Grabbing manipulator suitable for precision hardware machining

Abstract

The utility model discloses a grabbing manipulator suitable for precision hardware machining, which comprises a mounting shell, a U-shaped fixing plate is fixedly arranged at the top of the mounting shell, a mechanical arm is fixedly arranged at the top of the U-shaped fixing plate, a transverse moving component convenient for clamping precision hardware is arranged in the mounting shell, and a clamping component is arranged in the mounting shell. And a clamping plate is arranged at the bottom of the mounting shell through a transverse moving assembly. The impact force is counteracted through rebounding of a buffer spring and resistance of damping liquid borne by a buffer piston plate, and the buffer spring can be slowly reset through the resistance of the buffer piston plate moving in the damping liquid, so that the anti-collision effect on the grabbing manipulator for precision hardware machining is conveniently achieved, and the service life of the grabbing manipulator is prolonged. And buffer springs are buffered, so that the situation that the grabbing manipulator for precision hardware machining shakes when the buffer springs rebound is avoided, and the situation that goods fall off from the grabbing manipulator for precision hardware machining due to shaking is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of grabbing manipulators, in particular to a grabbing manipulator suitable for precision hardware processing. Background Art

[0002] Precision hardware refers to tools made of gold, silver, copper, iron, tin and other metals through processing and casting, which are used to fix things, process things, and decorate. In the production process of precision hardware, a grasping manipulator is usually required to grasp and carry precision hardware. A manipulator is an automatic operating device that can imitate certain movements and functions of human hands and arms to grasp, carry objects or operate tools according to a fixed program. The characteristic is that it can complete various expected operations through programming, and has the advantages of both human and mechanical machines in structure and performance.

[0003] In the prior art, application number CN202020889110.9 proposes an anti-collision structure for a precision hardware manipulator, which provides double protection for the manipulator to prevent damage to the manipulator due to the impact force of the goods when the manipulator grabs the goods, thereby increasing the maintenance cost. At the same time, the size of the protective structure can be adjusted automatically according to the manipulator when grabbing the goods, which can adapt well to the size of the manipulator unfolded, has high flexibility, and also provides buffering and shock-absorbing protection for the manipulator arm.

[0004] However, during use, the above patent uses springs to prevent collisions and reduce shock, and the springs will deform when they are hit. If there is no buffer structure, the deformed spring rebound will cause the grasping robot to shake, which will cause the grasping robot to shake when grasping the goods, which may easily cause the goods to fall from the grasping robot. Therefore, a grasping robot suitable for precision hardware processing is proposed. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a grasping manipulator suitable for precision hardware processing, which is used to solve the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A grasping manipulator suitable for precision hardware processing comprises a mounting shell, a U-shaped fixing plate is fixedly arranged on the top of the mounting shell, a mechanical arm is fixedly arranged on the top of the U-shaped fixing plate, a lateral moving component is arranged inside the mounting shell for facilitating the clamping of precision hardware, a clamping plate is arranged on the bottom of the mounting shell through the lateral moving component, a U-shaped mounting plate is fixedly arranged on one side of the clamping plate, mounting holes are arranged through the surface of the U-shaped mounting plate, mounting studs are overlapped inside the U-shaped mounting plate, and fixing nuts are arranged on the surface of the mounting studs A buffer sleeve is fixedly provided at one end of the mounting hole, a buffer piston plate is slidably provided inside the buffer sleeve, a sliding rod is fixedly provided on the side of the buffer piston plate away from the mounting stud, a sealing cover is overlapped on the surface of the sliding rod, the sealing cover is fixedly installed inside the buffer sleeve, an anti-collision plate is fixedly provided at one end of the sliding rod away from the buffer piston plate, an anti-collision buffer head is fixedly provided on one side of the anti-collision plate, a buffer spring is fixedly provided on the other side of the anti-collision plate, the buffer spring is fixedly connected to the sealing cover, and a detection component is provided on the side of the anti-collision plate close to the sliding rod.

[0008] Preferably, the lateral movement component includes a servo motor, which is fixedly mounted on the top of the mounting shell, an output end of the servo motor extends through the mounting shell to the interior of the mounting shell and is fixedly provided with a driving gear, a moving rack is meshedly provided on the surface of the driving gear, a sliding sleeve is fixedly provided on the side of the moving rack away from the driving gear, a sliding column is slidably provided inside the sliding sleeve, the sliding column is fixedly mounted inside the mounting shell, a connecting block is fixedly provided at the bottom of the sliding sleeve, a fixed base plate is fixedly provided at the bottom end of the connecting block, and the clamping plate is fixedly installed at the bottom of the fixed base plate.

[0009] Preferably, the detection component includes an extrusion rod, a pressure sensor and a buzzer, and the pressure sensor and the buzzer are fixedly mounted on the side of the U-shaped mounting plate away from the clamping plate. The pressure sensor is provided with a mounting screw hole at one end close to the anti-collision plate, and the internal thread of the mounting screw hole is provided with a mounting screw, and the mounting screw is fixedly mounted on the side of the anti-collision plate close to the sliding rod.

[0010] Preferably, there are two anti-collision plates, and the two anti-collision plates are symmetrically distributed, and the anti-collision plates are made of metal material.

[0011] Preferably, there are several anti-collision buffer heads, and the several anti-collision buffer heads are symmetrically distributed. The anti-collision buffer heads are hemispherical structures, and the anti-collision buffer heads are made of rubber material.

[0012] Preferably, the interior of the buffer sleeve is hollow, damping fluid is arranged inside the buffer sleeve, and the buffer sleeve is made of metal material.

[0013] Preferably, the number of the movable racks is two, and both of the two movable racks are located inside the mounting shell, and the movable racks and the sliding sleeve are both made of metal.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. The grabbing manipulator suitable for precision hardware processing, when the clamping plate collides with the goods, the anti-collision buffer head pushes the sliding rod to move through the anti-collision plate, so that the buffer piston plate moves in the buffer sleeve, so that the anti-collision plate compresses the buffer spring, and the collision force is offset by the rebound of the buffer spring and the resistance of the buffer piston plate to the damping fluid, and the buffer spring can be slowly reset by the resistance of the buffer piston plate to the movement of the damping fluid, so as to facilitate the anti-collision effect of the grabbing manipulator for precision hardware processing, and by buffering the buffer spring, the grabbing manipulator for precision hardware processing is prevented from shaking when the buffer spring rebounds, thereby preventing the goods from falling from the grabbing manipulator for precision hardware processing due to the shaking.

[0016] 2. The grasping robot suitable for precision hardware processing moves the anti-collision plate so that the anti-collision plate pushes the extrusion rod to move toward the U-shaped mounting plate through the mounting screw hole and the mounting screw, so that the end of the extrusion rod applies pressure to the detection end of the pressure sensor, so that the pressure sensor detects the pressure change, thereby causing the buzzer to emit a buzzing sound, thereby knowing that the clamping plate continues to approach the goods, and the robot arm needs to be stopped, thereby avoiding the situation where the clamping plate continues to approach the goods after collision and causes the goods to collapse, and avoiding the situation where the clamping plate is bent due to excessive force. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the structural survey drawing of the utility model;

[0018] Figure 2 It is a schematic diagram of the longitudinal section of the structure of the utility model;

[0019] Figure 3 It is a schematic diagram of the local structure of the utility model;

[0020] Figure 4 This is a schematic diagram of the structure of the structural detection component of the utility model;

[0021] Figure 5 This is a schematic diagram of the structure of the lateral moving component of the utility model.

[0022] In the figure: 1. Installation shell; 2. U-shaped fixing plate; 3. Clamping plate; 4. U-shaped mounting plate; 5. Mounting hole; 6. Mounting stud; 7. Fixing nut; 8. Buffer sleeve; 9. Buffer piston plate; 10. Sliding rod; 11. Sealing cover; 12. Anti-collision plate; 13. Buffer spring; 14. Anti-collision buffer head; 15. Extrusion rod; 16. Pressure sensor; 17. Mounting screw hole; 18. Mounting screw; 19. Servo motor; 20. Driving gear; 21. Moving rack; 22. Sliding sleeve; 23. Sliding column; 24. Connecting block; 25. Fixed base plate; 26. Robot arm; 27. Buzzer. 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] Reference Figure 1-5A grasping manipulator suitable for precision hardware processing comprises a mounting shell 1, a U-shaped fixing plate 2 is fixedly arranged on the top of the mounting shell 1, a mechanical arm 26 is fixedly arranged on the top of the U-shaped fixing plate 2, a lateral moving component is arranged inside the mounting shell 1 for facilitating the clamping of precision hardware, a clamping plate 3 is arranged at the bottom of the mounting shell 1 through the lateral moving component, a U-shaped mounting plate 4 is fixedly arranged on one side of the clamping plate 3, a mounting hole 5 is penetrated on the surface of the U-shaped mounting plate 4, a mounting stud 6 is overlapped inside the U-shaped mounting plate 4, a fixing nut 7 is threadedly arranged on the surface of the mounting stud 6, a buffer sleeve 8 is fixedly arranged at one end of the mounting hole 5, a buffer piston plate 9 is slidably arranged inside the buffer sleeve 8, and a sliding rod is fixedly arranged on the side of the buffer piston plate 9 away from the mounting stud 6 10. A sealing cover 11 is overlapped on the surface of the slide rod 10, and the sealing cover 11 is fixedly installed inside the buffer sleeve 8. An anti-collision plate 12 is fixedly arranged on the end of the slide rod 10 away from the buffer piston plate 9, and an anti-collision buffer head 14 is fixedly arranged on one side of the anti-collision plate 12. There are two anti-collision plates 12, and the two anti-collision plates 12 are symmetrically distributed. The anti-collision plate 12 is made of metal material. There are several anti-collision buffer heads 14, and the several anti-collision buffer heads 14 are symmetrically distributed. The anti-collision buffer heads 14 are hemispherical structures, and the anti-collision buffer heads 14 are made of rubber material. Through the setting of the anti-collision buffer heads 14, it is convenient to protect the anti-collision plate 12, and avoid the anti-collision plate 12 from being deformed due to excessive collision force. The other side of the anti-collision plate 12 A buffer spring 13 is fixedly arranged, the interior of the buffer sleeve 8 is hollow, and a damping liquid is arranged inside the buffer sleeve 8. The buffer sleeve 8 is made of metal material. Through the arrangement of the damping liquid, the damping liquid is convenient for buffering the buffer piston plate 9, so that the movement of the buffer piston plate 9 is resisted, so as to facilitate buffering the impact force and the rebound of the buffer spring 13. The buffer spring 13 is fixedly connected to the sealing cover 11, and a detection component is arranged on the side of the anti-collision plate 12 close to the sliding rod 10. The detection component includes an extrusion rod 15, a pressure sensor 16 and a buzzer 27. The pressure sensor 16 and the buzzer 27 are fixedly mounted on the side of the U-shaped mounting plate 4 away from the clamping plate 3. The pressure sensor 16 is provided with an installation at one end close to the anti-collision plate 12 The screw hole 17 has an internal thread with a screw rod 18, which is fixedly mounted on the side of the anti-collision plate 12 close to the slide bar 10. The anti-collision plate 12 moves through the screw hole 17 and the screw rod 18 to push the extrusion rod 15 toward the U-shaped mounting plate 4, so that the end of the extrusion rod 15 applies pressure to the detection end of the pressure sensor 16, so that the pressure sensor 16 detects the pressure change, thereby causing the buzzer 27 to emit a buzzing sound, thereby knowing that the clamping plate 3 continues to approach the cargo, and the mechanical arm 26 needs to be stopped, thereby avoiding the situation that the clamping plate 3 continues to approach the cargo after the collision and causes the cargo to collapse, and avoiding the situation that the clamping plate 3 is bent due to excessive force. When the clamping plate 3 collides with the cargo,The anti-collision buffer head 14 pushes the slide bar 10 to move through the anti-collision plate 12, so that the buffer piston plate 9 moves in the buffer sleeve 8, so that the anti-collision plate 12 compresses the buffer spring 13, and the collision force is offset by the rebound of the buffer spring 13 and the resistance of the buffer piston plate 9 to the damping fluid. The resistance of the buffer piston plate 9 to the movement of the damping fluid can slowly reset the buffer spring 13, so as to facilitate the anti-collision effect on the grabbing manipulator for precision hardware processing. By buffering the buffer spring 13, the grabbing manipulator for precision hardware processing is prevented from shaking when the buffer spring 13 rebounds, thereby preventing the goods from falling from the grabbing manipulator for precision hardware processing due to shaking.

[0025] Specifically, the lateral movement component includes a servo motor 19, which is fixedly installed on the top of the installation shell 1. The output end of the servo motor 19 extends through the installation shell 1 to the inside of the installation shell 1 and is fixedly provided with a driving gear 20. A moving rack 21 is meshed on the surface of the driving gear 20. There are two moving racks 21. Both of the two moving racks 21 are located inside the installation shell 1. The moving rack 21 and the sliding sleeve 22 are made of metal. A sliding sleeve 22 is fixedly provided on the side of the moving rack 21 away from the driving gear 20. A sliding column 23 is slidably provided inside the sliding sleeve 22. The sliding column 23 is fixedly installed on the installation shell 1. Inside, a connecting block 24 is fixedly provided at the bottom of the sliding sleeve 22, a fixed base plate 25 is fixedly provided at the bottom end of the connecting block 24, and the clamping plate 3 is fixedly installed at the bottom of the fixed base plate 25. The driving gear 20 simultaneously drives the two moving racks 21 to move in the same speed and in the opposite direction, so that the two moving racks 21 drive the sliding sleeve 22 to move, so that the sliding sleeve 22 drives the fixed base plate 25 to move through the connecting block 24, so that the fixed base plate 25 drives another sliding sleeve 22 to move through another connecting block 24, so that the fixed base plate 25 drives the clamping plate 3 to move, so that the two clamping plates 3 are close to or away from each other, so that the clamping plate 3 can clamp the precision hardware.

[0026] The grasping manipulator suitable for precision hardware processing is connected to a 220V mains power supply, and the main controller can be a conventional known device for control such as a computer.

[0027] During use: the U-shaped fixing plate 2 is driven to move by the mechanical arm 26, so that the U-shaped fixing plate 2 drives the installation shell 1 to move, and the installation shell 1 drives the clamping plate 3 to move through the lateral moving component, so that the clamping plate 3 moves to the precision hardware that needs to be clamped and transported. If the clamping plate 3 moves too fast and collides with the goods, the anti-collision buffer head 14 on the anti-collision plate 12 will first contact the goods, and the anti-collision buffer head 14 will push the slide bar 10 to move toward the clamping plate 3 through the anti-collision plate 12, so that the anti-collision plate 12 compresses the buffer spring 13, and at the same time, the slide bar 10 pushes the buffer piston plate 9 to move in the damping fluid in the buffer sleeve 8, and the rebound effect of the buffer spring 13 is used to offset the impact force. At the same time, the buffer piston plate 9 will encounter resistance when moving in the damping fluid. The force of the collision can be buffered by resistance, and when the buffer spring 13 rebounds and pushes the anti-collision plate 12 to reset, the anti-collision plate 12 drives the buffer piston plate 9 to move in the damping fluid in the buffer sleeve 8 through the slide rod 10. The damping effect of the damping fluid on the buffer piston plate 9 buffers the rebound of the buffer spring 13, so that the buffer spring 13 can be slowly reset, and when the anti-collision plate 12 continues to approach the U-shaped mounting plate 4, the anti-collision plate 12 pushes the extrusion rod 15 to approach the U-shaped mounting plate 4 through the mounting screw 18 and the mounting screw hole 17, so that the extrusion rod 15 pressurizes the detection end of the pressure sensor 16. When the detection end of the pressure sensor 16 detects a pressure change, the buzzer 27 emits an alarm sound, and the mechanical arm 26 needs to be controlled to stop.

[0028] To sum up, the grasping robot suitable for precision hardware processing, when the clamping plate 3 collides with the cargo, the anti-collision buffer head 14 pushes the slide rod 10 to move through the anti-collision plate 12, so that the buffer piston plate 9 moves in the buffer sleeve 8, so that the anti-collision plate 12 compresses the buffer spring 13, and the collision force is offset by the rebound of the buffer spring 13 and the resistance of the buffer piston plate 9 to the damping fluid, and the buffer spring 13 can be slowly reset by the resistance of the buffer piston plate 9 to the movement of the damping fluid, so as to facilitate the anti-collision effect of the grasping robot for precision hardware processing, and by buffering the buffer spring 13, the grasping robot for precision hardware processing is prevented from shaking when the buffer spring 13 rebounds, thereby preventing the cargo from falling from the grasping robot for precision hardware processing due to the shaking, which is used to solve the problems raised in the above-mentioned background technology.

[0029] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gripping manipulator suitable for precision hardware processing, comprising a mounting housing (1), characterized in that: A U-shaped fixing plate (2) is fixedly arranged on the top of the installation shell (1), a mechanical arm (26) is fixedly arranged on the top of the U-shaped fixing plate (2), a lateral moving component is arranged inside the installation shell (1) for facilitating the clamping of precision hardware, a clamping plate (3) is arranged on the bottom of the installation shell (1) through the lateral moving component, a U-shaped installation plate (4) is fixedly arranged on one side of the clamping plate (3), a mounting hole (5) is arranged through the surface of the U-shaped installation plate (4), a mounting stud (6) is overlapped inside the U-shaped installation plate (4), a fixing nut (7) is threadedly arranged on the surface of the mounting stud (6), a buffer sleeve (8) is fixedly arranged on one end of the installation hole (5), and the buffer sleeve (8) ) is slidably provided inside the buffer piston plate (9), a slide rod (10) is fixedly provided on the side of the buffer piston plate (9) away from the mounting stud (6), a sealing cover (11) is overlapped on the surface of the slide rod (10), and the sealing cover (11) is fixedly installed inside the buffer sleeve (8), an anti-collision plate (12) is fixedly provided on the end of the slide rod (10) away from the buffer piston plate (9), an anti-collision buffer head (14) is fixedly provided on one side of the anti-collision plate (12), a buffer spring (13) is fixedly provided on the other side of the anti-collision plate (12), and the buffer spring (13) is fixedly connected to the sealing cover (11), and a detection component is provided on the side of the anti-collision plate (12) close to the slide rod (10).

2. A gripping manipulator suitable for precision hardware processing according to claim 1, characterized in that: The lateral movement assembly comprises a servo motor (19), the servo motor (19) is fixedly mounted on the top of the mounting shell (1), the output end of the servo motor (19) penetrates the mounting shell (1) and extends to the inside of the mounting shell (1) and is fixedly provided with a driving gear (20), the surface of the driving gear (20) is meshed with a moving rack (21), a sliding sleeve (22) is fixedly provided on the side of the moving rack (21) away from the driving gear (20), a sliding column (23) is slidably provided inside the sliding sleeve (22), the sliding column (23) is fixedly mounted inside the mounting shell (1), a connecting block (24) is fixedly provided at the bottom of the sliding sleeve (22), a fixed bottom plate (25) is fixedly provided at the bottom end of the connecting block (24), and the clamping plate (3) is fixedly installed at the bottom of the fixed bottom plate (25).

3. A gripping manipulator suitable for precision hardware processing according to claim 1, characterized in that: The detection assembly comprises an extrusion rod (15), a pressure sensor (16) and a buzzer (27); the pressure sensor (16) and the buzzer (27) are both fixedly mounted on a side of the U-shaped mounting plate (4) away from the clamping plate (3); a mounting screw hole (17) is provided at one end of the pressure sensor (16) close to the anti-collision plate (12); a mounting screw rod (18) is provided with an internal thread of the mounting screw hole (17); and the mounting screw rod (18) is fixedly mounted on a side of the anti-collision plate (12) close to the sliding rod (10).

4. A gripping manipulator suitable for precision hardware processing according to claim 1, characterized in that: The number of the anti-collision plates (12) is two, and the two anti-collision plates (12) are symmetrically distributed, and the anti-collision plates (12) are made of metal material.

5. The grasping manipulator suitable for precision hardware processing according to claim 1 is characterized in that: The number of the anti-collision buffer heads (14) is several, and the several anti-collision buffer heads (14) are symmetrically distributed. The anti-collision buffer heads (14) are hemispherical structures, and the anti-collision buffer heads (14) are made of rubber material.

6. The grasping manipulator suitable for precision hardware processing according to claim 1 is characterized in that: The interior of the buffer sleeve (8) is hollow, a damping liquid is arranged inside the buffer sleeve (8), and the buffer sleeve (8) is made of metal material.

7. A gripping manipulator suitable for precision hardware processing according to claim 2, characterized in that: There are two movable racks (21), and both movable racks (21) are located inside the mounting housing (1). The movable racks (21) and the sliding sleeve (22) are both made of metal.

Images