Manipulator capable of grabbing blanks

Abstract

The utility model discloses a manipulator capable of grabbing blanks, which relates to the technical field of machining, and comprises a bottom plate, the top end of the bottom plate is fixedly connected with a fixed box, the right part of the top end of the bottom plate is fixedly connected with a support block I, and the top end of the support block I is fixedly connected with a rotating mechanism; a lifting mechanism is fixedly connected to an inner cavity of the rotating mechanism, an adjusting mechanism is fixedly connected to the left portion of an inner cavity of the lifting mechanism, a grabbing mechanism is fixedly connected to the bottom of the adjusting mechanism, and the rotating mechanism comprises a first motor and a supporting column. According to the mechanical arm capable of grabbing the blanks, by pulling the limiting rods, the limiting rods drive the limiting plates to slide in the inner cavities of the connecting blocks, the limiting springs are made to contract, therefore, the outer walls of the limiting rods are not connected with the inner walls of the limiting blocks in an inserted mode any more, then the limiting blocks can be pulled out of the inner walls of the connecting blocks, and other adaptive clamps are replaced; and the effect of conveniently replacing the clamp is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical processing, in particular to a manipulator capable of grasping a blank. Background Art

[0002] The robot is a new type of device developed in the process of mechanization and mechanical processing production. In modern production processes, robots are widely used in automatic production lines. The research and production of robots has become a rapidly developing emerging technology in the field of high technology. It has further promoted the development of robots, enabling robots to better realize the organic combination with mechanization and automation. Robots can save workers, improve efficiency, reduce costs, improve product quality, improve safety, and enhance the image of the factory.

[0003] For example, the Chinese patent with publication number CN211993019U discloses an intelligent manipulator for grasping blanks for machining, comprising a base, the top of the base is fixedly connected to a support column through a mounting plate, the top of the support column is provided with a connecting seat, the left side of the connecting seat is fixedly connected to a support beam, the left side of the bottom of the support beam is provided with a manipulator body, the bottom of the inner cavity of the support column is provided with a driving member, the driving member includes a cylinder, and the bottom of the cylinder is fixedly connected to the bottom of the support column. The utility model achieves the advantage of convenient adjustment by setting the base, support column, connecting seat, support beam, manipulator body, driving member, mounting frame, moving wheel, slide groove, mounting seat, support rod and electric slide rail to cooperate with each other. The manipulator will not be subject to height restrictions when grasping objects, which can meet the needs of users, and at the same time has a good stability effect, and is not easy to cause the manipulator to shake when grasping objects.

[0004] The existing technology has the following problems:

[0005] The conventional manipulator cannot rotate the device when working, which reduces the practicability of the device. At the same time, the conventional technology is not convenient for replacing the fixture, which makes the subsequent replacement or maintenance of the fixture more troublesome. Utility Model Content

[0006] The utility model provides a robot arm capable of grasping a blank to solve the problems raised in the above-mentioned background technology.

[0007] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0008] The top end of the motor is fixedly connected to the top of the support block, the bottom end of the support block is rotatably connected to the bottom end of the inner cavity of the lifting mechanism, and the bottom end of the adjusting mechanism is fixedly connected to the grasping mechanism. The rotating mechanism comprises a motor and a support column, the bottom end of the motor is fixedly connected to the top of the support block, the bottom end of the support column is rotatably connected to the bottom end of the inner cavity of the fixed box, the lifting mechanism comprises a motor and a fixed block, the bottom end of the motor two is fixedly connected to the bottom end of the inner cavity of the support column, the adjusting mechanism comprises a motor three and a slider, the outer wall of the motor three is fixedly connected to the left part of the inner cavity of the fixed block, and the grasping mechanism comprises a support block two, and the top end of the support block two is fixedly connected to the bottom end of the slider.

[0009] Preferably: a worm is fixedly connected to the output end of the motor 1, a worm wheel is meshed on the outer wall of the worm, the axis of the worm wheel is fixedly connected to the bottom of the support column, and a partition is fixedly connected to the bottom of the inner cavity of the support column.

[0010] Preferably: the output end of the motor 2 passes through the outer wall of the partition and is fixedly connected to a threaded rod 1, the outer wall of the threaded rod 1 is threadedly connected to a lifting rod, the outer wall of the lifting rod is movably connected to the top of the support column, and the top of the lifting rod is fixedly connected to the bottom end of the fixed block.

[0011] Preferably, the left and right positions of the top of the lifting rod are both slidably connected with guide blocks, and one end of the guide block is fixedly connected to the top of the inner cavity of the support column.

[0012] Preferably: the output end of the motor three is fixedly connected to the threaded rod two, the outer wall of the threaded rod two is rotatably connected to the mounting block, the right end of the mounting block is fixedly connected to the left end of the fixed block, the middle part of the threaded rod two is threadedly connected to the slider, and the top of the slider is slidably connected to the inner wall of the mounting block.

[0013] Preferably, the left and right positions of the bottom end of the mounting block are fixedly connected with connecting plates, the middle part of the connecting plate is fixedly connected with a sliding rod, and the outer wall of the sliding rod is slidably connected with the bottom of the sliding block.

[0014] Preferably: the left end of the support block two is fixedly connected to a motor four, the output end of the motor four is fixedly connected to a driving gear, the outer wall of the driving gear is meshed with a driven gear, the axis of the driven gear is fixedly connected to a rotating shaft, the outer wall of the output end of the motor four and the outer wall of the driven gear are both fixedly connected to a connecting arm, and the outer wall of the connecting arm is slidably connected to the bottom of the support block two.

[0015] Preferably: the bottom end of the connecting arm is fixedly connected to a connecting block, the inner wall of the connecting block is movably sleeved with a limiting rod, the outer wall of the limiting rod is movably sleeved with a limiting spring, the outer wall of the limiting rod is fixedly connected to a limiting plate, the outer wall of the limiting plate is slidably connected to the inner cavity of the connecting block, the outer wall of the limiting rod is inserted with a limiting block, the outer wall of the limiting block is movably sleeved with the inner wall of the connecting block, and one end of the limiting block is fixedly connected to an anti-slip splint.

[0016] Due to the adoption of the above technical solution, the utility model has achieved the following technical progress compared with the prior art:

[0017] 1. The utility model provides a manipulator capable of grasping a blank. By starting a motor, the motor drives the worm to rotate, so that the worm and the worm wheel mesh, drive the support column to rotate synchronously, and the support column drives the fixed block to rotate synchronously, thereby changing the direction of the grasping mechanism.

[0018] 2. The utility model provides a robot arm that can grab a blank. By pulling the limit rod, the limit rod drives the limit plate to slide in the inner cavity of the connecting block, so that the limit spring contracts, thereby making the outer wall of the limit rod no longer plugged into the inner wall of the limit block. Then, the limit block can be pulled out from the inner wall of the connecting block and replaced with other suitable clamps, which makes it easy to replace the clamps. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the main view of the utility model;

[0020] Figure 2 It is a schematic diagram of the cutaway structure of the main view of the utility model;

[0021] Figure 3 This is an enlarged structural diagram of the utility model at A;

[0022] Figure 4 It is a structural schematic diagram of the grabbing mechanism of the utility model;

[0023] Figure 5 It is a schematic diagram of the enlarged structure of point B of the utility model.

[0024] In the figure: 1, bottom plate; 11, fixed box; 12, support block 1; 2, rotating mechanism; 21, motor 1; 22, worm; 23, worm wheel; 24, support column; 25, partition; 3, lifting mechanism; 31, motor 2; 32, threaded rod 1; 33, lifting rod; 34, guide block; 35, fixed block; 4, adjustment mechanism; 41, motor 3; 42, threaded rod 2; 43, mounting block; 44, slider; 45, connecting plate; 46, slide bar; 5, grabbing mechanism; 51, support block 2; 52, motor 4; 53, driving gear; 54, driven gear; 541, rotating shaft; 55, connecting arm; 56, connecting block; 561, limiting rod; 562, limiting spring; 563, limiting plate; 57, limiting block; 58, anti-slip splint. DETAILED DESCRIPTION

[0025] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0026] like Figure 1-Figure 4 As shown, a manipulator capable of grasping a blank comprises a bottom plate 1, a fixing box 11 is fixedly connected to the top of the bottom plate 1, a support block 12 is fixedly connected to the right of the top of the bottom plate 1, a rotating mechanism 2 is fixedly connected to the top of the support block 12, a lifting mechanism 3 is fixedly connected to the inner cavity of the rotating mechanism 2, an adjusting mechanism 4 is fixedly connected to the left of the inner cavity of the lifting mechanism 3, a grasping mechanism 5 is fixedly connected to the bottom of the adjusting mechanism 4, the rotating mechanism 2 comprises a motor 21 and a supporting column 24, the motor 21 The bottom end is fixedly connected to the top end of the support block 12, the bottom end of the support column 24 is rotatably connected to the bottom end of the inner cavity of the fixed box 11, the lifting mechanism 3 includes a motor 2 31 and a fixed block 35, the bottom end of the motor 2 31 is fixedly connected to the bottom end of the inner cavity of the support column 24, the adjustment mechanism 4 includes a motor 3 41 and a slider 44, the outer wall of the motor 3 41 is fixedly connected to the left part of the inner cavity of the fixed block 35, and the grasping mechanism 5 includes a support block 2 51, and the top end of the support block 2 51 is fixedly connected to the bottom end of the slider 44.

[0027] The orientation of the grasping mechanism 5 is changed by the rotating mechanism 2, and then the horizontal position of the grasping mechanism 5 is changed by the adjusting mechanism 4. When the grasping mechanism 5 is in a suitable position, the grasping work can be started. The distance between the grasping mechanism 5 and the blank is adjusted by the lifting mechanism 3. When the distance is suitable, the grasping mechanism 5 grasps the blank to complete the previous work.

[0028] like Figure 2 As shown, the output end of the motor 21 is fixedly connected with a worm 22, the outer wall of the worm 22 is meshed with a worm wheel 23, the axis of the worm wheel 23 is fixedly connected to the bottom of the support column 24, and the bottom of the inner cavity of the support column 24 is fixedly connected with a partition 25.

[0029] The motor 21 drives the worm 22 to rotate, so that the worm 22 is meshed with the worm wheel 23, thereby driving the worm wheel 23 to rotate synchronously, and the worm wheel 23 and the support column 24 to rotate synchronously.

[0030] like Figure 2 As shown, the output end of motor 2 31 passes through the outer wall of the partition 25 and is fixedly connected to a threaded rod 1 32, the outer wall of the threaded rod 1 32 is threadedly connected to a lifting rod 33, the outer wall of the lifting rod 33 is movably connected to the top of the support column 24, and the top of the lifting rod 33 is fixedly connected to the bottom end of the fixed block 35.

[0031] By starting the motor 2 31 , the motor 2 31 drives the threaded rod 1 32 to rotate, so that the lifting rod 33 slides on the outer wall of the threaded rod 1 32 , and the lifting rod 33 slides on the inner wall of the support column 24 , driving the fixed block 35 to move synchronously.

[0032] like Figure 2 , Figure 3 As shown, the left and right positions of the top of the lifting rod 33 are slidably connected with guide blocks 34, and one end of the guide block 34 is fixedly connected to the top of the inner cavity of the support column 24.

[0033] When the lifting rod 33 moves, the guide block 34 slides on the inner wall of the lifting rod 33 , and the guide block 34 guides and limits the lifting rod 33 , so that the lifting rod 33 can only move up and down.

[0034] like Figure 2 As shown, the output end of the motor three 41 is fixedly connected to the threaded rod two 42, the outer wall of the threaded rod two 42 is rotatably connected to the mounting block 43, the right end of the mounting block 43 is fixedly connected to the left end of the fixed block 35, the middle part of the threaded rod two 42 is threadedly connected to the slider 44, and the top of the slider 44 is slidably connected to the inner wall of the mounting block 43.

[0035] By starting the motor three 41, the motor three 41 drives the threaded rod two 42 to rotate, so that the slider 44 slides on the outer wall of the threaded rod two 42, thereby driving the grabbing mechanism 5 to move synchronously. When the grabbing mechanism 5 moves to a suitable grabbing position, the motor three 41 can be turned off.

[0036] like Figure 2 As shown, the left and right positions of the bottom end of the mounting block 43 are fixedly connected with connecting plates 45 , the middle of the connecting plate 45 is fixedly connected with a sliding rod 46 , and the outer wall of the sliding rod 46 is slidably connected to the bottom of the sliding block 44 .

[0037] When the slider 44 moves, the bottom of the slider 44 slides on the outer wall of the slide rod 46, and the slide rod 46 guides the slider 44, so that the slider 44 slides more smoothly.

[0038] like Figure 2 , Figure 4As shown, the left end of the support block 2 51 is fixedly connected to a motor 4 52, the output end of the motor 4 52 is fixedly connected to a driving gear 53, the outer wall of the driving gear 53 is meshed with a driven gear 54, the axis of the driven gear 54 is fixedly connected to a rotating shaft 541, the outer wall of the output end of the motor 4 52 and the outer wall of the driven gear 54 are both fixedly connected to a connecting arm 55, and the outer wall of the connecting arm 55 is slidably connected to the bottom of the support block 2 51.

[0039] Start the motor four 52, drive the driving gear 53 and the driven gear 54 to mesh, thereby drive the connecting arm 55 to rotate synchronously, so that the connecting arm 55 drives the anti-skid splint 58 to move synchronously, and the anti-skid splint 58 is moved close to the blank. When the outer wall of the anti-skid splint 58 is in close contact with the blank, the motor four 52 can be turned off, thereby completing the grasping and achieving the grasping effect.

[0040] like Figure 4 , Figure 5 As shown, the bottom end of the connecting arm 55 is fixedly connected to a connecting block 56, the inner wall of the connecting block 56 is movably sleeved with a limiting rod 561, the outer wall of the limiting rod 561 is movably sleeved with a limiting spring 562, the outer wall of the limiting rod 561 is fixedly connected to a limiting plate 563, the outer wall of the limiting plate 563 is slidably connected to the inner cavity of the connecting block 56, the outer wall of the limiting rod 561 is inserted with a limiting block 57, the outer wall of the limiting block 57 is movably sleeved with the inner wall of the connecting block 56, and one end of the limiting block 57 is fixedly connected to an anti-slip splint 58.

[0041] By pulling the limit rod 561, the limit rod 561 drives the limit plate 563 to slide in the inner cavity of the connecting block 56, so that the limit spring 562 contracts, so that the outer wall of the limit rod 561 is no longer plugged into the inner wall of the limit block 57. Then, the limit block 57 can be pulled out from the inner wall of the connecting block 56 and replaced with other suitable clamps, which makes it easy to replace the clamps.

[0042] The working principle of the utility model is as follows: when in use, the motor 1 21 is started, and the motor 1 21 drives the worm 22 to rotate, so that the worm 22 is meshed with the worm wheel 23, and the support column 24 is driven to rotate synchronously, and the support column 24 drives the fixed block 35 to rotate synchronously, thereby changing the direction of the grabbing mechanism 5. When the grabbing mechanism 5 is turned to a suitable position, the motor 1 21 can be turned off, and then the motor 3 41 is started, and the motor 3 41 drives the threaded rod 2 42 to rotate, so that the slider 44 slides on the outer wall of the threaded rod 2 42, thereby The grabbing mechanism 5 is driven to move synchronously. When the grabbing mechanism 5 moves to a suitable grabbing position, the motor 3 41 can be turned off, and then the motor 2 31 can be started. The motor 2 31 drives the threaded rod 1 32 to rotate, so that the lifting rod 33 slides on the outer wall of the threaded rod 1 32, and at the same time, the guide block 34 slides on the inner wall of the lifting rod 33. The guide block 34 guides and limits the lifting rod 33, so that the lifting rod 33 slides on the inner wall of the support column 24, driving the fixed block 35 to move synchronously, thereby changing the blank and the anti-locking The distance between the sliding splint 58 is appropriate, and the motor 2 31 is turned off, and then the blank can be grabbed, and the motor 4 52 is started to drive the driving gear 53 to mesh with the driven gear 54, thereby driving the connecting arm 55 to rotate synchronously, so that the connecting arm 55 drives the anti-skid splint 58 to move synchronously, so that the anti-skid splint 58 is close to the blank, and when the outer wall of the anti-skid splint 58 is in close contact with the blank, the motor 4 52 can be turned off, thereby completing the grabbing, achieving the grabbing effect, and when it is necessary to grab the blank When a shaped blank needs to be grasped or the fixture needs to be replaced and maintained, the anti-slip splint 58 can be replaced, and the limit rod 561 can be pulled to drive the limit plate 563 to slide in the inner cavity of the connecting block 56, so that the limit spring 562 contracts, so that the outer wall of the limit rod 561 is no longer plugged into the inner wall of the limit block 57, and then the limit block 57 can be pulled out from the inner wall of the connecting block 56, and other suitable fixtures can be replaced, which makes it easy to replace the fixture, thereby improving the user experience.

[0043] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A robot capable of grasping a blank, comprising a base plate (1), characterized in that: The top of the bottom plate (1) is fixedly connected to a fixing box (11), the right part of the top of the bottom plate (1) is fixedly connected to a support block (12), the top of the support block (12) is fixedly connected to a rotating mechanism (2), the inner cavity of the rotating mechanism (2) is fixedly connected to a lifting mechanism (3), the left part of the inner cavity of the lifting mechanism (3) is fixedly connected to an adjusting mechanism (4), the bottom of the adjusting mechanism (4) is fixedly connected to a grabbing mechanism (5), the rotating mechanism (2) comprises a motor (21) and a support column (24), the bottom end of the motor (21) is connected to the support block (12), and the bottom end of the motor (21) is connected to the support block (12). ), the bottom end of the support column (24) is rotatably connected to the bottom end of the inner cavity of the fixed box (11), the lifting mechanism (3) comprises a second motor (31) and a fixed block (35), the bottom end of the second motor (31) is fixedly connected to the bottom end of the inner cavity of the support column (24), the adjusting mechanism (4) comprises a third motor (41) and a slider (44), the outer wall of the third motor (41) is fixedly connected to the left part of the inner cavity of the fixed block (35), and the grasping mechanism (5) comprises a second support block (51), the top end of the second support block (51) is fixedly connected to the bottom end of the slider (44).

2. A robot capable of grasping a blank according to claim 1, characterized in that: The output end of the motor 1 (21) is fixedly connected to a worm (22), the outer wall of the worm (22) is meshed with a worm wheel (23), the axis of the worm wheel (23) is fixedly connected to the bottom of a support column (24), and the bottom of the inner cavity of the support column (24) is fixedly connected to a partition plate (25).

3. A robot capable of grasping a blank according to claim 1, characterized in that: The output end of the second motor (31) passes through the outer wall of the partition (25) and is fixedly connected to a threaded rod (32); the outer wall of the threaded rod (32) is threadedly connected to a lifting rod (33); the outer wall of the lifting rod (33) is movably connected to the top of the support column (24); and the top end of the lifting rod (33) is fixedly connected to the bottom end of the fixed block (35).

4. A robot capable of grasping a blank according to claim 3, characterized in that: The left and right positions of the top of the lifting rod (33) are both slidably connected with guide blocks (34), and one end of the guide block (34) is fixedly connected to the top of the inner cavity of the support column (24).

5. A robot capable of grasping a blank according to claim 1, characterized in that: The output end of the motor three (41) is fixedly connected to the threaded rod two (42), the outer wall of the threaded rod two (42) is rotatably connected to the mounting block (43), the right end of the mounting block (43) is fixedly connected to the left end of the fixed block (35), the middle part of the threaded rod two (42) is threadedly connected to the slider (44), and the top of the slider (44) is slidably connected to the inner wall of the mounting block (43).

6. A robot capable of grasping a blank according to claim 5, characterized in that: The left and right positions of the bottom end of the mounting block (43) are fixedly connected with connecting plates (45), the middle part of the connecting plate (45) is fixedly connected with a sliding rod (46), and the outer wall of the sliding rod (46) is slidably connected to the bottom of the sliding block (44).

7. A robot capable of grasping a blank according to claim 1, characterized in that: The left end of the support block 2 (51) is fixedly connected to a motor 4 (52), the output end of the motor 4 (52) is fixedly connected to a driving gear (53), the outer wall of the driving gear (53) is meshed with a driven gear (54), the axis of the driven gear (54) is fixedly connected to a rotating shaft (541), the outer wall of the output end of the motor 4 (52) and the outer wall of the driven gear (54) are both fixedly connected to a connecting arm (55), and the outer wall of the connecting arm (55) is slidably connected to the bottom of the support block 2 (51).

8. A robot capable of grasping a blank according to claim 7, characterized in that: The bottom end of the connecting arm (55) is fixedly connected to a connecting block (56); the inner wall of the connecting block (56) is movably sleeved with a limiting rod (561); the outer wall of the limiting rod (561) is movably sleeved with a limiting spring (562); the outer wall of the limiting rod (561) is fixedly connected to a limiting plate (563); the outer wall of the limiting plate (563) is slidably connected to the inner cavity of the connecting block (56); the outer wall of the limiting rod (561) is plugged into a limiting block (57); the outer wall of the limiting block (57) is movably sleeved with the inner wall of the connecting block (56); and one end of the limiting block (57) is fixedly connected to an anti-slip splint (58).

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