Manipulator device with adjustable manipulator spacing

Abstract

The utility model relates to the field of manipulators, and discloses a manipulator device with adjustable manipulator spacing, which comprises a sliding seat and two rotating discs, four sliding blocks are connected in the sliding seat in a sliding manner, robotic arms are connected in the sliding blocks in a sliding manner, clamping grooves are formed in the robotic arms, and the two rotating discs are connected with the clamping grooves in a sliding manner. Connecting columns are fixedly connected to the bottom ends of the sliding blocks, driving assemblies are rotatably connected to the bottom ends of the two rotating discs, pulling pieces are rotatably connected to the left side and the right side of the top end of each rotating disc, a sliding groove is formed in the sliding seat, and placement grooves are formed in the four sliding blocks; and clamping columns are slidably connected to the interiors of the placement grooves. According to the utility model, the difficulty and cost of maintenance are reduced by quickly disassembling the robotic arm, and maintenance personnel can maintain the robotic arm more timely, so that damaged parts can be replaced or repaired more quickly, the maintenance time is shortened, and the downtime is reduced.

Description

Technical Field

[0001] The utility model relates to the field of manipulators, in particular to a manipulator device with adjustable manipulator spacing. Background Art

[0002] A manipulator (also called a robotic arm or manipulator) is an automated device that can simulate the movements of a human arm. It usually consists of a series of rigid links connected by joints, each of which is equipped with a motor or hydraulic system to achieve motion control. Manipulators are often used for tasks such as material handling, assembly, assembly and processing on automated production lines, and can efficiently perform repetitive work and precision operations. Manipulators are able to perform tasks according to pre-set programs or through real-time feedback from sensors, and can function in a variety of environments and industrial applications.

[0003] Some of the existing manipulator devices with adjustable manipulator spacing are directly fixedly connected to other connecting structures, and their disassembly is cumbersome and troublesome, which increases the difficulty and cost of maintenance. It also makes it impossible for maintenance personnel to maintain the robot arm in a timely manner, and it is impossible to replace or repair damaged parts more quickly, thereby increasing the maintenance and downtime time. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcomings existing in the prior art, and to propose a manipulator device with adjustable manipulator spacing, aiming to improve the problem that the disassembly of the manipulator in the prior art is cumbersome and troublesome, which increases the difficulty and cost of maintenance, makes it impossible for maintenance personnel to maintain the robot arm in time, and cannot replace or repair damaged parts more quickly, thereby increasing the maintenance and downtime time.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] The top end of the pulling rod is rotatably connected to the lifting of the lifting link, and the bottom end of the pulling rod is rotatably connected to the lifting link, and the bottom end of the pulling rod is rotatably connected to the lifting link.

[0007] Furthermore, the driving assembly includes two transmission pulleys, a transmission belt and a motor, the top ends of the two transmission pulleys are respectively fixedly connected to the bottom ends of the two rotating disks, the transmission belt is sleeved on the outside of the transmission pulleys, and the top end of the motor is fixedly connected to the bottom end of the left transmission pulley.

[0008] Furthermore, the buffer assembly includes a bottom plate, a base, two fixed seats, a downward pressure rod, an extrusion seat, two extrusion sheets and a buffer spring. The top end of the bottom plate is fixedly connected to the bottom end of the sliding seat, the inside of the base is slidably connected to the outside of the bottom plate, the top ends of the two fixed seats are respectively fixedly connected to the left and right sides of the bottom end of the bottom plate, the rear ends of the two downward pressure rods are respectively rotatably connected to the front sides of the two fixed seats, the bottom end of the extrusion seat is fixedly connected to the inner bottom end of the base, the outer sides of the two extrusion sheets are both slidably connected to the inside of the extrusion seat, and the buffer spring is arranged inside the extrusion seat.

[0009] Furthermore, the rear ends of the two pressing rods are rotatably connected to the front sides of the two extrusion sheets, and the left and right ends of the buffer spring are fixedly connected to the adjacent ends of the two extrusion sheets.

[0010] Furthermore, outer sides of the four clamping columns are respectively slidably connected to the insides of the four clamping slots, and outer sides of the four pushing sheets are respectively slidably connected to the insides of the four placement slots.

[0011] Furthermore, the four push springs are respectively sleeved on the outer sides of the four clamping columns, and the top ends of the four push springs are fixedly connected to the bottom ends of the four push sheets.

[0012] Furthermore, outer sides of the four connecting columns are slidably connected to outer sides of the four sliding grooves, and top ends of the four pulling pieces are in contact with the inner wall of the top end of the sliding seat.

[0013] Furthermore, a limiting rod is fixedly connected to the interior of the sliding seat, and an outer side of the limiting rod is slidably connected to the interior of the four sliding blocks.

[0014] The utility model has the following beneficial effects:

[0015] 1. In the utility model, by the mutual cooperation of structures such as the card slot, the placement slot, the card column and the push piece, the robot arm can be quickly disassembled, which reduces the difficulty and cost of maintenance, and enables maintenance personnel to maintain the robot arm more timely, thereby replacing or repairing damaged parts more quickly, thereby shortening the maintenance time and reducing the downtime.

[0016] 2. In the utility model, through the mutual cooperation of structures such as the bottom plate, the base, the fixed seat and the lower pressure rod, the machine arm is buffered by using a buffer device, which can absorb the impact force from the outside and reduce the direct effect of the external impact on the machine arm, thereby improving the processing accuracy. At the same time, it will also improve the stability of the power supply under different working conditions and ensure its normal operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A three-dimensional diagram of a manipulator device with adjustable manipulator spacing proposed by the utility model;

[0018] Figure 2 This is a schematic diagram of the rotating disk structure of a manipulator device with adjustable manipulator spacing proposed by the utility model;

[0019] Figure 3 This is a schematic diagram of the rotating wheel structure of a manipulator device with adjustable manipulator spacing proposed by the utility model;

[0020] Figure 4 The utility model discloses a schematic diagram of a lower pressure rod structure of a manipulator device with adjustable manipulator spacing.

[0021] Legend:

[0022] 1. Sliding seat; 2. Sliding block; 3. Robot arm; 4. Connecting column; 5. Driving pulley; 6. Driving belt; 7. Rotating disk; 8. Pulling plate; 9. Sliding slot; 10. Limiting rod; 11. Motor; 12. Slot; 13. Placement slot; 14. Clamping column; 15. Pushing plate; 16. Pushing spring; 17. Rotating wheel; 18. Pulling rod one; 19. Pulling rod two; 20. Bottom plate; 21. Base; 22. Fixed seat; 23. Pressing rod; 24. Extrusion seat; 25. Extrusion plate; 26. Buffer spring. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] Reference Figure 1 - Figure 3The utility model provides an embodiment: a manipulator device with adjustable manipulator spacing, including a sliding seat 1 and two rotating disks 7. The rotating disk 7 is designed to facilitate the sliding block 2 to slide inside the sliding seat 1 by pulling the pulling piece 8 and the connecting column 4 while rotating under the drive of the driving component. The sliding seat 1 is internally slidably connected with four sliding blocks 2, and the sliding block 2 is internally slidably connected with a machine arm 3. A card slot 12 is opened inside the machine arm 3. The card slot 12 is designed to facilitate the cooperation with the card column 14 to fix the machine arm 3.

[0025] The bottom end of the sliding block 2 is fixedly connected with a connecting column 4, and the connecting column 4 is designed to facilitate the connection between the sliding block 2 and the pulling piece 8. The bottom ends of the two rotating disks 7 are rotatably connected with driving components. The left and right sides of the top of the rotating disk 7 are rotatably connected with pulling pieces 8. The pulling piece 8 is designed to facilitate the rotating disk 7 to drive it, thereby driving the sliding block 2. A sliding groove 9 is provided inside the sliding seat 1, and the sliding groove 9 is designed to facilitate the sliding of the connecting column 4. The four sliding blocks 2 are provided with a placement groove 13 inside, and the placement groove 13 is designed to facilitate the placement of a card column 14, a push sheet 15 and a push spring 16. The placement groove 13 is slidably connected with a card column 14 inside, and the card column 14 is designed to engage with the card slot 12 to fix the robot arm 3.

[0026] A push piece 15 is fixedly connected to the outer side of the column 14. The push piece 15 is designed to facilitate the push spring 16 to push the column 14, so that the column 14 is engaged with the slot 12. A push spring 16 is arranged inside the placement slot 13. The push spring 16 is designed to push the push piece 15, thereby pushing the column 14. The four sliding blocks 2 are rotatably connected to the inside of the rotating wheels 2. The rotating wheel 17 is designed to pull the pull rod 1 18 while rotating, thereby pulling the push spring 16. The top of the rotating wheel 17 is rotatably connected to the pull rod 1 18. The pull rod 1 18 is designed to pull the pull rod 2 19 and the column 14 under the pulling of the rotating wheel 17. The top of the pull rod 1 18 is rotatably connected to the pull rod 2 19. The bottom end of the sliding seat 1 is fixedly connected to a buffer assembly.

[0027] like Figure 1 - Figure 3As shown, the driving assembly includes two transmission pulleys 5, a transmission belt 6 and a motor 11. The top ends of the two transmission pulleys 5 are respectively fixedly connected to the bottom ends of the two rotating disks 7. The transmission pulleys 5 are designed to cooperate with the transmission belt 6. Under the drive of the motor 11, the two rotating disks 7 are driven. The transmission belt 6 is sleeved on the outside of the transmission pulley 5. The transmission belt 6 is designed to facilitate driving the two transmission pulleys 5 at the same time. The top end of the motor 11 is fixedly connected to the bottom end of the left transmission pulley 5. The outer sides of the four clamping columns 14 are respectively slidably connected to the inside of the four clamping grooves 12. The clamping columns 14 are designed to engage with the clamping grooves 12 to fix the robot arm 3.

[0028] The outer sides of the four pushing pieces 15 are slidably connected to the inside of the four placement grooves 13 respectively. The design of the pushing piece 15 is to facilitate the pushing spring 16 to push the card column 14, so that the card column 14 is engaged with the card slot 12. The four pushing springs 16 are respectively sleeved on the outer sides of the four card columns 14, and the top ends of the four pushing springs 16 are fixedly connected to the bottom ends of the four pushing pieces 15. The design of the pushing spring 16 is to push the pushing piece 15, thereby pushing the card column 14. The outer sides of the four connecting columns 4 are slidably connected to the outer sides of the four sliding grooves 9. The design of the connecting column 4 is to facilitate the connection between the sliding block 2 and the pulling piece 8. The top ends of the four pulling pieces 8 are in contact with the inner wall of the top end of the sliding seat 1. The design of the pulling piece 8 is to facilitate the rotating disk 7 to drive it, thereby driving the sliding block 2. The interior of the sliding seat 1 is fixedly connected to the limiting rod 10, and the outer side of the limiting rod 10 is slidably connected to the interior of the four sliding blocks 2. The design of the limiting rod 10 is to limit the sliding block 2.

[0029] like Figure 1 - Figure 2 and Figure 4 As shown, the buffer assembly includes a bottom plate 20, a base 21, two fixed seats 22, a push rod 23, an extrusion seat 24, two extrusion sheets 25 and a buffer spring 26. The top end of the bottom plate 20 is fixedly connected to the bottom end of the sliding seat 1. The bottom plate 20 is designed to support the sliding seat 1. The interior of the base 21 is slidably connected to the outside of the bottom plate 20. The base 21 is designed to facilitate the accommodation of other internal mechanisms. The top ends of the two fixed seats 22 are respectively fixedly connected to the left and right sides of the bottom end of the bottom plate 20. The fixed seats 22 are designed to facilitate the connection of the two push rods 23. The rear ends of the two push rods 23 are respectively rotatably connected to the front sides of the two fixed seats 22. The push rod 23 is designed to facilitate the connection between the fixed seat 22 and the extrusion sheet 25.

[0030] The bottom end of the extrusion seat 24 is fixedly connected to the inner bottom end of the base 21. The extrusion seat 24 is designed to conveniently accommodate the internal extrusion sheet 25 and buffer spring 26. The outer sides of the two extrusion sheets 25 are slidably connected to the inside of the extrusion seat 24. The extrusion sheet 25 is designed to squeeze the buffer spring 26 under the push of the lower pressure rod 23. The buffer spring 26 is arranged inside the extrusion seat 24. The buffer spring 26 is designed to buffer while being squeezed by the extrusion sheet 25. The rear ends of the two lower pressure rods 23 are respectively rotatably connected to the front sides of the two extrusion sheets 25. The lower pressure rod 23 is designed to facilitate the connection between the fixed seat 22 and the extrusion sheet 25. The left and right ends of the buffer spring 26 are respectively fixedly connected to the proximal ends of the two extrusion sheets 25. The buffer spring 26 is designed to buffer while being squeezed by the extrusion sheet 25.

[0031] Working principle: when the spacing of the sliding block 2 needs to be adjusted, the motor 11 needs to be started to drive the two transmission pulleys 5, thereby driving the two rotating disks 7. The rotating disk 7 will pull the two pulling plates 8 while rotating, and the two pulling plates 8 will pull the two sliding blocks 2 through the connecting column 4 to adjust the spacing of the machine arm 3. When the machine arm 3 needs to be disassembled, the rotating wheel 17 is turned by hand. The rotating wheel 17 will pull the pulling rod 2 19 through the pulling rod 1 18 while rotating, thereby pulling the card column 14 out of the inside of the card slot 12. At this time, the machine arm 3 can be taken out from the inside of the sliding block 2. After the machine arm 3 is maintained, the machine arm 3 is reinserted into the inside of the sliding block 2, and the rotating wheel 17 is turned again by hand so that the rotating wheel 17 pulls the card column 14 through the pulling rod 1 18 and the pulling rod 2 19 without blocking the machine arm 3. The position of the machine arm 3 is adjusted. After that, release your hand, and the clamping column 14 will re-engage with the clamping slot 12 under the push of the pushing spring 16 and the pushing sheet 15, and the machine arm 3 can be quickly disassembled, which reduces the difficulty and cost of maintenance, and enables maintenance personnel to maintain the machine arm 3 more promptly, thereby replacing or repairing damaged parts more quickly, thereby shortening the maintenance time and reducing the downtime. When shaking occurs, the base plate 20 will press down the extrusion sheet 25 through the fixed seat 22, and the extrusion sheet 25 will squeeze the buffer spring 26 while the pressing rod 23 is pressed down, thereby achieving buffering. By using the buffer device to buffer the machine arm 3, it is possible to absorb the impact force from the outside and reduce the direct effect of the external impact on the machine arm 3, thereby improving the processing accuracy. At the same time, it will also improve the stability of the power supply under different working conditions to ensure its normal operation.

[0032] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A manipulator device with adjustable manipulator spacing, comprising a sliding seat (1) and two rotating disks (7), characterized in that: The sliding seat (1) is internally slidably connected to four sliding blocks (2), the sliding blocks (2) are internally slidably connected to a machine arm (3), a card slot (12) is provided inside the machine arm (3), the bottom end of the sliding block (2) is fixedly connected to a connecting column (4), the bottom ends of the two rotating disks (7) are both rotatably connected to a driving assembly, the top left and right sides of the rotating disk (7) are both rotatably connected to a pulling piece (8), the sliding seat (1) is internally provided with a sliding slot (9), the four sliding blocks (2) are internally provided with A placement groove (13) is provided, the interior of the placement groove (13) is slidably connected with a clamping column (14), the outer side of the clamping column (14) is fixedly connected with a pushing sheet (15), the interior of the placement groove (13) is provided with a pushing spring (16), the interiors of the four sliding blocks (2) are all rotatably connected with a rotating wheel (17), the top end of the rotating wheel (17) is rotatably connected with a pulling rod 1 (18), the top end of the pulling rod 1 (18) is rotatably connected with a pulling rod 2 (19), and the bottom end of the sliding seat (1) is fixedly connected with a buffer assembly.

2. A manipulator device with adjustable manipulator distance according to claim 1, characterized in that: The driving assembly comprises two transmission pulleys (5), a transmission belt (6) and a motor (11), the top ends of the two transmission pulleys (5) are respectively fixedly connected to the bottom ends of the two rotating disks (7), the transmission belt (6) is sleeved on the outside of the transmission pulleys (5), and the top end of the motor (11) is fixedly connected to the bottom end of the left transmission pulley (5).

3. The manipulator device with adjustable manipulator distance according to claim 1, characterized in that: The buffer assembly comprises a bottom plate (20), a base (21), two fixed seats (22), a lower pressure rod (23), an extrusion seat (24), two extrusion sheets (25) and a buffer spring (26); the top end of the bottom plate (20) is fixedly connected to the bottom end of the sliding seat (1); the interior of the base (21) is slidably connected to the outside of the bottom plate (20); the top ends of the two fixed seats (22) are respectively fixedly connected to the left and right sides of the bottom end of the bottom plate (20); the rear ends of the two lower pressure rods (23) are respectively rotatably connected to the front sides of the two fixed seats (22); the bottom end of the extrusion seat (24) is fixedly connected to the inner bottom end of the base (21); the outer sides of the two extrusion sheets (25) are both slidably connected to the inside of the extrusion seat (24); and the buffer spring (26) is arranged inside the extrusion seat (24).

4. A manipulator device with adjustable manipulator distance according to claim 3, characterized in that: The rear ends of the two pressing rods (23) are rotatably connected to the front sides of the two extrusion sheets (25), and the left and right ends of the buffer spring (26) are fixedly connected to the adjacent ends of the two extrusion sheets (25).

5. The manipulator device with adjustable manipulator distance according to claim 1, characterized in that: The outer sides of the four clamping columns (14) are respectively slidably connected to the inside of the four clamping slots (12), and the outer sides of the four pushing sheets (15) are respectively slidably connected to the inside of the four placement slots (13).

6. The manipulator device with adjustable manipulator distance according to claim 1, characterized in that: The four push springs (16) are respectively sleeved on the outsides of the four clamping columns (14), and the top ends of the four push springs (16) are fixedly connected to the bottom ends of the four push sheets (15).

7. The manipulator device with adjustable manipulator distance according to claim 1, characterized in that: The outer sides of the four connecting columns (4) are slidably connected to the outer sides of the four sliding grooves (9), and the top ends of the four pulling pieces (8) are in contact with the inner wall of the top end of the sliding seat (1).

8. The manipulator device with adjustable manipulator distance according to claim 2, characterized in that: The interior of the sliding seat (1) is fixedly connected to a limiting rod (10), and the outer side of the limiting rod (10) is slidably connected to the interior of the four sliding blocks (2).

Images