Manipulator structure

Abstract

The manipulator structure comprises a frame, a clamping assembly is arranged on the inner side of the frame, the clamping assembly comprises a right-hand and left-hand threaded rod rotationally connected to the inner side of the frame, a first servo motor is further arranged on one side of the frame, and the output end of the first servo motor is fixedly connected with one end of the right-hand and left-hand threaded rod; the two sides of the surface of the right-hand and left-hand threaded rod are both sleeved with threaded sleeves in a threaded mode, vertical rods are arranged at the bottom ends of the threaded sleeves, through grooves allowing the vertical rods to move are formed in the surface of the bottom end of the frame, and fixing plates are arranged at the bottom ends of the vertical rods. Through the design of the frame and the clamping assembly, when the mechanical arm clamps objects, flexible conversion can be achieved through the effect of the special-shaped clamping rods and the clamping plates when the mechanical arm clamps the regular objects, the pipes or the objects with the arc-shaped faces, an existing mechanical arm is not limited to clamp one kind of regular objects, the clamping range is wider, and the clamping efficiency is improved. The whole structure is simple, novelty is achieved, and application and popularization are worthy.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and particularly relates to a manipulator structure. Background Art

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms, and is used to grasp, transport objects or operate tools according to a fixed program. Its characteristic is that it can complete various expected operations through programming, and its structure and performance combine the respective advantages of humans and mechanical robots. The manipulator is the earliest industrial robot and the earliest modern robot. It can replace heavy human labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in departments such as mechanical manufacturing, metallurgy, electronics, light industry and atomic energy. However, the existing manipulator has a complex structure and a relatively single clamping performance. When clamping regular objects, pipes or objects with curved surfaces, it cannot rotate flexibly, which has certain limitations. For this reason, we propose a manipulator structure. Summary of the Invention

[0003] The purpose of the present invention is to provide a manipulator structure. By designing a frame and a clamping component, when the manipulator clamps an object, through the action of the special-shaped clamping rod and the clamping plate, when clamping regular objects, pipes or objects with curved surfaces, it can be flexibly switched, so that the existing manipulator is no longer limited to clamping a single regular object, and the clamping range is wider. The overall structure is simple, novel, and worthy of popularization and use.

[0004] To achieve the above object, the present invention provides the following technical solution: A manipulator structure includes a frame, and a clamping component is arranged inside the frame. The clamping component includes a left-right threaded rod rotatably connected to the inside of the frame. A first servo motor is further arranged on one side of the frame, and the output end of the first servo motor is fixedly connected to one end of the left-right threaded rod. Threaded sleeves are sleeved on both sides of the surface of the left-right threaded rod. A vertical rod is arranged at the bottom end of the threaded sleeve, and a through groove for the vertical rod to move is opened on the bottom surface of the frame. A fixed plate is arranged at the bottom end of the vertical rod. A first rotating rod is rotatably connected to the middle surface of the top end of the fixed plate. A motor is arranged at the top end of the first rotating rod. A movable plate is fixedly connected to the bottom end of the first rotating rod. A special-shaped clamping rod is arranged on one side of the bottom end of the movable plate, and a clamping plate is arranged on the other side of the bottom end of the movable plate. An electric cylinder is further arranged on the side of the top end of the fixed plate away from the vertical rod. A connecting plate is connected to the end of the electric cylinder. A clamping rod is fixedly connected to the bottom end of the side of the connecting plate close to the fixed plate. Clamping grooves adapted to the clamping rod are opened on both ends of the surface of the movable plate.

[0005] Preferably, it further includes an adjusting component. The adjusting component includes a mounting frame at the top of the frame. A second servo motor is arranged inside the mounting frame. The output end of the second servo motor is connected to a second rotating rod. The bottom end of the second rotating rod is rotatably connected to the bottom surface of the inner side of the mounting frame. A first gear is fixedly sleeved on the surface of the second rotating rod. A second gear is meshed and connected to one side of the first gear. A third rotating rod is fixedly connected to the inner side of the second gear. The third rotating rod is rotatably connected to the mounting frame, and the bottom end of the third rotating rod is fixedly connected to the top end of the frame.

[0006] Preferably, a lubricating paste is applied to the surface of the positive and negative threaded rod.

[0007] Preferably, rubber pads are arranged on the mutually remote sides of the special-shaped clamping rod and the clamping plate.

[0008] Preferably, the fixing plate and the movable plate have the same size, and the movable plate is located directly below the fixing plate.

[0009] Preferably, the frame, the vertical rod, the fixing plate, the movable plate, the special-shaped clamping rod, and the clamping plate are all made of aluminum alloy.

[0010] Preferably, a mounting disc is arranged on the top of the mounting frame, and bolts are arranged on the surface of the mounting disc.

[0011] Preferably, the first gear and the second gear have the same specifications.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. By designing the frame and the clamping component, when the manipulator clamps an object, through the action of the special-shaped clamping rod and the clamping plate, when clamping regular objects, pipes or objects with an arc surface, it can be flexibly switched, so that the existing manipulator is no longer limited to clamping a single regular object, and the clamping range is wider. The overall structure is simple, novel, and worthy of popularization and use; 2. By designing the adjusting component, after the device clamps an object, the second servo motor can be controlled to operate, so that the second servo motor drives the second rotating rod to rotate an appropriate angle, and under the interaction of the first gear, the second gear, and the third rotating rod, the frame rotates the corresponding angle at the same time, thereby controlling the placement angle of the clamped object, making the device more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0014] Figure 2 It is a top-down three-dimensional structural diagram of the present invention.

[0015] Figure 3It is a schematic diagram of the upward-looking three-dimensional structure of the present invention.

[0016] Figure 4 For the present invention Figure 1 A schematic diagram of the enlarged three-dimensional structure at position A in it.

[0017] Wherein: 1. Frame; 2. Positive and reverse threaded rod; 3. First servo motor; 4. Threaded sleeve; 5. Through groove; 6. Vertical rod; 7. Fixed plate; 8. First rotating rod; 9. Motor; 10. Movable plate; 11. Special-shaped clamping rod; 12. Clamping plate; 13. Electric cylinder; 14. Connecting plate; 15. Clamping rod; 16. Card slot; 17. Installation frame; 18. Second servo motor; 19. Second rotating rod; 20. First gear; 21. Second gear; 22. Third rotating rod. Specific embodiments

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4, the present invention provides a technical solution: a manipulator structure, including a frame 1. A clamping assembly is arranged inside the frame 1. The clamping assembly includes a positive and negative threaded rod 2 rotatably connected to the inside of the frame 1. A first servo motor 3 is also arranged on one side of the frame 1. The output end of the first servo motor 3 is fixedly connected to one end of the positive and negative threaded rod 2. Thread sleeves 4 are threadedly sleeved on both sides of the surface of the positive and negative threaded rod 2. A vertical rod 6 is arranged at the bottom end of the thread sleeve 4. A through groove 5 for the vertical rod 6 to move is opened on the bottom surface of the frame 1. A fixing plate 7 is arranged at the bottom end of the vertical rod 6. A first rotating rod 8 is rotatably connected to the middle surface of the top end of the fixing plate 7. A motor 9 is arranged at the top end of the first rotating rod 8. A movable plate 10 is fixedly connected to the bottom end of the first rotating rod 8. A special-shaped clamping rod 11 is arranged on one side of the bottom end of the movable plate 10. A clamping plate 12 is arranged on the other side of the bottom end of the movable plate 10. An electric cylinder 13 is also arranged on the side of the top end of the fixing plate 7 away from the vertical rod 6. A connecting plate 14 is connected to the end of the electric cylinder 13. A clamping rod 15 is fixedly connected to the bottom end of the side of the connecting plate 14 close to the fixing plate 7. Slots 16 adapted to the clamping rod 15 are opened on both ends of the surface of the movable plate 10. A lubricating paste is applied to the surface of the positive and negative threaded rod 2, so that when the thread sleeve 4 moves on the surface of the positive and negative threaded rod 2, the frictional resistance received is smaller and the movement is smoother. Rubber pads are arranged on the mutually separated sides of the special-shaped clamping rod 11 and the clamping plate 12. When the special-shaped clamping rod 11 and the clamping plate 12 clamp an object respectively, the surface of the object will not be worn, and at the same time, the friction force with the object is effectively increased, having a good anti-slip effect. The fixing plate 7 and the movable plate 10 have the same size, and the movable plate 10 is directly below the fixing plate 7, making the whole device more beautiful. The frame 1, the vertical rod 6, the fixing plate 7, the movable plate 10, the special-shaped clamping rod 11, and the clamping plate 12 are all made of aluminum alloy, increasing the strength of the device and making it more durable; the existing manipulator structure is complex, and the clamping performance is relatively single. When clamping regular objects, pipes or objects with an arc surface, it cannot rotate flexibly and has certain limitations;When it is necessary to clamp a pipe or an article with an arc-shaped surface, the first servo motor 3 is powered on to drive the left-right threaded rod 2 to rotate. The left-right threaded rod 2, through the left-right threads on its surface, causes the two threaded sleeves 4 to approach each other. During the movement of the two threaded sleeves 4, due to the limiting effect of the through slots 5 and the vertical rods 6, the two vertical rods 6 approach each other, thereby causing the two special-shaped clamping rods 11 to approach each other, and then clamping the pipe or the article with an arc-shaped surface. This makes the manipulator more stable when grasping the pipe or the article with an arc-shaped surface. When it is necessary to clamp a regular article, first control the electric cylinder 13 to extend. The electric cylinder 13 drives the connecting plate 14 to move. When the connecting plate 14 moves, it drives the end of the clamping rod 15 to leave the inner side of the corresponding clamping groove 16. Then control the motor 9 to operate, so that the motor 9 drives the first rotating rod 8 to rotate 180 degrees. When the first rotating rod 8 rotates, the movable plate 10 rotates 180 degrees at the same time. At this time, the positions of the special-shaped clamping rod 11 and the clamping plate 12 are swapped. Then control the electric cylinder 13 to contract again, so that the electric cylinder 13 drives the connecting plate 14 back to its original position, thereby causing the end of the clamping rod 15 to be re-locked inside the corresponding clamping groove 16 to limit the movable plate 10. Then the first servo motor 3 can be controlled to operate. The first servo motor 3 drives the left-right threaded rod 2 to rotate, causing the two threaded sleeves 4 to approach each other along the surface of the left-right threaded rod 2. Through the interaction between various components, the implementation principle is the same as that of controlling the special-shaped clamping rod 11 to clamp the pipe or the article with an arc-shaped surface, so it will not be elaborated again. Thus, the two clamping plates 12 clamp the surface of the regular article to complete the operation; by designing the frame 1 and the clamping assembly, when the manipulator clamps an article, through the action of the special-shaped clamping rod 11 and the clamping plate 12, it can be flexibly switched when clamping regular articles, pipes or articles with arc-shaped surfaces, so that the existing manipulator is no longer limited to clamping a single type of regular article, and the clamping range is wider. The overall structure is simple, novel, and worthy of popularization and use.;

[0020] In this embodiment, preferably, an adjusting component is further included. The adjusting component includes a mounting frame 17 at the top of the frame 1. A second servo motor 18 is arranged inside the mounting frame 17. The output end of the second servo motor 18 is connected to a second rotating rod 19. The bottom end of the second rotating rod 19 is rotatably connected to the inner bottom surface of the mounting frame 17. A first gear 20 is fixedly sleeved on the surface of the second rotating rod 19. A second gear 21 is meshed and connected to one side of the first gear 20. A third rotating rod 22 is fixedly connected to the inside of the second gear 21. The third rotating rod 22 is rotatably connected to the mounting frame 17, and the bottom end of the third rotating rod 22 is fixedly connected to the top end of the frame 1. A mounting plate is arranged on the top of the mounting frame 17. Bolts are arranged on the surface of the mounting plate, which is convenient for fixing the device at a specified position. The first gear 20 and the second gear 21 have the same specifications, so that when the first gear 20 rotates under force, it can drive the second gear 21 to rotate synchronously; by designing the adjusting component, after the device clamps an object, the second servo motor 18 can be controlled to operate, so that the second servo motor 18 drives the second rotating rod 19 to rotate at an appropriate angle, and under the interaction of the first gear 20, the second gear 21, and the third rotating rod 22, the frame 1 rotates by a corresponding angle at the same time, thereby controlling the placement angle of the clamped object and making the device more flexible.

[0021] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot structure, comprising a frame (1), wherein a clamping assembly is arranged inside the frame (1), characterized in that: A clamping assembly, the clamping assembly comprising a forward and reverse threaded rod (2) rotatably connected to the inner side of a frame (1), a first servo motor (3) being further provided on one side of the frame (1), an output end of the first servo motor (3) being fixedly connected to one end of the forward and reverse threaded rod (2), threaded sleeves (4) being threadedly sleeved on both sides of the surface of the forward and reverse threaded rod (2), a vertical rod (6) being provided at the bottom end of the threaded sleeve (4), a through groove (5) for the vertical rod (6) to move being provided on the bottom end surface of the frame (1), a fixing plate (7) being provided at the bottom end of the vertical rod (6), a first rotating rod (8) being rotatably connected to the middle surface of the top end of the fixing plate (7), the first rotating rod (8) A motor (9) is arranged at the top, a movable plate (10) is fixedly connected to the bottom end of the first rotating rod (8), a special-shaped clamping rod (11) is arranged on one side of the bottom end of the movable plate (10), and a clamping plate (12) is arranged on the other side of the bottom end of the movable plate (10), and an electric cylinder (13) is also arranged on the side of the top end of the fixed plate (7) away from the vertical rod (6), the end of the electric cylinder (13) is connected to a connecting plate (14), the bottom end of the connecting plate (14) close to the fixed plate (7) is fixedly connected to a clamping rod (15), and the surfaces of both ends of the movable plate (10) are provided with clamping grooves (16) adapted to the clamping rod (15).

2. A robot structure according to claim 1, characterized in that: The invention also comprises an adjustment component, the adjustment component comprising a mounting frame (17) located at the top of the frame (1), a second servo motor (18) being arranged inside the mounting frame (17), an output end of the second servo motor (18) being connected to a second rotating rod (19), a bottom end of the second rotating rod (19) being rotatably connected to the bottom surface of the inner side of the mounting frame (17), a first gear (20) being fixedly sleeved on the surface of the second rotating rod (19), a second gear (21) being meshingly connected to one side of the first gear (20), a third rotating rod (22) being fixedly connected to the inner side of the second gear (21), the third rotating rod (22) being rotatably connected to the mounting frame (17), and a bottom end of the third rotating rod (22) being fixedly connected to the top of the frame (1).

3. A robot structure according to claim 1, characterized in that: The surfaces of the forward and reverse threaded rods (2) are coated with lubricating grease.

4. A robot structure according to claim 1, characterized in that: The sides of the special-shaped clamping rod (11) and the clamping plate (12) that are away from each other are both provided with rubber pads.

5. A robot arm structure according to claim 1, characterized in that: The fixed plate (7) and the movable plate (10) have the same size, and the movable plate (10) is located directly below the fixed plate (7).

6. A robot structure according to claim 1, characterized in that: The frame (1), the vertical rod (6), the fixed plate (7), the movable plate (10), the special-shaped clamping rod (11), and the clamping plate (12) are all made of aluminum alloy.

7. A robot structure according to claim 2, characterized in that: A mounting plate is arranged on the top of the mounting frame (17), and bolts are arranged on the surface of the mounting plate.

8. A robot structure according to claim 2, characterized in that: The first gear (20) and the second gear (21) have the same specifications.

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