oil outlet hole at the corresponding position. When the teeth on the driving gear are disengaged from the corresponding tooth groove, the sealing plate returns to the oil outlet hole and re-seals the oil outlet hole; 3. After the teeth on the driving gear are inserted into the tooth grooves of the first rack or the second rack, they abut against the abutment plate. When the driving gear rotates, the abutment plate is driven to slide in the sealing cavity, thereby synchronously driving the slider to slide. When the slider slides, the first sealing block is pulled up by the traction rope, thereby opening the position of the corresponding oil outlet hole in the first rack or the second rack, so that the lubricating oil can flow out from the position of the oil outlet hole to the tooth periphery side of the driving gear, thereby achieving lubrication during the rotation process between the driving gear and the first rack or the second rack. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the embodiment of the present application; Figure 2 The embodiment of the present application specifically shows the first clamp, the second clamp, the driving gear, A schematic structural diagram of the positional relationship between the first rack, the second rack, the first adapter plate, the first drive block, the connecting plate, the second adapter plate, the second drive block and the drive plate; Figure 3 is a structural schematic diagram of an embodiment of the present application specifically showing the positional relationship between the first plate body, the second plate body and the driving spring; Figure 4 This is a structural schematic diagram of an embodiment of the present application specifically showing the positional relationship between the oil storage chamber, the sealing plate, the guide plate and the guide sleeve; Figure 5 yes Figure 4 The enlarged schematic diagram of point A in the middle; Figure 6 is a structural schematic diagram showing the positional relationship among the fixed pulley, the traction rope and the first sealing block in the embodiment of the present application; Figure 7 yes Figure 6 The enlarged schematic diagram of point B in the middle; Figure 8 It is a structural schematic diagram of an embodiment of the present application specifically showing the process of the driving gear meshing with the second rack in a clockwise rotating state; Fig. 9 It is a structural schematic diagram of an embodiment of the present application specifically showing that the driving gear gradually presses down the abutment plate during the meshing process with the second rack.

[0030] : Illustration symbols: 1. fixed frame; 2. mechanical arm; 3. mounting box; 4. rotating plate; 5. first clamp; 6. second clamp; 7. driving gear; 8. first rack; 9. second rack; 10. first adapter plate; 11. first driving block; 12. connecting plate; 13. second adapter plate; 14. second driving block; 15. driving plate; 151. first plate body; 152. second plate body; 16. driving spring; 17. oil storage chamber; 18. oil outlet hole; 19. sealing plate; 20. guide plate; 21. guide sleeve; 22. fixed pulley; 23. traction rope; 24. first sealing block; 25. slider; 26. second sealing block; 27. abutment plate; 28. sealing chamber. DETAILED DESCRIPTION

[0031] The following is combined with Figure 1 -Attached Fig. 9 , further details of this application are given.

[0032] Embodiment 1: The present application embodiment discloses a retractable and foldable manipulator, referring to Figure 1 and Figure 2 , including a fixed frame 1, the fixed frame 1 is a square frame structure as a whole, a mechanical arm 2 is slidably mounted on the fixed frame 1 along the vertical direction, and installation boxes 3 are integrally formed at both ends of the mechanical arm 2, the interior of the installation box 3 is hollow, and the ends of the two installation boxes 3 that are close to each other are open. A rotating plate 4 is provided in the interior of the installation box 3 along the horizontal direction, and a clamping mechanism and a driving mechanism are provided on the rotating plate 4, and the driving mechanism is used to drive the clamping mechanism to grab the corresponding workpiece. At the same time, a lubrication mechanism is also added in the installation box 3, and when the driving mechanism drives the clamping mechanism to grab the workpiece, the lubrication mechanism lubricates the driving mechanism synchronously.

[0033] With this arrangement, the lubrication of the driving mechanism by the lubrication mechanism and the process of the driving mechanism driving the clamping mechanism to grasp the workpiece are carried out simultaneously, which enables the robot operation and the lubrication of its driving parts to be carried out at the same time, thereby significantly improving the efficiency of the robot operation.

[0034] Specifically, a motor is fastened in the installation box 3 by fastening bolts, and the bottom of the rotating plate 4 is connected to the motor, and the rotating plate 4 is driven by the motor to rotate in the horizontal direction.

[0035] Specifically, refer to Figure 1 and Figure 2 The clamping mechanism includes a first clamp 5 and a second clamp 6, which are distributed at the left and right ends of the rotating plate 4. The first clamp 5 is composed of two rectangular clamping plates, and the first clamp 5 is used to grasp a square workpiece. The second clamp 6 is in a curved arc shape as a whole, and the second clamp 6 is used to grasp a circular workpiece.

[0036] When it is necessary to grab a square workpiece, the rotating plate 4 is rotated in the mounting box 3 so that the first clamp 5 faces the opening of the mounting box 3, and then the square workpiece is grabbed by the two first clamps 5; when it is necessary to grab a round workpiece, the rotating plate 4 is rotated in the mounting box 3 so that the second clamp 6 faces the opening of the mounting box 3, and then the round workpiece is grabbed by the two second clamps 6.

[0037] By adding a first clamp 5 and a second clamp 6 at the end of the robot arm 2, the robot arm 2 can meet the needs of both grasping round workpieces and grasping square workpieces. Therefore, when round workpieces and square workpieces are fed at the same time, there is no need to repeatedly replace the clamps on the robot arm 2, which is beneficial to simplify the entire process of picking and placing the workpieces and improve the efficiency of picking and placing the workpieces.

[0038] Specifically, during assembly, when the first clamp 5 or the second clamp 6 rotates to the opening of the mounting box 3, the ends of the first clamp 5 or the second clamp 6 extend out of the mounting box 3. The purpose of this is to effectively avoid the first clamp 5 or the second clamp 6 from causing certain interference to the end of the mounting box 3 when grabbing the workpiece, thereby effectively ensuring that the first clamp 5 or the second clamp 6 can smoothly grab the corresponding workpiece.

[0039] Reference Figure 1 and Figure 2 The driving mechanism includes a driving gear 7, a first rack 8 and a second rack 9. The driving gear 7 is rotatably arranged on the rotating plate 4. The first rack 8 and the second rack 9 are distributed to the upper and lower sides of the driving gear 7. The driving gear 7 is used to drive the first rack 8 and the second rack 9 to slide in the horizontal direction. At the same time, an adjustment mechanism is provided on the rotating plate 4. The adjustment mechanism includes a first adjustment component and a second adjustment component. The first adjustment component and the second adjustment component are respectively used to adjust the shape and size of the first clamp 5 and the second clamp 6, so that the first clamp 5 and the second clamp 6 can adapt to workpieces of different specifications and models, which is conducive to improving the overall adaptability of the robot arm 2. When facing workpieces of different specifications and models, there is no need to replace the first clamp 5 or the second clamp 6, which further improves the efficiency of the robot arm 2 in grasping the workpiece.

[0040] The first adjustment component and the second adjustment component are distributed to the left and right sides of the driving gear 7. The first adjustment component is connected to the first rack 8, and the second adjustment component is connected to the second rack 9. During the rotation process, the driving gear 7 drives the first rack 8 and the first adjustment component to adjust the shape and size of the first clamp 5, and drives the second rack 9 and the second adjustment component to adjust the shape and size of the second clamp 6.

[0041] Specifically, two support plates are welded to the top of the rotating plate 4 in the horizontal direction, and the two support plates are spaced apart at the top of the rotating plate 4. A rotating shaft is installed between the two support plates in the horizontal direction, and the driving gear 7 is sleeved on the rotating shaft. At the same time, one end of the rotating shaft extends out of the installation box 3 and is connected to a knob, which is rotatably installed on the outer wall of the installation box 3. Half of the peripheral side of the driving gear 7 is tooth-shaped, and the other half is smooth.

[0042] The rotating shaft and the driving gear 7 are driven to rotate in the installation box 3 by rotating the knob. The driving gear 7 drives the first adjusting component to adjust the size of the first clamp 5 or drives the second adjusting component to adjust the size of the second clamp 6 during the rotation process.

[0043] Specifically, refer to Figure 1 and Figure 2 , the first adjustment assembly includes a first adapter plate 10, a first driving block 11 and two connecting plates 12. The first rack 8 is mounted on the top of the rotating plate 4 in the horizontal direction, and the first rack 8 is meshed and connected with the driving gear 7. The first adapter plate 10 is mounted on the rotating plate 4 in the vertical direction, and the side wall of the first adapter plate 10 is integrally connected with the first rack 8. The side of the first adapter plate 10 away from the first rack 8 is integrally connected with the first driving block 11. The left and right ends of the first driving block 11 are wedge-shaped. The two connecting plates 12 are distributed to the left and right ends of the first driving block 11, and the two connecting plates 12 are wedge-matched with the left and right ends of the first driving block 11 respectively. One end of the connecting plate 12 is wedge-shaped and is wedge-matched with one end of the corresponding first driving block 11, and the other end of the connecting plate 12 is integrally connected with the first clamp 5.

[0044] The first clamp 5 is composed of two “L”-shaped clamping plates, and one end of the two connecting plates 12 away from the first driving block 11 is integrally connected to the two clamping plates respectively.

[0045] Specifically, when adjusting the size of the first clamp 5, the knob is turned to drive the driving gear 7 to rotate. In this state, the teeth on the driving gear 7 face downward. The driving gear 7 meshes with the first rack 8 during the rotation process, and the driving gear 7 drives the first rack 8 to slide on the rotating plate 4 in a direction close to or away from the first clamp 5.

[0046] When the first rack 8 slides toward the direction approaching the first clamp 5, the first rack 8 synchronously drives the first adapter plate 10 and the first driving block 11 to slide toward the direction approaching the first clamp 5. When the first driving block 11 slides toward the direction approaching the first clamp 5, the left and right ends of the first driving block 11 respectively cooperate with the two connecting blocks in a wedge shape. At this time, the two connecting plates 12 slide toward the directions away from each other, and then the two clamping plates of the first clamp 5 are driven to slide toward the directions away from each other through the two connecting plates 12. At this time, the size of the first clamp 5 becomes larger, and it can clamp and grasp larger square workpieces.

[0047] On the contrary, when the first rack 8 slides in a direction away from the first clamp 5 , the size of the first clamp 5 becomes smaller, so that a smaller square workpiece can be clamped and grasped.

[0048] In this embodiment, support boxes are welded to both left and right ends of the top of the rotating plate 4, and the ends of the two support plates are respectively welded to the outer wall between the two support boxes. A fixing box is welded inside the support box, and the two connecting plates 12 are located inside the fixing box, and a return spring is installed horizontally between the inner wall of the fixing box and the side of the two connecting plates 12 that are away from each other. The return spring can stably support the connecting plate 12 and assist the connecting plate 12 to be effectively reset.

[0049] At the same time, a receiving plate is sleeved between the two connecting plates 12, and the receiving plate is welded to the end of the fixing box. The left and right sides of the receiving plate are provided with sliding grooves for the two connecting plates 12 to slide, and the two connecting plates 12 slide in the two sliding grooves respectively. A return spring is installed between the side wall of the first driving block 11 and the receiving plate. The return spring can stably support the first driving block 11 and assist the first driving block 11 to effectively return to its original position.

[0050] Specifically, refer to Figure 2 and Figure 3 The second adjustment assembly includes a second adapter plate 13, a second drive block 14 and two drive plates 15. The second rack 9 is arranged horizontally, the second rack 9 is located above the first rack 8, and the second rack 9 is meshed and connected with the drive gear 7. The second adapter plate 13 is mounted on the rotating plate 4 in the vertical direction, and the side wall of the second adapter plate 13 is integrally connected with the second rack 9. The side of the second adapter plate 13 away from the second rack 9 is integrally connected with the second drive block 14. The left and right ends of the second drive block 14 are wedge-shaped. The two drive plates 15 are distributed to the left and right ends of the second drive block 14, and the two drive plates 15 are wedge-matched with the left and right ends of the second drive block 14 respectively.

[0051] Reference Figure 2 and Figure 3 The driving plate 15 includes a first plate body 151 and a second plate body 152. The first plate body 151 is hollow inside, and the second plate body 152 extends into the first plate body 151. One end of the first plate body 151 away from the second plate body 152 is wedge-shaped and wedge-matched with one end of the second driving block 14. One end of the second plate body 152 extends into the first plate body 151, and the other end of the second plate body 152 abuts against the second clamp 6. A driving spring 16 is installed in the first plate body 151. One end of the driving spring 16 is connected to the inner wall of the first plate body 151, and the other end of the driving spring 16 is integrally connected to the second plate body 152. The driving spring 16 is used to drive the second plate body 152 to expand and contract in the first plate body 151. When the second plate body 152 abuts against the second clamp 6, the driving spring 16 is in a compressed state.

[0052] The second fixture 6 is in an arc shape as a whole, and the two driving plates 15 are used to adjust the curvature of the second fixture 6. The second fixture 6 is connected to a corresponding receiving plate on one side thereof through a connecting rod, and the connecting rod on the receiving plate is used to stably support the second fixture 6.

[0053] Specifically, when adjusting the curvature of the second clamp 6, the knob is turned to drive the driving gear 7 to rotate. In this state, the teeth on the driving gear 7 face upward. The driving gear 7 meshes with the second rack 9 during the rotation process, and the driving gear 7 drives the second rack 9 to slide in a direction close to or away from the second clamp 6.

[0054] When the second rack 9 slides toward the direction close to the second clamp 6, the second rack 9 synchronously drives the second adapter plate 13 and the second drive block 14 to slide toward the direction close to the second clamp 6. When the second drive block 14 slides toward the direction close to the second clamp 6, the left and right ends of the second drive block 14 are wedge-matched with the two first plates 151 respectively. At this time, the two first plates 151 slide toward the direction away from each other, and then drive the corresponding two second plates 152 to slide toward the direction away from each other through the two first plates 151.

[0055] Since the second clamp 6 is in an arc shape, when the two second plates 152 slide in a direction away from each other, the two second plates 152 slide toward the two ends of the second clamp 6. In this process, since the second clamp 6 is in an arc shape, when the second plate 152 slides toward the end of the second clamp 6, the driving spring 16 gradually releases its elastic force. In this process, the driving spring 16 pushes the second plate 152 to slide in a direction away from the first plate 151. When the second plate 152 slides in a direction away from the first plate 151, the second clamp 6 is pressed down, and then the second clamp 6 is adjusted by the second plate 152 pressing down on the second clamp 6. In this process, the curvature of the second clamp 6 becomes larger, and a workpiece with a smaller diameter can be grasped.

[0056] On the contrary, when the second rack 9 slides in a direction away from the second clamp 6, the curvature of the second clamp 6 becomes smaller, so that a workpiece with a larger diameter can be grasped.

[0057] In this embodiment, a corresponding locking rod is provided at the knob. When the knob is rotated into place, the knob is locked by the corresponding locking rod, thereby effectively preventing the driving gear 7 from being displaced.

[0058] Reference Figure 2 and Figure 4The lubrication mechanism includes multiple groups of first lubrication components. The first rack 8 and the second rack 9 are both hollow inside. The chambers inside the first rack 8 and the second rack 9 are both set as oil storage chambers 17. These first lubrication components are arranged in the oil storage chambers 17 of the first rack 8 and the second rack 9, and are distributed at the bottom of the tooth grooves of the first rack 8 or the second rack 9.

[0059] Reference Figure 2 , Figure 4 as well as Figure 5 The first lubrication assembly includes an oil outlet 18, a sealing plate 19, a guide plate 20 and a guide sleeve 21. The oil outlet 18 is opened at the bottom of the groove of the first rack 8 and the second rack 9, and the oil outlet 18 is connected with the corresponding first rack 8 and the second rack 9. The sealing plate 19 is located in the first rack 8 or the second rack 9, and the sealing plate 19 is slidably installed in the first rack 8 or the second rack 9. The sealing plate 19 is used to seal or open the oil outlet 18. The guide sleeve 21 is arranged in the first rack 8 or the second rack 9 in the vertical direction. One end of the guide sleeve 21 is integrally connected to the inner wall of the first rack 8 or the second rack 9, and the other end of the guide sleeve 21 is open. One end of the guide plate 20 is integrally connected to the sealing plate 19, and the other end of the guide plate 20 extends into the guide sleeve 21. During the sliding process of the sealing plate 19 , the guide plate 20 and the guide sleeve 21 guide the corresponding sealing plate 19 , thereby effectively ensuring the stability and accuracy of the sliding of the sealing plate 19 .

[0060] A return spring is installed between the guide sleeve 21 and the guide plate 20 , and the return spring is used to stably return the sealing plate 19 .

[0061] Specifically, during lubrication, when the driving gear 7 is not meshed with the first rack 8 or the second rack 9, the sealing plate 19 is sealed at the oil outlet 18 on the first rack 8 or the second rack 9. In this state, the lubricating oil in the first rack 8 or the second rack 9 cannot flow out from the inside.

[0062] When the driving gear 7 is meshed and connected with the first rack 8 or the second rack 9, after the teeth on the driving gear 7 are inserted into the tooth grooves on the first rack 8 or the second rack 9, the sealing plate 19 located at the tooth groove inside the corresponding first rack 8 or the second rack 9 slides in the direction away from the teeth of the driving gear 7. In this state, when the sealing plate 19 slides in the direction away from the teeth of the driving gear 7, the oil outlet hole 18 on the first rack 8 or the second rack 9 is in an open state, and the lubricating oil in the first rack 8 or the second rack 9 flows out from the corresponding oil outlet hole 18 to the teeth of the driving gear 7, thereby lubricating the driving gear 7 and the first rack 8 or the second rack 9.

[0063] With this arrangement, lubricating oil will flow out from the first rack 8 or the second rack 9 to the teeth of the driving gear 7 only when the teeth on the driving gear 7 are engaged with the tooth grooves of the first rack 8 or the second rack 9. If the driving gear 7 is not engaged with the first rack 8 or the second rack 9, the sealing plate 19 at the non-engaged portion seals the oil outlet 18, and the non-engaged portion cannot be lubricated.

[0064] This setting method can accurately control the lubricated parts between the driving gear 7 and the first rack 8 or the second rack 9, that is, the meshing parts of the two will be lubricated, and the non-meshing parts will not be lubricated. In this way, the waste of lubricating oil can be effectively avoided, and the lubricated parts of the two can be accurately controlled. At the same time, this lubrication method needs to be carried out during the driving process of the driving gear 7, that is, the driving gear 7 drives the first rack 8 and the second rack 9 to adjust the first clamp 5 and the second clamp 6 to grasp workpieces of different models and sizes, and lubrication is carried out synchronously. This makes it possible for the manipulator to operate and lubricate its driving parts at the same time, thereby significantly improving the efficiency of the manipulator operation. At the same time, it effectively avoids the phenomenon of insufficient lubrication or excessive lubrication of the driving parts of the manipulator.

[0065] Specifically, the sealing plate 19 is made of magnets, and the teeth of the driving gear 7 are coated with magnetic materials, and the magnetic materials of the sealing plate 19 and the magnetic materials on the teeth of the driving gear 7 repel each other. This makes it possible for the corresponding sealing plate 19 to slide away from the teeth of the driving gear 7 when the teeth of the driving gear 7 are inserted into the first rack 8 or the second rack 9, thereby opening the oil outlet 18 at the corresponding position. When the teeth on the driving gear 7 are disengaged from the corresponding tooth grooves, the sealing plate 19 is reset to the oil outlet 18 to reseal the oil outlet 18.

[0066] The implementation principle of a retractable and foldable manipulator in the embodiment of the present application is: When the teeth on the driving gear 7 are engaged with the tooth grooves of the first rack 8 or the second rack 9, the lubricating oil will flow out from the inside of the first rack 8 or the second rack 9 to the teeth of the driving gear 7. If the driving gear 7 is not engaged with the first rack 8 or the second rack 9, the sealing plate 19 at the non-engaged position seals the oil outlet 18, and the non-engaged position cannot be lubricated.

[0067] This setting method can accurately control the lubricated parts between the driving gear 7 and the first rack 8 or the second rack 9, that is, the meshing parts of the two will be lubricated, and the non-meshing parts will not be lubricated. In this way, the waste of lubricating oil can be effectively avoided, and the lubricated parts of the two can be accurately controlled. At the same time, this lubrication method needs to be carried out during the driving process of the driving gear 7, that is, the driving gear 7 drives the first rack 8 and the second rack 9 to adjust the first clamp 5 and the second clamp 6 to grasp workpieces of different models and sizes, and lubrication is carried out synchronously. This makes it possible for the manipulator to operate and lubricate its driving parts at the same time, thereby significantly improving the efficiency of the manipulator operation. At the same time, it effectively avoids the phenomenon of insufficient lubrication or excessive lubrication of the driving parts of the manipulator.

[0068] Embodiment 2: The difference between the embodiment of the present application and embodiment 1 is that The lubrication mechanism includes a plurality of second lubrication components, which are also arranged inside the first rack 8 or the second rack 9 .

[0069] Reference Figure 2 , Figure 6 as well as Figure 7 The second lubrication assembly includes two groups of lubricating parts, and the lubricating parts include a fixed pulley 22, a traction rope 23, a first sealing block 24, a sliding block 25 and a second sealing block 26.

[0070] The fixed pulley 22 is fastened to the inner wall of the first rack 8 or the second rack 9 through a horizontally arranged support rod. The first sealing block 24 is used to seal the oil outlet 18, and the first sealing block 24 is slidably installed in the first rack 8 or the second rack 9. The traction rope 23 is sleeved on the fixed pulley 22, one end of the traction rope 23 is connected to the first sealing block 24, and the other end of the traction rope 23 is connected to the slider 25. The side wall of the slider 25 is integrally formed with an abutment plate 27, and the end of the abutment plate 27 away from the slider 25 extends to the outside of the tooth groove of the first rack 8 or the second rack 9. The second sealing block 26 is fixed inside the first rack 8 or the second rack 9, and a sealing cavity 28 is formed between the second sealing block 26 and the corresponding side wall of the first rack 8 or the second rack 9, and the slider 25 is slidably installed in the sealing cavity 28. The traction rope 23 passes through the cavity wall of the sealing cavity 28 and is integrally connected to the slider 25. A through groove for the abutment plate 27 to slide is formed on the inner wall of the first rack 8 or the second rack 9 .

[0071] Specifically, refer to Figure 2 , Figure 7 , Figure 8 as well as Fig. 9After the teeth on the driving gear 7 are inserted into the tooth grooves of the first rack 8 or the second rack 9, they abut against the abutment plate 27. During the rotation of the driving gear 7, the abutment plate 27 is driven to slide in the sealing cavity 28, thereby synchronously driving the slider 25 to slide. When the slider 25 slides, the first sealing block 24 is pulled up by the traction rope 23, thereby opening the position of the corresponding oil outlet hole 18 in the first rack 8 or the second rack 9, so that the lubricating oil can flow out from the position of the oil outlet hole 18 to the tooth periphery side of the driving gear 7, thereby achieving lubrication between the driving gear 7 and the first rack 8 or the second rack 9 during the rotation process.

[0072] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A retractable and foldable manipulator, characterized in that: The invention comprises a fixed frame (1), wherein a mechanical arm (2) is provided on the fixed frame (1), and installation boxes (3) are integrally formed at both left and right ends of the mechanical arm (2), wherein the interior of the installation box (3) is hollow, and the ends of the two installation boxes (3) close to each other are open, and a rotating plate (4) is provided in the interior of the installation box (3) along the horizontal direction, and a clamping mechanism and a driving mechanism are provided on the rotating plate (4), wherein the driving mechanism is used to drive the clamping mechanism to grasp the corresponding workpiece, and a lubricating mechanism is also added in the installation box (3), and when the driving mechanism drives the clamping mechanism to grasp the workpiece, the lubricating mechanism lubricates the driving mechanism synchronously; The clamping mechanism comprises a first clamp (5) and a second clamp (6), wherein the first clamp (5) and the second clamp (6) are distributed at the left and right ends of the rotating plate (4), the first clamp (5) is used to grasp a square workpiece, and the second clamp (6) is used to grasp a circular workpiece.

2. A retractable and foldable manipulator according to claim 1, characterized in that: The driving mechanism comprises a driving gear (7), a first rack (8) and a second rack (9); the driving gear (7) is rotatably arranged on the rotating plate (4); half of the peripheral side of the driving gear (7) is tooth-shaped, and the other half is smooth; the first rack (8) and the second rack (9) are distributed on the upper and lower sides of the driving gear (7); the driving gear (7) is used to drive the first rack (8) and the second rack (9) to slide in the horizontal direction; The rotating plate (4) is provided with an adjustment mechanism, which includes a first adjustment component and a second adjustment component. The first adjustment component and the second adjustment component are distributed on the left and right sides of the driving gear (7). The first adjustment component is connected to the first rack (8), and the second adjustment component is connected to the second rack (9). The driving gear (7) drives the first rack (8) and the first adjustment component to cooperate to adjust the shape and size of the first clamp (5), and drives the second rack (9) and the second adjustment component to cooperate to adjust the shape and size of the second clamp (6).

3. A retractable and foldable manipulator according to claim 2, characterized in that: The first adjustment component comprises a first adapter plate (10), a first driving block (11) and two connecting plates (12); the first rack (8) is mounted on the top of the rotating plate (4), the first rack (8) is meshed and connected with the driving gear (7), the first adapter plate (10) is mounted on the rotating plate (4), the side wall of the first adapter plate (10) is integrally connected with the first rack (8), the side of the first adapter plate (10) away from the first rack (8) is integrally connected with the first driving block (11), the left and right ends of the first driving block (11) are wedge-shaped, the two connecting plates (12) are distributed to the left and right ends of the first driving block (11), the two connecting plates (12) are wedge-matched with the left and right ends of the first driving block (11) respectively, one end of the connecting plate (12) is wedge-shaped and is wedge-matched with one end of the corresponding first driving block (11), and the other end of the connecting plate (12) is integrally connected with the first clamp (5).

4. The retractable and foldable manipulator according to claim 3, characterized in that: The second adjustment component comprises a second adapter plate (13), a second driving block (14) and two driving plates (15); the second rack (9) is meshed and connected with the driving gear (7); the second adapter plate (13) is installed on the rotating plate (4); the side wall of the second adapter plate (13) is integrally connected with the second rack (9); the side of the second adapter plate (13) away from the second rack (9) is integrally connected with the second driving block (14); the left and right ends of the second driving block (14) are wedge-shaped; the two driving plates (15) are distributed to the left and right ends of the second driving block (14); the two driving plates (15) are wedge-matched with the left and right ends of the second driving block (14) respectively; The driving plate (15) comprises a first plate body (151) and a second plate body (152), the first plate body (151) is hollow inside, the second plate body (152) extends into the first plate body (151), one end of the first plate body (151) away from the second plate body (152) is wedge-shaped and wedge-matched with one end of the second driving block (14), one end of the second plate body (152) extends into the first plate body (151), the other end of the second plate body (152) abuts against the second clamp (6), a driving spring (16) is installed in the first plate body (151), one end of the driving spring (16) is connected to the inner wall of the first plate body (151), and the other end of the driving spring (16) is integrally connected to the second plate body (152), and the driving spring (16) is used to drive the second plate body (152) to extend and retract in the first plate body (151).

5. The retractable and foldable manipulator according to claim 4, characterized in that: The lubrication mechanism comprises a plurality of first lubrication components, the first rack (8) and the second rack (9) are both hollow inside, the chambers inside the first rack (8) and the second rack (9) are both set as oil storage chambers (17), and a plurality of the first lubrication components are arranged in the oil storage chambers (17) of the first rack (8) or the second rack (9) and are distributed at the bottom of the tooth grooves of the first rack (8) or the second rack (9); The first lubrication assembly comprises an oil outlet hole (18), a sealing plate (19), a guide plate (20) and a guide sleeve (21); the oil outlet hole (18) is opened at the bottom of the tooth groove of the first rack (8) or the second rack (9); the oil outlet hole (18) is connected with the corresponding first rack (8) or second rack (9); the sealing plate (19) is located in the first rack (8) or the second rack (9); the sealing plate (19) is slidably mounted on the first rack (8) or the second rack (9) The sealing plate (19) is used to seal or open the oil outlet hole (18); the guide sleeve (21) is arranged in the first rack (8) or the second rack (9) along the vertical direction; one end of the guide sleeve (21) is integrally connected to the inner wall of the first rack (8) or the second rack (9); the other end of the guide sleeve (21) is open; one end of the guide plate (20) is integrally connected to the sealing plate (19); the other end of the guide plate (20) extends into the guide sleeve (21).

6. The retractable and foldable manipulator according to claim 5, characterized in that: The sealing plate (19) is made of a magnet, the teeth of the driving gear (7) are coated with a magnetic material, and the magnetic material of the sealing plate (19) and the magnetic material on the teeth of the driving gear (7) repel each other.

7. The retractable and foldable manipulator according to claim 5, characterized in that: The lubrication mechanism comprises a plurality of sets of second lubrication components, and the plurality of sets of the second lubrication components are arranged inside the first rack (8) or the second rack (9); The second lubrication assembly comprises two groups of lubrication parts, wherein the lubrication parts include a fixed pulley (22), a traction rope (23), a first sealing block (24), a sliding block (25) and a second sealing block (26); The fixed pulley (22) is fastened to the inner wall of the first rack (8) or the second rack (9); the first sealing block (24) is used to seal the oil outlet hole (18), and the first sealing block (24) is slidably installed in the first rack (8) or the second rack (9); the traction rope (23) is sleeved on the fixed pulley (22); one end of the traction rope (23) is connected to the first sealing block (24), and the other end of the traction rope (23) is connected to the slider (25); the side wall of the slider (25) is integrally formed with an abutment plate (27) ), one end of the abutment plate (27) away from the slider (25) extends to the outer side of the tooth groove of the first rack (8) or the second rack (9), the second sealing block (26) is fixed inside the first rack (8) or the second rack (9), a sealing cavity (28) is formed between the second sealing block (26) and the corresponding side walls of the first rack (8) or the second rack (9), the slider (25) is slidably installed in the sealing cavity (28), and the traction rope (23) passes through the cavity wall of the sealing cavity (28) and is integrally connected with the slider (25).

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