Manipulator with adjustable clamping range

Abstract

The utility model provides a manipulator with an adjustable clamping range. The mechanical arm with the adjustable clamping range comprises a supporting frame, the two first screw rods are both rotationally mounted in the supporting frame; the two servo motors are both fixedly installed on the supporting frame, and output shafts of the two servo motors are fixedly connected with the two first screw rods correspondingly; the two clamping plates are arranged on the two first screw rods in a threaded and sleeving manner; the two limiting plates are both mounted at the bottom of the supporting frame; and the two limiting rods are movably mounted on the two limiting plates correspondingly. The mechanical arm with the adjustable clamping range has the advantages of being high in flexibility and capable of adjusting the clamping range according to objects of different sizes.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator with an adjustable clamping range. Background Art

[0002] At present, on production and processing assembly lines, most robots are used to complete mechanical repetitive actions, such as grasping. The operation mode of the robots in the prior art is mostly to clamp, lift and then move. The robots are mostly used in conjunction with mechanical arms, and the movable range is small. At the same time, when the objects that the robots need to clamp are of different sizes, such as express packages of different sizes, it is difficult to accurately adjust the clamping range according to the size of the object, and it is also difficult to ensure the clamping strength, which is inconvenient.

[0003] Therefore, it is necessary to provide a new manipulator with adjustable clamping range to solve the above technical problems. Utility Model Content

[0004] In order to solve the technical problem that when the objects to be clamped by the manipulator are of different sizes, it is difficult to accurately adjust the clamping range according to the size of the objects, the utility model provides a manipulator with an adjustable clamping range.

[0005] The utility model provides a manipulator with adjustable clamping range, comprising: a support frame; two first screws, which are rotatably installed in the support frame; two servo motors, which are fixedly installed on the support frame, and the output shafts of the two servo motors are respectively fixedly connected to the two first screws; two clamping plates, which are threadedly sleeved on the two first screws; two limit plates, which are installed on the bottom of the support frame; two limit rods, which are movably installed on the two limit plates, and are respectively fixedly connected to the two clamping plates; and two clamping detection assemblies, which are respectively arranged on one side of the two clamping plates close to each other, and the clamping detection assemblies are used to detect the clamping force of the manipulator on the workpiece.

[0006] Preferably, the clamping detection assembly includes multiple springs, a fixed plate, a trigger rod and a trigger button, the multiple springs are fixedly mounted on any one of the clamping plates, the fixed plate is fixedly mounted on the multiple springs, the trigger rod is fixedly mounted on the fixed plate, the trigger button is mounted on any one of the clamping plates, and the trigger rod can contact the trigger button.

[0007] Preferably, a slider is fixedly installed on the top of the support frame, an adjustment frame is movably sleeved outside the slider, a second screw is rotatably installed on the adjustment frame, the slider is threadedly sleeved on the second screw, a reciprocating motor is fixedly installed on the adjustment frame, and the output shaft of the reciprocating motor is fixedly connected to the second screw.

[0008] Preferably, a plurality of electric telescopic rods are fixedly mounted on the adjustment frame, and a same adjustment block is fixedly mounted on output rods of the plurality of electric telescopic rods, and the adjustment block is fixedly connected to a moving part of an electric guide rail mounted on a lathe.

[0009] Preferably, two support plates are fixedly mounted on the bottom of the adjustment frame, the two support plates are respectively arranged on both sides of the support frame, and clamping plates are fixedly mounted on both sides of the support frame, and the two clamping plates can contact the two support plates respectively.

[0010] Preferably, a plurality of balls are embedded in the bottom of the two clamping plates, and the plurality of balls can contact the two support plates respectively, and a limiting block is fixedly installed on the side of the two limiting rods away from each other.

[0011] Preferably, anti-skid pads are fixedly mounted on the sides of the two fixing plates close to each other, and the two first screw rods are provided with two sections of threads in opposite directions.

[0012] Compared with the related art, the manipulator with adjustable clamping range provided by the utility model has the following beneficial effects:

[0013] The utility model provides a manipulator with adjustable clamping range:

[0014] 1. The spacing between the two clamping plates can be adjusted by driving the first screw rod to rotate through a servo motor. The two clamping plates can be brought close to each other to clamp objects of different sizes. The limit rod and the limit plate can increase the stability of the clamping plates when they are close to or far away from each other, and prevent the clamping plates from being easily skewed, thereby affecting the clamping stability of the device for the object. The clamping force of the fixed plate when clamping the object can be monitored by the trigger rod against the trigger button, so that the spacing between the two clamping plates can be adjusted according to the size of the object, and the spacing between the two clamping plates can be prevented from being too large, making it difficult to stabilize the object, or too small, causing damage to the object. The spring stabilizes the fixed plate to increase the flexibility of the fixed plate. The reciprocating motor drives the second screw rod to rotate to adjust the position of the slider on the adjustment frame, thereby adjusting the position of the support frame, and then adjusting the position of the object clamped by the fixed plate.

[0015] 2. The height of the two fixed plates can be adjusted by adjusting the extension length of the output rod of the electric telescopic rod, so that the fixed plate can clamp and lift the object for transfer, preventing the object from remaining in contact with the lathe and being inconvenient for transfer; the lateral position of the object can be adjusted by the electric guide rail, effectively increasing the transfer range of the device; the stability of the support frame during movement can be increased by cooperating with the support plate and the clamping plate, effectively preventing the support frame from falling off; the ball bearing can increase the smoothness of the movement of the support frame while ensuring the stability of the movement of the support plate and the clamping plate; the limit block can prevent the limit rod from easily detaching from the limit plate; the anti-slip pad can increase the friction between the fixed plate and the object, effectively preventing the object from falling off easily; when the first screw rotates, the two clamps can be moved away from and closer to each other through two sections of threads in opposite directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a front cross-sectional structure of a preferred embodiment of a manipulator with adjustable clamping range provided by the utility model;

[0017] Figure 2 for Figure 1 An enlarged structural diagram of part A shown in FIG.

[0018] Figure 3 for Figure 1 An enlarged schematic diagram of the structure of part B shown in FIG.

[0019] Figure 4 It is a schematic diagram of the three-dimensional structure of the adjustment frame in the utility model.

[0020] Numbers in the figure: 1. Support frame; 2. First screw; 3. Servo motor; 4. Clamp; 5. Limit plate; 6. Limit rod; 7. Spring; 8. Fixed plate; 9. Anti-slip pad; 10. Trigger rod; 11. Trigger button; 12. Slider; 13. Second screw; 14. Adjustment frame; 15. Electric guide rail; 16. Card plate; 17. Support plate; 18. Ball bearing; 19. Electric telescopic rod. DETAILED DESCRIPTION

[0021] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0022] Please refer to Figure 1-Figure 4 ,in, Figure 1 A schematic diagram of a front cross-sectional structure of a preferred embodiment of a manipulator with adjustable clamping range provided by the utility model; Figure 2 for Figure 1 An enlarged structural diagram of part A shown in FIG. Figure 3 for Figure 1 An enlarged schematic diagram of the structure of part B shown in FIG. Figure 4 It is a schematic diagram of the three-dimensional structure of the adjustment frame in the utility model.

[0023] The manipulator with adjustable clamping range includes: a support frame 1; two first screws 2, both of which are rotatably installed in the support frame 1; two servo motors 3, both of which are fixedly installed on the support frame 1, and the output shafts of the two servo motors 3 are respectively fixedly connected to the two first screws 2; two clamping plates 4, both of which are threadedly sleeved on the two first screws 2; two limit plates 5, both of which are installed at the bottom of the support frame 1; two limit rods 6, both of which are movably installed on the two limit plates 5 The two limit rods 6 are fixedly connected to the two clamping plates 4 respectively; two clamping detection components, the two clamping detection components are respectively arranged on the side where the two clamping plates 4 are close to each other, and the clamping detection components are used to detect the clamping force of the manipulator on the workpiece. The spacing between the two clamping plates 4 can be adjusted by driving the first screw 2 to rotate by the servo motor 3. The two clamping plates 4 can clamp objects of different sizes when they are close to each other. The limit rods 6 cooperate with the limit plates 5 to increase the stability of the clamping plates 4 when they are close to or away from each other, thereby preventing the clamping plates 4 from easily tilting and affecting the clamping stability of the device on the object.

[0024] The clamping detection component includes multiple springs 7, a fixed plate 8, a trigger rod 10 and a trigger button 11. The multiple springs 7 are fixedly installed on any one of the clamps 4, the fixed plate 8 is fixedly installed on the multiple springs 7, the trigger rod 10 is fixedly installed on the fixed plate 8, and the trigger button 11 is installed on any one of the clamps 4. The trigger rod 10 can contact the trigger button 11. The clamping force of the fixed plate 8 when clamping an object can be monitored by the trigger rod 10 contacting the trigger button 11, so that the distance between the two clamps 4 can be adjusted according to the size of the object to prevent the distance between the two clamps 4 from being too large, making it difficult to stabilize the object, or the distance between the two clamps 4 from being too small, causing damage to the object. Stabilizing the fixed plate 8 by the spring 7 can increase the flexibility of the fixed plate 8.

[0025] A slider 12 is fixedly installed on the top of the support frame 1, and an adjustment frame 14 is movably sleeved outside the slider 12. A second screw 13 is rotatably installed on the adjustment frame 14. The slider 12 is threadedly sleeved on the second screw 13. A reciprocating motor is fixedly installed on the adjustment frame 14, and the output shaft of the reciprocating motor is fixedly connected to the second screw 13. The position of the slider 12 on the adjustment frame 14 can be adjusted by driving the second screw 13 to rotate by the reciprocating motor, thereby adjusting the position of the support frame 1, and further adjusting the position of the object clamped by the fixed plate 8.

[0026] A plurality of electric telescopic rods 19 are fixedly mounted on the adjustment frame 14, and the same adjustment block is fixedly mounted on the output rods of the plurality of electric telescopic rods 19, and the adjustment block is fixedly connected to the moving part of the electric guide rail 15 mounted on the lathe. The height of the two fixed plates 8 can be adjusted by adjusting the extension length of the output rod of the electric telescopic rod 19, so that the fixed plates 8 can clamp and lift objects for transfer, preventing the objects from remaining in contact with the lathe and being inconvenient for transfer. The lateral position of the object can be adjusted by the electric guide rail 15, which effectively increases the transfer range of the device.

[0027] Two support plates 17 are fixedly installed at the bottom of the adjustment frame 14, and the two support plates 17 are respectively arranged on both sides of the support frame 1. A clamping plate 16 is fixedly installed on both sides of the support frame 1. The two clamping plates 16 can contact with the two support plates 17 respectively. The support plates 17 cooperate with the clamping plates 16 to increase the stability of the support frame 1 during movement, and effectively prevent the support frame 1 from falling off.

[0028] The bottom of the two card plates 16 are inlaid with multiple balls 18, and the multiple balls 18 can contact the two support plates 17 respectively. The two limit rods 6 are fixedly installed with limit blocks on the sides away from each other. The balls 18 can ensure the stability of the movement of the support plate 17 and the card plate 16 while increasing the smoothness of the movement of the support frame 1. The limit blocks can prevent the limit rod 6 from easily detaching from the limit plate 5.

[0029] The two fixing plates 8 are fixedly installed with anti-skid pads 9 on the sides close to each other, and the two first screw rods 2 are provided with two sections of threads in opposite directions. The anti-skid pads 9 can increase the friction between the fixing plates 8 and the objects, effectively preventing the objects from falling easily. When the first screw rods 2 rotate, the two sections of threads in opposite directions can make the two clamping plates 4 move away from and closer to each other.

[0030] It is worth noting that the circuits, electronic components and modules involved in the present utility model are all prior art and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present utility model does not involve improvements to software and methods.

[0031] The working principle of the manipulator with adjustable clamping range provided by the utility model is as follows:

[0032] This solution also has an electric control cabinet, which is installed on the equipment. When in use, each electrical device can be started and operated through the electric control cabinet. The power connection method of each electrical device is an existing mature technology, which is a well-known technology for people in this field and will not be described in detail here.

[0033] When in use, the position of the adjustment frame 14 is adjusted by the electric guide rail 15, and then the reciprocating motor is turned on. The reciprocating motor drives the second screw 13 to rotate so that the support frame 1 is located directly above the object to be clamped, and the electric telescopic rod 19 is turned on so that the two fixed plates 8 are located on both sides of the object. The servo motor 3 is turned on, and the servo motor 3 drives the first screw 2 to rotate to adjust the spacing between the two clamping plates 4. At this time, the fixed plates 8 approach each other to clamp and fix the object. As the two clamping plates 4 approach each other, the spring 7 is compressed. When the trigger rod 10 contacts the trigger button 11, it indicates that the clamping force meets the standard, and the servo motor 3 is turned off. At this time, the output rod of the electric telescopic rod 19 is retracted to lift the object, thereby realizing the transfer of the object.

[0034] Compared with the related art, the manipulator with adjustable clamping range provided by the utility model has the following beneficial effects:

[0035] The utility model provides a manipulator with an adjustable clamping range, wherein the spacing between the two clamping plates 4 can be adjusted by driving the first screw rod 2 to rotate by a servo motor 3, and the two clamping plates 4 can be brought close to each other to clamp objects of different sizes, and the limiting rod 6 can cooperate with the limiting plate 5 to increase the stability of the clamping plates 4 when they are close to or far away from each other, and prevent the clamping plates 4 from being easily skewed and thus affecting the clamping stability of the device for the object, and the clamping force of the fixed plate 8 when clamping the object can be monitored by the trigger rod 10 contacting the trigger button 11, so that the spacing between the two clamping plates 4 can be adjusted according to the size of the object, and prevent the spacing between the two clamping plates 4 from being too large, resulting in difficulty in stabilizing the object, or the spacing between the two clamping plates 4 from being too small, resulting in damage to the object, and the flexibility of the fixed plate 8 can be increased by stabilizing the fixed plate 8 by a spring 7, and the position of the slider 12 on the adjusting frame 14 can be adjusted by driving the second screw rod 13 to rotate by a reciprocating motor, so that the position of the support frame 1 can be adjusted, and then the position of the support frame 1 can be adjusted. The position of the object clamped by the fixed plate 8 can be adjusted by adjusting the height of the two fixed plates 8 by adjusting the output rod extension length of the electric telescopic rod 19, so that it is convenient for the fixed plate 8 to clamp and lift the object for transfer, preventing the object from remaining in contact with the lathe and being inconvenient for transfer. The lateral position of the object can be adjusted by the electric guide rail 15, which effectively increases the transferable range of the device. The support plate 17 and the card plate 16 can cooperate to increase the stability of the support frame 1 during movement, effectively preventing the support frame 1 from falling off. The ball 18 can increase the smoothness of the movement of the support frame 1 while ensuring the stability of the movement of the support plate 17 and the card plate 16. The limit block can prevent the limit rod 6 from easily separating from the limit plate 5. The anti-slip pad 9 can increase the friction between the fixed plate 8 and the object, effectively preventing the object from falling off easily. When the first screw 2 rotates, the two clamping plates 4 can be moved away from and close to each other through two sections of threads in opposite directions.

[0036] It should be noted that the equipment structure and drawings of the utility model mainly describe the principle of the utility model. In terms of the technology of the design principle, the settings of the power mechanism, power supply system and control system of the device are not fully described. However, on the premise that technical personnel in this field understand the principle of the above-mentioned utility model, they can clearly know the details of its power mechanism, power supply system and control system.

[0037] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A manipulator with adjustable clamping range, characterized in that: include: Support frame; Two first screw rods, both of which are rotatably mounted in the support frame; Two servo motors, both of which are fixedly mounted on the support frame, and the output shafts of the two servo motors are fixedly connected to the two first screw rods respectively; Two clamping plates, both of which are threadedly sleeved on the two first screw rods; Two limit plates, both of which are installed at the bottom of the support frame; Two limit rods, the two limit rods are movably mounted on the two limit plates respectively, and the two limit rods are fixedly connected to the two clamping plates respectively; Two clamping detection components are respectively arranged on one side of the two clamping plates close to each other, and the clamping detection components are used to detect the clamping force of the manipulator on the workpiece.

2. The manipulator with adjustable clamping range according to claim 1, characterized in that: The clamping detection assembly includes multiple springs, a fixed plate, a trigger rod and a trigger button. The multiple springs are fixedly mounted on any one of the clamping plates, the fixed plate is fixedly mounted on the multiple springs, the trigger rod is fixedly mounted on the fixed plate, the trigger button is mounted on any one of the clamping plates, and the trigger rod can contact the trigger button.

3. The manipulator with adjustable clamping range according to claim 1, characterized in that: A slider is fixedly installed on the top of the support frame, an adjustment frame is movably sleeved outside the slider, a second screw is rotatably installed on the adjustment frame, the slider is threadedly sleeved on the second screw, a reciprocating motor is fixedly installed on the adjustment frame, and the output shaft of the reciprocating motor is fixedly connected to the second screw.

4. The manipulator with adjustable clamping range according to claim 3, characterized in that: A plurality of electric telescopic rods are fixedly mounted on the adjustment frame, and the same adjustment block is fixedly mounted on the output rods of the plurality of electric telescopic rods. The adjustment block is fixedly connected to a moving part of an electric guide rail mounted on a lathe.

5. The manipulator with adjustable clamping range according to claim 3, characterized in that: Two support plates are fixedly installed at the bottom of the adjustment frame. The two support plates are respectively arranged on both sides of the support frame. A clamping plate is fixedly installed on both sides of the support frame. The two clamping plates can contact the two support plates respectively.

6. The manipulator with adjustable clamping range according to claim 5, characterized in that: The bottoms of the two clamping plates are inlaid with a plurality of balls, and the plurality of balls can contact the two support plates respectively. The sides of the two limit rods that are away from each other are fixedly installed with limit blocks.

7. The manipulator with adjustable clamping range according to claim 2, characterized in that: An anti-skid pad is fixedly installed on one side of the two fixing plates close to each other, and the two first screw rods are each provided with two sections of threads in opposite directions.

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