Adjustable manipulator with rotary chuck for detection

Abstract

The utility model relates to an adjustable manipulator with a rotary chuck for detection, and aims to overcome the defects of the conventional manipulator in the aspects of clamping capacity, swing range adjustment and chuck rotation function so as to improve the detection efficiency and accuracy. The gripper comprises a base, a plurality of supporting arms, a plurality of driving rods and chucks, each supporting arm is formed by connecting a first supporting arm, a second supporting arm and a third supporting arm end to end, and the driving rods comprise the first driving rod, the second driving rod, the third driving rod and the fourth driving rod and are used for controlling the actions of the supporting arms and the chucks. The chuck part comprises a rotating motor and a clamping jaw head, and the rotating clamping function can be achieved. Through the design of the multi-stage supporting arm and the driving rod, the gripper achieves stable clamping and flexible carrying of a heavy object, and meanwhile the working efficiency and precision in the detection process are improved through the rotating function of the chuck. The clamping device has the advantages of being optimized in structure, high in clamping capacity, adjustable in swing range, practical in rotating function and the like, and is particularly suitable for clamping, carrying and posture adjusting operation in the detection field.

Description

Technical Field

[0001] The utility model relates to the field of robotic arms, and particularly to an adjustable manipulator with a rotating chuck for detection. Background Art

[0002] As an important part of automated production, especially in the field of detection, the performance of robotic arms directly affects the detection efficiency and the accuracy of detection results. However, in the prior art, especially in terms of handling heavy objects, swing range adjustment, and chuck rotation function, there are many deficiencies in the existing robotic arms for detection: First, the clamping ability is limited. Due to the limitations of the chuck structure and driving method, some existing robotic arms cannot effectively clamp heavier detection samples or tools. When facing large-weight workpieces, problems such as unstable clamping and easy falling often occur, which not only affects the smoothness of the detection process but may also damage precision samples. Second, the swing range is fixed. The swing limit positions of some robotic arms are determined at the design stage and cannot be freely adjusted according to the specific detection task requirements. This design limitation makes it difficult for robotic arms to exert their maximum utility in narrow detection spaces or detection lines with complex layouts, restricting the flexibility and comprehensiveness of detection. Third, the chuck rotation function is missing or insufficient. Many robotic arms for detection do not have the chuck rotation function or have a limited rotation angle, making it difficult to meet the need for frequently adjusting the posture of the detected workpiece during grasping and handling. This not only reduces the detection work efficiency but may also lead to detection errors or workpiece damage.

[0003] The existing robotic arms for detection have obvious deficiencies in clamping ability, swing range adjustment, and chuck rotation function, which limit the wide application and high efficiency of robotic arms in the detection field. Therefore, it is an urgent problem for those skilled in the art to develop an adjustable mechanical lifting gripper with a rotating chuck to solve the above problems and improve the detection efficiency and accuracy. Summary of the Utility Model

[0004] Based on the problems existing in the above prior art, the purpose of the present utility model is to solve the deficiencies in clamping ability, swing range adjustment, and chuck rotation function of the robotic arms in the prior art through an adjustable manipulator with a rotating chuck for detection.

[0005] To achieve the above object, the technical solution of the present utility model is to design an adjustable manipulator with a rotating chuck for detection, which comprises a base, several support arms, several drive rods and a chuck. The support arms are composed of a first support arm, a second support arm and a third support arm connected end to end. The drive rods include a first drive rod, a second drive rod, a third drive rod and a fourth drive rod. The first support arm is respectively connected to the first drive rod and the base, and the first support arm can swing back and forth through the first drive rod. A movable connection part is arranged at the lower part of the second support arm. The second drive rod is respectively connected to the lower part of the first support arm and the movable connection part, and the second drive rod controls the up and down swing of the second support arm. The third drive rod is respectively connected to the movable connection part and the rear end of the third support arm, and the third drive rod controls the up and down swing of the third support arm. The fourth drive rod is respectively connected to the rear end of the third support arm and the chuck, and the fourth drive rod is used to control the back and forth swing of the chuck.

[0006] Further, the movable connection part can slide and be fixed at the lower part of the second support arm.

[0007] Preferably, the support arms are all hollow arms.

[0008] Preferably, the drive rods are all hydraulic rods.

[0009] Further, the chuck includes a rotating motor and a jaw head, and the rotating motor can drive the jaw head to rotate.

[0010] Further, the jaw head includes a hydraulic drive, a jaw plate and jaws. The hydraulic drive is arranged above the jaw plate and is connected to the jaws to control the clamping of the jaws.

[0011] Preferably, the jaw plate is a hollow plate.

[0012] Preferably, the jaws are composed of multiple small jaws, and each small jaw is provided with a convex rib.

[0013] The advantages and beneficial effects of the present utility model are as follows: By adopting the design of multi-stage support arms and drive rods, the present utility model realizes the stable clamping of heavy objects. The application of hydraulic drive rods enables the gripper to handle the clamping tasks of large-weight workpieces. The support arms adopt a hollow design, which reduces the overall weight while maintaining sufficient strength and rigidity. The flexible connection between the support arms is realized through the movable connection part, so that the swing range of each support arm is no longer limited by the initial design, but can be freely adjusted according to the actual operation requirements. The chuck part integrates a rotating motor, enabling the jaw head to rotate, meeting the requirement of frequent posture adjustment during the grasping and handling of workpieces. Description of the Drawings

[0014] To more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0015] Figure 1 It is a schematic diagram of the present utility model.

[0016] Among them, 1 - base, 2 - support arm, 21 - first support arm, 22 - second support arm, 23 - third support arm, 3 - drive rod, 31 - first drive rod, 32 - second drive rod, 33 - third drive rod, 34 - fourth drive rod, 4 - chuck, 41 - rotation motor, 42 - jaw head, 421 - hydraulic drive, 422 - jaw plate, 423 - jaw, 5 - movable connection part. Specific embodiments

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present utility model. In addition, it should be understood that the specific embodiments described herein are only used to illustrate and explain the present utility model, and are not used to limit the present utility model. In the present utility model, unless otherwise stated, the orientation words such as "upper" and "lower" usually refer to the upper and lower in the actual use or working state of the device, specifically the drawing direction in the drawings; and "inner" and "outer" refer to the outline of the device.

[0018] As Figure 1 shown, the present utility model mainly consists of a base 1, several support arms 2, several drive rods 3 and a chuck 4. Among them, the support arm 2 is formed by connecting the first support arm 21, the second support arm 22 and the third support arm 23 end to end, forming a multi - joint arm structure to facilitate flexible adjustment of the working range and angle of the gripper.

[0019] The drive rod 3 includes a first drive rod 31, a second drive rod 32, a third drive rod 33 and a fourth drive rod 34, which are respectively used to control the actions of each support arm and the chuck. Specifically, the first drive rod 31 is connected between the first support arm 21 and the base 1. Through its telescopic movement, the front - and - back swing of the first support arm 21 can be realized, thereby driving the entire gripper to move back and forth.

[0020] A moving connection part 5 is arranged at the lower part of the second support arm 22. The moving connection part 5 can slide and be fixed at the lower part of the second support arm 22 to adapt to different working requirements. The second driving rod 32 is connected between the lower part of the first support arm 21 and the moving connection part 5. Through its telescopic movement, the up-and-down swing of the second support arm 22 can be controlled, and further the working height and angle of the gripper can be adjusted.

[0021] The third driving rod 33 is connected between the moving connection part 5 and the rear end of the third support arm 23. Through its telescopic movement, the up-and-down swing of the third support arm 23 can be controlled, so as to further finely adjust the working position and posture of the gripper.

[0022] The chuck 4 is connected to the rear end of the third support arm 23 through the fourth driving rod 34. The telescopic movement of the fourth driving rod 34 can control the front-and-back swing of the chuck 4 to facilitate the clamping of workpieces at different positions.

[0023] The chuck 4 part includes a rotating motor 41 and a jaw head 42. The rotating motor 41 is fixed to the main body part of the chuck 4, and its output shaft is connected to the jaw head 42, which can drive the jaw head 42 to perform a rotating movement to adapt to the shape and posture of the workpiece.

[0024] The jaw head 42 is composed of a hydraulic drive 421, a jaw plate 422, and jaws 423. The hydraulic drive 421 is arranged above the jaw plate 422 and is connected to the jaws 423 through a connecting piece. When the hydraulic drive 421 works, it can drive the jaws 423 to perform a clamping action to grab the workpiece.

[0025] In order to reduce the overall weight of the gripper and improve its strength, all the support arms 2 are designed with hollow structures. At the same time, in order to provide strong driving force, all the driving rods 3 are selected as hydraulic rods as the actuators.

[0026] The jaw plate 422 is also designed with a hollow structure to reduce weight and facilitate the installation and layout of the hydraulic drive 421. The jaws 423 are composed of multiple small jaws, and each small jaw is provided with convex ridges to enhance the stability and precision during clamping. This design can make the gripper more firm and stable when clamping the workpiece, avoiding the workpiece from slipping or being damaged.

[0027] Specific usage steps:

[0028] During use, first, according to the position and shape of the workpiece to be clamped, the position of the movable connection part 5 at the lower part of the second support arm 22 is adjusted and fixed to adjust the overall length and shape of the support arm 2. Then, the first driving rod 31 is started to control the front and back swing of the first support arm 21 to make the gripper approach the workpiece. Next, the second driving rod 32 and the third driving rod 33 are started to control the up and down swing of the second support arm 22 and the third support arm 23 respectively to further adjust the position and angle of the chuck 4. When the chuck 4 is aligned with the workpiece, the fourth driving rod 34 is started to control the front and back swing of the chuck 4 to make the jaw head 42 approach and clamp the workpiece. During the clamping process, the hydraulic drive motor 421 will drive the jaw 423 to perform the clamping action, and the rotary motor 41 can drive the jaw head 42 to rotate to adapt to the shape and posture of the workpiece. After the clamping is completed, by operating the driving rods 3 in reverse, the workpiece can be transported to the designated position and put down.

[0029] The above has introduced in detail an adjustable manipulator with a rotary chuck for detection provided by the present utility model. Specific examples are used herein to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present utility model.

Claims

1. An adjustable manipulator with a rotating chuck for detection, comprising a base (1), a plurality of support arms (2), a plurality of drive rods (3) and a chuck (4), wherein the support arm (2) is composed of a first support arm (21), a second support arm (22) and a third support arm (23) connected end to end, the drive rod (3) comprises a first drive rod (31), a second drive rod (32), a third drive rod (33) and a fourth drive rod (34), the first support arm (21) respectively connects the first drive rod (31) and the base (1), the lower part of the second support arm (22) is provided with a movable connecting part (5), the second drive rod (32) respectively connects the lower part of the first support arm (21) and the movable connecting part (5), the third drive rod (33) respectively connects the movable connecting part (5) and the rear end of the third support arm (23), and the fourth drive rod (34) respectively connects the rear end of the third support arm (23) and the chuck (4), characterized in that: The movable connection part (5) can be slidably fixed at the lower part of the second support arm (22).

2. The adjustable manipulator with a rotating chuck for detection according to claim 1 is characterized in that: The chuck (4) comprises a rotating motor (41) and a clamping jaw head (42); the rotating motor (41) can drive the clamping jaw head (42) to rotate.

3. The adjustable manipulator with a rotating chuck for detection according to claim 2, characterized in that: The clamping jaw head (42) comprises a hydraulic driving machine (421), a clamping jaw plate (422) and a clamping jaw (423); the hydraulic driving machine (421) is arranged above the clamping jaw plate (422) and is connected to the clamping jaw (423) to control the clamping of the clamping jaw (423).

4. The adjustable manipulator with a rotating chuck for detection according to claim 3 is characterized in that: The clamping claw (423) is composed of a plurality of small claws, and each small claw is provided with a convex ridge.

5. The adjustable manipulator with a rotating chuck for detection according to claim 4, characterized in that: The clamping claw plate (422) is a hollow plate.

6. An adjustable manipulator with a rotating chuck for detection according to any one of claims 1 to 5, characterized in that: The support arms (2) are all hollow arms.

7. An adjustable manipulator with a rotating chuck for detection according to any one of claims 1 to 5, characterized in that: The driving rods (3) are all hydraulic rods.

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