Manipulator butt joint automatic pitch changing mechanism

Abstract

The utility model relates to the technical field of manipulators, and discloses a manipulator butt joint automatic pitch changing mechanism which comprises a main body mechanism and an adjusting mechanism, the adjusting mechanism is located at the lower end of the main body mechanism, the main body mechanism comprises a mounting plate, a mounting groove and a reciprocating motor, and the mounting groove is fixedly formed in the right end of the lower end of the mounting plate; the reciprocating motor is fixedly mounted at the right end of the front end of the mounting plate, and the transmission end of the reciprocating motor extends into the mounting groove; the main body mechanism further comprises a bidirectional lead screw, positioning nuts, a sliding groove, a sliding rod, a sliding block, a groove and an infrared sensor, the bidirectional lead screw is fixedly installed at the rear end of the transmission end of the reciprocating motor, and the positioning nuts are installed at the front end and the rear end of the outer end of the bidirectional lead screw in a threaded mode. According to the automatic distance changing mechanism for butt joint of the mechanical arms, by installing the main body mechanism, the adaptability of clamping objects is improved, the stability of the clamping jaws during moving is conveniently improved, the clamping firmness is improved, the use requirements of people are met, and the practicability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to an automatic distance-changing mechanism for manipulator docking. Background Art

[0002] In recent years, with the continuous development of science and technology, automatic distance adjustment devices have been widely used in various fields. They can help people solve distance adjustment problems in daily life, improve work efficiency and reduce human operation errors.

[0003] The prior art patent document CN215968742U discloses an automatic pitch-changing mechanism for manipulator docking, comprising a base, four support columns are fixedly installed vertically upward on the top wall of the base, slide rails are fixedly installed on the tops of the two support columns on the same side, a displacement plate is movably connected between the two slide rails, displacement motors are fixedly installed on the left and right side walls of the displacement plate, a gear located inside the displacement plate is fixedly installed on the output end of the displacement motor, a transmission block is movably installed inside the displacement plate, and a cylinder is fixedly installed on the top wall of the displacement plate. In the utility model, the driving disk will move the supporting rod inside the pitch-changing groove through the connecting strip, thereby changing the distance between the supported injection molded parts, so that the injection molded parts can be perfectly placed on the injection molded parts placement tray, thereby achieving the effect of fully automatic and precise material unloading, improving production efficiency and reducing the human error rate.

[0004] However, the prior art CN215968742U is suitable for clamping round objects. When clamping objects of other shapes, the clamping stability is poor, which is not convenient for meeting people's usage needs and has low practicality. Utility Model Content

[0005] 1. Technical issues to be solved

[0006] The utility model aims to provide a robot docking automatic distance-changing mechanism to solve the problem that the above-mentioned background technology is suitable for clamping round objects, but has poor clamping stability when clamping objects of other shapes.

[0007] (II) Technical solution

[0008] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator docking automatic pitch-changing mechanism, comprising a main body mechanism and an adjustment mechanism, wherein the adjustment mechanism is located at the lower end of the main body mechanism, the main body mechanism comprises a mounting plate, a mounting slot and a reciprocating motor, the mounting slot is fixedly arranged at the right end of the lower end of the mounting plate, the reciprocating motor is fixedly arranged at the right end of the front end of the mounting plate, and the transmission end of the reciprocating motor extends to the inside of the mounting slot;

[0009] The main mechanism also includes a bidirectional screw, a positioning nut, a slide groove, a sliding rod, a slider, a groove and an infrared sensor. The bidirectional screw is fixedly mounted on the rear end of the reciprocating motor transmission end, the positioning nut is threadedly mounted on the front and rear ends of the outer end of the bidirectional screw, the slide groove is fixedly arranged at the left end of the lower end of the mounting plate, the sliding rod is fixedly arranged at the inner end of the slide groove, the slider is movably arranged at the front and rear ends of the outer end of the sliding rod, the groove is fixedly arranged in the middle of the lower end of the mounting plate, and the infrared sensor is fixedly mounted at the inner end of the groove.

[0010] Preferably, the adjusting mechanism includes a connecting plate, a clamping jaw, a connecting block, an electric push rod, a connecting seat, a first reduction motor, a supporting plate, a second reduction motor, a mounting seat, a control actuator, a rotating disk, a rotating motor and a fixed plate. The connecting plate is movably mounted on the lower end of the positioning nut and the slider, and the clamping jaw is fixedly mounted on the lower end of the connecting plate to facilitate clamping and fixing the object.

[0011] Preferably, the connecting block is fixedly mounted on the middle part of the upper end of the mounting plate, the electric push rod is fixedly mounted on the left end of the connecting block, and the connecting seat is fixedly mounted on the rear end of the electric push rod, so as to improve the range of motion of the manipulator.

[0012] Preferably, the reduction motor 1 is fixedly mounted on the rear end of the connecting seat, the support plate is fixedly mounted on the rear end of the reduction motor 1, and the reduction motor 2 is fixedly mounted on the lower end of the rear end of the support plate, so as to adjust the height of the clamping jaws as needed.

[0013] Preferably, the mounting seat is fixedly mounted on the lower end of the second reduction motor, the control actuator is fixedly mounted on the left end of the mounting seat, and the rotating disk is fixedly mounted on the lower end of the mounting seat, thereby improving practicality.

[0014] Preferably, the rotating motor is fixedly mounted on the lower end of the rotating disk, and the fixing plate is fixedly mounted on the lower end of the rotating motor, so as to facilitate adjusting the angle of the clamping jaws as required.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] 1. The manipulator is connected to the automatic variable distance mechanism. By installing the main mechanism, the adaptability of clamping objects is improved, the stability of the clamping claws when moving is improved, the firmness of the clamping is improved, the use needs of people are met, and the practicality is improved;

[0017] 2. The manipulator is connected to the automatic pitch-changing mechanism. By installing the adjustment mechanism, the electric push rod is convenient for increasing the range of motion of the manipulator, and is convenient for adjusting the height and angle of the gripper as needed, thereby improving work efficiency and practicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1It is a schematic diagram of the three-dimensional structure of the utility model.

[0019] Figure 2 The local structure diagram of the adjustment mechanism of the utility model is shown in FIG. Figure 1 .

[0020] Figure 3 The local structure diagram of the adjustment mechanism of the utility model is shown in FIG. Figure 2 .

[0021] Figure 4 It is a partial structural diagram of the main mechanism of the utility model.

[0022] In the figure: 1. Main body; 101. Mounting plate; 102. Mounting groove; 103. Reciprocating motor; 104. Bidirectional lead screw; 105. Positioning nut; 106. Slide groove; 107. Slide rod; 108. Slider; 109. Groove; 110. Infrared sensor; 2. Adjustment mechanism; 201. Connecting plate; 202. Clamping claw; 203. Connecting block; 204. Electric push rod; 205. Connecting seat; 206. Reducer motor 1; 207. Support plate; 208. Reducer motor 2; 209. Mounting seat; 210. Control actuator; 211. Rotating disk; 212. Rotating motor; 213. Fixed plate. DETAILED DESCRIPTION

[0023] 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.

[0024] See also Figure 1-Figure 4 The utility model provides a technical solution: a manipulator docking automatic pitch-changing mechanism, comprising a main mechanism 1 and an adjusting mechanism 2, the adjusting mechanism 2 is located at the lower end of the main mechanism 1, the main mechanism 1 comprises a mounting plate 101, a mounting slot 102 and a reciprocating motor 103, the mounting slot 102 is fixedly arranged at the right end of the lower end of the mounting plate 101, the reciprocating motor 103 is fixedly installed at the right end of the front end of the mounting plate 101, and the transmission end of the reciprocating motor 103 extends to the inside of the mounting slot 102;

[0025] The main body mechanism 1 also includes a bidirectional screw 104, a positioning nut 105, a slide groove 106, a slide rod 107, a slider 108, a groove 109 and an infrared sensor 110. The bidirectional screw 104 is fixedly mounted at the rear end of the transmission end of the reciprocating motor 103. The positioning nut 105 is threadedly mounted on the front and rear ends of the outer end of the bidirectional screw 104. The slide groove 106 is fixedly set at the left end of the lower end of the mounting plate 101. The slide rod 107 is fixedly mounted at the inner end of the slide groove 106. The slider 108 is movably mounted at the front and rear ends of the outer end of the slide rod 107. The groove 109 is fixedly set in the middle of the lower end of the mounting plate 101, and the infrared sensor 110 is fixedly mounted at the inner end of the groove 109.

[0026] The adjusting mechanism 2 includes a connecting plate 201, a clamping jaw 202, a connecting block 203, an electric push rod 204, a connecting seat 205, a reduction motor 1 206, a supporting plate 207, a reduction motor 208, a mounting seat 209, a control actuator 210, a rotating disk 211, a rotating motor 212 and a fixing plate 213. The connecting plate 201 is movably mounted on the lower end of the positioning nut 105 and the slider 108, the clamping jaw 202 is fixedly mounted on the lower end of the connecting plate 201, the connecting block 203 is fixedly mounted on the middle of the upper end of the mounting plate 101, the electric push rod 204 is fixedly mounted on the left end of the connecting block 203, and the ... and the electric push rod 204 is fixedly mounted on the left end of the connecting block 203. The connecting seat 205 is fixedly mounted on the rear end of the electric push rod 204, the reduction motor 1 206 is fixedly mounted on the rear end of the connecting seat 205, the support plate 207 is fixedly mounted on the rear end of the reduction motor 1 206, the reduction motor 208 is fixedly mounted on the lower end of the rear end of the support plate 207, the mounting seat 209 is fixedly mounted on the lower end of the reduction motor 208, the control actuator 210 is fixedly mounted on the left end of the mounting seat 209, the rotating disk 211 is fixedly mounted on the lower end of the mounting seat 209, the rotating motor 212 is fixedly mounted on the lower end of the rotating disk 211, and the fixing plate 213 is fixedly mounted on the left end of the rotating motor 212. At the lower end, first, when the manipulator is used to dock the automatic pitch-changing mechanism, the infrared sensor 110 emits an infrared signal, and then receives the reflection of the signal, and judges the distance between the object and the infrared sensor 110 according to the strength of the signal. When the object is close to the infrared sensor 110, the reflected infrared signal strength will increase, and when the object is far away from the infrared sensor 110, the reflected infrared signal strength will decrease. The automatic adjustment of the distance to the object is achieved by controlling the actuator 210, and the rotating motor 212 drives the rotating disk 211 and the mounting seat 209 to rotate to a suitable angle, and the reduction motor 208 drives the support plate 2 07 is rotated to a suitable height, the electric push rod 204 adjusts the position of the clamping jaws 202 again, so that the clamping jaws 202 are located on both sides of the object, and the reciprocating motor 103 drives the bidirectional lead screw 104 to rotate. The threads at both ends of the bidirectional lead screw 104 are opposite, which can drive the positioning nuts 105 at both ends to move toward the middle at the same time, and the positioning nuts 105 drive the connecting plate 201 and the clamping jaws 202 to clamp and fix the object and move it to the specified position, and the slider 108 follows the positioning nut 105 to move synchronously on the slide rod 107, which improves the stability of the connecting plate 201 and the clamping jaws 202 when moving, and improves the firmness of the clamping.

[0027] Working principle: First, when the manipulator is used to dock the automatic distance-changing mechanism, the infrared sensor 110 emits an infrared signal, and then receives the reflection of the signal. The distance between the object and the infrared sensor 110 is determined based on the strength of the signal. When the object is close to the infrared sensor 110, the reflected infrared signal strength will increase, and when the object is away from the infrared sensor 110, the reflected infrared signal strength will decrease. The distance to the object is automatically adjusted by controlling the actuator 210. The rotating motor 212 drives the rotating disk 211 and the mounting seat 209 to rotate to a suitable angle, and the reduction motor 208 drives the support plate 207 is rotated to a suitable height, and the electric push rod 204 adjusts the position of the clamping jaws 202 again so that the clamping jaws 202 are located on both sides of the object. The reciprocating motor 103 drives the bidirectional lead screw 104 to rotate. The threads at both ends of the bidirectional lead screw 104 are opposite, which can drive the positioning nuts 105 at both ends to move toward the middle at the same time. The positioning nuts 105 drive the connecting plate 201 and the clamping jaws 202 to clamp and fix the object and move it to the specified position. The slider 108 follows the positioning nut 105 and moves synchronously on the slide rod 107, which improves the stability of the connecting plate 201 and the clamping jaws 202 when moving, and improves the firmness of the clamping.

[0028] Finally, it should be noted that the above content is only used to illustrate the technical solution of the utility model, rather than to limit the protection scope of the utility model. Simple modifications or equivalent substitutions of the technical solution of the utility model by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the utility model.

Claims

1. A robot docking automatic distance changing mechanism, comprising a main mechanism (1) and an adjustment mechanism (2), characterized in that: The adjustment mechanism (2) is located at the lower end of the main mechanism (1); the main mechanism (1) comprises a mounting plate (101), a mounting slot (102) and a reciprocating motor (103); the mounting slot (102) is fixedly arranged at the right end of the lower end of the mounting plate (101); the reciprocating motor (103) is fixedly mounted at the right end of the front end of the mounting plate (101); and the transmission end of the reciprocating motor (103) extends into the interior of the mounting slot (102); The main body mechanism (1) further comprises a bidirectional screw rod (104), a positioning nut (105), a slide groove (106), a slide rod (107), a slider (108), a groove (109) and an infrared sensor (110); the bidirectional screw rod (104) is fixedly mounted at the rear end of the transmission end of the reciprocating motor (103); the positioning nut (105) is threadedly mounted at the front and rear ends of the outer end of the bidirectional screw rod (104); the slide groove (106) is fixedly mounted at the left end of the lower end of the mounting plate (101); the slide rod (107) is fixedly mounted at the inner end of the slide groove (106); the slider (108) is movably mounted at the front and rear ends of the outer end of the slide rod (107); the groove (109) is fixedly mounted at the middle part of the lower end of the mounting plate (101); and the infrared sensor (110) is fixedly mounted at the inner end of the groove (109).

2. The automatic distance changing mechanism for manipulator docking according to claim 1, characterized in that: The adjusting mechanism (2) comprises a connecting plate (201), a clamping jaw (202), a connecting block (203), an electric push rod (204), a connecting seat (205), a first reduction motor (206), a supporting plate (207), a second reduction motor (208), a mounting seat (209), a control actuator (210), a rotating disk (211), a rotating motor (212) and a fixing plate (213); the connecting plate (201) is movably mounted on the lower end of the positioning nut (105) and the slider (108); and the clamping jaw (202) is fixedly mounted on the lower end of the connecting plate (201).

3. The automatic distance changing mechanism for manipulator docking according to claim 2, characterized in that: The connecting block (203) is fixedly mounted at the middle of the upper end of the mounting plate (101), the electric push rod (204) is fixedly mounted at the left end of the connecting block (203), and the connecting seat (205) is fixedly mounted at the rear end of the electric push rod (204).

4. The automatic distance changing mechanism for manipulator docking according to claim 3 is characterized in that: The first reduction motor (206) is fixedly mounted on the rear end of the connecting seat (205), the support plate (207) is fixedly mounted on the rear end of the first reduction motor (206), and the second reduction motor (208) is fixedly mounted on the lower end of the rear end of the support plate (207).

5. The automatic distance changing mechanism for manipulator docking according to claim 4, characterized in that: The mounting seat (209) is fixedly mounted on the lower end of the second reduction motor (208), the control actuator (210) is fixedly mounted on the left end of the mounting seat (209), and the rotating disk (211) is fixedly mounted on the lower end of the mounting seat (209).

6. The automatic distance changing mechanism for manipulator docking according to claim 5, characterized in that: The rotating motor (212) is fixedly mounted on the lower end of the rotating disk (211), and the fixing plate (213) is fixedly mounted on the lower end of the rotating motor (212).

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