Manipulator convenient to adjust

Abstract

The utility model belongs to the field of mechanical arms, particularly relates to a mechanical arm convenient to adjust, and aims to solve the problems that an existing mechanical arm is inconvenient to adjust according to changes of different clamping distances and low in working efficiency. The angle adjusting device is arranged on the rotating device; the telescopic device is arranged on the angle adjusting device; the mechanical arm adjusting device is arranged on the telescopic device; the pushing device is arranged at the bottom of the mechanical arm adjusting device; the turntable device is arranged on the pushing device; the clamping device is arranged on the turntable device; according to the manipulator, the telescopic device is used for adjusting the distance between the first connecting rod and the second connecting rod, so that the manipulator can be conveniently adjusted according to the change of different clamping distances, and the working efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of manipulators, and in particular to a manipulator that is easy to adjust. Background Art

[0002] Robots can replace heavy human labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, they are widely used in machinery manufacturing, electronics, light industry, atomic energy and other sectors.

[0003] Patent No. CN208117894U discloses a manipulator that is easy to adjust, including a base plate, a base, a fixed block, a connecting ring, a connecting block, a fixed ring, a telescopic device, a connecting sleeve, a welding ring, a welding block, and a mechanical claw. The base plate and the base are an integrated structure, the connecting sleeve and the welding ring are an integrated structure, the welding ring and the welding block are welded, the welding block is connected to the mechanical claw, and a telescopic device is provided on the left side of the mechanical claw. The utility model is a manipulator that is easy to adjust. The structure is provided with a telescopic device, and the gears on the same axis are driven by a motor to rotate, so that the gears drive the matching gears at both ends to rotate, and the matching gear rotates to drive the second gear on the same center line as the gear to rotate, and the second gear rotates to drive the integrated threaded rod to rotate so that it cooperates with the guide sleeve, and the guide sleeve and the telescopic ring are nested, thereby driving the telescopic ring to be pushed out and adjusting the distance to work.

[0004] Patent No. CN214081421U discloses a robot arm that is easy to adjust, including a base, a first motor, a rotating arm, a clamping mechanism and a lifting mechanism. The top of the base is fixedly connected to the first motor, the output shaft of the first motor is rotatably connected to the rotating arm, and limit frames are symmetrically provided on the left and right sides of the rotating arm. The limit frame is shaped like an inverted "U", and a slide groove is provided at the top of the inner part of the limit frame. The left and right ends of the slide groove are fixedly connected to the inner wall of the limit frame. A clamping piece is provided inside the slide groove, and the clamping piece is slidably connected to the slide groove. The bottom of the clamping piece is fixedly connected to the first slider, and a lifting device is provided at the bottom of the first slider.

[0005] However, the existing manipulator is not convenient to adjust according to the changes of different clamping distances, which leads to the problem of low working efficiency. Therefore, a manipulator that is easy to adjust is proposed. Utility Model Content

[0006] In order to improve the problem that the existing manipulator is not convenient to adjust according to the changes in different clamping distances and has low working efficiency, the present application provides a manipulator that is easy to adjust.

[0007] The present application provides a manipulator that is easy to adjust and adopts the following technical solution:

[0008] A manipulator that is easy to adjust, comprising:

[0009] Base;

[0010] An angle adjustment device, the angle adjustment device is arranged on the rotating device;

[0011] A telescopic device, the telescopic device is arranged on the angle adjustment device;

[0012] A mechanical arm adjustment device, the mechanical arm adjustment device is arranged on the telescopic device;

[0013] A pushing device, which is arranged at the bottom of the mechanical arm adjusting device;

[0014] A turntable device, wherein the turntable device is arranged on the pushing device;

[0015] A clamping device, the clamping device is arranged on the turntable device;

[0016] Furthermore, the angle adjustment device includes a rotating motor, a first turntable and a fixed block, the rotating motor is fixedly installed on the base, the output shaft of the rotating motor is fixedly connected to the first turntable, the first turntable is fixedly connected to the fixed block, a second motor is arranged on the first turntable, a rotating shaft is fixedly connected to the output shaft of the second motor, the rotating shaft is rotatably connected to the fixed block, and the angle adjustment device is used to adjust the angles of the telescopic device, the mechanical arm adjustment device, the pushing device, the turntable device and the clamping device.

[0017] Furthermore, the telescopic device includes a telescopic rod, a first connecting rod and a second connecting rod, the rotating shaft is fixedly connected to the second connecting rod, the second connecting rod and the first connecting rod are respectively fixedly connected to two ends of the telescopic rod, two third motors are fixedly installed on the second connecting rod, and screws are fixedly connected to the output shafts of the two third motors, and the two screws are threadedly connected to the first connecting rod. The telescopic device is used to adjust the distance between the first connecting rod and the second connecting rod.

[0018] Furthermore, the robotic arm adjustment device includes a first motor and a robotic arm, the first motor is fixedly mounted on a first connecting rod, the output shaft of the first motor is fixedly connected to the robotic arm, and the robotic arm adjustment device is used to drive the pushing device, the turntable device and the clamping device for adjustment.

[0019] Furthermore, the pushing device includes two push rod motors, two connecting blocks, two round rods and two cylinders. The two push rod motors are fixedly installed on the robot arm. The output shafts of the two push rod motors are respectively fixedly connected to the two connecting blocks, the two connecting blocks are respectively fixedly connected to the two round rods and the two cylinders, and the two round rods are respectively slidably connected to the two cylinders.

[0020] Furthermore, the turntable device includes a second turntable and four third connecting rods, the four third connecting rods are rotatably connected to the second turntable, and the four third connecting rods are rotatably connected to sliders, and two of the four sliders are fixedly connected to the two connecting blocks respectively.

[0021] Furthermore, the clamping device includes four clamping blocks and a disc, the second turntable is rotatably connected to the disc, four sliding grooves are opened on the disc, the four sliding grooves are respectively slidably connected to four sliders, the four sliders are respectively slidably connected to the clamping blocks, and the clamping device is used to clamp objects.

[0022] In summary, the present application includes at least one of the following beneficial technical effects:

[0023] 1. The telescopic device is used to adjust the distance between the first connecting rod and the second connecting rod, so that the manipulator can adapt to changes in different clamping distances and improve work efficiency;

[0024] 2. The angles of the telescopic device, the mechanical arm adjustment device, the pushing device, the turntable device and the clamping device can be adjusted through the angle adjustment device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure in Example 1 of the present application;

[0026] Figure 2 It is a schematic diagram of the connection structure of the mechanical arm, the pushing device, the turntable device and the clamping device in the first embodiment of the present application;

[0027] Figure 3 It is a schematic diagram of the connection structure of the pushing device, the turntable device and the clamping device in the first embodiment of the present application;

[0028] Figure 4 It is a schematic diagram of the connection structure of the telescopic device in Example 1 of the present application.

[0029] Figure numerals: 1. first motor; 2. first connecting rod; 3. fixed block; 4. second motor; 5. rotating motor; 6. base; 7. mechanical arm; 8. second connecting rod; 9. first turntable; 10. push rod motor; 11. clamping block; 12. slide groove; 13. disc; 14. second turntable; 15. slider; 16. cylinder; 17. third connecting rod; 18. round rod; 19. screw; 20. telescopic rod; 21. third motor; 22. rotating shaft; 23. connecting block. DETAILED DESCRIPTION

[0030] Embodiment 1

[0031] The following is combined with Figure 1-Figure 4 The first embodiment of the present application is described in further detail.

[0032] A convenient installation method for adjusting the manipulator Figure 1 ,include:

[0033] Base 6;

[0034] An angle adjustment device, the angle adjustment device is arranged on the rotating device;

[0035] A telescopic device, the telescopic device is arranged on the angle adjustment device;

[0036] A mechanical arm adjustment device, the mechanical arm adjustment device is arranged on the telescopic device;

[0037] A pushing device, which is arranged at the bottom of the mechanical arm adjusting device;

[0038] A turntable device, wherein the turntable device is arranged on the pushing device;

[0039] A clamping device, the clamping device is arranged on the turntable device;

[0040] Reference Figure 2 , Figure 3 and Figure 4The angle adjustment device includes a rotating motor 5, a first rotating disk 9 and a fixed block 3. The rotating motor 5 is fixedly installed on the base 6. The output shaft of the rotating motor 5 is fixedly connected to the first rotating disk 9. The first rotating disk 9 is fixedly connected to the fixed block 3. A second motor 4 is arranged on the first rotating disk 9. A rotating shaft 22 is fixedly connected to the output shaft of the second motor 4. The rotating shaft 22 is rotatably connected to the fixed block 3. The angle adjustment device is used to adjust the angles of the telescopic device, the mechanical arm adjustment device, the pushing device, the rotating disk device and the clamping device. The telescopic device includes a telescopic rod 20, a first connecting rod The second connecting rod 2 and the second connecting rod 8 are fixedly connected to the rotating shaft 22. The second connecting rod 8 and the first connecting rod 2 are fixedly connected to the two ends of the telescopic rod 20 respectively. Two third motors 21 are fixedly installed on the second connecting rod 8. The output shafts of the two third motors 21 are fixedly connected with screws 19. The two screws 19 are threadedly connected to the first connecting rod 2. The telescopic device is used to adjust the distance between the first connecting rod 2 and the second connecting rod 8. The mechanical arm adjustment device includes a first motor 1 and a mechanical arm 7. The first motor 1 is fixedly installed on the first connecting rod 2. The output shaft of the first motor 1 The shaft is fixedly connected to the robot arm 7, and the robot arm adjustment device is used to drive the pushing device, the turntable device and the clamping device for adjustment. The pushing device includes two push rod motors 10, two connecting blocks 23, two round rods 18 and two cylinders 16. The two push rod motors 10 are fixedly installed on the robot arm 7. The output shafts of the two push rod motors 10 are respectively fixedly connected to the two connecting blocks 23, the two connecting blocks 23 are respectively fixedly connected to the two round rods 18 and the two cylinders 16, the two round rods 18 are respectively slidably connected to the two cylinders 16, and the turntable device includes a second turntable. The disc 14 and four third connecting rods 17 are rotatably connected to the second turntable 14, and the four third connecting rods 17 are rotatably connected to the sliders 15. Two of the four sliders 15 are respectively fixedly connected to the two connecting blocks 23. The clamping device includes four clamping blocks 11 and a disc 13. The second turntable 14 is rotatably connected to the disc 13. Four sliding grooves 12 are provided on the disc 13. The four sliding grooves 12 are respectively slidably connected to the four sliders 15. The four sliders 15 are respectively slidably connected to the clamping blocks 11. The clamping device is used to clamp objects.

[0041] The implementation principle of the adjustable manipulator of the embodiment of the present application is as follows: when in use, the rotating motor 5 can be started, and the rotating motor 5 drives the first turntable 9, the telescopic device, the manipulator arm adjustment device, the pushing device, the turntable device and the clamping device to rotate to adjust the clamping angle, and then the second motor 4 is started, and the second motor 4 drives the telescopic device to rotate, and at the same time the first motor 1 is started, and the first motor 1 drives the manipulator arm 7 to rotate, and the manipulator arm 7 drives the driving device, the turntable device and the clamping device to rotate, and then the clamping device on the manipulator arm 7 is aligned with the object, and the two push rod motors 10 are started, and the two push rod motors 10 respectively push the two connecting blocks 23 to move, and the two connecting blocks 23 respectively drive the two round rods 23 to move into the inside of the two cylinders 16, and at the same time, the two The connecting block 23 drives two of the four sliders 15 to move respectively, and the two sliders 15 drive two of the four third connecting rods 17 to rotate respectively, and the two third connecting rods 17 drive the second turntable 14 to deviate, and the second turntable 14 drives the other two third connecting rods 17 to rotate, and the other two third connecting rods 17 drive the other two sliders 15 to move, and the four sliders 15 drive the four clamping blocks 11 to clamp the object respectively. At the same time, if the object is too far away, start the two third motors 21, and the two third motors 21 drive the two screws 19 to rotate respectively, and the two screws 19 drive the first connecting rod 2 to rise, and adjust the distance between the first connecting rod 2 and the second connecting rod 8, so that the manipulator can adapt to changes in different clamping distances and improve work efficiency.

[0042] Embodiment 2

[0043] The difference between this embodiment and the first embodiment is that four silicone sleeves are fixedly connected to the four clamping blocks 11 respectively, and the four silicone sleeves can be used to protect the objects when clamping them.

[0044] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A manipulator that is easy to adjust, characterized in that: include: Base (6); An angle adjustment device, the angle adjustment device is arranged on the rotating device; A telescopic device, the telescopic device is arranged on the angle adjustment device; A mechanical arm adjustment device, the mechanical arm adjustment device is arranged on the telescopic device; A pushing device, which is arranged at the bottom of the mechanical arm adjusting device; A turntable device, wherein the turntable device is arranged on the pushing device; The clamping device is arranged on the turntable device.

2. The easily adjustable manipulator according to claim 1, characterized in that: The angle adjustment device comprises a rotating motor (5), a first rotating disk (9) and a fixed block (3); the rotating motor (5) is fixedly mounted on a base (6); an output shaft of the rotating motor (5) is fixedly connected to the first rotating disk (9); the first rotating disk (9) is fixedly connected to the fixed block (3); a second motor (4) is arranged on the first rotating disk (9); a rotating shaft (22) is fixedly connected to the output shaft of the second motor (4); the rotating shaft (22) is rotatably connected to the fixed block (3); and the angle adjustment device is used to adjust the angles of the telescopic device, the mechanical arm adjustment device, the pushing device, the rotating disk device and the clamping device.

3. The adjustable manipulator according to claim 2, characterized in that: The telescopic device comprises a telescopic rod (20), a first connecting rod (2) and a second connecting rod (8); the rotating shaft (22) is fixedly connected to the second connecting rod (8); the second connecting rod (8) and the first connecting rod (2) are respectively fixedly connected to two ends of the telescopic rod (20); two third motors (21) are fixedly mounted on the second connecting rod (8); screw rods (19) are fixedly connected to the output shafts of the two third motors (21); the two screw rods (19) are threadedly connected to the first connecting rod (2); and the telescopic device is used to adjust the distance between the first connecting rod (2) and the second connecting rod (8).

4. The easily adjustable manipulator according to claim 3, characterized in that: The mechanical arm adjustment device comprises a first motor (1) and a mechanical arm (7), wherein the first motor (1) is fixedly mounted on a first connecting rod (2), and an output shaft of the first motor (1) is fixedly connected to the mechanical arm (7), and the mechanical arm adjustment device is used to drive the pushing device, the rotating disk device and the clamping device to perform adjustment.

5. The easily adjustable manipulator according to claim 4, characterized in that: The pushing device comprises two push rod motors (10), two connecting blocks (23), two round rods (18) and two cylinders (16); the two push rod motors (10) are fixedly mounted on the robot arm (7); the output shafts of the two push rod motors (10) are respectively fixedly connected to the two connecting blocks (23); the two connecting blocks (23) are respectively fixedly connected to the two round rods (18) and the two cylinders (16); and the two round rods (18) are respectively slidably connected to the two cylinders (16).

6. The easily adjustable manipulator according to claim 5, characterized in that: The turntable device comprises a second turntable (14) and four third connecting rods (17), the four third connecting rods (17) being rotatably connected to the second turntable (14), the four third connecting rods (17) being rotatably connected to sliders (15), and two of the four sliders (15) being fixedly connected to two connecting blocks (23) respectively.

7. The easily adjustable manipulator according to claim 6, characterized in that: The clamping device comprises four clamping blocks (11) and a disc (13); the second rotating disc (14) is rotatably connected to the disc (13); four sliding grooves (12) are provided on the disc (13); the four sliding grooves (12) are slidably connected to four sliding blocks (15) respectively; the four sliding blocks (15) are slidably connected to the clamping blocks (11) respectively; the clamping device is used to clamp an object.

Images