Articulated arm type manipulator

Abstract

The utility model discloses an articulated arm type manipulator, which relates to the technical field of manipulators and comprises a bottom plate and an extrusion component. A joint arm manipulator body is installed on the upper side of the bottom plate, a connecting plate is installed on the left side of the joint arm manipulator body, a second electric telescopic rod is installed on the upper side of the connecting plate, a conical barrel is fixed to a telescopic arm of the second electric telescopic rod, and a connecting barrel is fixed to the lower end of the conical barrel; a grabbing assembly and a sensing assembly are installed at the lower end of the connecting barrel, the grabbing assembly is matched with the sensing assembly, and a stirring assembly is installed in the connecting barrel; and the extrusion assembly comprises a rotating shaft, a gear ring, a connecting frame and an extrusion plate, evenly-distributed grooves are formed in the upper end of the connecting barrel, the rotating shaft is rotationally connected into the grooves, the connecting frame and the gear ring are fixed to the circumferential face of the rotating shaft, the extrusion plate is fixed to the side face of the connecting frame, and the situation that articles are damaged during grabbing can be effectively avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a joint arm type manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, carry objects or operate tools according to a fixed program. It can replace heavy labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy sectors;

[0003] Most manipulators are of multi-joint structure, i.e., they include multiple robotic arms, and two adjacent robotic arms are movably connected, so that the manipulator can move between multiple workstations. However, the grasping components in the existing multi-joint manipulator structure are prone to damage objects during grasping. Therefore, we propose a joint-arm manipulator. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the existing defects and provide a joint arm type manipulator, which can effectively avoid damaging objects during grasping and can effectively solve the problems in the background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an articulated arm manipulator, comprising a base plate and an extrusion assembly;

[0006] Bottom plate: an articulated arm manipulator body is installed on the upper side, a connecting plate is installed on the left side of the articulated arm manipulator body, a second electric telescopic rod is installed on the upper side of the connecting plate, a conical barrel is fixed on the telescopic arm of the second electric telescopic rod, a connecting barrel is fixed at the lower end of the conical barrel, a grabbing assembly and a sensing assembly are installed at the lower end of the connecting barrel, the grabbing assembly and the sensing assembly cooperate, and a toggle assembly is installed inside the connecting barrel;

[0007] Extrusion assembly: comprising a rotating shaft, a gear ring, a connecting frame and an extrusion plate. The upper end of the connecting barrel is provided with evenly distributed grooves, the interior of the groove is rotatably connected with a rotating shaft, the connecting frame and the gear ring are fixed on the circumferential surface of the rotating shaft, and the side of the connecting frame is fixed with an extrusion plate. By setting the extrusion assembly, all the oblique blocks are extruded;

[0008] Wherein: the input ends of the second electric telescopic rod and the articulated arm manipulator body are both electrically connected to the output end of an external PLC controller.

[0009] Furthermore, the sensing component includes a fixing ring and a pressure sensor. The fixing ring is fixed at the lower end of the connecting barrel, and the pressure sensor is installed at the left end of the circumferential surface of the fixing ring. The pressure sensor is bidirectionally electrically connected to an external PLC controller, and the position of the extrusion head is sensed by setting the sensing component.

[0010] Furthermore, the grabbing assembly includes an oblique block, an L-shaped grabbing rod and a spring. The circumferential surface of the fixing ring is provided with evenly distributed sliding grooves. The interior of the sliding groove is slidably connected with the L-shaped grabbing rod. An oblique block is fixed to one end of the L-shaped grabbing rod. The oblique block is fitted with an extrusion plate. A spring is sleeved on the surface of the L-shaped grabbing rod. One end of the spring is fixed to the side of the oblique block, and the other end of the spring is fixed to the circumferential surface of the connecting barrel. The objects are grabbed by setting the grabbing assembly.

[0011] Furthermore, it also includes an impact assembly, which includes a fixed plate, a threaded rod, an extrusion head and a turntable. The fixed plate is fixed to the lower side of the left oblique block, and a threaded hole is opened in the middle of the fixed plate. The internal thread of the threaded hole is connected to the threaded rod, an extrusion head is fixed to one end of the threaded rod, and a turntable is fixed to the other end of the threaded rod. The extrusion head corresponds to the pressure sensor, and the pressure sensor is impacted by setting the impact assembly.

[0012] Furthermore, the toggle assembly includes a connecting disk, a first electric telescopic rod, a mounting barrel and a rack, the connecting disk is fixed inside the connecting barrel, the first electric telescopic rod is mounted on the upper end of the connecting disk, the mounting barrel is fixed on the telescopic arm of the first electric telescopic rod, the upper end of the mounting barrel is fixed with evenly distributed racks, the rack is meshed with a gear ring, the input end of the first electric telescopic rod is electrically connected to the output end of an external PLC controller, and all the gear rings are rotated by setting the toggle assembly.

[0013] Furthermore, a fastening block is fixed to one end of the L-shaped grabbing rod away from the oblique block, and evenly distributed anti-slip grooves are provided on the side of the fastening block. The fastening block is provided to improve the stability of the L-shaped grabbing rod when grabbing objects.

[0014] Compared with the prior art, the beneficial effects of the present invention are: the articulated arm manipulator has the following advantages:

[0015] 1. By setting a toggle assembly, when in use, all the gear rings are toggled to rotate, and the rotation of all the gear rings drives all the extrusion plates to move to squeeze all the oblique blocks, and after squeezing, all the oblique blocks move, and the movement of all the oblique blocks drives all the L-shaped grabbing rods to move, and the movement of all the L-shaped grabbing rods drives all the fastening blocks to move, so that objects can be grabbed very conveniently;

[0016] 2. By setting the impact component, the threaded rod can be rotated to move and adjust the position of the extrusion head according to the size of the object when grabbing the object. After the adjustment, the distance between the extrusion head and the pressure sensor is the same as the distance between the fastening block on the left and the object. In this case, the L-shaped grabbing rod on the left will drive the extrusion head to move to the right when it moves. When the extrusion head moves to the right and contacts the pressure sensor, the external PLC controller can automatically control all the L-shaped grabbing rods to stop moving, so as to avoid damage to the object during grabbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the front structure of the utility model;

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

[0019] Figure 3 For this utility model Figure 2 Enlarged view of point A in the middle.

[0020] In the figure: 1 bottom plate, 2 articulated arm manipulator body, 3 sensing component, 31 fixing ring, 32 pressure sensor, 4 impact component, 41 fixing plate, 42 threaded rod, 43 extrusion head, 44 turntable, 5 conical barrel, 6 connecting barrel, 7 extrusion component, 71 rotating shaft, 72 gear ring, 73 connecting frame, 74 extrusion plate, 8 toggle component, 81 connecting plate, 82 first electric telescopic rod, 83 mounting barrel, 84 rack, 9 grabbing component, 91 oblique block, 92 L-shaped grabbing rod, 93 spring, 10 connecting plate, 11 second electric telescopic rod, 12 fastening block. DETAILED DESCRIPTION

[0021] 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.

[0022] See also Figures 1-3 ,This embodiment provides a technical solution: an articulated arm manipulator, comprising a base plate 1 and an extrusion assembly 7;

[0023] Bottom plate 1: an articulated arm manipulator body 2 is installed on the upper side, a connecting plate 10 is installed on the left side of the articulated arm manipulator body 2, a second electric telescopic rod 11 is installed on the upper side of the connecting plate 10, a conical barrel 5 is fixed on the telescopic arm of the second electric telescopic rod 11, a connecting barrel 6 is fixed at the lower end of the conical barrel 5, a grabbing component 9 and a sensing component 3 are installed at the lower end of the connecting barrel 5, the grabbing component 9 and the sensing component 3 cooperate, a toggle component 8 is installed inside the connecting barrel 5, the sensing component 3 includes a fixing ring 31 and a pressure sensor 32, a fixing ring 3 is fixed at the lower end of the connecting barrel 6, and the circumference of the fixing ring 3 A pressure sensor 32 is installed at the left end of the surface, and the pressure sensor 32 is bidirectionally electrically connected to the external PLC controller. The grab assembly 9 includes an oblique block 91, an L-shaped grab rod 92 and a spring 93. The circumferential surface of the fixed ring 31 is provided with evenly distributed slide grooves, and the inside of the slide groove is slidably connected with the L-shaped grab rod 92. One end of the L-shaped grab rod 92 is fixed with an oblique block 91, and the oblique block 91 is fitted with the extrusion plate 74. The surface of the L-shaped grab rod 92 is sleeved with a spring 93, and one end of the spring 93 is fixed on the side of the oblique block 91, and the other end of the spring 93 is fixed on the circumference of the connecting barrel 6. The surface also includes an impact assembly 4, which includes a fixed plate 41, a threaded rod 42, an extrusion head 43 and a turntable 44. The lower side of the oblique block 91 on the left side is fixed with a fixed plate 41, a threaded hole is opened in the middle of the fixed plate 41, and a threaded rod 42 is connected to the threaded hole internally. An extrusion head 43 is fixed to one end of the threaded rod 42, and a turntable 44 is fixed to the other end of the threaded rod 42. The extrusion head 43 corresponds to the pressure sensor 32. The toggle assembly 8 includes a connecting plate 81, a first electric telescopic rod 82, a mounting barrel 83 and a rack 84. The connecting plate is fixed inside the connecting barrel 6. 81, a first electric telescopic rod 82 is installed at the upper end of the connecting plate 81, a mounting barrel 83 is fixed on the telescopic arm of the first electric telescopic rod 82, a uniformly distributed rack 84 is fixed on the upper end of the mounting barrel 83, the rack 84 is meshed with the gear ring 72, the input end of the first electric telescopic rod 82 is electrically connected to the output end of the external PLC controller, all the gear rings 72 are rotated by setting the toggle component 8, the pressure sensor 32 is impacted by setting the impact component 4, the object is grabbed by setting the grabbing component 9, and the position of the extrusion head 43 is sensed by setting the sensing component 3;

[0024] Extrusion assembly 7: includes a rotating shaft 71, a gear ring 72, a connecting frame 73 and an extrusion plate 74. The upper end of the connecting barrel 6 is provided with evenly distributed grooves, the interior of the groove is rotatably connected with the rotating shaft 71, the connecting frame 73 and the gear ring 72 are fixed on the circumferential surface of the rotating shaft 71, and the side of the connecting frame 73 is fixed with an extrusion plate 74. By setting the extrusion assembly 7, all the oblique blocks 91 are extruded;

[0025] Wherein: the input ends of the second electric telescopic rod 11 and the articulated arm manipulator body 2 are both electrically connected to the output end of the external PLC controller.

[0026] Among them: a fastening block 12 is fixed to one end of the L-shaped grabbing rod 92 away from the oblique block 91, and the side of the fastening block 12 is provided with evenly distributed anti-slip grooves. The fastening block 12 is provided to improve the stability of the L-shaped grabbing rod 92 when grabbing objects.

[0027] The working principle of the articulated arm manipulator provided by the utility model is as follows: during normal use, the object to be grasped is placed above the bottom plate 1, and then the articulated arm manipulator body 2 is started to adjust the position of the grasping component 9, so that the grasping component 9 and the object correspond to each other after the adjustment, and then the second electric telescopic rod 11 is started to make all the L-shaped grasping rods 92 contact downward with the bottom plate 1, and after the contact, the object is located between all the L-shaped grasping rods 92, and then the first electric telescopic rod 82 is started to make the installation barrel 83 move upward, and the installation barrel 83 moves upward to drive all the racks 84 to move upward to turn all the gear rings 72 to rotate, and all the gear rings 72 rotate to drive all the extrusion plates 74 to move to squeeze all the oblique blocks 91, and after squeezing, all the oblique blocks 91 move. All the oblique blocks 91 move to drive all the L-shaped grabbing rods 92 to move, and all the L-shaped grabbing rods 92 move to drive all the fastening blocks 12 to move, so that the objects can be grabbed very conveniently. When grabbing the objects, the threaded rod 42 can be rotated to move according to the size of the objects to adjust the position of the extrusion head 43. After the adjustment, the distance between the extrusion head 43 and the pressure sensor 32 is the same as the distance between the fastening block 12 on the left and the object. In this case, the L-shaped grabbing rod 92 on the left will drive the extrusion head 43 to move to the right when it moves. When the extrusion head 43 moves to the right and contacts the pressure sensor 32, the external PLC controller can automatically control all the L-shaped grabbing rods 92 to stop moving, so that damage to the objects can be avoided during grabbing.

[0028] It is worth noting that the external PLC controller disclosed in the above embodiments is specifically a Siemens S7-200 model, the articulated arm manipulator body 2 and the pressure sensor 32 can be freely configured according to the actual application scenario, the first electric telescopic rod 82 and the second electric telescopic rod 11 can use TGC-A high-thrust electric telescopic rods, and the external PLC controller controls the operation of the first electric telescopic rod 82 and the second electric telescopic rod 11 using methods commonly used in the prior art.

[0029] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An articulated arm manipulator, characterized in that: It comprises a base plate (1) and an extrusion assembly (7); Bottom plate (1): an articulated arm manipulator body (2) is installed on the upper side, a connecting plate (10) is installed on the left side of the articulated arm manipulator body (2), a second electric telescopic rod (11) is installed on the upper side of the connecting plate (10), a conical barrel (5) is fixed on the telescopic arm of the second electric telescopic rod (11), a connecting barrel (6) is fixed at the lower end of the conical barrel (5), a gripping component (9) and a sensing component (3) are installed at the lower end of the connecting barrel (6), the gripping component (9) and the sensing component (3) cooperate with each other, and a toggle component (8) is installed inside the connecting barrel (6); An extrusion assembly (7): comprising a rotating shaft (71), a gear ring (72), a connecting frame (73) and an extrusion plate (74); the upper end of the connecting barrel (6) is provided with evenly distributed grooves, the interior of the groove is rotatably connected to the rotating shaft (71), the connecting frame (73) and the gear ring (72) are fixed on the circumferential surface of the rotating shaft (71), and the extrusion plate (74) is fixed on the side of the connecting frame (73); Wherein: the input ends of the second electric telescopic rod (11) and the articulated arm manipulator body (2) are both electrically connected to the output end of an external PLC controller.

2. The articulated arm manipulator according to claim 1, characterized in that: The sensing component (3) comprises a fixing ring (31) and a pressure sensor (32); the fixing ring (31) is fixed to the lower end of the connecting barrel (6); the pressure sensor (32) is installed at the left end of the circumferential surface of the fixing ring (31); and the pressure sensor (32) is bidirectionally electrically connected to an external PLC controller.

3. The articulated arm manipulator according to claim 2, characterized in that: The grab assembly (9) comprises an oblique block (91), an L-shaped grab rod (92) and a spring (93); the circumferential surface of the fixing ring (31) is provided with evenly distributed sliding grooves; the interior of the sliding groove is slidably connected with the L-shaped grab rod (92); one end of the L-shaped grab rod (92) is fixed with an oblique block (91); the oblique block (91) is fitted with an extrusion plate (74); the surface of the L-shaped grab rod (92) is sleeved with a spring (93); one end of the spring (93) is fixed to the side surface of the oblique block (91); and the other end of the spring (93) is fixed to the circumferential surface of the connecting barrel (6).

4. The articulated arm manipulator according to claim 3, characterized in that: The device also comprises an impact assembly (4), the impact assembly (4) comprising a fixing plate (41), a threaded rod (42), an extrusion head (43) and a rotating disk (44); the fixing plate (41) is fixed to the lower side of the left oblique block (91); a threaded hole is provided in the middle of the fixing plate (41); the threaded rod (42) is connected to the inner thread of the threaded hole; the extrusion head (43) is fixed to one end of the threaded rod (42); the rotating disk (44) is fixed to the other end of the threaded rod (42); the extrusion head (43) corresponds to the pressure sensor (32).

5. The articulated arm manipulator according to claim 1, characterized in that: The toggle assembly (8) comprises a connection disk (81), a first electric telescopic rod (82), a mounting barrel (83) and a rack (84); the connection disk (81) is fixed inside the connection barrel (6); the first electric telescopic rod (82) is mounted on the upper end of the connection disk (81); the mounting barrel (83) is fixed on the telescopic arm of the first electric telescopic rod (82); the upper end of the mounting barrel (83) is fixed with evenly distributed racks (84); the racks (84) are meshed with the gear ring (72); and the input end of the first electric telescopic rod (82) is electrically connected to the output end of an external PLC controller.

6. The articulated arm manipulator according to claim 3, characterized in that: A fastening block (12) is fixed to one end of the L-shaped grabbing rod (92) away from the oblique block (91), and a side surface of the fastening block (12) is provided with evenly distributed anti-slip grooves.

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