Fixing device for carrying manipulator
By designing a handling robot fixing device for thin waist glass vases, the expansion mechanism is used to fix the inner wall limit and reinforce the mechanism to provide bottom support, the problem of poor stability in the handling process in the prior art is solved, and higher stability and safety are achieved.
Patent Information
- Application Number
- CN202510246637.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-04
- Publication Date
- 2025-05-27
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Prior art When clamping thin waist glass vases, external clamping results in poor stability, easy shaking, and lack of support to the bottom, which may cause scratches or scratches.
A fixing device for handling robots is designed to fix the limit from the inner wall of the thin waist glass vase through an expansion mechanism, and the bottom is supported by a reinforcement mechanism to ensure stability and safety.
Through the inner wall limit fixation and bottom support, the stability of the thin waist-shaped glass vase is improved, shaking and scratching are avoided, and safety and aesthetics are ensured during handling.
Smart Images
Figure CN120039639A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of manipulators, and in particular to a fixing device for a transporting manipulator. Background Art
[0002] The fixing device for the handling robot is a device installed on the handling robot for grabbing, fixing and positioning the workpiece. It ensures that the workpiece remains stable during the handling process and prevents the workpiece from slipping or shifting, thereby ensuring the accuracy and safety of the handling.
[0003] At present, in the prior art, when clamping and limiting the thin waist-shaped glass vase, the thin waist-shaped glass vase is generally clamped on the outside, and the thin waist of the glass vase is clamped during clamping, and the thin waist is generally in the upper part, which causes the lower part to be suspended after clamping, thus causing shaking during transportation, and lack of support for the bottom of the thin waist-shaped glass vase after clamping, causing the clamping part to bear the weight of the entire thin waist-shaped glass vase, resulting in poor clamping stability, and shaking back and forth will cause clamping marks or scratches on the outer wall of the thin waist-shaped glass vase, thereby affecting the appearance of the thin waist-shaped glass vase. Summary of the invention
[0004] The purpose of the present invention is to solve the shortcomings of the background technology and to propose a fixing device for a handling robot.
[0005] To achieve the above purpose, the technical solution adopted by the present invention is: a fixing device for a handling robot, comprising a fixing plate, a robot body is fixedly connected to the top of the fixing plate, an expansion mechanism is arranged at the other end of the robot body, and a reinforcement mechanism is arranged on the expansion mechanism; The expansion mechanism includes a top plate fixedly connected to the other end of the manipulator, an adjusting disk is arranged below the top plate, a plurality of first guide holes are penetrated on the adjusting disk, a bottom plate is arranged below the adjusting disk, a plurality of second guide holes are penetrated on the bottom plate, the number of the plurality of second guide holes is the same as the number of the plurality of first guide holes, guide posts are arranged between the plurality of groups of the first guide holes and the second guide holes, square posts are arranged on the plurality of guide posts, a rubber block is fixedly connected to the bottom of the plurality of square posts at one end away from each other, and an inclined surface is arranged at one end away from each other of the four rubber blocks, the adjusting disk is rotated to expand and move the guide posts and the square posts outward, so that the rubber blocks are in contact with the inner wall of the thin waist-shaped glass vase, thereby completing the limit fixation of the thin waist-shaped glass vase; The reinforcement mechanism includes fixed blocks fixedly connected to the four sides of the outer walls of the top plate and the bottom plate, and a rotating shaft is rotatably passed through the four groups of the fixed blocks. The bottom ends of the four rotating shafts are provided with lifting grooves, and the inner walls of the four lifting grooves are slidably connected with lifting columns. The bottoms of the four lifting columns are fixedly connected with limiting rods at one end away from each other, and the tops of the four limiting rods are fixedly connected with rubber rods. The four rotating shafts are synchronously rotated 180 degrees so that the rubber rods face inward and contact the bottom of the waist-shaped glass vase.
[0006] Preferably, the expansion mechanism also includes a connecting column fixedly connected to the outer side of the bottom end of the top plate, and there are multiple connecting columns. The multiple connecting columns and the bottom plate are fixedly connected, and sliding grooves are provided at the four corners of the bottom end of the top plate. The four sliding grooves are slidably connected to the four guide columns respectively, and a rubber pad is fixedly connected to the bottom end of the top plate.
[0007] Preferably, a first motor is fixedly connected to the middle portion of the top end of the top plate, a driving shaft is fixedly connected to a driving end of the first motor, and the driving shaft is fixedly connected to the adjusting disk.
[0008] Preferably, a square groove is formed at the bottom ends of the four guide columns, and electric telescopic rods are fixedly connected to the top ends of the four square grooves, and the telescopic ends of the four electric telescopic rods are fixedly connected to the four square columns respectively.
[0009] Preferably, the reinforcement mechanism comprises a second motor fixedly connected to the top end of the rotating shaft, four driving ends of the second motors are fixedly connected to threaded rods, and the top ends of the four lifting columns are provided with threaded grooves matching the shape of the threaded rods.
[0010] Preferably, the outer walls of the four rotating shafts are fixedly connected with sprockets, and the four sprockets are connected by chains.
[0011] Preferably, a first gear is fixedly connected to the outer wall of one of the rotating shafts, a third motor is fixedly connected to one side of the top of the base plate, a fixed shaft is fixedly connected to the driving end of the third motor, a second gear is fixedly connected to the top of the fixed shaft, and the second gear is meshingly connected to the first gear.
[0012] Preferably, the top of the fixed block at the lower side is symmetrically fixedly connected with a limiting block, the outer walls of the four rotating shafts are fixedly connected with a rotating block, and the limiting block is used to block the rotating block.
[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. By setting the expansion mechanism, the thin waist-shaped glass vase can be limited and fixed from the inner wall, which can avoid the impact of clamping marks or scratches on the appearance and maintain the beauty and integrity of the vase. In addition, since the waist of the thin waist-shaped vase is designed to be narrow, clamping from the inner wall may be closer to the center of gravity of the thin waist-shaped glass vase, thereby providing more stable support, which helps to prevent the thin waist-shaped glass vase from shaking due to unstable center of gravity during transportation and can reduce external damage; 2. After being clamped and fixed, the thin waist-shaped glass vase can be lifted upward, and the opening of the thin waist-shaped glass vase can be in contact with the rubber pad, thereby reducing shaking during transportation and improving transportation stability; 3. By setting up the reinforcement mechanism, the bottom of the thin waist-shaped glass vase can be supported and limited, so as to provide more supporting force, disperse the weight of the thin waist-shaped glass vase, reduce the risk of tipping due to unstable center of gravity, further enhance the stability of the thin waist-shaped glass vase, make the thin waist-shaped glass vase easier to carry and move, and ensure the safety of the thin waist-shaped glass vase during movement. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is an overall schematic diagram of a fixing device for a handling robot of the present invention; Figure 2 It is a bottom view schematic diagram of a fixing device for a handling robot of the present invention; Figure 3 It is a partial structural schematic diagram of an expansion mechanism and a reinforcement mechanism of a fixing device for a handling robot of the present invention; Figure 4 A fixing device for a handling robot according to the present invention Figure 3 Enlarged view of point A in the middle; Figure 5 This is a diagram showing an expansion mechanism of a fixing device for a handling robot according to the present invention; Figure 6 A cross-sectional view of a guide column of a fixing device for a handling robot according to the present invention; Figure 7 This is a diagram showing a reinforcement mechanism of a fixing device for a handling robot according to the present invention; Figure 8 A cross-sectional view of a rotating shaft of a fixing device for a handling robot according to the present invention; Fig. 9 This is a partial cross-sectional view of a lifting column of a fixing device for a handling robot of the present invention.
[0015] In the figure: 1. fixed plate; 2. manipulator body; 3. top plate; 4. adjusting plate; 5. first guide hole; 6. bottom plate; 7. second guide hole; 8. guide column; 9. square column; 10. rubber block; 11. fixed block; 12. rotating shaft; 13. lifting slot; 14. lifting column; 15. limit rod; 16. rubber rod; 17. connecting column; 18. slide slot; 19. first motor; 20. driving shaft; 21. square slot; 22. electric telescopic rod; 23. second motor; 24. threaded rod; 25. threaded slot; 26. sprocket; 27. chain; 28. first gear; 29. third motor; 30. fixed shaft; 31. second gear; 32. limit block; 33. rotating block; 34. inclined plane; 35. rubber pad. DETAILED DESCRIPTION
[0016] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.
[0017] like Figure 1-Figure 9 The fixing device for a handling manipulator shown in the figure comprises a fixing plate 1, a manipulator body 2 is fixedly connected to the top of the fixing plate 1, an expansion mechanism is arranged at the other end of the manipulator body 2, and a reinforcement mechanism is arranged on the expansion mechanism, and the expansion mechanism is used to clamp and limit the inner wall of the thin waist-shaped glass vase, so that the beauty and integrity of the thin waist-shaped glass vase can be ensured during the handling process, and a more stable support is provided to prevent the thin waist-shaped glass vase from tipping over or breaking due to unstable center of gravity during the clamping process. The thin waist-shaped glass vase can be reinforced by the reinforcement mechanism to further improve the stability; like Figure 3 , Figure 5 , Figure 6 As shown, the expansion mechanism includes a top plate 3 fixedly connected to the other end of the manipulator, an adjusting disk 4 is arranged below the top plate 3, a plurality of first guide holes 5 are pierced on the adjusting disk 4, a bottom plate 6 is arranged below the adjusting disk 4, a plurality of second guide holes 7 are pierced on the bottom plate 6, the number of the plurality of second guide holes 7 is the same as the number of the plurality of first guide holes 5, guide columns 8 are arranged between the plurality of groups of first guide holes 5 and second guide holes 7, square columns 9 are arranged on the plurality of guide columns 8, a rubber block 10 is fixedly connected to the bottom of the plurality of square columns 9 at one end away from each other, and a slope 34 is arranged on the four rubber blocks 10 at one end away from each other, and the adjusting disk 4 rotates to expand and move the guide columns 8 and the square columns 9 outward, so that the rubber blocks 10 are in close contact with the inner wall of the thin waist-shaped glass vase, thereby completing the limit fixation of the thin waist-shaped glass vase; like Figure 3 , Figure 7 , Figure 8As shown, the reinforcement mechanism includes fixed blocks 11 fixedly connected to the four sides of the outer walls of the top plate 3 and the bottom plate 6, and rotating shafts 12 are rotatably penetrated on the four groups of fixed blocks 11. The bottom ends of the four rotating shafts 12 are provided with lifting grooves 13, and the inner walls of the four lifting grooves 13 are slidably connected with lifting columns 14. The bottoms of the four lifting columns 14 away from each other are fixedly connected with limit rods 15, and the tops of the four limit rods 15 are fixedly connected with rubber rods 16. The four rotating shafts 12 rotate synchronously by 180 degrees, so that the rubber rods 16 face inward and contact the bottom of the thin waist-shaped glass vase.
[0018] like Figure 5 As shown, the expansion mechanism also includes a connecting column 17 fixedly connected to the outer side of the bottom end of the top plate 3, and the number of connecting columns 17 is set to be multiple, and the multiple connecting columns 17 are fixedly connected to the bottom plate 6, and the four corners of the bottom end of the top plate 3 are provided with a slide groove 18, and the four slide grooves 18 are respectively slidably connected to the four guide columns 8, and a rubber pad 35 is fixedly connected to the bottom end of the top plate 3. The top plate 3 and the bottom plate 6 are connected together by the connecting column 17 to form a whole, and a limiting groove is provided in the slide groove 18, and a square block is provided in the limiting groove, and the square block is fixed on the guide column 8, so that the guide column 8 can only perform translational movement.
[0019] like Figure 3 , Figure 5 As shown, a first motor 19 is fixedly connected to the middle of the top of the top plate 3, a driving shaft 20 is fixedly connected to the driving end of the first motor 19, and the driving shaft 20 is fixedly connected to the adjusting disk 4. The first motor 19 drives the driving shaft 20 to rotate, thereby driving the adjusting disk 4 to rotate, and the guide column 8 can be expanded and moved through the first guide hole 5 on the adjusting disk 4 to complete the clamping and limiting of the waist-shaped glass vase.
[0020] like Figure 6 As shown, the bottom ends of the four guide columns 8 are provided with square grooves 21, the top ends of the four square grooves 21 are fixedly connected with electric telescopic rods 22, and the telescopic ends of the four electric telescopic rods 22 are respectively fixedly connected with the four square columns 9. The electric telescopic rods 22 are controlled by a synchronous controller to move synchronously, so that the square columns 9 can be moved up and down, so that the opening of the waist-shaped glass vase can be closely contacted with the rubber pad 35, so that it can be limited, maintain its stability, and avoid shaking during transportation.
[0021] like Figure 7 , Figure 8 , Fig. 9As shown, the reinforcement mechanism includes a second motor 23 fixedly connected to the top of the rotating shaft 12, and the driving ends of the four second motors 23 are all fixedly connected to the threaded rods 24, and the tops of the four lifting columns 14 are all provided with threaded grooves 25 that match the shape of the threaded rods 24. The second motor 23 drives the threaded rods 24 to rotate, so that the lifting columns 14 can move up and down through the threaded cooperation between the threaded rods 24 and the threaded grooves 25, thereby driving the limiting rods 15 and the rubber rods 16 to move upward, and making the rubber rods 16 contact the bottom of the thin waist-shaped glass vase, thereby increasing the limiting operation.
[0022] like Figure 7 As shown, the outer walls of the four rotating shafts 12 are fixedly connected with sprockets 26, and the four sprockets 26 are connected by chains 27. Through the cooperation of the sprockets 26 and the chains 27, the four rotating shafts 12 can rotate synchronously, so the angle of the limiting rod 15 can be changed synchronously and made to just reach the bottom of the thin waist-shaped glass vase.
[0023] like Figure 4 , Figure 7 As shown, the outer wall of one of the rotating shafts 12 is fixedly connected with a first gear 28, a third motor 29 is fixedly connected to one side of the top of the bottom plate 6, a fixed shaft 30 is fixedly connected to the driving end of the third motor 29, a second gear 31 is fixedly connected to the top of the fixed shaft 30, and the second gear 31 is meshed with the first gear 28. The third motor 29 rotates the fixed shaft 30, and the fixed shaft 30 rotates with the second gear 31, so the first gear 28 can be rotated, and one of the rotating shafts 12 can be rotated with the first gear 28, and then the four rotating shafts 12 can be rotated synchronously through the cooperation of the sprocket 26 and the chain 27 to complete the angle adjustment.
[0024] like Figure 4 As shown, the top of the lower fixed block 11 is symmetrically fixedly connected to the limit block 32, and the outer walls of the four rotating shafts 12 are fixedly connected to the rotating block 33, and the limit block 32 is used to block the rotating block 33. The limit block 32 can make the rotating block 33 rotate only 180 degrees, so as to facilitate the subsequent support and limit.
[0025] Working principle: First, the manipulator body 2 is used to move the bottom plate 6 to the top of the thin waist-shaped glass vase, and the square column 9 and the rubber block 10 are inserted into the thin waist-shaped glass vase. At this time, the first motor 19 is started to rotate the driving shaft 20, and the driving shaft 20 rotates the adjusting disk 4. Since the guide column 8 is in the first guide hole 5 on the adjusting disk 4 and the second guide hole 7 on the bottom plate 6, the guide column 8 is expanded and moved outward when the adjusting disk 4 rotates, thereby expanding the square column 9, so that the inclined surface 34 on the rubber block 10 contacts the inner wall of the thin waist-shaped glass vase. Since the rubber block 10 is elastic, the contact area between the inclined surface 34 and the inner wall of the thin waist-shaped glass vase can be increased during expansion, thereby increasing stability, and being closer to the center of gravity of the thin waist-shaped glass vase during the clamping process, thereby providing more stable support, which helps to prevent the thin waist-shaped glass vase from tipping over or breaking due to unstable center of gravity during the clamping process, and reduces external damage; Further, the electric telescopic rod 22 is started to move the square column 9 and the rubber block 10 upward, so that the opening of the thin waist-shaped glass vase is in close contact with the rubber pad 35, thereby further clamping and fixing the thin waist-shaped glass vase to prevent shaking during the movement and improve stability; Furthermore, the third motor 29 is started to rotate the fixed shaft 30, the fixed shaft 30 rotates the second gear 31, and the second gear 31 rotates the first gear 28, so that one of the rotating shafts 12 can be rotated, and under the cooperation of the chain 27 and the sprocket 26, the four rotating shafts 12 can be rotated synchronously, so that the lifting column 14 can be rotated synchronously, and during the rotation, the limit block 32 blocks the rotating block 33, so that the rotating shaft 12 can only rotate 180 degrees, so that the limit rod 15 and the rubber rod 16 are turned from the outside to the inside, and the lifting column 14 is rotated synchronously. At the bottom of the thin waist-shaped glass vase, the second motor 23 is controlled by the synchronous controller to make the threaded rods 24 rotate synchronously. Since the spiral directions of the four threaded rods 24 are the same, the lifting column 14 can be synchronously moved up when the threaded rods 24 rotate, and the rubber rod 16 can contact the bottom of the thin waist-shaped glass vase, which can increase more supporting force, disperse the weight of the thin waist-shaped glass vase, avoid tipping, and further enhance the stability of the thin waist-shaped glass vase, so that the thin waist-shaped glass vase can be more easily carried and moved, ensuring safety during the transportation process.
[0026] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.
Claims
1. A fixing device for a handling robot, comprising a fixing plate (1), the top of which is fixedly connected to a robot body (2), characterized in that: The other end of the manipulator body (2) is provided with an expansion mechanism, and a reinforcement mechanism is provided on the expansion mechanism; The expansion mechanism comprises a top plate (3) fixedly connected to the other end of the manipulator, an adjusting disk (4) is arranged below the top plate (3), a plurality of first guide holes (5) are formed on the adjusting disk (4), a bottom plate (6) is arranged below the adjusting disk (4), a plurality of second guide holes (7) are formed on the bottom plate (6), the number of the plurality of second guide holes (7) and the number of the plurality of first guide holes (5) are the same, guide columns (8) are arranged between the plurality of groups of the first guide holes (5) and the second guide holes (7), a square column (9) is arranged on the plurality of guide columns (8), a rubber block (10) is fixedly connected to the bottom of the plurality of square columns (9) at one end away from each other, and a slope (34) is arranged on the four rubber blocks (10) at one end away from each other, the adjusting disk (4) rotates to expand and move the guide column (8) and the square column (9) outward, so that the rubber block (10) contacts and presses against the inner wall of the waist-shaped glass vase, thereby completing the limit fixation of the waist-shaped glass vase; The reinforcement mechanism comprises fixed blocks (11) fixedly connected to four sides of the outer walls of the top plate (3) and the bottom plate (6); rotating shafts (12) are rotatably penetrated on four groups of the fixed blocks (11); lifting grooves (13) are provided at the bottom ends of the four rotating shafts (12); lifting columns (14) are slidably connected to the inner walls of the four lifting grooves (13); the bottoms of the four lifting columns (14) are fixedly connected to limit rods (15) at one end away from each other; the tops of the four limit rods (15) are fixedly connected to rubber rods (16); the four rotating shafts (12) are synchronously rotated 180 degrees so that the rubber rods (16) face inwards and contact the bottom of the waist-shaped glass vase.
2. A fixing device for a handling robot according to claim 1, characterized in that: The expansion mechanism further comprises a connecting column (17) fixedly connected to the outer side of the bottom end of the top plate (3), the connecting column (17) being provided in a plurality, the plurality of connecting columns (17) being fixedly connected to the bottom plate (6), a sliding groove (18) being provided at the four corners of the bottom end of the top plate (3), the four sliding grooves (18) being slidably connected to the four guide columns (8), and a rubber pad (35) being fixedly connected to the bottom end of the top plate (3).
3. A fixing device for a handling robot according to claim 2, characterized in that: A first motor (19) is fixedly connected to the middle of the top end of the top plate (3); a driving shaft (20) is fixedly connected to the driving end of the first motor (19); and the driving shaft (20) is fixedly connected to the adjustment disk (4).
4. A fixing device for a handling robot according to claim 3, characterized in that: The bottom ends of the four guide columns (8) are each provided with a square groove (21), the top ends of the four square grooves (21) are each fixedly connected to an electric telescopic rod (22), and the telescopic ends of the four electric telescopic rods (22) are respectively fixedly connected to the four square columns (9).
5. A fixing device for a handling robot according to claim 1, characterized in that: The reinforcement mechanism comprises a second motor (23) fixedly connected to the top end of the rotating shaft (12); four driving ends of the second motors (23) are fixedly connected to threaded rods (24); and the top ends of the four lifting columns (14) are provided with threaded grooves (25) matching the shape of the threaded rods (24).
6. A fixing device for a handling robot according to claim 5, characterized in that: The outer walls of the four rotating shafts (12) are all fixedly connected with sprockets (26), and the four sprockets (26) are connected via a chain (27).
7. A fixing device for a handling robot according to claim 6, characterized in that: A first gear (28) is fixedly connected to the outer wall of one of the rotating shafts (12), a third motor (29) is fixedly connected to one side of the top end of the bottom plate (6), a fixed shaft (30) is fixedly connected to the driving end of the third motor (29), a second gear (31) is fixedly connected to the top end of the fixed shaft (30), and the second gear (31) is meshingly connected to the first gear (28).
8. A fixing device for a handling robot according to claim 7, characterized in that: The top ends of the fixed blocks (11) at the lower side are symmetrically fixedly connected to the limit blocks (32), the outer walls of the four rotating shafts (12) are fixedly connected to the rotating blocks (33), and the limit blocks (32) are used to block the rotating blocks (33).