Servo manipulator with anti-falling function

Abstract

The utility model relates to the technical field of servo manipulators, and discloses a servo manipulator with an anti-falling function, a sliding chute IV is formed in a mechanical arm, a fixed shaft is fixedly mounted in the mechanical arm, and a roller is rotationally connected to the surface of the fixed shaft; a gear is fixedly installed on the side, close to the mechanical arm, of the rotating shaft, a fifth sliding groove is formed in the mechanical arm, a fifth sliding block with the lifting freedom degree is slidably connected into the fifth sliding groove, a connecting rod is fixedly installed on the surface of the fifth sliding block, and a rack is fixedly installed on the side, close to the mechanical arm, of the connecting rod. And a mechanical claw is rotationally connected into the fixed block. According to the technical scheme, the anti-falling mechanical gripper has the beneficial effects that when the toothed plate slides upwards, the toothed plate is meshed with the gear, so that the gear rotates, meanwhile, the other end of the toothed plate is meshed with the rack, the connecting rod is driven to press downwards, the mechanical gripper is controlled by the connecting rod to clamp more tightly, and the anti-falling effect is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of servo manipulators, and more specifically, to a servo manipulator with an anti-falling function. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms and is used to grab, carry objects or operate tools according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot. It can replace the heavy labor of people to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] However, most existing manipulators fail to grip objects, causing them to fall off and possibly causing damage to the objects. Utility Model Content

[0004] In order to overcome the deficiencies of the prior art, the utility model provides a servo manipulator with an anti-falling function, which has the advantage of being able to firmly grasp objects and prevent them from falling off.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a servo manipulator with an anti-falling function, comprising: a mechanical arm, a slide groove four is provided inside the mechanical arm, a slider four with lifting freedom is slidably connected inside the slide groove four, a tooth plate is fixedly installed on the surface of the slider four, a fixed shaft is fixedly installed inside the mechanical arm, and a roller is rotatably connected on the surface of the fixed shaft; a rotating shaft, a gear is fixedly installed on the side of the rotating shaft close to the mechanical arm, a slide groove five is provided inside the mechanical arm, a slider five with lifting freedom is slidably connected inside the slide groove five, a connecting rod is fixedly installed on the surface of the slider five, a rack is fixedly installed on the side of the connecting rod close to the mechanical arm, a fixed block is fixedly installed on the bottom of the mechanical arm, and a mechanical claw is rotatably connected inside the fixed block.

[0006] The beneficial effect of adopting the above technical solution is: there are two slide grooves four, and the main function of the two slide grooves four is to facilitate the tooth plate to slide up and down, so that when the roller rotates, friction occurs with the slide groove four, causing the slide groove four to slide upward, achieving the effect of having the freedom of lifting and lowering.

[0007] As a preferred technical solution of the utility model, a slide rail is provided on the left side of the mechanical arm, a slide groove three is provided inside the slide rail, and a slider three is slidably connected inside the slide groove three.

[0008] The beneficial effect of adopting the above technical solution is that the slide rail is in the shape of a long strip, and its main function is to facilitate the sliding block 3 to slide inside while providing a certain support to the robot arm.

[0009] As a preferred technical solution of the utility model, a transport track is fixedly installed at the rear of the slide rail, a slide groove is opened inside the transport track, a slider with lateral movement freedom is slidably connected inside the slide groove, a controller is fixedly installed above the slider, and a base is fixedly installed at the bottom of the transport track.

[0010] The beneficial effect of adopting the above technical solution is that the base is located at the bottom of the controller, and its two sides fix the transport track. The base itself is heavy. Its main function is to provide a certain support effect for the transport track, while also ensuring the overall stability of the device, so that it will not tip over even when clamping heavier objects.

[0011] As a preferred technical solution of the utility model, a support rod is fixedly installed above the slide rail, a fixing rod is fixedly installed above the support rod, a slide groove 2 is opened inside the fixing rod, and a slider 2 is slidably connected inside the slide groove 2.

[0012] The beneficial effect of adopting the above technical solution is: there are multiple support rods, all of which are cylindrical, and their main function is to achieve the effect of supporting the second slide groove by being fixedly connected to the slide rail and the support rod respectively.

[0013] As a preferred technical solution of the utility model, there are two slide grooves 1 and two slide blocks 1, and the two slide grooves 1 and the two slide blocks 1 are both located above the base.

[0014] The beneficial effect of adopting the above technical solution is that the two sliders slide inside the two slide grooves, thereby driving the base to slide, and when clamping an object, it is convenient to transport the object.

[0015] As a preferred technical solution of the utility model, there are two sliders 2, two sliders 3 and two mechanical arms, and the two sliders 2 and the two sliders 3 are fixedly connected to the two mechanical arms respectively.

[0016] The beneficial effect of adopting the above technical solution is that the main function of the two sliders three and the two sliders two is to adjust the distance between the two mechanical arms so that the fixed block can clamp objects of different sizes.

[0017] As a preferred technical solution of the utility model, there are two rollers, which are respectively located inside the two mechanical arms, and there are two tooth plates, which are respectively in contact with the two rollers.

[0018] The beneficial effect of adopting the above technical solution is that the main function of the two rollers is to contact with the objects, so that when the objects slide down, the rollers will be driven to rotate clockwise, so that the other side of the rollers will contact with the tooth plate, thereby achieving the effect of pushing the tooth plate upward through friction.

[0019] As a preferred technical solution of the utility model, there are two gears, which are respectively meshed with the two tooth plates, there are two connecting rods and two racks, which are respectively meshed with the two gears, and there are two mechanical claws, which are respectively fixedly connected to the two connecting rods.

[0020] The beneficial effect of adopting the above technical solution is: when the tooth plate slides upward, the tooth plate engages with the gear, thereby causing the gear to rotate, and at the same time the other end engages with the rack, driving the connecting rod to press downward, so that it controls the mechanical claw to clamp tighter through the connecting rod, thereby achieving the effect of preventing it from falling off. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0022] Figure 2 For this utility model Figure 1 A schematic diagram of the structure at A;

[0023] Figure 3 It is a partial structural schematic diagram of the utility model;

[0024] Figure 4 For this utility model Figure 3 A schematic diagram of the structure at B;

[0025] Figure 5 This is a schematic diagram of the structure of the mechanical arm of the utility model;

[0026] Figure 6 For this utility model Figure 5 Enlarged schematic diagram of the structure at location C.

[0027] In the figure: 1. transport track; 2. slide trough 1; 3. slider 1; 4. controller; 5. base; 6. slide rail; 7. support rod; 8. fixed rod; 9. slide trough 2; 10. slider 2; 11. slide trough 3; 12. slider 3; 13. mechanical arm; 14. slide trough 4; 15. slider 4; 16. tooth plate; 17. fixed shaft; 18. roller; 19. rotating shaft; 20. gear; 21. slide trough 5; 22. slider 5; 23. connecting rod; 24. rack; 25. fixed block; 26. mechanical claw. DETAILED DESCRIPTION

[0028] 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.

[0029] like Figures 1 to 6 As shown, the utility model provides a servo manipulator with an anti-falling function, including: a mechanical arm 13, a slide groove 4 14 is provided inside the mechanical arm 13, a slider 4 15 with lifting freedom is slidably connected inside the slide groove 4 14, a toothed plate 16 is fixedly installed on the surface of the slider 4 15, a fixed shaft 17 is fixedly installed inside the mechanical arm 13, and a roller 18 is rotatably connected to the surface of the fixed shaft 17; a rotating shaft 19, a gear 20 is fixedly installed on the side of the rotating shaft 19 close to the mechanical arm 13, a slide groove 5 21 is provided inside the mechanical arm 13, a slider 5 22 with lifting freedom is slidably connected inside the slide groove 5 21, a connecting rod 23 is fixedly installed on the surface of the slider 5 22, a rack 24 is fixedly installed on the side of the connecting rod 23 close to the mechanical arm 13, a fixed block 25 is fixedly installed on the bottom of the mechanical arm 13, and a mechanical claw 26 is rotatably connected inside the fixed block 25.

[0030] The beneficial effect of adopting the above technical solution is: there are two slide grooves four 14, and the main function of the two slide grooves four 14 is to facilitate the tooth plate 16 to slide up and down, so that when the roller 18 rotates, it rubs against the slide groove four 14, so that the slide groove four 14 slides upward, achieving the effect of having the freedom of lifting and lowering.

[0031] Among them, a slide rail 6 is provided on the left side of the mechanical arm 13, a slide groove 3 11 is opened inside the slide rail 6, and a slider 3 12 is slidably connected inside the slide groove 3 11.

[0032] The beneficial effect of adopting the above technical solution is that the slide rail 6 is in the shape of a long strip, and its main function is to facilitate the sliding block 3 12 to slide inside while providing a certain support to the mechanical arm 13.

[0033] Among them, a transport track 1 is fixedly installed behind the slide rail 6, a slide groove 2 is opened inside the transport track 1, a slider 3 with lateral movement freedom is slidably connected inside the slide groove 2, a controller 4 is fixedly installed above the slider 3, and a base 5 is fixedly installed at the bottom of the transport track 1.

[0034] The beneficial effect of adopting the above technical solution is that the base 5 is located at the bottom of the controller 4, and its two sides fix the transport track 1. The base 5 itself is heavy. Its main function is to provide a certain supporting effect on the transport track 1, while also ensuring the overall stability of the device, so that it will not tip over even when clamping heavier objects.

[0035] Among them, a support rod 7 is fixedly installed above the slide rail 6, and a fixing rod 8 is fixedly installed above the support rod 7. A sliding groove 9 is opened inside the fixing rod 8, and a sliding block 10 is slidably connected inside the sliding groove 9.

[0036] The beneficial effect of adopting the above technical solution is: there are multiple support rods 7, and the multiple support rods 7 are all cylindrical. The main function is to achieve the effect of supporting the slide groove 2 9 by being fixedly connected to the slide rail 6 and the support rod 7 respectively.

[0037] There are two slide grooves 2 and two sliders 3 , and the two slide grooves 2 and the two sliders 3 are both located above the base 5 .

[0038] The beneficial effect of adopting the above technical solution is that the two sliders 3 slide inside the two slide grooves 2, thereby driving the base 5 to slide, and when clamping an object, it is convenient to transport the object.

[0039] There are two sliders 2 10 , two sliders 3 12 and two mechanical arms 13 , and the two sliders 2 10 and the two sliders 3 12 are fixedly connected to the two mechanical arms 13 , respectively.

[0040] The beneficial effect of adopting the above technical solution is that the two sliders 3 12 and the two sliders 2 10 mainly function to adjust the distance between the two mechanical arms 13 so that the fixed block 25 can clamp objects of different sizes.

[0041] There are two rollers 18 , which are respectively located inside the two mechanical arms 13 . There are two tooth plates 16 , which are respectively in contact with the two rollers 18 .

[0042] The beneficial effect of adopting the above technical solution is that the main function of the two rollers 18 is to contact with the objects, so that when the objects slide down, the rollers 18 will be driven to rotate clockwise, so that the other side of the rollers 18 is in contact with the tooth plate 16, thereby achieving the effect of pushing the tooth plate 16 upward through friction.

[0043] There are two gears 20 , which are respectively meshed with the two toothed plates 16 , there are two connecting rods 23 and two racks 24 , which are respectively meshed with the two gears 20 , and there are two mechanical claws 26 , which are respectively fixedly connected with the two connecting rods 23 .

[0044] The beneficial effect of adopting the above technical solution is: when the tooth plate 16 slides upward, the tooth plate 16 engages with the gear 20, thereby causing the gear 20 to rotate, and at the same time the other end engages with the rack 24, driving the connecting rod 23 to press downward, so that it controls the mechanical claw 26 to clamp tighter through the connecting rod 23, thereby achieving the effect of preventing it from falling off.

[0045] The working principle and use process of this utility model:

[0046] First, after the device is installed, debug the device to ensure that each component can slide normally;

[0047] At this time, by sliding the slider 2 10 and the slider 3 12 inside the slide groove 2 9 and the slide groove 3 11, the distance between the two mechanical arms 13 is adjusted so that the distance between the two mechanical arms 13 is consistent with the size of the object. When encountering objects of different sizes, they can be adjusted to achieve the effect of grabbing objects of different sizes;

[0048] Secondly, the object is fitted with the roller 18. When the object is not firmly clamped and falls off, the object will drive the roller 18 to roll, so that the other side of the roller 18 contacts the tooth plate 16, so that the tooth plate 16 is pushed upward by friction. When the tooth plate 16 slides upward, the tooth plate 16 meshes with the gear 20, so that the gear 20 rotates, and the other end meshes with the rack 24, driving the connecting rod 23 to press downward, so that it controls the mechanical claw 26 to clamp more tightly through the connecting rod 23, thereby achieving the effect of preventing it from falling off.

[0049] Finally, the firmly clamped objects are transported to the designated location through the sliding action of the slide 2 and the slider 3.

[0050] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0051] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A servo manipulator with an anti-falling function, characterized in that: include: A mechanical arm, wherein a slide groove 4 is provided inside the mechanical arm, a slider 4 with lifting freedom is slidably connected inside the slide groove 4, a tooth plate is fixedly installed on the surface of the slider 4, a fixed shaft is fixedly installed inside the mechanical arm, and a roller is rotatably connected to the surface of the fixed shaft; A rotating shaft, a gear is fixedly installed on the side of the rotating shaft close to the mechanical arm, a slide groove five is opened inside the mechanical arm, the inside of the slide groove five is slidably connected to a slider five with lifting freedom, a connecting rod is fixedly installed on the surface of the slider five, a rack is fixedly installed on the side of the connecting rod close to the mechanical arm, a fixed block is fixedly installed on the bottom of the mechanical arm, and a mechanical claw is rotatably connected inside the fixed block.

2. The servo manipulator with anti-falling function according to claim 1 is characterized in that: A slide rail is provided on the left side of the mechanical arm, a slide groove three is provided inside the slide rail, and a slider three is slidably connected inside the slide groove three.

3. The servo manipulator with anti-falling function according to claim 2 is characterized in that: A transport track is fixedly installed at the rear of the slide rail, a slide groove 1 is opened inside the transport track, a slider 1 with lateral movement freedom is slidably connected inside the slide groove 1, a controller is fixedly installed above the slider 1, and a base is fixedly installed at the bottom of the transport track.

4. The servo manipulator with anti-falling function according to claim 2 is characterized in that: A support rod is fixedly installed above the slide rail, a fixing rod is fixedly installed above the support rod, a second slide groove is provided inside the fixing rod, and a second slide block is slidably connected inside the second slide groove.

5. The servo manipulator with anti-falling function according to claim 3 is characterized in that: There are two slide grooves 1 and two slide blocks 1, and the two slide grooves 1 and the two slide blocks 1 are both located above the base.

6. The servo manipulator with anti-falling function according to claim 4 is characterized in that: There are two sliders 2, two sliders 3 and two mechanical arms, and the two sliders 2 and the two sliders 3 are fixedly connected to the two mechanical arms respectively.

7. The servo manipulator with anti-falling function according to claim 1, characterized in that: There are two rollers, which are respectively located inside the two mechanical arms; there are two tooth plates, which are respectively in contact with the two rollers.

8. The servo manipulator with anti-falling function according to claim 1, characterized in that: There are two gears, which are respectively meshed with the two toothed plates; there are two connecting rods and two racks, which are respectively meshed with the two gears; there are two mechanical claws, which are respectively fixedly connected with the two connecting rods.

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