Independent manipulator with positioning structure and positioning method

Abstract

The invention discloses an independent manipulator with a positioning structure and a positioning method, relates to the technical field of manipulators, and aims to solve the problem that an object is easily damaged due to friction between the object and conveying equipment or the ground when the object moves, so that a clamping mechanism is driven by a clamping cylinder fixedly connected with a sliding block to move inwards; wherein the clamping mechanism on one side firstly makes contact with an object, the clamping mechanism on the other side does not make contact with the object, at the moment, the clamping mechanism making contact with the object is driven by the clamping air cylinder to generate contact pressure with the object, then the pressure is transmitted to the sliding block through the clamping air cylinder, the sliding block pulls the sliding block on the other side through the spring, and then the object is clamped. The clamping air cylinder and the clamping mechanism on the other side are driven to be close to the object, so that the clamping mechanism on the other side makes contact with the object, the position between the clamping mechanisms and the object is positioned, and damage caused by friction between the bottom of the object and conveying equipment or the ground in the positioning process is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to an independent manipulator with a positioning structure and a positioning method. Background Art

[0002] At present, an independent manipulator is a mechanical device that can be separated from other complex equipment or systems and rely on its own drive system, control system, etc. to achieve autonomous movement and operation functions. It imitates some movements of human hands and completes tasks such as grasping, handling, and assembly through the movement of mechanical structures. Its working principle is based on pre-set programs or real-time perceived environmental information. The control system sends instructions to the drive system to drive the actuator to move according to a predetermined trajectory and method. It is used for the handling and assembly of parts in automobile manufacturing, the picking and welding of chips in the production of electronic equipment, etc., the loading and unloading of workpieces in mechanical processing, and the automatic sorting, stacking and handling of goods in material warehousing, thereby improving the efficiency and automation level of logistics operations.

[0003] In the process of grabbing objects by existing manipulators, claws are usually used to drive the object so that the object moves during the grabbing process to achieve positioning between the object and the claws. However, due to friction between the object and the conveying equipment or the ground when moving, the object is easily damaged. Summary of the invention

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: an independent manipulator with a positioning structure, comprising:

[0005] A base, a steering mechanism is fixedly mounted on the top of the base, and a connecting arm is mounted on the top of the steering mechanism;

[0006] A positioning mechanism, which is mounted on an end of the connecting arm away from the steering mechanism;

[0007] A clamping mechanism, which is symmetrically installed on the outside of the positioning mechanism along the center position of the axis of the positioning mechanism, and the positioning mechanism is used to drive the clamping mechanisms on both sides to open and close to clamp the object;

[0008] In which, the positioning mechanism includes a connecting plate, a connecting frame is fixedly installed on the outer side of the connecting plate, and a fixing buckle is fixedly installed on the inner wall of the connecting frame, the fixing buckle is symmetrically installed along the center position of the axis of the connecting frame, and a sliding rod is fixedly installed between the fixing buckles, and a sliding block is slidably installed on the outer side of the sliding rod, and the sliding block cooperates with a spring, and a clamping cylinder fixedly connected with the sliding block drives the clamping mechanism to move inward, wherein the clamping mechanism on one side first contacts the object, and the clamping mechanism on the other side does not contact the object. At this time, the clamping mechanism that contacts the object, driven by the clamping cylinder, has contact pressure with the object, and then the pressure is transmitted to the sliding block through the clamping cylinder, so that the sliding block pulls the sliding block on the other side through the spring, driving the clamping cylinder and the clamping mechanism on the other side to approach the object, so that the clamping mechanism on the other side contacts the object, The limit blocks are located on both sides of the sliding block, and a clamping cylinder is fixedly installed on the outer side of the sliding block, and the output end of the clamping cylinder is fixedly connected to the clamping mechanism.

[0009] Preferably, the clamping mechanism includes a slide plate, the outer side of the slide plate is fixedly connected to the output end of the clamping cylinder, and the end of the slide plate away from the clamping cylinder is fixedly connected to a fixing plate, the outer side of the fixing plate is fixedly connected to an empty slot block, the empty slot block is evenly installed up and down along the axial direction, and the opposite surface of the empty slot block is evenly inclined from top to bottom inwardly, an empty slot is opened at the top of the outer side of the empty slot block, and an inclined sliding block is slidably installed at the empty slot of the empty slot block, and an elastic gasket is fixedly installed at the bottom of the inclined sliding block, and the bottom of the elastic gasket is connected to the empty slot The inner wall of the slot block is fixedly connected, and one end of the inclined sliding block is fixedly connected to a slope block. Through the cooperation between the slope block and the empty slot block, during the clamping and carrying process, when the object tends to slide downward, the tendency is transmitted to the slope block through the clamping rod, so that the slope block cooperates with the slope of the empty slot block and tends to move inward, thereby increasing the clamping force on the object, limiting the downward movement of the object, and avoiding the object from falling off during the carrying process. The side of the slope block close to the empty slot block is slidably adapted to the slope of the empty slot block, and the outer side of the slope block is fixedly connected to a clamping rod.

[0010] Preferably, the connecting arm includes a large arm, one end of the large arm is rotatably connected to the inner wall of the steering mechanism, and the other end of the large arm is rotatably connected to a small arm, the inner wall of the large arm is rotatably connected to a fixed sleeve, both ends of the fixed sleeve are fixedly connected to a hydraulic cylinder, the inner wall of the small arm is rotatably connected to a swivel, the output end of the hydraulic cylinder is fixedly connected to the inner wall of the swivel, and the end of the small arm away from the large arm is fixedly connected to the positioning mechanism.

[0011] Preferably, the steering mechanism comprises a support frame, the bottom of the support frame is fixedly connected to the top of the base, the top of the support frame is fixedly connected with a rotating slot disk, the center position of the top of the rotating slot disk is a circular plane, and the edge of the top of the rotating slot disk is a conical surface inclined outward from top to bottom, and a rotating slot is symmetrically provided on the conical surface, the center position of the bottom of the rotating slot disk is fixedly connected with a second motor, the output end of the second motor passes through the rotating slot disk and extends to its top, and the output end of the second motor is fixedly connected with a swivel seat, the top of the inner wall of the swivel seat is rotatably connected to the big arm, and the outer side of the swivel seat is fixedly connected with the first motor, the output end of the first motor is fixedly connected to the inner wall of the big arm, both sides of the outer bottom of the swivel seat are fixedly connected with side plates, the end of the bottom of the side plate away from the swivel seat is fixedly connected with a rotating block, the rotating block is slidably adapted to the rotating slot of the rotating slot disk, and the inner wall of the rotating block is fixedly connected with a rotating rod, and both ends of the rotating rod are rotatably connected with rotating wheels, The wheel cooperates with the rotating groove disk. During the transportation and rotation process, the sliding friction force is converted into rolling friction force through the rolling contact between the rotating wheel and the surface of the rotating groove disk, thereby reducing obstacles, making the transportation and rotation smoother, and avoiding bumps during transportation caused by jamming. The bottom of the rotating wheel is tightly fitted with the conical surface of the rotating groove disk, both sides of the top of the rotating block are fixedly connected with fixing rods, and the tops of the fixing rods are fixedly connected with support plates, and the support plates are staggered. The bottom of one of the support plates is fixedly connected with a lower pressing block, and the bottom of the other support plate is with an upper pressing block. Through the cooperation of the upper pressing block and the lower pressing block, the rotating seat is in contact with the circular plane at the center position of the top of the rotating groove disk during the rotation process, and the pressure on the rotating seat is transmitted to both sides through the side plates, so as to avoid being subjected to greater pressure when carrying heavier objects, so that the rotating seat and the second motor connecting shaft are broken during the rotation process, and the pressure is more evenly distributed to both sides. The bottoms of the lower pressing block and the upper pressing block are in contact with the conical surface of the rotating groove disk.

[0012] A positioning method for an independent manipulator with a positioning structure comprises the following steps:

[0013] S1, grab and rotate, through the support of the base and the driving of the steering mechanism, the connecting arm drives the positioning mechanism and the clamping mechanism to approach the object to be grasped;

[0014] S2, grabbing and clamping, the clamping cylinder drives the clamping mechanism inward to gradually clamp the object between the clamping mechanisms;

[0015] S3, contact positioning, when the clamping mechanism on one side first contacts the object, the reaction force of the object is transmitted to the sliding block through the clamping cylinder, so that the sliding block drives the sliding block on the other side through the spring, so that the object is in the center position between the clamping mechanisms;

[0016] S4, clamping buffer. When the clamping mechanisms on both sides contact the object, the clamping pressure is first transferred to the spring through the sliding block through the pressure of the clamping cylinder to buffer the clamping pressure. When the sliding block contacts the limit plate, the movement of the sliding block is restricted to complete the clamping of the object.

[0017] The present invention provides an independent manipulator with a positioning structure. It has the following beneficial effects:

[0018] 1. The independent manipulator with a positioning structure cooperates with a sliding block and a spring, and a clamping cylinder fixedly connected to the sliding block drives the clamping mechanism to move inward, wherein the clamping mechanism on one side contacts the object first, and the clamping mechanism on the other side does not contact the object. At this time, the clamping mechanism that contacts the object, driven by the clamping cylinder, has contact pressure with the object, and then the pressure is transmitted to the sliding block through the clamping cylinder, so that the sliding block pulls the sliding block on the other side through the spring, driving the clamping cylinder and the clamping mechanism on the other side to approach the object, so that the clamping mechanism on the other side contacts the object, and locates the position between the clamping mechanism and the object, so as to avoid the increased pressure causing the object to move during the positioning process, resulting in friction between the bottom of the object and the conveying equipment or the ground, causing damage to the object.

[0019] 2. The independent manipulator with a positioning structure cooperates with the sliding block through the limit plate. After both sides of the clamping mechanism contact the object, the clamping pressure is buffered by the stretching of the spring to protect the object. At the same time, the limit block cooperates with the sliding block to limit the sliding range and the deformation and stretching range of the spring, ensuring effective clamping of the object while avoiding excessive stretching of the spring.

[0020] 3. The independent manipulator with a positioning structure, through the cooperation of the inclined block and the empty slot block, during the process of clamping and carrying, when the object tends to slide downward, the tendency is transmitted to the inclined block through the clamping rod, so that the inclined block cooperates with the inclined surface of the empty slot block, and tends to move inward, thereby increasing the clamping force of the object, limiting the downward movement of the object, and avoiding the object from falling off during the transportation process.

[0021] Fourth, the independent manipulator with a positioning structure cooperates with the rotating wheel and the rotating groove plate. During the process of transportation and rotation, the sliding friction is converted into rolling friction through the rolling contact between the rotating wheel and the surface of the rotating groove plate, thereby reducing obstacles, making the transportation and rotation smoother and avoiding bumps during transportation caused by jamming.

[0022] 5. The independent manipulator with a positioning structure cooperates with the upper pressure block and the lower pressure block to cooperate with the circular plane contact at the top center position of the rotating slot disk during rotation, and transmits the pressure on the rotating seat to both sides through the side plates, so as to avoid greater pressure when carrying heavier objects, which may cause the rotating seat and the second motor connecting shaft to break during rotation, and distribute the pressure more evenly to both sides. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the external structure of an independent manipulator with a positioning structure according to the present invention;

[0024] Figure 2 A side view of an independent manipulator structure with a positioning structure according to the present invention;

[0025] Figure 3 It is a schematic diagram of the positioning mechanism structure of the present invention;

[0026] Figure 4 It is a side view of the positioning mechanism structure of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the clamping mechanism of the present invention;

[0028] Figure 6 This is a schematic diagram of the connecting arm structure of the present invention;

[0029] Figure 7 It is a schematic diagram of the structure of the steering mechanism of the present invention;

[0030] Figure 8 It is a partial structural schematic diagram of the steering mechanism of the present invention;

[0031] Fig. 9 It is a side view of the partial structure of the steering mechanism of the present invention;

[0032] Fig.10 It is a schematic diagram of the positioning method of the present invention.

[0033] In the figure: 1, base; 2, steering mechanism; 3, connecting arm; 4, positioning mechanism; 5, clamping mechanism; 201, support frame; 202, rotating groove plate; 203, rotating seat; 204, first motor; 205, second motor; 206, side plate; 207, rotating block; 208, rotating wheel; 209, rotating rod; 210, fixing rod; 211, support plate; 212, upper pressing block; 213, lower pressing block ; 31. Upper arm; 32. Fixed sleeve; 33. Hydraulic cylinder; 34. Turn buckle; 35. Lower arm; 41. Connecting plate; 42. Connecting frame; 43. Sliding block; 44. Fixed buckle; 45. Limiting plate; 46. Sliding rod; 47. Spring; 48. Clamping cylinder; 51. Slide plate; 52. Fixed plate; 53. Oblique sliding block; 54. Slot block; 55. Inclined block; 56. Clamping rod; 57. Elastic gasket. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0035] The first embodiment, as Figures 1 to 4 As shown, the present invention provides a technical solution: an independent manipulator with a positioning structure, comprising:

[0036] A base 1, a steering mechanism 2 is fixedly mounted on the top of the base 1, and a connecting arm 3 is mounted on the top of the steering mechanism 2;

[0037] A positioning mechanism 4, the positioning mechanism 4 is installed at one end of the connecting arm 3 away from the steering mechanism 2;

[0038] The clamping mechanism 5 is symmetrically installed on the outside of the positioning mechanism 4 along the center position of the axis of the positioning mechanism 4. The positioning mechanism 4 is used to drive the clamping mechanisms 5 on both sides to open and close to clamp the object;

[0039] Among them, the positioning mechanism 4 includes a connecting plate 41, a connecting frame 42 is fixedly installed on the outer side of the connecting plate 41, a fixing buckle 44 is fixedly installed on the inner wall of the connecting frame 42, the fixing buckle 44 is symmetrically installed along the center position of the axis of the connecting frame 42, and a sliding rod 46 is fixedly installed between the fixing buckles 44, and a sliding block 43 is slidably installed on the outer side of the sliding rod 46, and the sliding block 43 is symmetrically installed along the center position of the axis of the sliding rod 46. Driven by the steering mechanism 2 and the connecting arm 3, the clamping mechanism 5 is located on both sides of the object to be clamped, and then the clamping cylinder 48 drives the clamping mechanism 5 to approach the object from both sides. When the object is not in the center position between the clamping mechanisms 5, the clamping mechanism 5 on one side first contacts the object, and the clamping mechanism 5 on the other side does not contact the object. At this time, the clamping mechanism 5 that contacts the object, driven by the clamping cylinder 48, has contact pressure with the object, and then the pressure is transmitted to the sliding block 43 through the clamping cylinder 48, so that the sliding block 43 pulls the other side through the spring 47. The sliding block 43 drives the clamping cylinder 48 and the clamping mechanism 5 on the other side to approach the object, so that the clamping mechanism 5 on the other side contacts the object, and the position between the clamping mechanism 5 and the object is positioned, and a spring 47 is fixedly installed between the sliding blocks 43, and both ends of the outer side of the sliding rod 46 are fixedly installed with limit plates 45, and the limit plates 45 are located on both sides of the sliding block 43. After the clamping mechanisms 5 on both sides contact the object, the clamping cylinder 48 continues to apply pressure. During the pressure application process, the contact pressure between the clamping mechanism 5 and the object is transmitted to the sliding block 43 through the clamping cylinder 48, so that the sliding blocks 43 are separated from each other, and the stretching spring 47 is deformed to buffer the pressure at the beginning of clamping. When the sliding block 43 contacts the limit plate 45, the movement of the clamping cylinder 48 is limited, and the clamping pressure is transmitted to the object through the clamping mechanism 5, so as to realize the clamping and grasping of the object. The outer side of the sliding block 43 is fixedly installed with a clamping cylinder 48, and the output end of the clamping cylinder 48 is fixedly connected to the clamping mechanism 5.

[0040] The second embodiment is based on the first embodiment. Figure 5 to Figure 6As shown, the clamping mechanism 5 includes a slide plate 51, the outer side of the slide plate 51 is fixedly connected to the output end of the clamping cylinder 48, and the end of the slide plate 51 away from the clamping cylinder 48 is fixedly connected to a fixing plate 52, and the outer side of the fixing plate 52 is fixedly connected to an empty slot block 54, and the empty slot block 54 is evenly installed up and down along the axial direction, and contacts with the object to be clamped through a clamping rod 56, and cooperates with the clamping rods 56 on both sides. During the grasping process, the contact pressure between the clamping rods 56 on both sides and the object is gradually increased by the positioning mechanism 4, and the object is clamped by the increase in contact pressure. After the object is clamped, a large friction force is generated during the process of moving the object through the contact pressure between the clamping rod 56 and the object, and the opposite surface of the empty slot block 54 is evenly inclined from top to bottom. The top of the outer side of the empty slot block 54 is opened There is an empty slot, and an inclined slider 53 is slidably installed in the empty slot of the empty slot block 54, and an elastic gasket 57 is fixedly installed at the bottom of the inclined slider 53, and the bottom of the elastic gasket 57 is fixedly connected to the inner wall of the empty slot block 54. When the object is lifted, when the object tends to slide downward, the tendency is transmitted to the inclined surface block 55 through the clamping rod, so that there is a tendency of relative sliding between the inclined surface block 55 and the empty slot block 54, so that the inclined slider 53 has a tendency to slide downward in the empty slot block 54 to compress the elastic gasket 57, and by utilizing the adaptation of the inclined slider 53 and the inclined surface of the empty slot block 54, when the sliding tendency occurs, the clamping rod 56 increases the inward clamping force, and one end of the inclined slider 53 is fixedly connected to the inclined surface block 55, and the side of the inclined surface block 55 close to the empty slot block 54 is slidably adapted to the inclined surface of the empty slot block 54, and the outer side of the inclined surface block 55 is fixedly connected to the clamping rod 56.

[0041] The connecting arm 3 includes a large arm 31, one end of which is rotatably connected to the inner wall of the steering mechanism 2, and the other end of the large arm 31 is rotatably connected to a small arm 35, the inner wall of the large arm 31 is rotatably connected to a fixed sleeve 32, both ends of the fixed sleeve 32 are fixedly connected to a hydraulic cylinder 33, and the large arm 31 is driven to rotate and lift through the steering mechanism 2. At the same time, the large arm 31 and the small arm 35 are driven to bend between the swivel buckle 34 and the fixed sleeve 32 through the extension and retraction of the output end of the hydraulic cylinder 33, so that the large arm 31 and the small arm 35 are bent, thereby controlling the clamping angle of the positioning mechanism 4 and the clamping mechanism 5 to the object, the inner wall of the small arm 35 is rotatably connected to the swivel buckle 34, the output end of the hydraulic cylinder 33 is fixedly connected to the inner wall of the swivel buckle 34, and the end of the small arm 35 away from the large arm 31 is fixedly connected to the positioning mechanism 4.

[0042] The third embodiment is based on the first and second embodiments. Figures 7 to 10As shown, the steering mechanism 2 includes a support frame 201, the bottom of the support frame 201 is fixedly connected to the top of the base 1, and the top of the support frame 201 is fixedly connected to a rotating slot disk 202, the center position of the top of the rotating slot disk 202 is a circular plane, and the edge of the top of the rotating slot disk 202 is a conical surface inclined outward from top to bottom. The first motor 204 drives the large arm 31 connected to the inner wall of the rotating seat 203 to rotate in the vertical direction, so as to realize the lifting and falling of the connecting arm 3, and cooperates with the second motor 205 to make the second motor 205 drive the rotating seat 203 to rotate, so that the rotating seat 203 drives the connecting arm 3 to rotate in the horizontal direction. At the same time, during the rotation process, the second motor The output end of 205 drives the swivel seat 203, so that the swivel seat 203 rotates along the swivel groove of the swivel groove disk 202 under the restriction of the side plate 206 and the swivel block 207, and the rotation center is restricted. The swivel grooves are symmetrically opened on the conical surface. The second motor 205 is fixedly connected to the center position of the bottom of the swivel groove disk 202. The output end of the second motor 205 penetrates the swivel groove disk 202 and extends to the top thereof. The output end of the second motor 205 is fixedly connected to the swivel seat 203. The top of the inner wall of the swivel seat 203 is rotatably connected to the upper arm 31. The outer side of the swivel seat 203 is fixedly connected to the first motor 204. The output end of the first motor 204 is fixedly connected to the inner wall of the upper arm 31.

[0043] The two sides of the outer bottom of the rotating seat 203 are fixedly connected with side plates 206, and the end of the bottom of the side plate 206 away from the rotating seat 203 is fixedly connected with a rotating block 207, and the rotating block 207 is slidably adapted to the rotating groove of the rotating groove plate 202, and the inner wall of the rotating block 207 is fixedly connected with a rotating rod 209, and the two ends of the rotating rod 209 are rotatably connected with a rotating wheel 208, and the bottom of the rotating wheel 208 is tightly fitted with the conical surface of the rotating groove plate 202, and the two sides of the top of the rotating block 207 are fixedly connected with a fixing rod 210, and the top of the fixing rod 210 is fixedly connected with a supporting plate 211. When carrying an object, the object has a higher quality. During the rotation of the rotating seat 203, a large pressure is generated on the connection position between the rotating seat 203 and the rotating groove disk 202. At this time, the pressure is transmitted to the rotating wheel 208, the lower pressure block 213 and the upper pressure block 212 through the side plate 206 and the rotating block 207, thereby increasing the contact pressure on both sides of the top of the rotating groove disk 202 and dispersing the pressure at the center position. The support plates 211 are staggered, and the bottom of one of the support plates 211 is fixedly connected to the lower pressure block 213, and the bottom of the other support plate 211 is connected to the upper pressure block 212. The bottoms of the lower pressure block 213 and the upper pressure block 212 are all in contact with the conical surface of the rotating groove disk 202.

[0044] A positioning method for an independent manipulator with a positioning structure comprises the following steps:

[0045] S1, grasping and rotating, through the support of the base 1 and the driving of the steering mechanism 2, the connecting arm 3 drives the positioning mechanism 4 and the clamping mechanism 5 to approach the object to be grasped;

[0046] S2, grabbing and clamping, the clamping cylinder 48 drives the clamping mechanism 5 to move inward, and gradually clamps the object between the clamping mechanisms 5;

[0047] S3, contact positioning, when the clamping mechanism 5 on one side first contacts the object, the reaction force of the object is transmitted to the sliding block 43 through the clamping cylinder 48, so that the sliding block 43 drives the sliding block 43 on the other side through the spring 47, so that the object is in the center position between the clamping mechanisms 5;

[0048] S4, clamping buffer. When the clamping mechanisms 5 on both sides contact the object, the clamping pressure is first transmitted to the spring 47 through the pressure of the clamping cylinder 48 to buffer the clamping pressure. When the sliding block 43 contacts the limit plate 45, the movement of the sliding block 43 is limited to complete the clamping of the object.

[0049] When in use, the base 1 provides support for the device, and the steering mechanism 2 cooperates with the connecting arm 3 to drive the positioning mechanism 4 and the clamping mechanism 5 to operate, so that the clamping mechanism 5 reaches the clamping position, and then the positioning mechanism 4 drives the clamping mechanism 5 to clamp the object. During the clamping process, the positioning mechanism 4 cooperates with the clamping mechanism 5 to correspond the clamping center to the center position of the object, and finally the connecting arm 3 cooperates with the steering mechanism 2 to transport and move the object.

[0050] In the positioning mechanism 4, the steering mechanism 2 and the connecting arm 3 drive the clamping mechanism 5 to be located on both sides of the object to be clamped, and then the clamping cylinder 48 drives the clamping mechanism 5 to approach the object from both sides. When the object is not in the center position between the clamping mechanisms 5, the clamping mechanism 5 on one side first contacts the object, and the clamping mechanism 5 on the other side does not contact the object. At this time, the clamping mechanism 5 that contacts the object, driven by the clamping cylinder 48, has contact pressure with the object, and then the pressure is transmitted to the sliding block 43 through the clamping cylinder 48, so that the sliding block 43 pulls the sliding block 43 on the other side through the spring 47, driving the clamping cylinder on the other side. 48 and the clamping mechanism 5 approach the object, so that the clamping mechanism 5 on the other side contacts the object, and the position between the clamping mechanism 5 and the object is positioned. Then, after the clamping mechanisms 5 on both sides contact the object, the clamping cylinder 48 continues to apply pressure. During the pressure application process, the contact pressure between the clamping mechanism 5 and the object is transmitted to the sliding block 43 through the clamping cylinder 48, so that the sliding blocks 43 are separated from each other, the stretching spring 47 is deformed, and the pressure at the beginning of clamping is buffered. When the sliding block 43 contacts the limit plate 45, the movement of the clamping cylinder 48 is restricted, and the clamping pressure is transmitted to the object through the clamping mechanism 5, thereby achieving clamping and grasping of the object.

[0051] In the clamping mechanism 5, the clamping rod 56 contacts the object to be clamped, and the clamping rods 56 on both sides cooperate. During the grasping process, the contact pressure between the clamping rods 56 on both sides and the object is gradually increased by the positioning mechanism 4, and the object is clamped by the increase in contact pressure. After the object is clamped, during the process of moving the object, a large friction force is generated under the action of the contact pressure between the clamping rod 56 and the object. When the object is lifted, when the object tends to slide downward, the tendency is transmitted to the inclined block 55 through the clamping rod, so that there is a tendency of relative sliding between the inclined block 55 and the empty slot block 54, and the inclined sliding block 53 has a tendency to slide downward in the empty slot block 54 to compress the elastic gasket 57. By utilizing the adaptation of the inclined surface of the inclined block 55 and the empty slot block 54, when there is a sliding tendency, the clamping rod 56 increases the inward clamping force.

[0052] In the connecting arm 3, the steering mechanism 2 drives the upper arm 31 to rotate and lift. At the same time, the extension and retraction of the output end of the hydraulic cylinder 33 drives the bending between the turning buckle 34 and the fixing sleeve 32, so that the upper arm 31 and the lower arm 35 are bent, thereby controlling the clamping angle of the positioning mechanism 4 and the clamping mechanism 5 to the object.

[0053] In the steering mechanism 2, the first motor 204 drives the large arm 31 connected to the inner wall of the rotating seat 203 to rotate in the vertical direction, so as to realize the lifting and falling of the connecting arm 3, and cooperates with the second motor 205 to make the second motor 205 drive the rotating seat 203 to rotate, so that the rotating seat 203 drives the connecting arm 3 to rotate in the horizontal direction. At the same time, during the rotation process, the output end of the second motor 205 drives the rotating seat 203, so that the rotating seat 203 rotates along the rotating groove of the rotating groove disk 202 under the restriction of the side plate 206 and the rotating block 207, and the rotation center is restricted. When transporting objects, the objects have a higher mass. During the rotation of the rotating seat 203, a large pressure is generated on the connection position between the rotating seat 203 and the rotating groove disk 202. At this time, the pressure is transmitted to the rotating wheel 208, the lower pressure block 213 and the upper pressure block 212 through the side plate 206 and the rotating block 207, thereby increasing the contact pressure with both sides of the top of the rotating groove disk 202 and dispersing the pressure at the center position.

[0054] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. An independent manipulator with a positioning structure, characterized in that: include: A base (1), a steering mechanism (2) being fixedly mounted on the top of the base (1), and a connecting arm (3) being mounted on the top of the steering mechanism (2); A positioning mechanism (4), the positioning mechanism (4) being mounted on an end of the connecting arm (3) away from the steering mechanism (2); A clamping mechanism (5), the clamping mechanism (5) is symmetrically mounted on the outer side of the positioning mechanism (4) along the center position of the axis of the positioning mechanism (4), and the positioning mechanism (4) is used to drive the clamping mechanisms (5) on both sides to open and close to clamp the object; The positioning mechanism (4) comprises a connecting plate (41), a connecting frame (42) is fixedly installed on the outer side of the connecting plate (41), a fixing buckle (44) is fixedly installed on the inner wall of the connecting frame (42), the fixing buckle (44) is symmetrically installed along the center position of the axis of the connecting frame (42), and a sliding rod (46) is fixedly installed between the fixing buckles (44), a sliding block (43) is slidably installed on the outer side of the sliding rod (46), the sliding block (43) is symmetrically installed along the center position of the axis of the sliding rod (46), and a spring (47) is fixedly installed between the sliding blocks (43), both ends of the outer side of the sliding rod (46) are fixedly installed with a limit plate (45), the limit plate (45) is located on both sides of the sliding block (43), and a clamping cylinder (48) is fixedly installed on the outer side of the sliding block (43), and the output end of the clamping cylinder (48) is fixedly connected to the clamping mechanism (5).

2. The independent manipulator with a positioning structure according to claim 1, characterized in that: The clamping mechanism (5) comprises a slide plate (51), the outer side of the slide plate (51) is fixedly connected to the output end of the clamping cylinder (48), and the end of the slide plate (51) away from the clamping cylinder (48) is fixedly connected to a fixing plate (52), and the outer side of the fixing plate (52) is fixedly connected to an empty slot block (54), and the empty slot block (54) is evenly installed up and down along the axial direction, and the opposite surface of the empty slot block (54) is an inclined surface that is evenly inclined inward from top to bottom.

3. The independent manipulator with a positioning structure according to claim 2, characterized in that: An empty slot is provided at the top of the outer side of the empty slot block (54), and an inclined sliding block (53) is slidably installed at the empty slot of the empty slot block (54), an elastic gasket (57) is fixedly installed at the bottom of the inclined sliding block (53), and the bottom of the elastic gasket (57) is fixedly connected to the inner wall of the empty slot block (54), and one end of the inclined sliding block (53) is fixedly connected to an inclined surface block (55), and the side of the inclined surface block (55) close to the empty slot block (54) is slidably adapted to the inclined surface of the empty slot block (54), and a clamping rod (56) is fixedly connected to the outer side of the inclined surface block (55).

4. The independent manipulator with a positioning structure according to claim 3, characterized in that: The connecting arm (3) comprises a large arm (31), one end of the large arm (31) is rotatably connected to the inner wall of the steering mechanism (2), and the other end of the large arm (31) is rotatably connected to a small arm (35), and the inner wall of the large arm (31) is rotatably connected to a fixing sleeve (32).

5. The independent manipulator with a positioning structure according to claim 4, characterized in that: Both ends of the fixed sleeve (32) are fixedly connected to a hydraulic cylinder (33); the inner wall of the small arm (35) is rotatably connected to a swivel buckle (34); the output end of the hydraulic cylinder (33) is fixedly connected to the inner wall of the swivel buckle (34); and one end of the small arm (35) away from the large arm (31) is fixedly connected to a positioning mechanism (4).

6. The independent manipulator with a positioning structure according to claim 5, characterized in that: The steering mechanism (2) comprises a support frame (201), the bottom of the support frame (201) is fixedly connected to the top of the base (1), the top of the support frame (201) is fixedly connected to a rotating groove disc (202), the center position of the top of the rotating groove disc (202) is a circular plane, and the edge of the top of the rotating groove disc (202) is a conical surface inclined outward from top to bottom, and the conical surface is symmetrically provided with rotating grooves.

7. The independent manipulator with a positioning structure according to claim 6, characterized in that: A second motor (205) is fixedly connected to the center position of the bottom of the rotating groove disk (202), the output end of the second motor (205) passes through the rotating groove disk (202) and extends to the top thereof, and the output end of the second motor (205) is fixedly connected to a rotating seat (203), the top of the inner wall of the rotating seat (203) is rotatably connected to the upper arm (31), and the outer side of the rotating seat (203) is fixedly connected to a first motor (204), and the output end of the first motor (204) is fixedly connected to the inner wall of the upper arm (31).

8. The independent manipulator with a positioning structure according to claim 7, characterized in that: Side plates (206) are fixedly connected to both sides of the outer bottom of the rotating seat (203); a rotating block (207) is fixedly connected to one end of the bottom of the side plate (206) away from the rotating seat (203); the rotating block (207) is slidably adapted to the rotating groove of the rotating groove disk (202); a rotating rod (209) is fixedly connected to the inner wall of the rotating block (207); both ends of the rotating rod (209) are rotatably connected to a rotating wheel (208); the bottom of the rotating wheel (208) is tightly fitted with the conical surface of the rotating groove disk (202).

9. The independent manipulator with a positioning structure according to claim 8, characterized in that: Both sides of the top of the rotating block (207) are fixedly connected with fixed rods (210), and the tops of the fixed rods (210) are fixedly connected with support plates (211). The support plates (211) are arranged alternately, and the bottom of one of the support plates (211) is fixedly connected with a lower pressing block (213), and the bottom of the other support plate (211) is fixedly connected with an upper pressing block (212). The bottoms of the lower pressing block (213) and the upper pressing block (212) are in contact with the conical surface of the rotating groove plate (202).

10. A positioning method for an independent manipulator with a positioning structure according to any one of claims 1 to 9, characterized in that: It consists of the following steps: S1, grasping and rotating, through the support of the base (1) and the driving of the steering mechanism (2), the connecting arm (3) drives the positioning mechanism (4) and the clamping mechanism (5) to approach the object to be grasped; S2, grabbing and clamping, driving the clamping mechanism (5) inward by the clamping cylinder (48), and gradually clamping the object between the clamping mechanisms (5); S3, contact positioning, when the clamping mechanism (5) on one side first contacts the object, the reaction force of the object is transmitted to the sliding block (43) through the clamping cylinder (48), so that the sliding block (43) drives the sliding block (43) on the other side through the spring (47), so that the object is located at the center position between the clamping mechanisms (5); S4, clamping buffering. When the clamping mechanisms (5) on both sides contact the object, the clamping pressure is first transmitted to the spring (47) through the pressure of the clamping cylinder (48) through the sliding block (43), so as to buffer the clamping pressure. When the sliding block (43) contacts the limit plate (45), the movement of the sliding block (43) is limited, and the clamping of the object is completed.

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