Manipulator with wide moving angle

Abstract

The utility model discloses a manipulator with a wide moving angle, which comprises a workbench, a first rotating rod is arranged above the workbench, a mechanical arm is arranged above the left of the first rotating rod, a fixed rod is arranged below the left of the mechanical arm, first hydraulic rods are arranged on the first rotating rod, the mechanical arm and the fixed rod, a first hydraulic rod is arranged below the fixed rod, and a second hydraulic rod is arranged below the fixed rod. A fixing block is arranged below the first hydraulic rod, a clamping jaw is arranged on the fixing block, a check block is arranged on the clamping jaw, the second hydraulic rod stretches out and draws back to drive a second rotating rod to rotate around a first clamping block, the second rotating rod rotates to drive a jaw rod to rotate, open and close on the fixing block, objects are grabbed, and the grabbed objects extrude the baffle to rotate around a third rotating shaft. And the objects can be grabbed in the state of being more attached to the objects, the objects of different sizes can be grabbed more stably, and the objects are prevented from being damaged by rigid clamping.

Description

Technical Field

[0001] The utility model relates to a manipulator in the technical field of machinery, in particular to a manipulator with a wide activity angle. Background Art

[0002] The utility model discloses a manipulator for grasping objects. As a flexible object grasping device, the manipulator is widely used in various technical fields such as factories and laboratories. Due to structural limitations, the manipulators currently on the market generally grasp objects by applying a huge clamping force to the objects, which can easily cause damage to the objects.

[0003] After searching, the existing Chinese patent application number is CN201510054145.4. The utility model is a manipulator with a wide range of motion angles, including a frame, a control mechanism, a driving mechanism and a grasping mechanism, one end of the driving mechanism is mounted on the frame, the other end of the driving mechanism extends in a direction away from the frame, the grasping mechanism is mounted on the extended end of the driving mechanism, the grasping mechanism has a grasping and releasing structure, and the control mechanism positions and transfers the grasping mechanism by adjusting the driving mechanism. The beneficial effects of the present invention are: the grasping mechanism is driven to rotate circumferentially relative to the frame by the circumferential driving mechanism, and a first braking device is provided to quickly position its rotation position, the grasping mechanism is driven to move radially relative to the frame by the radial driving mechanism, and a second braking device is provided to quickly position the radial movement of the driving mechanism, so that the grasping mechanism is accurately positioned to the working position.

[0004] Although the above patent achieves the effect of quickly and accurately grabbing objects, the above patent grabs the objects by applying a huge clamping force to the objects, which has the problem of easily causing damage to the objects.

[0005] In response to the above problems, an innovative design was carried out based on the original manipulator. Utility Model Content

[0006] The utility model aims to provide a manipulator with a wide movable angle, so as to solve the problem that the manipulator in the current market may damage the object due to excessive clamping force when clamping the object, as mentioned in the background art.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solution: a manipulator with a wide movable angle, comprising a workbench, a rotating rod and a fixed block, a rotating rod is provided above the workbench, and a mechanical arm is provided on the upper left of the rotating rod, a fixed rod is provided on the lower left of the mechanical arm, and a hydraulic rod is provided on the rotating rod, the mechanical arm and the fixed rod, a clamp is provided on the fixed block, and a stop block is provided on the clamp.

[0008] Preferably, the rotating rod 1 includes a vertical rod and a fixing card 1, the upper end of the vertical rod is connected to the fixing card 1, and the left side of the vertical rod is connected to a hydraulic rod 1, the lower end of the vertical rod is connected to a workbench, and the vertical rod rotates on the workbench, and the lower end of the vertical rod passes through the workbench to connect to the motor.

[0009] Preferably, the robotic arm includes a cross bar, a clamp block 2 and a fixed clamp 2, the right end of the cross bar is connected to the clamp block 2, and the clamp block 2 is clamped and connected to the fixed clamp 1, and the clamp block 2 rotates on the fixed clamp 1, the left end of the cross bar is connected to the fixed clamp 2, which is clamped and connected to the clamp block 2 on the left, and the left and right sides of the cross bar are connected to the hydraulic rod 1, the fixed clamp 2 on the left is clamped and connected to the fixed rod, and the fixed rod rotates on the fixed clamp 2, and the right side of the fixed rod is connected to the hydraulic rod 1, the lower end of the fixed rod is connected to the hydraulic rod 2, and the lower end of the hydraulic rod 2 is connected to the fixed block, and the left and right sides of the hydraulic rod 2 are connected to two clamp blocks 1.

[0010] Preferably, the clamp includes a claw rod, a groove, a second rotating shaft and a blocking rod, the claw rod is provided with a groove, and a blocking rod is provided in the groove, and the two ends of the blocking rod are connected to the claw rod, the front and rear sides of the claw rod are connected to the second rotating shaft, and the second rotating shaft is engaged and connected to the fixed block, and the second rotating shaft rotates on the fixed block.

[0011] Preferably, the rotating rod 2 includes a rotating rod 3 and a rotating shaft 1, one end of the rotating rod 3 is symmetrically connected to the two rotating shafts 1, and the rotating shaft 1 is snap-connected to the upper end of the claw rod, and the rotating rod 3 rotates on the claw rod, and the other end of the rotating rod 3 is snap-connected to the clamping block 1, and the rotating rod 3 rotates on the clamping block 1.

[0012] Preferably, the baffle includes a baffle and a rotating shaft three, the baffle is embedded in the groove, and the front and rear sides of the upper end of the baffle are connected to the rotating shaft three, the rotating shaft three is engaged and connected to the claw rod, and the rotating shaft three rotates in the claw rod, the baffle is connected to one end of the spring, and the other end of the spring is connected to the baffle rod.

[0013] Compared with the prior art, the utility model has the following beneficial effects: more stable grasping of objects, avoiding damage to the objects;

[0014] 1. The rotation of the motor drives the rotating rod to rotate, which can adjust the horizontal angle of the manipulator. The rotating rod, the mechanical arm and the fixed rod are connected to each other and are all connected to the hydraulic rod. The height and distance of the clamping claws can be freely adjusted by extending and retracting the hydraulic rod, so as to achieve the effect of freely extending the gripping of objects at all angles.

[0015] 2. The extension and retraction of hydraulic rod 2 drives rotating rod 2 to rotate around block 1. The rotation of rotating rod 2 drives the claw rod to rotate and open and close on the fixed block to grab the object. The grabbed object squeezes the baffle to rotate around rotating shaft 3, so that the object can be grabbed in a state that fits the object more closely, so as to achieve more stable grabbing of objects of different sizes and avoid damage to the objects by rigid clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0017] Figure 2 This is a side enlarged structural diagram of the utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the mechanical arm of the utility model from a top view;

[0019] Figure 4 It is a schematic diagram of the enlarged structure of the second rotating rod of the utility model.

[0020] In the figure: 1. workbench; 2. motor; 3. rotating rod 1; 301. vertical rod; 302. fixed clamp 1; 4. mechanical arm; 401. horizontal rod; 402. clamp block 2; 403. fixed clamp 2; 5. hydraulic rod 1; 6. fixed rod; 7. hydraulic rod 2; 8. clamp block 1; 9. rotating rod 2; 901. rotating rod 3; 902. rotating shaft 1; 10. clamping claw; 1001. claw rod; 1002. groove; 1003. rotating shaft 2; 1004. stop rod; 11. block; 1101. baffle; 1102. rotating shaft 3; 12. fixed block; 13. spring. DETAILED DESCRIPTION

[0021] 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.

[0022] See also Figure 1-4 The utility model provides a technical solution: a manipulator with a wide movable angle, comprising a workbench 1, a rotating rod 9 and a fixed block 12, a rotating rod 3 is provided above the workbench 1, and a mechanical arm 4 is provided on the upper left of the rotating rod 3, a fixed rod 6 is provided on the lower left of the mechanical arm 4, and a hydraulic rod 5 is provided on the rotating rod 3, the mechanical arm 4 and the fixed rod 6, a clamping claw 10 is provided on the fixed block 12, and a stopper 11 is provided on the clamping claw 10.

[0023] The rotating rod 3 includes a vertical rod 301 and a fixed clamp 302. The upper end of the vertical rod 301 is connected to the fixed clamp 302, and the left side of the vertical rod 301 is connected to the hydraulic rod 5. The lower end of the vertical rod 301 is connected to the workbench 1, and the vertical rod 301 rotates on the workbench 1. The lower end of the vertical rod 301 passes through the workbench 1 and is connected to the motor 2. The rotation of the motor 2 drives the vertical rod 301 to rotate.

[0024] The mechanical arm 4 includes a cross bar 401, a clamping block 402 and a fixed clamping block 403. The right end of the cross bar 401 is connected to the clamping block 402, and the clamping block 402 is clamped and connected to the fixed clamping block 302, and the clamping block 402 rotates on the fixed clamping block 302. The left end of the cross bar 401 is connected to the fixed clamping block 403, which is clamped and connected to the left clamping block 402, and the left and right sides of the cross bar 401 are connected to hydraulic rod 1 5. The fixed clamping block 403 on the left is clamped and connected to the fixed rod 6, and the fixed rod 6 rotates on the fixed clamping block 403, and the right side of the fixed rod 6 is connected to hydraulic rod 1 5. The lower end of the fixed rod 6 is connected to hydraulic rod 2 7, and the lower end of the hydraulic rod 2 7 is connected to the fixed block 12, and the left and right sides of the hydraulic rod 2 7 are connected to two clamping blocks 8, and the hydraulic rod 1 5 can freely adjust the height and distance of the fixed rod 6 by telescoping.

[0025] The clamping jaw 10 includes a claw rod 1001, a groove 1002, a second rotating shaft 1003 and a blocking rod 1004. The claw rod 1001 is provided with a groove 1002, and the blocking rod 1004 is provided in the groove 1002, and the two ends of the blocking rod 1004 are connected to the claw rod 1001, and the front and rear sides of the claw rod 1001 are connected to the second rotating shaft 1003, and the second rotating shaft 1003 is engaged and connected to the fixed block 12, and the second rotating shaft 1003 rotates on the fixed block 12, and the clamping jaw 10 can clamp objects.

[0026] The rotating rod 2 9 includes a rotating rod 3 901 and a rotating shaft 1 902. One end of the rotating rod 3 901 is symmetrically connected to two rotating shafts 1 902, and the rotating shaft 1 902 is engaged and connected to the upper end of the claw rod 1001, and the rotating rod 3 901 rotates on the claw rod 1001. The other end of the rotating rod 3 901 is engaged and connected to the clamping block 1 8, and the rotating rod 3 901 rotates on the clamping block 1 8. The rotation of the rotating rod 2 9 can control the opening and closing of the claw rod 1001.

[0027] The baffle 11 includes a baffle 1101 and a rotating shaft 3 1102, wherein the baffle 1101 is embedded in the groove 1002, and the front and rear sides of the upper end of the baffle 1101 are connected to the rotating shaft 3 1102, the rotating shaft 3 1102 is engaged and connected to the claw rod 1001, and the rotating shaft 3 1102 rotates in the claw rod 1001, the baffle 1101 is connected to one end of the spring 13, and the other end of the spring 13 is connected to the baffle rod 1004, and the spring 13 can buffer the force of the claw rod 1001 on the object.

[0028] Working principle: when using the manipulator with a wide movable angle, the motor 2 rotates to drive the vertical rod 301 to rotate on the workbench 1, so as to adjust the horizontal angle of the manipulator, the upper end of the vertical rod 301 is connected to the fixed card 1 302, the fixed card 1 301 is engaged with the card block 2 402, the card block 2 402 is connected to the right end of the cross bar 401, the left end of the cross bar 401 is connected to the fixed card 2 403, the fixed card 2 403 is engaged with the card block 2 402 on the left, the fixed card 2 403 on the left is engaged with the fixed rod 6, the vertical rod 301, the cross bar 401 and the fixed rod 6 are adjacent and connected by the hydraulic rod 1 5, the hydraulic rod 1 5 is telescopic to drive the cross bar 401 and the fixed rod 6 to rotate, so as to adjust the height and distance of the fixed rod 6, so as to achieve the effect of freely adjusting the grasping and releasing position of the manipulator, the hydraulic rod 2 7 is telescopic to drive the rotating rod 3 9 01 rotates around the clamping block 8, the front and rear sides of the rotating rod 3 901 are symmetrically connected to the two rotating shafts 1 902, the rotating shaft 1 902 is engaged and connected to the upper end of the claw rod 1001, the front and rear sides of the claw rod 1001 are symmetrically connected to the two rotating shafts 2 1003, the rotating shaft 2 1003 is engaged and connected to the fixed block 12, the rotating rod 3 901 rotates to drive the claw rod 1001 to rotate and open and close on the fixed block 12 to clamp the objects, and the clamped objects squeeze the baffle 1101, and the baffle 1101 rotates in the groove 1002 to clamp the objects in a more stable and fitting manner, so as to achieve the effect of stably grasping objects of different sizes, the baffle 1101 is connected to the spring 13, the spring 13 is connected to the baffle rod 1004, the spring 13 can buffer the force of the claw rod 1001 on the objects to avoid damage to the objects.

[0029] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or 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 shall be included in the protection scope of the present invention.

Claims

1. A manipulator with a wide range of motion, comprising a workbench (1), a second rotating rod (9) and a fixed block (12), characterized in that: A rotating rod (3) is provided above the workbench (1), and a mechanical arm (4) is provided on the upper left of the rotating rod (3), a fixed rod (6) is provided on the lower left of the mechanical arm (4), and a hydraulic rod (5) is provided on the rotating rod (3), the mechanical arm (4) and the fixed rod (6), the lower end of the fixed rod (6) is connected to a hydraulic rod (7), and the lower end of the hydraulic rod (7) is connected to a fixed block (12), and the left and right sides of the hydraulic rod (7) are connected to two clamping blocks (8), the fixed block (12) is provided with a clamping claw (10), and the clamping claw (10) is provided with a stopper (11); The clamping claw (10) comprises a claw rod (1001), a groove (1002), a second rotating shaft (1003) and a blocking rod (1004); the claw rod (1001) is provided with a groove (1002), a blocking rod (1004) is provided in the groove (1002), and both ends of the blocking rod (1004) are connected to the claw rod (1001); the front and rear sides of the claw rod (1001) are connected to the second rotating shaft (1003), and the second rotating shaft (1003) is engaged and connected to the fixed block (12), and the second rotating shaft (1003) rotates on the fixed block (12); The rotating rod (3) comprises a vertical rod (301) and a fixing clamp (302), the upper end of the vertical rod (301) is connected to the fixing clamp (302), and the left side of the vertical rod (301) is connected to a hydraulic rod (5), the lower end of the vertical rod (301) is connected to the workbench (1), and the vertical rod (301) rotates on the workbench (1), and the lower end of the vertical rod (301) passes through the workbench (1) to connect to the motor (2); The rotating rod 2 (9) includes a rotating rod 3 (901) and a rotating shaft 1 (902), one end of the rotating rod 3 (901) is symmetrically connected to the two rotating shafts 1 (902), and the rotating shaft 1 (902) is snap-connected to the upper end of the claw rod (1001), and the rotating rod 3 (901) rotates on the claw rod (1001), and the other end of the rotating rod 3 (901) is snap-connected to the clamping block 1 (8), and the rotating rod 3 (901) rotates on the clamping block 1 (8); The baffle (11) comprises a baffle (1101) and a rotating shaft three (1102); the baffle (1101) is embedded in the groove (1002), and the front and rear sides of the upper end of the baffle (1101) are connected to the rotating shaft three (1102); the rotating shaft three (1102) is engaged with the claw rod (1001), and the rotating shaft three (1102) rotates in the claw rod (1001); the baffle (1101) is connected to one end of the spring (13), and the other end of the spring (13) is connected to the baffle rod (1004).

2. A manipulator with a wide range of motion according to claim 1, characterized in that: The mechanical arm (4) comprises a cross bar (401), a second clamping block (402) and a second fixed clamping block (403); the right end of the cross bar (401) is connected to the second clamping block (402), and the second clamping block (402) is clamped and connected to the first fixed clamping block (302), and the second clamping block (402) rotates on the first fixed clamping block (302); the left end of the cross bar (401) is connected to the second fixed clamping block (403) which is clamped and connected to the second clamping block (402) on the left, and the left and right sides of the cross bar (401) are connected to the first hydraulic rod (5); the second fixed clamping block (403) on the left is clamped and connected to the fixed rod (6), and the fixed rod (6) rotates on the second fixed clamping block (403), and the right side of the fixed rod (6) is connected to the first hydraulic rod (5).

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