Manipulator turnover mechanism capable of accurately adjusting angle

Abstract

The utility model relates to the technical field of manipulators, in particular to a manipulator turnover mechanism capable of accurately adjusting an angle. According to the technical scheme, the manipulator turnover mechanism capable of accurately adjusting the angle comprises a manipulator turnover adjusting assembly and further comprises a base and a mechanical claw assembly; a mechanical claw assembly and a base are arranged at the upper end and the lower end of the manipulator overturning adjusting assembly correspondingly. According to the utility model, through the common adjustment of the first adjusting servo motor and the second adjusting servo motor of the manipulator overturning adjusting assembly, the adjusting precision of the arc-shaped movement of the mechanical claw assembly on the vertical surface is greatly improved, and the control radius of the connecting sleeve is greatly improved due to the first adjusting servo motor at the middle position; the problems that the stroke of a mechanical arm is short, and the control difficulty is large are effectively solved, and the problem that due to the fact that an existing mechanical arm is difficult to conduct arc overturning adjustment on the vertical face during overturning adjustment, the precision difference range of material grabbing and holding and machining arc overturning adjustment is small is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and in particular relates to a manipulator flipping mechanism for accurately adjusting angles. Background Art

[0002] A manipulator is an industrial robot that has a certain degree of autonomous operation capability. It is designed to complete tasks that are difficult or dangerous to operate manually, such as repetitive or delicate movements in the manufacturing process, and when performing arc flips in the vertical plane, the manipulator faces problems of poor accuracy and small movement radius. The poor accuracy is mainly caused by the manipulator's own accuracy limitations and control errors. For example, factors such as friction in the joints and clearance in the transmission system will cause position errors to accumulate, thereby affecting the accuracy of the operation. Utility Model Content

[0003] In order to overcome the problem that the existing manipulator is difficult to make an arc flip adjustment on the vertical plane during flip adjustment, resulting in a small range of accuracy difference between material grabbing and holding and processing arc flip adjustment.

[0004] The technical solution of the utility model is: a manipulator flipping mechanism for accurately adjusting the angle includes a manipulator flipping adjustment component, a base, and a mechanical claw component; the mechanical claw component and the base are respectively arranged at the upper and lower ends of the manipulator flipping adjustment component.

[0005] Preferably, the arc motion adjustment accuracy of the mechanical claw assembly in the vertical plane is greatly improved by jointly adjusting the first adjustment servo motor and the second adjustment servo motor of the manipulator flip adjustment assembly. Since the first adjustment servo motor in the middle position greatly improves the control radius of the connecting sleeve, the problem of short stroke and high control difficulty of the mechanical arm is effectively reduced, which solves the problem of small difference in adjustment accuracy of material grabbing and holding and arc-shaped processing caused by the difficulty in making circular arc flip adjustments on the vertical plane during flip adjustment of the existing manipulator.

[0006] Preferably, the manipulator flip adjustment component includes a first adjustment servo motor, a connecting sleeve, and a second adjustment servo motor; the upper and lower ends of the first adjustment servo motor are respectively provided with a connecting sleeve and a second adjustment servo motor, and the connecting sleeve is fixedly connected to the outer casing of the first adjustment servo motor, and the output end of the first adjustment servo motor is connected to the connecting rod at the shaft end of the second adjustment servo motor.

[0007] Preferably, the mechanical claw assembly includes a connecting rod, a telescopic cylinder, a mechanical claw, and a transmission connecting rod; the telescopic cylinder is fixedly arranged inside the connecting rod.

[0008] Preferably, the connecting sleeve is arranged on the outside of the connecting rod, and the connecting rod is fixedly connected to the connecting sleeve.

[0009] Preferably, mechanical claws are arranged around the outer sides of the output end of the telescopic cylinder, and the mechanical claws are rotatably connected to the output end of the telescopic cylinder.

[0010] Preferably, a transmission connecting rod is provided at the lower end of the outer side of the mechanical claw, and the two ends of the transmission connecting rod are rotatably connected to the outer shell of the mechanical claw and the outer side of the connecting rod respectively. The telescopic cylinder of the mechanical claw assembly controls the telescopic output end to drive the mechanical claw to open and close, thereby realizing the function of grasping action. Since the mechanical claw rotates around the transmission connecting rod, the grasping action of the mechanical claw is stable and consistent.

[0011] Preferably, the base is fixedly connected to the ground bolts, and the base is fixedly connected to the housing of the second adjusting servo motor, and the base greatly improves the overall operating stability of the device.

[0012] Beneficial effects of the utility model:

[0013] 1. The existing manipulator has a problem that it is difficult to make an arc flip adjustment on the vertical plane during flip adjustment, resulting in a small range of adjustment accuracy difference between material grabbing and holding and processing arc-shaped flipping. The first adjustment servo motor and the second adjustment servo motor of the manipulator flip adjustment component are adjusted together to greatly improve the arc motion adjustment accuracy of the mechanical claw component on the vertical plane. Since the first adjustment servo motor in the middle position greatly improves the control radius of the connecting sleeve, the problem of short stroke and high control difficulty of the manipulator arm is effectively reduced. The problem that the existing manipulator has a problem that it is difficult to make an arc flip adjustment on the vertical plane during flip adjustment, resulting in a small range of adjustment accuracy difference between material grabbing and holding and processing arc-shaped flipping is solved.

[0014] 2. Through the setting of the mechanical claw assembly, the telescopic cylinder of the mechanical claw assembly controls the extension and retraction of its output end to drive the mechanical claw to open and close, thereby realizing the function of the grasping action. Since the mechanical claw rotates around the transmission connecting rod, the grasping action of the mechanical claw is stable and consistent. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure shows the overall three-dimensional structure of the mechanical arm flipping mechanism for accurately adjusting the angle of the utility model;

[0016] Figure 2 The three-dimensional structure diagram of the mechanical claw assembly of the mechanical hand flipping mechanism with precise angle adjustment of the utility model is shown;

[0017] Figure 3 The figure shows the internal three-dimensional structure of the mechanical claw assembly of the mechanical hand flipping mechanism with precise angle adjustment of the present invention;

[0018] Figure 4Shown is a three-dimensional structural schematic diagram of a manipulator flip adjustment component of a manipulator flip mechanism for accurately adjusting angles of the present invention.

[0019] The markings in the attached drawings are: 1. Manipulator flip adjustment assembly; 2. Base; 3. Mechanical claw assembly; 101. First adjustment servo motor; 102. Connecting sleeve; 103. Second adjustment servo motor; 301. Connecting rod; 302. Telescopic cylinder; 303. Mechanical claw; 304. Transmission connecting rod. DETAILED DESCRIPTION

[0020] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0021] See also Figure 1-4 The utility model provides an embodiment: a manipulator flip mechanism for accurately adjusting an angle includes a manipulator flip adjustment component 1, a base 2, and a mechanical claw component 3; the upper and lower ends of the manipulator flip adjustment component 1 are respectively provided with a mechanical claw component 3 and a base 2.

[0022] See also Figure 1-4 In this embodiment, the manipulator flip adjustment component 1 includes a first adjustment servo motor 101, a connecting sleeve 102, and a second adjustment servo motor 103; the upper and lower ends of the first adjustment servo motor 101 are respectively provided with a connecting sleeve 102 and a second adjustment servo motor 103, and the connecting sleeve 102 is fixedly connected to the outer shell of the first adjustment servo motor 101, and the output end of the first adjustment servo motor 101 is connected to the connecting rod of the rotating shaft end of the second adjustment servo motor 103, and the mechanical claw component 3 includes a connecting rod 301, a telescopic cylinder 302, a mechanical claw 303, and a transmission connecting rod 304; the telescopic cylinder 302 is fixedly arranged inside the connecting rod 301.

[0023] See also Figure 1-4 In this embodiment, the connecting sleeve 102 is arranged on the outside of the connecting rod 301, and the connecting rod 301 is fixedly connected to the connecting sleeve 102, mechanical claws 303 are arranged around the outside of the output end of the telescopic cylinder 302, and the mechanical claws 303 are rotatably connected to the output end of the telescopic cylinder 302, and the lower end of the outer side of the mechanical claws 303 is provided with transmission connecting rods 304, and the two ends of the transmission connecting rods 304 are respectively rotatably connected to the outer shell of the mechanical claws 303 and the outer side of the connecting rod 301, the base 2 is fixedly connected to the ground bolts, and the base 2 is fixedly connected to the outer shell of the second adjustment servo motor 103.

[0024] During operation, the first adjustment servo motor 101 and the second adjustment servo motor 103 of the manipulator flip adjustment component 1 are adjusted together to greatly improve the arc motion adjustment accuracy of the mechanical claw component 3 on the vertical plane. Since the first adjustment servo motor 101 in the middle position greatly improves the control radius of the connecting sleeve 102, the problem of short stroke and high control difficulty of the mechanical arm is effectively reduced; the problem of the existing manipulator being difficult to make an arc flip adjustment on the vertical plane during flip adjustment, resulting in a small range of accuracy difference between material grabbing and holding and processing arc flip adjustment, is solved;

[0025] Through the above steps, the first adjustment servo motor 101 and the second adjustment servo motor 103 of the manipulator flip adjustment component 1 are adjusted together so that the arc motion adjustment accuracy of the mechanical claw component 3 in the vertical plane is greatly improved. Since the first adjustment servo motor 101 in the middle position greatly improves the control radius of the connecting sleeve 102, the problem of short stroke and high control difficulty of the robot arm is effectively reduced, and the problem of small difference in adjustment accuracy of the existing manipulator due to the difficulty in making circular arc flip adjustment on the vertical plane during flip adjustment is avoided.

[0026] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the purpose of the present invention.

Claims

1. A robot flipping mechanism for precise angle adjustment, comprising a robot flipping adjustment component (1), characterized in that: The invention also comprises a base (2) and a mechanical claw assembly (3); the mechanical claw assembly (3) and the base (2) are respectively arranged at the upper and lower ends of the manipulator flip adjustment assembly (1); the manipulator flip adjustment assembly (1) comprises a first adjustment servo motor (101), a connecting sleeve (102), and a second adjustment servo motor (103); the upper and lower ends of the first adjustment servo motor (101) are respectively arranged with a connecting sleeve (102) and a second adjustment servo motor (103), and the connecting sleeve (102) is fixedly connected to the housing of the first adjustment servo motor (101), and the output end of the first adjustment servo motor (101) is connected to the connecting rod of the rotating shaft end of the second adjustment servo motor (103); the mechanical claw assembly (3) comprises a connecting rod (301), a telescopic cylinder (302), a mechanical claw (303), and a transmission connecting rod (304); and the telescopic cylinder (302) is fixedly arranged inside the connecting rod (301).

2. The robot flipping mechanism with precise angle adjustment according to claim 1 is characterized in that: The connecting sleeve (102) is arranged on the outside of the connecting rod (301), and the connecting rod (301) is fixedly connected to the connecting sleeve (102).

3. The robot flipping mechanism with precise angle adjustment according to claim 2 is characterized in that: Mechanical claws (303) are arranged around the outer sides of the output end of the telescopic cylinder (302), and the mechanical claws (303) are rotatably connected to the output end of the telescopic cylinder (302).

4. The robot flipping mechanism with precise angle adjustment according to claim 3 is characterized in that: A transmission connecting rod (304) is provided at the lower end of the outer side of the mechanical claw (303), and the two ends of the transmission connecting rod (304) are rotatably connected to the outer shell of the mechanical claw (303) and the outer side of the connecting rod (301) respectively.

5. The robot flipping mechanism with precise angle adjustment according to claim 1 is characterized in that: The base (2) is fixedly connected to the ground bolts, and the base (2) is fixedly connected to the housing of the second regulating servo motor (103).

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