Manipulator with multifunctional effect

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm with a multifunctional effect, which comprises a mechanical arm base, a support frame and a gripper clamping plate, the support frame is fixedly arranged above the mechanical arm base, and two placing plates are fixedly connected to the outer side of the mechanical arm base. A manipulator grabbing adjustable structure is fixedly arranged at the top end of the gripper clamping plate, the manipulator grabbing adjustable structure comprises a folding rod, an adjusting block and two rotating shafts, and the two rotating shafts are fixedly connected to the top end of the gripper clamping plate. According to the mechanical arm with the multifunctional effect, after an inserting rod leaves the inner side of a stirring strip, the stirring strip can drive a rotating shaft on the inner side to rotate, the directions of two vertical flat clamping plates at the lower end and a gripper clamping plate on the other side are changed, and arc-shaped materials can be better clamped through the radian of the inner side of the gripper clamping plate; and the use effect of the manipulator with the multifunctional effect is improved by utilizing the types of the clamping plates for clamping which can be quickly changed as required.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator with multifunctional effects. 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. It is characterized by being able to complete various expected operations through programming, and having the advantages of both human and mechanical machines in terms of structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy labor of humans to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety.

[0003] For example, the authorization announcement number "CN207630035U" is named as a multifunctional manipulator. Although a fixed pillar is set between the mechanical gripper and the lifting device, which can be rotated, it can clamp the objects at a good angle when grabbing objects, thereby improving its work efficiency. However, the existing multifunctional manipulator needs to use the mechanical grippers on both sides to close inward to achieve the effect of grabbing objects, but the inner shape of the mechanical gripper is fixed. When facing objects with regular shapes, they can be clamped and fixed more firmly. However, when facing some objects with irregular shapes or more curved surfaces than smooth surfaces, the firmness of the mechanical gripper's grasping will be greatly reduced. However, it is not realistic to frequently replace the mechanical gripper for a firm grasp, thus affecting the use effect of the multifunctional manipulator.

[0004] At the same time, the existing multifunctional manipulators, since the mechanical gripper works according to the operator's control or the program set by the system, the working path of the mechanical gripper needs to be determined by the operator. When the multifunctional manipulator is used in a relatively dark environment with lack of lighting, it is difficult for the operator to see the position and situation of the object that the gripper needs to grasp, and the operator can only rely on groping and the operator's feel to grasp and operate, which not only wastes time, but also easily leads to a decline in the work quality of the manipulator, which in turn affects the problem of incomplete functionality of the multifunctional manipulator. Utility Model Content

[0005] The utility model aims to solve the problems of poor use effect and incomplete use functions of the multifunctional manipulator, and proposes a manipulator with multifunctional effects.

[0006] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: a multifunctional manipulator, comprising a manipulator base, a support frame and a gripper splint, the support frame is fixedly installed above the manipulator base, the outer side of the manipulator base is fixedly connected to two placement plates, the top of the gripper splint is fixedly provided with an adjustable manipulator gripping structure, the manipulator gripping adjustable structure comprises a closing rod, an adjusting block and a rotating shaft, the two rotating shafts are fixedly connected to the top of the gripper splint, the upper parts of the two rotating shafts are rotatably connected with adjusting blocks through bearings, one side of the two adjusting blocks is movably connected with a toggle bar, the inner sides of the two adjusting blocks are fixedly provided with two through holes, the inner sides of the two through holes are slidably connected with insertion rods, the bottom ends of the two insertion rods are movably connected to the top of the toggle bar, and the tops of the two adjusting blocks are fixedly provided with a closing rod.

[0007] Preferably, a manipulator rotating clamping structure is provided on the inner side of the support frame;

[0008] The manipulator rotating gripping structure comprises a rotating cylinder, a rotating seat and a positioning block;

[0009] The rotating cylinder is fixedly installed on the inner side of the support frame, the output shaft of the rotating cylinder is fixedly connected to a rotating seat, the top of the rotating seat is fixedly connected to a positioning block, the outer wall of the positioning block is fixedly connected to a first motor, the inner side of the positioning block is rotatably connected to a first rotating shaft, and the end of the first rotating shaft is fixedly connected to the output shaft of the first motor.

[0010] Preferably, a manipulator telescopic grasping structure is provided on the outer side of the first rotating shaft;

[0011] The manipulator telescopic grasping structure comprises a first electric telescopic rod, a second rotating shaft and a second electric telescopic rod;

[0012] The first electric telescopic rod is fixedly connected to the outside of the first rotating shaft, the end of the first electric telescopic rod is rotatably connected to the second motor, the output shaft of the second motor is fixedly connected to the second rotating shaft, the outside of the second rotating shaft is fixedly connected to the second electric telescopic rod, and the end of the second electric telescopic rod is fixedly installed with a gripper controller.

[0013] Preferably, the bottom end of the gripper controller is rotatably connected to the top ends of the two closing rods, and the lower end of the gripper controller is arranged opposite to the inner sides of the two gripper clamps.

[0014] Preferably, a vertical flat clamp is fixedly installed on the other side of the two grip clamps, and the front ends of the two vertical flat clamps are arranged opposite to each other.

[0015] Preferably, a gripper lighting auxiliary structure is provided on the outer side of the second electric telescopic rod;

[0016] The gripper lighting auxiliary structure includes a mounting bar, a slide groove and a lighting lamp;

[0017] The mounting bar is fixedly connected to the outer wall of the second electric telescopic rod, a clamping block is fixedly connected to the outer side of the mounting bar, the slide groove is slidably clamped on the outer side of the clamping block, a lighting lamp is fixedly connected to the outer side of the clamping block, and the front end of the lighting lamp is arranged opposite to the gripper controller.

[0018] The utility model proposes a multifunctional manipulator, which has the beneficial effect that after the insertion rod leaves the inner side of the toggle bar, the toggle bar will drive the inner rotating shaft to rotate, thereby changing the directions of the two vertical flat clamps at the lower end and the gripper clamps on the other side. The curvature of the inner side of the gripper clamps can better clamp the arc-shaped materials, and the type of clamping clamps can be quickly changed as needed, thereby improving the use effect of the multifunctional manipulator.

[0019] When installing the lighting lamp, align the slide groove with the edge of the card block and insert it, and use the edge of the top of the card block to clamp the position of the slide groove, so that the slide groove can fix the lighting lamp. The lighting lamp is made of LED lamp, which can emit relatively bright light to assist the manipulator to complete the grasping task. The manipulator grasping structure with its own lighting capability improves the functionality of the multi-functional manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional schematic diagram of the utility model;

[0021] Figure 2 for Figure 1 A front cross-sectional schematic diagram of

[0022] Figure 3 for Figure 1 A schematic top view of the top surface;

[0023] Figure 4 for Figure 2 Enlarged cross-sectional view of part A in the middle;

[0024] Figure 5 for Figure 2 Enlarged cross-sectional view of part B in the middle;

[0025] Figure 6 for Figure 2 Enlarged cross-sectional view of part C in the middle.

[0026] In the figure: 1. manipulator base, 2. support frame, 3. placement plate, 4. manipulator rotating clamping structure, 41. rotating cylinder, 42. rotating seat, 43. positioning block, 44. first motor, 45. first rotating shaft, 5. manipulator telescopic grasping structure, 51. first electric telescopic rod, 52. second rotating shaft, 53. second motor, 54. second electric telescopic rod, 55. gripper controller, 6. manipulator grasping adjustable structure, 61. closing rod, 62. adjusting block, 63. through hole, 64. plug rod, 65. rotating shaft, 66. toggle bar, 7. gripper splint, 8. vertical flat splint, 9. gripper lighting auxiliary structure, 91. mounting bar, 92. block, 93. slide groove, 94. lighting lamp. DETAILED DESCRIPTION

[0027] The utility model is further described below in conjunction with the accompanying drawings:

[0028] See also Figure 1-6 A multifunctional manipulator comprises a manipulator base 1, a support frame 2 and a gripper splint 7, the support frame 2 is fixedly mounted above the manipulator base 1, two placement plates 3 are fixedly connected to the outer side of the manipulator base 1, and an adjustable manipulator gripping structure 6 is fixedly arranged on the top of the gripper splint 7, the adjustable manipulator gripping structure 6 comprises a closing rod 61, an adjusting block 62 and a rotating shaft 65, the two rotating shafts 65 are fixedly connected to the top of the gripper splint 7, the two relatively moving gripper splints 7 can play a role in clamping objects with arcs on the inner side, and an adjusting block 62 is rotatably connected to the top of the two rotating shafts 65 through bearings.

[0029] One side of the two adjustment blocks 62 is movably connected with a toggle bar 66, and two through holes 63 are fixedly provided on the inner side of the two adjustment blocks 62. When the inner vertical flat clamping plate 8 cannot firmly grasp the arc-shaped material, the operator can pull out the insertion rod 64 upwards. After the insertion rod 64 leaves the inner side of the toggle bar 66, the toggle bar 66 is rotated 180 degrees along the notch provided on the outer side of the adjustment block 62. In this way, the toggle bar 66 will drive the inner rotating shaft 65 to rotate, and change the direction of the two vertical flat clamping plates 8 at the lower end and the gripping clamping plate 7 on the other side. The curvature of the inner side of the gripping clamping plate 7 can better clamp the arc-shaped material. The inner side of the two through holes 63 is slidably connected with the insertion rod 64;

[0030] The bottom ends of the two plug rods 64 are movably connected to the top of the toggle bar 66, and the tops of the two adjustment blocks 62 are fixedly installed with closing rods 61. The bottom end of the gripper controller 55 is rotatably connected to the tops of the two closing rods 61. The gripper controller 55 belongs to the prior art that has been disclosed in the comparative document patent number "CN207630035U" and is named a multifunctional manipulator. The gripper controller 55 can drive the two closing rods 61 to move inwardly. The specific structure has been described in the comparative document, so it is omitted. The lower end of the gripper controller 55 is arranged opposite to the inner side of the two gripper splints 7. The other side of the two gripper splints 7 is fixedly installed with a vertical flat splint 8. The vertical flat splint 8 is a metal stainless steel splint set vertically. The vertical flat splint 8 can clamp most materials. The front ends of the two vertical flat splints 8 are arranged opposite to each other.

[0031] The two relatively moving gripper splints 7 can play the role of clamping objects with an arc on the inner side. When the inner vertical flat splint 8 cannot firmly grip the arc-shaped material, the operator can pull out the insertion rod 64 upwards. After the insertion rod 64 leaves the inner side of the toggle bar 66, the toggle bar 66 is rotated 180 degrees along the groove opened on the outer side of the adjustment block 62. In this way, the toggle bar 66 will drive the inner rotating shaft 65 to rotate, and change the direction of the two vertical flat splints 8 at the lower end and the gripper splint 7 on the other side. The curvature of the inner side of the gripper splint 7 can better clamp the arc-shaped material. The type of clamping splint can be quickly changed according to needs, thereby improving the use effect of the multi-functional manipulator.

[0032] See also Figure 1-6 A manipulator rotating clamping structure 4 is provided on the inner side of the support frame 2. The manipulator rotating clamping structure 4 includes a rotating cylinder 41, a rotating seat 42 and a positioning block 43. The rotating cylinder 41 is fixedly installed on the inner side of the support frame 2. When selecting the rotating cylinder 41, a rotating cylinder model that can meet the use requirements can be selected according to actual needs. The output shaft of the rotating cylinder 41 is fixedly connected with the rotating seat 42, and the top of the rotating seat 42 is fixedly connected with the positioning block 43. The rotating cylinder 41 is on the inner side of the support frame 2. When the power supply is connected, the rotating cylinder 41 is started, and the rotating cylinder 41 will drive the rotating seat 42 at the top to rotate. The first motor 44 is connected to the outer wall of the positioning block 43 and the second motor 53 is fixedly connected to the outer wall of the positioning block 43. When selecting the first motor 44 and the second motor 53, a motor model that meets the use requirements can be selected. After connecting the power supply to start the first motor 44, the first motor 44 will drive the first rotating shaft 45 to rotate, and the first rotating shaft 45 will drive the first electric telescopic rod 51 to change the gripping angle of the manipulator. The inner side of the positioning block 43 is rotatably connected to the first rotating shaft 45, and the end of the first rotating shaft 45 is fixedly connected to the output shaft of the first motor 44.

[0033] A manipulator telescopic grasping structure 5 is provided on the outer side of the first rotating shaft 45. The manipulator telescopic grasping structure 5 includes a first electric telescopic rod 51, a second rotating shaft 52 and a second electric telescopic rod 54. The first electric telescopic rod 51 is fixedly connected to the outer side of the first rotating shaft 45. When the first electric telescopic rod 51 is driven by the first rotating shaft 45 to change its angle, the power supply can be connected to adjust the length of the first electric telescopic rod 51 and the second electric telescopic rod 54 to facilitate grasping of more remote materials. The end of the first electric telescopic rod 51 is rotatably connected to the second motor 53, and the output shaft of the second motor 53 is fixedly connected to the second rotating shaft 52. The second motor 53 will drive the second rotating shaft 52 to rotate, and the second rotating shaft 52 plays a function of controlling the angle adjustment of the second electric telescopic rod 54. In this way, the gripper controller 55 will drive the two closing rods 61 below to realize the gripping function of materials at different heights. The second electric telescopic rod 54 is fixedly connected to the outer side of the second rotating shaft 52, and the gripper controller 55 is fixedly installed on the end of the second electric telescopic rod 54.

[0034] See also Figure 1-6 , a gripper lighting auxiliary structure 9 is provided on the outer side of the second electric telescopic rod 54, and the gripper lighting auxiliary structure 9 includes a mounting strip 91, a slide groove 93 and a lighting lamp 94. The mounting strip 91 is fixedly connected to the outer wall of the second electric telescopic rod 54, and the mounting strip 91 is used to support the card block 92. When installing the lighting lamp 94, the slide groove 93 is aligned with the edge of the card block 92 and inserted, and the position of the slide groove 93 is clamped by the edge of the top of the card block 92, so that the slide groove 93 can fix the lighting lamp 94. The lighting lamp 94 is made of LED lamps and can emit brighter light to assist the manipulator in completing the grasping task. The outer side of the mounting strip 91 is fixedly connected to the card block 92, and the slide groove 93 is slidably clamped on the outer side of the card block 92. The outer side of the card block 92 is fixedly connected to the lighting lamp 94, and the front end of the lighting lamp 94 is arranged relative to the gripper controller 55;

[0035] When installing the lighting lamp 94, the slide groove 93 is aligned with the edge of the block 92 and inserted, and the edge of the top of the block 92 is used to clamp the position of the slide groove 93, so that the slide groove 93 can fix the lighting lamp 94. The lighting lamp 94 is made of LED lamp, which can emit relatively bright light to assist the manipulator to complete the grasping task. The manipulator grasping structure with its own lighting capability improves the functionality of the multi-functional manipulator.

[0036] Working principle:

[0037] When using a multifunctional manipulator to handle materials in production and processing:

[0038] Multifunctional manipulator with replaceable splint structure:

[0039] The two gripper clamps 7 that move relative to each other can play the role of clamping the objects with arcs on the inner side. When the inner vertical flat clamp 8 cannot firmly grasp the arc-shaped materials, the operator can pull out the insertion rod 64 upwards. After the insertion rod 64 leaves the inner side of the toggle bar 66, the toggle bar 66 is rotated 180 degrees along the notch provided on the outer side of the adjustment block 62. In this way, the toggle bar 66 will drive the inner rotating shaft 65 to rotate, and the two vertical flat clamps 8 at the lower end and the gripper clamp 7 on the other side will change direction. The curvature of the inner side of the gripper clamp 7 can better clamp the arc-shaped materials.

[0040] Multifunctional manipulator grasping structure:

[0041] The rotating cylinder 41 is on the inner side of the support frame 2. When the power supply is connected, the rotating cylinder 41 is started, and the rotating cylinder 41 drives the rotating seat 42 at the top to rotate, and then the rotating seat 42 drives the positioning block 43 above to rotate together to change the grasping direction of the manipulator. The outer wall of the positioning block 43 is fixedly connected with the first motor 44. When selecting the first motor 44 and the second motor 53, the motor model that can meet the use requirements can be selected. After the power supply is connected to start the first motor 44, the first motor 44 will drive the first rotating shaft 45 to rotate, and the first rotating shaft 45 will drive the first electric telescopic rod 51 to change the grasping angle of the manipulator;

[0042] Multifunctional manipulator with extended reach and wide range of grasping structure:

[0043] When the first electric telescopic rod 51 is driven by the first rotating shaft 45 to change its angle, the power supply can be connected to adjust the length of the first electric telescopic rod 51 and the second electric telescopic rod 54, so as to facilitate the grabbing of materials at a longer distance. The second motor 53 will drive the second rotating shaft 52 to rotate, and the second rotating shaft 52 plays the role of controlling the angle adjustment of the second electric telescopic rod 54, so that the gripper controller 55 will drive the two closing rods 61 below to realize the grabbing function of materials at different heights.

[0044] Auxiliary lighting function structure of multifunctional manipulator:

[0045] When installing the lighting lamp 94, the slide groove 93 is aligned with the edge of the block 92 and inserted, and the edge of the top of the block 92 is used to clamp the position of the slide groove 93, so that the slide groove 93 can fix the lighting lamp 94. The lighting lamp 94 is made of LED lamp, which can emit relatively bright light to assist the manipulator to complete the grasping task. The manipulator grasping structure with its own lighting capability improves the functionality of the multi-functional manipulator.

[0046] Although the present invention has been shown and described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein within the scope of the claims.

Claims

1. A multifunctional manipulator, comprising a manipulator base (1), a support frame (2) and a gripper splint (7), characterized in that: The support frame (2) is fixedly mounted above the manipulator base (1); two placement plates (3) are fixedly connected to the outer side of the manipulator base (1); a manipulator gripping adjustable structure (6) is fixedly arranged at the top of the gripper clamp (7); the manipulator gripping adjustable structure (6) comprises a closing rod (61), an adjusting block (62) and a rotating shaft (65); the two rotating shafts (65) are fixedly connected to the top of the gripper clamp (7); the upper sides of the two rotating shafts (65) are rotatably connected with adjusting blocks (62) through bearings; one side of the two adjusting blocks (62) is movably connected with a toggle bar (66); two through holes (63) are fixedly provided on the inner sides of the two adjusting blocks (62); the inner sides of the two through holes (63) are slidably connected with an insert rod (64); the bottom ends of the two insert rods (64) are movably connected to the top of the toggle bar (66); the closing rod (61) is fixedly mounted on the tops of the two adjusting blocks (62).

2. A multifunctional manipulator according to claim 1, characterized in that: A manipulator rotating clamping structure (4) is provided on the inner side of the support frame (2); The manipulator rotating gripping structure (4) comprises a rotating cylinder (41), a rotating seat (42) and a positioning block (43); The rotary cylinder (41) is fixedly mounted on the inner side of the support frame (2); the output shaft of the rotary cylinder (41) is fixedly connected to a rotating seat (42); the top end of the rotating seat (42) is fixedly connected to a positioning block (43); the outer wall of the positioning block (43) is fixedly connected to a first motor (44); the inner side of the positioning block (43) is rotatably connected to a first rotating shaft (45); the end of the first rotating shaft (45) is fixedly connected to the output shaft of the first motor (44).

3. A multifunctional manipulator according to claim 2, characterized in that: A manipulator telescopic grasping structure (5) is provided on the outer side of the first rotating shaft (45); The manipulator telescopic grasping structure (5) comprises a first electric telescopic rod (51), a second rotating shaft (52) and a second electric telescopic rod (54); The first electric telescopic rod (51) is fixedly connected to the outside of the first rotating shaft (45); the end of the first electric telescopic rod (51) is rotatably connected to the second motor (53); the output shaft of the second motor (53) is fixedly connected to the second rotating shaft (52); the outside of the second rotating shaft (52) is fixedly connected to the second electric telescopic rod (54); and the end of the second electric telescopic rod (54) is fixedly mounted with a gripper controller (55).

4. A multifunctional manipulator according to claim 3, characterized in that: The bottom end of the gripper controller (55) is rotatably connected to the top ends of the two closing rods (61), and the lower end of the gripper controller (55) is arranged opposite to the inner sides of the two gripper clamps (7).

5. The multifunctional manipulator according to claim 1, characterized in that: A vertical flat clamping plate (8) is fixedly mounted on the other side of the two gripping clamping plates (7), and the front ends of the two vertical flat clamping plates (8) are arranged opposite to each other.

6. A multifunctional manipulator according to claim 4, characterized in that: A gripper lighting auxiliary structure (9) is provided on the outer side of the second electric telescopic rod (54); The gripper lighting auxiliary structure (9) comprises a mounting strip (91), a slide groove (93) and a lighting lamp (94); The mounting strip (91) is fixedly connected to the outer wall of the second electric telescopic rod (54); a clamping block (92) is fixedly connected to the outer side of the mounting strip (91); the sliding groove (93) is slidably clamped to the outer side of the clamping block (92); a lighting lamp (94) is fixedly connected to the outer side of the clamping block (92); and a front end of the lighting lamp (94) is arranged opposite to the gripper controller (55).

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