Manipulator with adjusting structure

Abstract

The utility model relates to the technical field of manipulators, and discloses a manipulator with an adjusting structure, which comprises a full-angle arm, a control component is arranged at the end of the full-angle arm, a clamping component is arranged at the end of the full-angle arm, and the control component can control the full-angle arm to adjust the angle. The clamping and fixing assemblies can be opened or clamped, when the clamping and fixing assemblies conduct clamping, the fixing piles can conduct synchronous displacement, so that the flexible clamping plates are driven to conduct additional clamping and fixing on the side edges of the object, and when a C-shaped frame conducts displacement, an L-shaped plate can drive a sliding strip to conduct displacement; according to the clamping device, the fixed rubber plate and the movable rubber plate can achieve the just clamping effect when being extruded by an object, meanwhile, the movable rubber plate can move towards the center to further form additional rubber body clamping force, finally, the problem that when the irregular rigid object is clamped, the slippage phenomenon is likely to happen is solved, and the adjusted clamping effect is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator with an adjustment structure. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms to grab, move objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and its structure and performance combine the advantages of both human and mechanical machines.

[0003] According to an adjustable manipulator disclosed (Announcement No.: CN218195244U), in the above application, a clamping mechanism is provided including a support plate, a first cylinder and a second cylinder. The telescopic end of the first cylinder is fixedly connected to a traction block, and the two ends of the traction block are rotatably connected to connecting rods, and one end of the two connecting rods are rotatably connected to clamping arms, and the telescopic end of the second cylinder is fixedly connected to a driving disk. The traction rod and the driving block cooperate with each other to drive the two clamping arms to move closer to or away from each other, thereby adjusting the distance between the two clamping arms to ensure that the clamping mechanism can adapt to the clamping work of objects of different sizes. The movement of the telescopic end of the second cylinder can drive the clamping arms to move, thereby speeding up the adjustment speed of the clamping arm spacing.

[0004] However, in actual use, although the above-mentioned device can adjust the distance between the two clamping arms and clamp different objects, there is no colloid material on the surface of the clamping head, which makes it easy to slip when clamping irregular rigid objects; in view of this, we propose a manipulator with an adjustable structure. Utility Model Content

[0005] The purpose of the utility model is to provide a manipulator with an adjustment structure to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator with an adjustment structure, comprising a full-angle machine arm, a control component is provided at the end of the full-angle machine arm, a clamping component is provided at the end of the full-angle machine arm, a stabilizing component is provided on the outer surface of the clamping component, and the stabilizing component comprises a fixing pile, the end of the clamping component is fixedly connected to the fixing pile, the outer surface of the fixing pile is fixedly connected to the upper contact, the outer surface of the fixing pile is fixedly connected to the lower contact, the front end of the lower contact is fixedly connected to the horizontal rubber plate, the side wall of the lower contact is fixedly connected to the guide rod, the upper end of the lower contact is rotatably mounted with a tooth column, the end of the tooth column is rotatably mounted with the upper contact, the inner wall of the fixing pile is fixedly connected with a limiting plate, the outer surface of the limiting plate is slidably connected with a tooth plate, the tooth plate meshes with the tooth column, the inner wall of the fixing pile is provided with an elastic telescopic plate, and the end of the elastic telescopic plate is fixedly connected with a connecting plate;

[0007] The side wall of the connecting plate is fixedly connected with a tooth plate, the end of the tooth column passes through the upper contact and is fixedly connected with the active bevel gear, the inner wall of the upper contact is fixedly connected with a mounting seat, the outer surface of the mounting seat is rotatably mounted with a reciprocating threaded rod, the outer surface of the reciprocating threaded rod is threadedly connected with a threaded slider, the outer surface of the threaded slider is fixedly connected with a C-shaped frame, the upper end of the C-shaped frame is movably connected with the upper contact, the lower end of the C-shaped frame is movably connected with the lower contact, the outer surface of the C-shaped frame is fixedly connected with an L-shaped plate, and the end of the L-shaped plate is fixedly connected with an extrusion plate;

[0008] The outer surface of the reciprocating threaded rod is fixedly connected to a driven bevel gear, the active bevel gear meshes with the driven bevel gear, the outer surface of the upper contact is provided with a limiting groove 1, the inner wall of the limiting groove 1 is slidably connected with a sliding block, the inner wall of the limiting groove 1 is provided with a limiting groove 2, the outer surface of the sliding block is fixedly connected to a sliding bar, the outer surface of the sliding bar is slidably connected to limiting groove 2, the outer surface of the sliding bar is fixedly connected to an extrusion plate, the front end of the sliding block is fixedly connected to a moving rubber plate, the front end of the upper contact is fixedly connected to a fixed rubber plate, and the side wall of the C-shaped frame is fixedly connected to a tough splint.

[0009] Preferably, the limiting groove 1 and the sliding block are both configured in a T-shape, and the limiting groove 1 is adapted to the sliding block so that the sliding block can slide smoothly in the limiting groove.

[0010] Preferably, the center line of the reciprocating threaded rod and the center line of the C-shaped frame are both in the same plane, so that the reciprocating threaded rod can smoothly drive the C-shaped frame to operate when it is in operation.

[0011] Preferably, the rear end of the movable rubber plate is movably connected to the front end of the upper contact, so that the movable rubber plate can move smoothly on the upper contact.

[0012] Preferably, the outer surface of the tough splint is provided with an optimization component, the optimization component includes a roughening strip, the outer surface of the tough splint is fixedly connected with the roughening strip, and the outer surface of the roughening strip is fixedly connected with a rubber ring pad.

[0013] Preferably, a plurality of the rubber ring pads are provided, and the plurality of the rubber ring pads are arranged in a linear array on the outer surface of the roughened strip, so that the required object can be better clamped.

[0014] Compared with the prior art, the utility model provides a manipulator with an adjustment structure, which has the following beneficial effects:

[0015] 1. In daily operation, the control component of the manipulator with an adjustment structure controls the full-angle arm to adjust the angle, and enables the clamping component to open or clamp. When the clamping component is clamping, the fixed pile will be displaced synchronously. When the tooth plate touches the object, it will be displaced, so that the threaded slider restricted by the C-shaped frame will move, thereby driving the tough clamping plate to additionally clamp the side of the object, and when the C-shaped frame is displaced, the L-shaped plate will drive the sliding bar to displace, so that the fixed rubber plate and the movable rubber plate can have a just clamping effect when squeezed by the object, and at the same time, the movable rubber plate will displace toward the center to further form an additional colloid clamping force, ultimately solving the problem of easy slippage when clamping irregular rigid objects, and further improving the effect of the adjustable clamping.

[0016] 2. When the manipulator with an adjustment structure drives the tough splint to additionally clamp the side of an object, the roughened strip will further contact the object, thereby increasing the friction force, and the gap between the clamps can be filled by the rubber ring gasket, further improving the clamping effect of the adjustment, thereby greatly improving the overall practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the optimized component structure of the utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the stabilizing component of the utility model;

[0020] Figure 4 This is a schematic diagram of the structure of the sliding block of the utility model;

[0021] Figure 5 This is a schematic diagram of the structure of the sliding bar of the utility model.

[0022] In the figure: 1. full-angle machine arm; 2. control component; 3. clamping component; 4. stabilizing component; 401. fixing pile; 402. upper contact; 403. lower contact; 404. horizontal rubber plate; 405. guide rod; 406. tooth column; 407. limiting plate; 408. tooth plate; 409. elastic expansion plate; 410. connecting plate; 411. active bevel gear; 412. mounting seat; 413. reciprocating threaded rod; 414. threaded slider; 415. C-shaped frame; 416. L-shaped plate; 417. extrusion plate; 418. driven bevel gear; 419. limiting groove 1; 420. sliding block; 421. limiting groove 2; 422. sliding bar; 423. moving rubber plate; 424. fixed rubber plate; 425. tough splint; 5. optimization component; 501. roughened strip; 502. rubber pad. DETAILED DESCRIPTION

[0023] like Figure 1-Figure 5 As shown, the utility model provides a technical solution: a manipulator with an adjustment structure, comprising a full-angle machine arm 1, a control component 2 is arranged at the end of the full-angle machine arm 1, a clamping component 3 is arranged at the end of the full-angle machine arm 1, a stabilizing component 4 is arranged on the outer surface of the clamping component 3, and the stabilizing component 4 includes a fixing pile 401, the end of the clamping component 3 is fixedly connected to the fixing pile 401, the outer surface of the fixing pile 401 is fixedly connected to an upper contact 402, the outer surface of the fixing pile 401 is fixedly connected to a lower contact 403, and the lower contact 40 3 is fixedly connected with a horizontal rubber plate 404 at the front end, a guide rod 405 is fixedly connected with the side wall of the lower contact 403, a tooth column 406 is rotatably mounted on the upper end of the lower contact 403, and the upper contact 402 is rotatably mounted on the end of the tooth column 406, a limiting plate 407 is fixedly connected to the inner wall of the fixing pile 401, and a tooth plate 408 is slidably connected to the outer surface of the limiting plate 407, and the tooth plate 408 engages with the tooth column 406, and an elastic expansion plate 409 is provided on the inner wall of the fixing pile 401, and a connecting plate 410 is fixedly connected to the end of the elastic expansion plate 409.

[0024] In addition, a tooth plate 408 is fixedly connected to the side wall of the connecting plate 410, the end of the tooth column 406 passes through the upper contact 402 and is fixedly connected to the active bevel gear 411, the inner wall of the upper contact 402 is fixedly connected to the mounting seat 412, the outer surface of the mounting seat 412 is rotatably mounted with a reciprocating threaded rod 413, the outer surface of the reciprocating threaded rod 413 is threadedly connected with a threaded slider 414, the outer surface of the threaded slider 414 is fixedly connected with a C-shaped frame 415, the upper end of the C-shaped frame 415 is movably connected to the upper contact 402, the lower end of the C-shaped frame 415 is movably connected to the lower contact 403, the outer surface of the C-shaped frame 415 is fixedly connected to an L-shaped plate 416, and the end of the L-shaped plate 416 is fixedly connected to an extrusion plate 417.

[0025] Furthermore, the outer surface of the reciprocating threaded rod 413 is fixedly connected to a driven bevel gear 418, the active bevel gear 411 meshes with the driven bevel gear 418, the outer surface of the upper contact 402 is provided with a limiting groove 1 419, the inner wall of the limiting groove 1 419 is slidably connected to a sliding block 420, the inner wall of the limiting groove 1 419 is provided with a limiting groove 2 421, the outer surface of the sliding block 420 is fixedly connected to a sliding bar 422, the outer surface of the sliding bar 422 is slidably connected to the limiting groove 2 421, the outer surface of the sliding bar 422 is fixedly connected to an extrusion plate 417, the front end of the sliding block 420 is fixedly connected to a movable rubber plate 423, the front end of the upper contact 402 is fixedly connected to a fixed rubber plate 424, and the side wall of the C-shaped frame 415 is fixedly connected to a tough splint 425.

[0026] In the embodiment of the utility model, the limiting groove 419 and the sliding block 420 are both set to T-shaped, and the limiting groove 419 is adapted to the sliding block 420, so that the sliding block 420 can slide smoothly in the limiting groove, and the center line of the reciprocating threaded rod 413 and the center line of the C-shaped frame 415 are both in the same plane, so that the reciprocating threaded rod 413 can smoothly drive the C-shaped frame 415 to operate when it is running, and the rear end of the mobile rubber plate 423 is movably connected to the front end of the upper contact 402. In order to enable the movable rubber plate 423 to move smoothly on the upper contact 402, the outer surface of the tough clamp 425 is provided with an optimization component 5, and the optimization component 5 includes a roughening strip 501. The outer surface of the tough clamp 425 is fixedly connected with the roughening strip 501, and the outer surface of the roughening strip 501 is fixedly connected with a rubber ring pad 502. There are a plurality of rubber ring pads 502, and the plurality of rubber ring pads 502 are arranged in a linear array on the outer surface of the roughening strip 501, so that the required object can be better clamped.

[0027] When the clamping assembly 3 is clamped, the fixed pile 401 will be displaced synchronously, and when the tooth plate 408 touches the object, it will be displaced, so that the tooth column 406 rotates and then the reciprocating threaded rod 413 rotates through the active bevel gear 411 and the driven bevel gear 418, so that the threaded slider 414 restricted by the C-shaped frame 415 moves, thereby driving the tough clamping plate 425 to additionally clamp the side of the object, and when the C-shaped frame 415 is displaced, the L-shaped plate 416 drives the sliding bar 422 to displace, so that the fixed rubber plate 424 and the movable rubber plate 423 can be just clamped when squeezed by the object, and the movable rubber plate 423 will be displaced toward the center to further form an additional colloid clamping force, which ultimately solves the problem of easy slippage when clamping irregular rigid objects, and further improves the effect of the adjustable clamping.

[0028] When driving the tough clamping plate 425 to additionally clamp the side of the object, the roughened strip 501 will further contact the object, thereby increasing the friction force, and the gap between the clamping can be filled by the rubber ring pad 502, thereby further improving the clamping effect of the adjustment, thereby greatly improving the overall practicality.

[0029] The above generally describes the present invention in detail, but it is obvious to a person skilled in the art that some modifications or improvements can be made to the present invention. Therefore, modifications or improvements that do not deviate from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A manipulator with an adjustment structure, comprising a full-angle arm (1), a control component (2) being provided at the end of the full-angle arm (1), and a clamping component (3) being provided at the end of the full-angle arm (1), characterized in that: The outer surface of the clamping component (3) is provided with a stabilizing component (4), and the stabilizing component (4) comprises: The fixing pile (401) is fixedly connected to the end of the clamping assembly (3), the upper contact (402) is fixedly connected to the outer surface of the fixing pile (401), the lower contact (403) is fixedly connected to the outer surface of the fixing pile (401), the front end of the lower contact (403) is fixedly connected to a horizontal rubber plate (404), the side wall of the lower contact (403) is fixedly connected to a guide rod (405), and the upper end of the lower contact (403) is rotatably mounted with A tooth column (406), an upper contact (402) is rotatably mounted on the end of the tooth column (406), a limiting plate (407) is fixedly connected to the inner wall of the fixing pile (401), a tooth plate (408) is slidably connected to the outer surface of the limiting plate (407), the tooth plate (408) engages with the tooth column (406), an elastic expansion plate (409) is provided on the inner wall of the fixing pile (401), and a connecting plate (410) is fixedly connected to the end of the elastic expansion plate (409); The tooth plate (408) is fixedly connected to the side wall of the connecting plate (410), the end of the tooth column (406) passes through the upper contact (402) and is fixedly connected to the driving bevel gear (411), the inner wall of the upper contact (402) is fixedly connected to the mounting seat (412), the outer surface of the mounting seat (412) is rotatably mounted with a reciprocating threaded rod (413), and the outer surface of the reciprocating threaded rod (413) is threadedly connected to the A threaded slider (414) is provided, the outer surface of the threaded slider (414) is fixedly connected to a C-shaped frame (415), the upper end of the C-shaped frame (415) is movably connected to an upper contact (402), the lower end of the C-shaped frame (415) is movably connected to a lower contact (403), the outer surface of the C-shaped frame (415) is fixedly connected to an L-shaped plate (416), and the end of the L-shaped plate (416) is fixedly connected to an extrusion plate (417); The driven bevel gear (418) is fixedly connected to the outer surface of the reciprocating threaded rod (413), the driving bevel gear (411) meshes with the driven bevel gear (418), the outer surface of the upper contact (402) is provided with a limiting groove 1 (419), the inner wall of the limiting groove 1 (419) is slidably connected to a sliding block (420), the inner wall of the limiting groove 1 (419) is provided with a limiting groove 2 (421), the sliding block (420) ) is fixedly connected to the outer surface of a sliding bar (422), the outer surface of the sliding bar (422) is slidably connected to a limiting groove 2 (421), the outer surface of the sliding bar (422) is fixedly connected to an extrusion plate (417), the front end of the sliding block (420) is fixedly connected to a moving rubber plate (423), the front end of the upper contact (402) is fixedly connected to a fixed rubber plate (424), and the side wall of the C-shaped frame (415) is fixedly connected to a tough clamping plate (425).

2. A manipulator with an adjustment structure according to claim 1, characterized in that: The limiting groove 1 (419) and the sliding block (420) are both configured in a T-shape, and the limiting groove 1 (419) and the sliding block (420) are adapted to each other.

3. The manipulator with an adjustment structure according to claim 1, characterized in that: The center line of the reciprocating threaded rod (413) and the center line of the C-shaped frame (415) are both in the same plane.

4. The manipulator with an adjustment structure according to claim 1, characterized in that: The rear end of the movable rubber plate (423) is movably connected to the front end of the upper contact (402).

5. The manipulator with an adjustment structure according to claim 1, characterized in that: The outer surface of the tough splint (425) is provided with an optimization component (5), and the optimization component (5) includes a roughening strip (501). The outer surface of the tough splint (425) is fixedly connected to the roughening strip (501), and the outer surface of the roughening strip (501) is fixedly connected to a rubber ring gasket (502).

6. The manipulator with an adjustment structure according to claim 5, characterized in that: A plurality of the rubber ring pads (502) are provided, and the plurality of the rubber ring pads (502) are arranged in a linear array on the outer surface of the roughened strip (501).

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