Manipulator with clamp convenient to replace

Abstract

The mechanical arm comprises a mechanical arm body, one end of the mechanical arm body is fixedly connected with a fixing frame, the lower end of the fixing frame is fixedly connected with a fixing box, a moving groove is formed in the lower end of the fixing box, and two threaded sliding plates are connected into the moving groove in a sliding mode. The threaded sliding plates are connected with the fixing box through moving mechanisms, dismounting clamping grooves are formed in the lower ends of the two threaded sliding plates, dismounting clamping blocks are slidably connected into the dismounting clamping grooves, clamping plates are fixedly connected to the lower ends of the dismounting clamping blocks, inserting grooves are formed in one side faces of the dismounting clamping blocks, and the dismounting clamping blocks are connected with the dismounting clamping grooves through positioning mechanisms. According to the manipulator with the clamp convenient to replace, different types of clamping plates can be conveniently replaced for use, so that the manipulator body can clamp different types of workpieces, and the practicability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator which is convenient for replacing clamps. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. It can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both human and robotic machines.

[0003] The Chinese patent application number CN202321420478.0 discloses a highly stable manipulator for multi-station drilling and milling processing, including a base, an adjustment mechanism is provided on the base, a manipulator body is provided above the adjustment mechanism, a fixing frame is fixed to the right end of the manipulator body, and a clamping mechanism is provided at the bottom end of the fixing frame.

[0004] However, the above-mentioned prior art still has some shortcomings in actual use. The clamp and the threaded block in the above-mentioned prior art are fixedly connected, which is not convenient for the staff to disassemble it. This results in the entire manipulator being unable to replace different types of clamps for use according to needs, and has certain limitations. For this reason, we propose a manipulator that is easy to replace clamps. Utility Model Content

[0005] The utility model provides a manipulator which is convenient for replacing a clamp, and solves the technical problems raised by the background technology in the prior art.

[0006] The solution of the utility model to solve the above-mentioned technical problems is as follows: it includes a manipulator body, one end of the manipulator body is fixedly connected to a fixed frame, the lower end of the fixed frame is fixedly connected to a fixed box, a movable groove is provided at the lower end of the fixed box, two threaded slides are slidably connected inside the movable groove, the threaded slide is connected to the fixed box through a moving mechanism, a disassembly slot is provided at the lower end of the two threaded slides, a disassembly block is slidably connected inside the disassembly slot, a splint is fixedly connected to the lower end of the disassembly block, a slot is provided on one side of the disassembly block, the disassembly block is connected to the disassembly slot through a positioning mechanism, a limiting slide groove is provided on the bottom end surface of the movable groove, and two limiting slide blocks fixedly connected to the corresponding threaded slides are slidably connected inside the limiting slide groove.

[0007] On the basis of the above technical solution, the present invention can also be improved as follows.

[0008] Furthermore, a base is fixedly connected to the lower end of the robot body, and the moving mechanism includes a bidirectional screw rod arranged inside a moving groove.

[0009] Furthermore, the bidirectional screw rod passes through the two threaded slides and is threadedly connected to the penetration portion, and the bidirectional screw rod passes through the fixed box and is rotationally connected to the penetration portion through a bearing.

[0010] Furthermore, a servo motor is provided at one end of the bidirectional screw rod and is fixedly connected to the surface of the fixed box through a fixed plate, and an output end of the servo motor is fixedly connected to one end of the bidirectional screw rod through a rotating shaft.

[0011] Furthermore, the positioning mechanism comprises a hollow plate penetrating the threaded slide plate and fixedly connected to the penetrating portion, and a movable plate is slidably connected inside the hollow plate.

[0012] Furthermore, one side of the movable plate is fixedly connected with an inserting plate which penetrates the hollow plate and is slidably connected to the penetrating portion, and the inserting plate is slidably connected to the inside of the slot.

[0013] Furthermore, a pull rod is fixedly connected to the other side of the movable plate and penetrates the hollow plate and is slidably connected to the penetrating portion. One end of the pull rod is fixedly connected to a pull frame. The surface of the pull rod is sleeved with a spring whose two ends are respectively fixedly connected to the other side of the movable plate and one end face inside the hollow plate.

[0014] The beneficial effects of the utility model are as follows: the utility model provides a manipulator that is convenient for replacing a fixture, and has the following advantages:

[0015] Through the cooperation between the set threaded slide, disassembly block, disassembly slot and slot and the positioning mechanism, it is easy to disassemble and replace the splint, so that different types of clamps can be replaced for use, and then the robot body can clamp different types of workpieces, thereby improving practicality.

[0016] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiment of the utility model with the accompanying drawings. The specific implementation method of the utility model is given in detail by the following embodiments and their drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0018] Figure 1 A schematic diagram of the structure of a manipulator for facilitating the replacement of a fixture provided in one embodiment of the utility model;

[0019] Figure 2 for Figure 1 A schematic cross-sectional view of a local structure in a manipulator that facilitates the replacement of a fixture is provided;

[0020] Figure 3 for Figure 2 An enlarged schematic diagram of a local structure in a manipulator that facilitates the replacement of a fixture is provided.

[0021] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0022] 1. Robot body; 2. Base; 3. Fixed frame; 4. Fixed box; 5. Servo motor; 6. Threaded slide; 7. Clamp; 8. Hollow plate; 9. Disassembly block; 10. Limit slider; 11. Limit slide groove; 12. Moving groove; 13. Bidirectional screw; 14. Disassembly slot; 15. Slot; 16. Insert plate; 17. Moving plate; 18. Pull rod; 19. Spring. DETAILED DESCRIPTION

[0023] The following is combined with Figure 1-3 The principles and features of the present invention are described, and the examples given are only used to explain the present invention, and are not used to limit the scope of the present invention. The present invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0024] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0026] like Figure 1-3As shown, the utility model provides a manipulator for facilitating replacement of fixtures, including a manipulator body 1, one end of the manipulator body 1 is fixedly connected to a fixing frame 3, the lower end of the fixing frame 3 is fixedly connected to a fixing box 4, a movable groove 12 is provided at the lower end of the fixing box 4, and two threaded slides 6 are slidably connected inside the movable groove 12, and the threaded slide 6 is connected to the fixing box 4 through a moving mechanism, and a disassembly slot 14 is provided at the lower end of the two threaded slides 6, and a disassembly block 9 is slidably connected inside the disassembly slot 14, and a splint 7 is fixedly connected to the lower end of the disassembly block 9, a slot 15 is provided on one side of the disassembly block 9, and the disassembly block 9 is connected to the disassembly slot 14 through a positioning mechanism, and a limiting slide groove 11 is provided on the bottom end surface of the movable groove 12, and two limiting slide blocks 10 fixedly connected to the corresponding threaded slides 6 are slidably connected inside the limiting slide groove 11.

[0027] Preferably, the lower end of the manipulator body 1 is fixedly connected to a base 2, and the moving mechanism includes a bidirectional screw rod 13 arranged inside the moving groove 12. The setting of the bidirectional screw rod 13 can enable the two disassembly blocks 9 to move towards or in opposite directions.

[0028] Preferably, the bidirectional screw rod 13 passes through the two threaded slides 6 and is threadedly connected to the passing portion, and the bidirectional screw rod 13 passes through the fixed box 4 and is rotatably connected to the passing portion via a bearing.

[0029] Preferably, a servo motor 5 is provided at one end of the bidirectional screw rod 13 and is fixedly connected to the surface of the fixed box 4 through a fixed plate. The output end of the servo motor 5 is fixedly connected to one end of the bidirectional screw rod 13 through a rotating shaft. The bidirectional screw rod 13 can be rotated forward and reversed by the provided servo motor 5.

[0030] Preferably, the positioning mechanism includes a hollow plate 8 that penetrates the threaded slide plate 6 and is fixedly connected to the penetration portion, and a movable plate 17 is slidably connected inside the hollow plate 8. The movable plate 17 can drive the plug plate 16 to move.

[0031] Preferably, one side of the movable plate 17 is fixedly connected with an inserting plate 16 that penetrates the hollow plate 8 and is slidably connected to the penetrating portion, and the inserting plate 16 is slidably connected to the inside of the slot 15 .

[0032] Preferably, the other side of the movable plate 17 is fixedly connected to a pull rod 18 that penetrates the hollow plate 8 and is slidably connected to the penetrating portion, one end of the pull rod 18 is fixedly connected to a pull frame, and the surface of the pull rod 18 is provided with a spring 19 whose two ends are respectively fixedly connected to the other side of the movable plate 17 and one end face inside the hollow plate 8. The setting of the spring 19 can enable the movable plate 17 to drive the plug plate 16 to slide for reset.

[0033] The specific working principle and use method of the utility model are as follows:

[0034] The utility model provides a manipulator that is convenient for replacing clamps. When in use, the bidirectional screw rod 13 can be rotated by the servo motor 5, so that the two threaded slides 6 can move toward each other, thereby making the two clamping plates 7 move toward each other, so as to clamp the workpiece. When different types of clamps need to be replaced later, the pull frame is pulled to make the pull rod 18 drive the movable plate 17 to slide inside the hollow plate 8, so that the movable plate 17 drives the plugging plate 16 to move, so that the plugging plate 16 is separated from the slot 15, thereby releasing the limiting relationship between the disassembly slot 14 and the disassembly block 9, and then the clamping plate 7 can be disassembled and replaced. During installation, the disassembly block 9 is inserted into the disassembly slot 14, and then the movable plate 17 drives the plugging plate 16 to reset and slide under the action of the spring 19, so that the plugging plate 16 slides into the slot 15, thereby completing the installation of the clamp, and then the manipulator body 1 can replace different types of clamps to clamp different types of workpieces.

[0035] The above description is only a preferred embodiment of the utility model and does not impose any form of limitation on the utility model. Any ordinary technician in the industry can smoothly implement the utility model as shown in the drawings of the specification and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the utility model using the technical content disclosed above are all equivalent embodiments of the utility model. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the utility model are still within the protection scope of the technical solution of the utility model.

Claims

1. A manipulator for facilitating the replacement of a fixture, comprising a manipulator body (1), characterized in that: One end of the manipulator body (1) is fixedly connected to a fixed frame (3), the lower end of the fixed frame (3) is fixedly connected to a fixed box (4), the lower end of the fixed box (4) is provided with a moving groove (12), the movable groove (12) is internally slidably connected with two threaded slides (6), the threaded slides (6) are connected to the fixed box (4) through a moving mechanism, the lower ends of the two threaded slides (6) are provided with a disassembly slot (14), the disassembly slot (14) is internally slidably connected with a disassembly block (9), the lower end of the disassembly block (9) is fixedly connected with a clamping plate (7), a slot (15) is provided on one side of the disassembly block (9), the disassembly block (9) is connected to the disassembly slot (14) through a positioning mechanism, the bottom end surface of the movable groove (12) is provided with a limiting slide groove (11), the limiting slide groove (11) is internally slidably connected with two limiting slides (10) fixedly connected to the corresponding threaded slides (6) respectively.

2. A manipulator for facilitating the replacement of a fixture according to claim 1, characterized in that: The lower end of the manipulator body (1) is fixedly connected to a base (2), and the moving mechanism comprises a bidirectional screw rod (13) arranged inside a moving groove (12).

3. A manipulator for facilitating the replacement of a fixture according to claim 2, characterized in that: The bidirectional screw rod (13) passes through the two threaded slide plates (6) and is threadedly connected to the penetration portion; the bidirectional screw rod (13) passes through the fixed box (4) and is rotationally connected to the penetration portion via a bearing.

4. A manipulator for facilitating the replacement of a fixture according to claim 3, characterized in that: A servo motor (5) is provided at one end of the bidirectional screw rod (13) and is fixedly connected to the surface of the fixed box (4) via a fixed plate. The output end of the servo motor (5) is fixedly connected to one end of the bidirectional screw rod (13) via a rotating shaft.

5. A manipulator for facilitating the replacement of a fixture according to claim 1, characterized in that: The positioning mechanism comprises a hollow plate (8) which penetrates the threaded slide plate (6) and is fixedly connected to the penetration portion, and a movable plate (17) is slidably connected inside the hollow plate (8).

6. A manipulator for facilitating the replacement of a fixture according to claim 5, characterized in that: One side of the movable plate (17) is fixedly connected with an inserting plate (16) that penetrates the hollow plate (8) and is slidably connected to the penetrating portion, and the inserting plate (16) is slidably connected to the inside of the slot (15).

7. A manipulator for facilitating the replacement of a fixture according to claim 6, characterized in that: The other side of the movable plate (17) is fixedly connected to a pull rod (18) that penetrates the hollow plate (8) and is slidably connected to the penetrating portion, one end of the pull rod (18) is fixedly connected to a pull frame, and the surface of the pull rod (18) is sleeved with a spring (19) whose two ends are respectively fixedly connected to the other side of the movable plate (17) and one end face inside the hollow plate (8).

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