Multifunctional manipulator for intelligent manufacturing

Abstract

The invention discloses a multifunctional manipulator for intelligent manufacturing, and relates to the field of manipulators, the multifunctional manipulator comprises a base, the end part of the base is provided with a first driving arm, the end part of the first driving arm is provided with a second driving arm, the end part of the second driving arm is provided with a butt joint assembly, and one side of the butt joint assembly is provided with a conversion plate; according to the multifunctional mechanical arm for intelligent manufacturing, when the driving rod moves, the swing rod rotationally installed at the end of the driving rod is driven to move, and due to the fact that the end of the swing rod is rotationally connected with the outer surface of the limiting block, the swing rod rotates around the connecting position of the swing rod and the limiting block; and a workpiece on the conversion plate is fixed in cooperation with a fixing block arranged on the swing rod, so that it is guaranteed that a large amount of time is not consumed when the workpiece is replaced, meanwhile, the corresponding workpiece can be rapidly replaced when facing objects with irregular shapes, fragile materials or special surface characteristics, and the grabbing efficiency is further improved.

Description

Technical Field

[0001] The invention relates to manipulator technology, and in particular to a multifunctional manipulator for intelligent manufacturing. Background Art

[0002] With the continuous development of science and technology and the continuous improvement of industrial level, more and more industrial robots have appeared in people's vision. As the earliest industrial robot, manipulators still play an important role. Manipulators are automatic operating devices that can imitate certain movements of human hands and arms to grasp, flip, move objects or operate tools according to fixed procedures. They can complete various expected tasks through programming and can repeat the same action for a long time. They have gradually replaced repetitive labor and have the characteristics of high work efficiency and good safety. They can work in harsh environments and have good adaptability. They are widely used in industrial manufacturing, military, medical and other fields.

[0003] A Chinese invention patent with publication number CN117428737B discloses an intelligent multifunctional high-speed silent servo manipulator. The intelligent multifunctional high-speed silent servo manipulator is configured by rotating the manipulator at the lower end of a manipulator arm c and fixing it under the action of a locking assembly. Hydraulic assemblies are arranged on both sides of the manipulator arm c. The manipulator is moved into a flip frame to drive the hydraulic assembly to compress the locking assembly, and the manipulator is flipped under the action of the flip frame to achieve switching of different end pickers at the upper and lower ends of the manipulator, which is beneficial to reducing labor intensity and improving production efficiency.

[0004] When existing equipment is in use, tool replacement may cause the production line to stagnate, increasing the idle time of the equipment, thus affecting the overall production capacity. At the same time, irregular shapes, fragile materials or special surface characteristics may reduce the grasping efficiency of the robot or even make it impossible to grasp. Therefore, a multifunctional robot for intelligent manufacturing has been developed. Summary of the invention

[0005] The purpose of the present invention is to provide a multifunctional manipulator for intelligent manufacturing to solve the above-mentioned deficiencies in the prior art.

[0006] In order to achieve the above-mentioned object, the present invention provides the following technical solutions: a multifunctional manipulator for intelligent manufacturing, comprising a base, a first driving arm is arranged at the end of the base, a second driving arm is arranged at the end of the first driving arm, and a docking assembly is arranged at the end of the second driving arm, a conversion plate is arranged on one side of the docking assembly, and power output is provided for a workpiece on the conversion plate through the docking assembly;

[0007] The docking assembly includes a transmission cylinder connected to the second driving arm, a clamping ring is provided on the inner wall of the transmission cylinder, a cylinder is provided on the inner wall of the clamping ring, a driving member is provided on the inner wall of the cylinder, a rotating block is provided at the output end of the driving member, and an arc plate is slidably mounted on one end of the rotating block away from the driving member;

[0008] A positioning plate is provided on the inner wall of the cylinder and on one side of the driving member, and the outer surface of the positioning plate is slidably connected to the end of the arc plate. A slider is provided at the end of the arc plate, and a rotating cylinder is provided at the end of the slider. The inner wall of the rotating cylinder is symmetrically provided with protrusions;

[0009] A driving block is rotatably mounted on the end of the positioning plate, an arc-shaped groove is provided on the outer surface of the driving block, an inner wall of the arc-shaped groove is slidably connected to the outer surface of the protrusion, and a rotating shaft is provided on the end of the driving block;

[0010] An adjusting ring is rotatably mounted on the outer surface of the rotating shaft, a plurality of adjusting rods are arranged on the outer surface of the adjusting ring, and the plurality of adjusting rods are evenly distributed on the outer surface of the adjusting ring, and a clamping plate is arranged at one end of the adjusting rod away from the adjusting ring;

[0011] A clamping assembly is assembled at the end of the docking assembly, and the workpiece on the conversion plate is fixed by the clamping assembly.

[0012] As a further optimization solution of the present invention, a protection block is provided at the end of the rotating drum, and the inner wall of the protection block is slidably connected to the outer surface of the rotating shaft.

[0013] As a further optimization solution of the present invention, a thread groove is provided on the outer surface of the rotating shaft, and the outer surface of the thread groove is rotatably connected to the inner wall of the adjusting ring.

[0014] As a further optimization scheme of the present invention, the snap-on assembly includes a docking sleeve that is in contact with the snap-on plate, the inner wall of the docking sleeve is provided with a docking groove corresponding to the snap-on plate, and the inner wall of the docking groove is snap-connected with the outer surface of the snap-on plate.

[0015] As a further optimization solution of the present invention, a fixing plate is provided on the outer surface of the docking sleeve, and a plurality of groups of limiting blocks are evenly provided on the end of the fixing plate.

[0016] As a further optimization solution of the present invention, the inner cavity of the limiting block is provided with a telescopic member, and the output end of the telescopic member passes through and extends to the outside of the limiting block.

[0017] As a further optimization scheme of the present invention, a push plate is provided at the output end of the telescopic member, and multiple groups of driving rods are rotatably mounted on the outer surface of the push plate, and the multiple groups of driving rods are evenly distributed on the outer surface of the push plate.

[0018] As a further optimization solution of the present invention, a sliding groove corresponding to the driving rod is opened at the end of the limiting block, and the inner wall of the sliding groove is slidably connected to the outer surface of the driving rod.

[0019] As a further optimization solution of the present invention, a swing rod is rotatably mounted on the end of the driving rod, and the outer surface of the swing rod is rotatably connected to the outer surface of the limiting block.

[0020] As a further optimization solution of the present invention, a fixing block is provided at the end of the swing rod, and the workpiece on the conversion plate is fixed by the fixing block.

[0021] Compared with the prior art, the multifunctional manipulator for intelligent manufacturing provided by the present invention has the following beneficial effects: when the clamping plate moves, its outer surface is clamped with the inner wall of the docking groove, so that when the clamping plate rotates with the entire docking assembly, it synchronously drives the docking tube to rotate. At the same time, when the workpiece on the conversion plate needs to be replaced, the conversion plate is rotated to move the corresponding workpiece on the conversion plate to a suitable position and then stop, and the ends of the workpieces are connected with multiple fixed blocks, and the docking tube is docked with the driving end on the workpiece to drive the replaced workpiece.

[0022] When the driving rod moves, the swing rod rotatably installed at its end is driven to move. Since the end of the swing rod is rotatably connected to the outer surface of the limiting block, the swing rod rotates around the connection with the limiting block, and cooperates with the fixed block set on the swing rod to fix the workpiece on the conversion plate, thereby ensuring that a lot of time is not consumed when replacing the workpiece. At the same time, when facing objects with irregular shapes, fragile materials or special surface characteristics, the corresponding workpiece can be quickly replaced, further improving the grasping efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0024] Figure 1 A schematic diagram of the overall structure provided for an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the structure of a docking assembly and a clamping assembly provided in an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the structure of a docking assembly provided in an embodiment of the present invention;

[0027] Figure 4 A first cross-sectional view of the internal structure of a docking assembly provided by an embodiment of the present invention;

[0028] Figure 5 A second cross-sectional view of the internal structure of the docking assembly provided by an embodiment of the present invention;

[0029] Figure 6 A first schematic diagram of a clamping assembly structure provided by an embodiment of the present invention;

[0030] Figure 7 A second schematic diagram of a clamping assembly structure provided by an embodiment of the present invention;

[0031] Figure 8 A cross-sectional view of the internal structure of a snap-in assembly provided in an embodiment of the present invention.

[0032] Description of reference numerals:

[0033] 1. Base; 2. Docking assembly; 3. Clamping assembly; 11. First driving arm; 12. Second driving arm; 13. Conversion plate; 21. Transmission cylinder; 211. Clamping ring; 22. Cylinder; 23. Driving member; 231. Rotating block; 232. Arc plate; 24. Positioning plate; 25. Sliding block; 26. Rotating cylinder; 261. Bump; 262. Protective block; 27. Driving block; 271. Arc groove; 28. Rotating shaft; 29. ​​Adjusting ring; 291. Adjusting rod; 292. Clamping plate; 31. Docking cylinder; 311. Docking groove; 32. Fixed plate; 33. Limiting block; 331. Slide groove; 34. Telescopic member; 35. Push plate; 36. Driving rod; 37. Swinging rod; 38. Fixed block. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] Example: See Figure 1-Figure 8 A multifunctional manipulator for intelligent manufacturing includes a base 1, a first driving arm 11 is arranged at the end of the base 1, a second driving arm 12 is arranged at the end of the first driving arm 11, and a docking assembly 2 is arranged at the end of the second driving arm 12, and a conversion plate 13 is arranged on one side of the docking assembly 2, and power output is provided for a workpiece on the conversion plate 13 through the docking assembly 2.

[0037] In this solution, a device with power output such as a motor is provided at the end of the conversion plate 13, and is connected to an external control device. The conversion plate 13 is driven to rotate by the motor, thereby switching the workpiece set on the conversion plate 13 to make it suitable for the current scene. A device with power output such as a motor is provided at the end of the second driving arm 12, and is connected to the end of the docking assembly 2 to provide power output for the entire docking assembly 2.

[0038] Furthermore, the docking assembly 2 includes a transmission cylinder 21 connected to the second driving arm 12, the inner wall of the transmission cylinder 21 is provided with a clamping ring 211, the inner wall of the clamping ring 211 is provided with a cylinder 22, the inner wall of the cylinder 22 is provided with a driving member 23, and the output end of the driving member 23 is provided with a rotating block 231, and an arc plate 232 is slidably installed at one end of the rotating block 231 away from the driving member 23.

[0039] In this embodiment, the driving member 23 is a device with power output such as a motor, and is connected to an external control device. When the driving member 23 is started, it synchronously drives the rotating block 231 arranged at its output end to rotate. Since the outer surface of the end of the rotating block 231 is slidingly connected to the inner wall of the arc plate 232, when the rotating block 231 rotates, the arc plate 232 is driven to move.

[0040] Furthermore, a positioning plate 24 is provided on the inner wall of the cylinder 22 and on one side of the driving member 23, and the outer surface of the positioning plate 24 is slidably connected to the end of the arc plate 232. At the same time, a slider 25 is provided at the end of the arc plate 232, and a rotating cylinder 26 is provided at the end of the slider 25. The inner wall of the rotating cylinder 26 is symmetrically provided with protrusions 261.

[0041] Specifically, the arc plate 232 and the slider 25 are limited by the positioning plate 24, so that the arc plate 232 and the slider 25 remain stable as a whole when moving, and when the slider 25 moves, the rotating drum 26 set at the end of the slider 25 is synchronously driven to move. Since the inner wall of the rotating drum 26 is provided with a protrusion 261, the driving block 27 is driven to rotate in cooperation with the protrusion 261.

[0042] Furthermore, a driving block 27 is rotatably mounted at the end of the positioning plate 24 . An arc groove 271 is formed on the outer surface of the driving block 27 . The inner wall of the arc groove 271 is slidably connected to the outer surface of the protrusion 261 . A rotating shaft 28 is provided at the end of the driving block 27 .

[0043] Specifically, since the outer surface of the driving block 27 is provided with an arc groove 271, and the inner wall of the arc groove 271 is slidably connected to the outer surface of the protrusion 261, when the protrusion 261 moves, it cooperates with the arc groove 271 to drive the driving block 27 to rotate around the end of the positioning plate 24.

[0044] At the same time, a through hole is opened on the inner wall of the driving block 27, and the inner wall of the through hole is slidably connected to the outer surface of the rotating shaft 28. A stopper is provided on the outer surface of the rotating shaft 28, so that when the driving block 27 rotates, the rotating shaft 28 is synchronously driven to rotate without interfering with the telescopic movement of the rotating shaft 28.

[0045] Furthermore, an adjusting ring 29 is rotatably mounted on the outer surface of the rotating shaft 28 , and a plurality of adjusting rods 291 are arranged on the outer surface of the adjusting ring 29 , and the plurality of adjusting rods 291 are evenly distributed on the outer surface of the adjusting ring 29 , and a clamping plate 292 is arranged on one end of the adjusting rod 291 away from the adjusting ring 29 .

[0046] Specifically, the adjustment rings 29 are symmetrically arranged at the ends of the rotating shaft 28, one of the adjustment rings 29 is fixed on the rotating shaft 28, and the other adjustment ring 29 moves with the rotation of the rotating shaft 28, and cooperates with the rotation of the adjustment rod 291 installed on its outer surface to drive the clamping plate 292 to move until it reaches the optimal position.

[0047] Furthermore, a protective block 262 is provided at the end of the rotating drum 26, and the inner wall of the protective block 262 is slidably connected to the outer surface of the rotating shaft 28. The outer surface of the rotating shaft 28 is provided with a thread groove, and the outer surface of the thread groove is rotatably connected to the inner wall of the adjusting ring 29.

[0048] Specifically, when the rotating shaft 28 rotates, the adjusting ring 29 is synchronously driven to move, and at the same time, the rotating shaft 28 is limited by the protective block 262, so that the rotating shaft 28 will not shake when rotating.

[0049] Furthermore, the clamping assembly 3 is assembled at the end of the docking assembly 2, and the workpiece on the conversion plate 13 is fixed by the clamping assembly 3. The clamping assembly 3 includes a docking sleeve 31 that fits the clamping plate 292, and the inner wall of the docking sleeve 31 is provided with a docking groove 311 corresponding to the clamping plate 292, and the inner wall of the docking groove 311 is clamped with the outer surface of the clamping plate 292.

[0050] In this embodiment, when the clamping plate 292 moves, its outer surface is clamped with the inner wall of the docking groove 311, so that when the clamping plate 292 rotates with the entire docking assembly 2, it synchronously drives the docking tube 31 to rotate.

[0051] At the same time, when the workpiece on the conversion plate 13 needs to be replaced, the conversion plate 13 is rotated to move the corresponding workpiece on the conversion plate 13 to a suitable position and then stop, and the ends of the workpieces are connected with multiple fixed blocks 38, and docked with the driving end on the workpiece through the docking tube 31, so as to drive the replaced workpiece.

[0052] Furthermore, a fixing plate 32 is disposed on the outer surface of the docking sleeve 31 , and a plurality of limiting blocks 33 are evenly disposed at the end of the fixing plate 32 .

[0053] Specifically, an annular groove is provided on the outer surface of the docking tube 31, and the inner wall of the annular groove is slidably connected to the inner wall of the fixing plate 32, so that after the docking tube 31 is docked with the workpiece on the conversion plate 13, the workpiece on the conversion plate 13 is fixed by the components on the fixing plate 32.

[0054] Furthermore, the inner cavity of the limiting block 33 is provided with a telescopic member 34, and the output end of the telescopic member 34 penetrates and extends to the outside of the limiting block 33. The output end of the telescopic member 34 is provided with a push plate 35, and the outer surface of the push plate 35 is rotatably mounted with multiple groups of driving rods 36, and the multiple groups of driving rods 36 are evenly distributed on the outer surface of the push plate 35.

[0055] Specifically, the telescopic member 34 is a device with a telescopic function such as an electric telescopic rod, and is connected to an external control device. When the telescopic member 34 is started, it synchronously drives the push plate 35 arranged at its output end to move, wherein the outer surface of the push plate 35 is rotatably installed with multiple sets of drive rods 36, thereby driving the drive rods 36 to move.

[0056] Furthermore, a sliding groove 331 corresponding to the driving rod 36 is formed at the end of the limiting block 33 , and the inner wall of the sliding groove 331 is slidably connected to the outer surface of the driving rod 36 .

[0057] Specifically, the driving rod 36 is limited by the provided sliding groove 331, so that when the driving rod 36 moves, the whole remains stable, thereby reducing the possibility of the driving rod 36 falling off.

[0058] Furthermore, a swing rod 37 is rotatably mounted on the end of the driving rod 36, and the outer surface of the swing rod 37 is rotatably connected to the outer surface of the limiting block 33. A fixing block 38 is provided at the end of the swing rod 37, and the workpiece on the conversion plate 13 is fixed by the fixing block 38.

[0059] Specifically, when the driving rod 36 moves, the swing rod 37 rotatably mounted at its end is driven to move. Since the end of the swing rod 37 is rotatably connected to the outer surface of the limiting block 33, the swing rod 37 rotates around the connection with the limiting block 33, and cooperates with the fixing block 38 set on the swing rod 37 to fix the workpiece on the conversion plate 13, thereby ensuring that a lot of time is not consumed when replacing the workpiece. At the same time, when facing objects with irregular shapes, fragile materials or special surface characteristics, the corresponding workpiece can be quickly replaced, thereby further improving the grasping efficiency.

[0060] The control device can select a single-chip microcomputer as the control end. In this embodiment, the single-chip microcomputer is a typical embedded microcontroller (Micro controller unit), which is composed of an arithmetic unit, a controller, a memory, an input and output device, etc., which is equivalent to a microcomputer. Compared with the general-purpose microprocessor used in personal computers, it emphasizes self-supply (no external hardware) and cost saving. Its biggest advantage is that it is small in size and can be placed inside the instrument, but it has a small storage capacity, a simple input and output interface, and low functional consumption.

[0061] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multifunctional manipulator for intelligent manufacturing, characterized in that: The invention comprises a base (1), wherein a first driving arm (11) is arranged at the end of the base (1), a second driving arm (12) is arranged at the end of the first driving arm (11), and a docking assembly (2) is arranged at the end of the second driving arm (12), a conversion plate (13) is arranged on one side of the docking assembly (2), and power output is provided for a workpiece on the conversion plate (13) through the docking assembly (2); The docking assembly (2) comprises a transmission cylinder (21) connected to the second driving arm (12); a clamping ring (211) is provided on the inner wall of the transmission cylinder (21); a cylinder (22) is provided on the inner wall of the clamping ring (211); a driving member (23) is provided on the inner wall of the cylinder (22); a rotating block (231) is provided at the output end of the driving member (23); and an arc plate (232) is slidably mounted on one end of the rotating block (231) away from the driving member (23); A positioning plate (24) is provided on the inner wall of the cylinder (22) and located on one side of the driving member (23); the outer surface of the positioning plate (24) is slidably connected to the end of the arc plate (232); a slider (25) is provided at the end of the arc plate (232); a rotating cylinder (26) is provided at the end of the slider (25); and protrusions (261) are symmetrically provided on the inner wall of the rotating cylinder (26); A driving block (27) is rotatably mounted at the end of the positioning plate (24); an arc-shaped groove (271) is provided on the outer surface of the driving block (27); an inner wall of the arc-shaped groove (271) is slidably connected to the outer surface of the protrusion (261); and a rotating shaft (28) is provided at the end of the driving block (27); An adjusting ring (29) is rotatably mounted on the outer surface of the rotating shaft (28); a plurality of adjusting rods (291) are arranged on the outer surface of the adjusting ring (29); and the plurality of adjusting rods (291) are evenly distributed on the outer surface of the adjusting ring (29); and a clamping plate (292) is arranged at one end of the adjusting rod (291) away from the adjusting ring (29); A clamping assembly (3) is assembled at the end of the docking assembly (2), and the workpiece on the conversion plate (13) is fixed by the clamping assembly (3).

2. A multifunctional manipulator for intelligent manufacturing according to claim 1, characterized in that: A protective block (262) is provided at the end of the rotating drum (26), and the inner wall of the protective block (262) is slidably connected to the outer surface of the rotating shaft (28).

3. The multifunctional manipulator for intelligent manufacturing according to claim 1, characterized in that: The outer surface of the rotating shaft (28) is provided with a thread groove, and the outer surface of the thread groove is rotatably connected to the inner wall of the adjusting ring (29).

4. The multifunctional manipulator for intelligent manufacturing according to claim 1, characterized in that: The clamping assembly (3) comprises a docking sleeve (31) fitted with the clamping plate (292); the inner wall of the docking sleeve (31) is provided with a docking groove (311) corresponding to the clamping plate (292); the inner wall of the docking groove (311) is clamped with the outer surface of the clamping plate (292).

5. A multifunctional manipulator for intelligent manufacturing according to claim 4, characterized in that: The outer surface of the docking tube (31) is provided with a fixing plate (32), and the end of the fixing plate (32) is evenly provided with a plurality of groups of limiting blocks (33).

6. The multifunctional manipulator for intelligent manufacturing according to claim 5, characterized in that: The inner cavity of the limiting block (33) is provided with a telescopic member (34), and the output end of the telescopic member (34) penetrates and extends to the outside of the limiting block (33).

7. The multifunctional manipulator for intelligent manufacturing according to claim 6, characterized in that: A push plate (35) is provided at the output end of the telescopic member (34), and a plurality of groups of driving rods (36) are rotatably mounted on the outer surface of the push plate (35), and the plurality of groups of driving rods (36) are evenly distributed on the outer surface of the push plate (35).

8. The multifunctional manipulator for intelligent manufacturing according to claim 7, characterized in that: A sliding groove (331) corresponding to the driving rod (36) is formed at the end of the limiting block (33), and the inner wall of the sliding groove (331) is slidably connected to the outer surface of the driving rod (36).

9. The multifunctional manipulator for intelligent manufacturing according to claim 8, characterized in that: A swing rod (37) is rotatably mounted on the end of the driving rod (36), and the outer surface of the swing rod (37) is rotatably connected to the outer surface of the limiting block (33).

10. A multifunctional manipulator for intelligent manufacturing according to claim 9, characterized in that: A fixing block (38) is provided at the end of the swing rod (37), and the workpiece on the conversion plate (13) is fixed by the fixing block (38).

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