Carrying manipulator for slender fasteners

Abstract

The utility model discloses a carrying manipulator for slender fasteners, and relates to the technical field of manipulators, in particular to a carrying manipulator for slender fasteners, which comprises a clamping frame, a supporting sliding rod is arranged in the clamping frame, a clamping plate is arranged on the outer surface of the supporting sliding rod, a triangular block is arranged at the lower end of the clamping plate, and a clamping groove is formed in the triangular block. A positioning through hole is formed in the lower end of the clamping plate, a supporting block is arranged on the outer surface of the clamping plate, a connecting sliding rod is arranged on the outer surface of the supporting block, the outer surface of the connecting sliding rod is sleeved with a connecting ring, and a limiting baffle is arranged on the outer surface of the connecting ring. Through cooperative arrangement of the clamping frame, the clamping plate, the triangular block, the positioning through hole, the limiting baffle, the first spring, the pressure sensor, the first servo motor and the two-way screw rod, the carrying manipulator for the long and thin fastener has the effects that the clamping stability of the fastener in the carrying process is guaranteed, and the fastener is prevented from falling off.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator for handling slender fasteners. Background Art

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms and is used to grab, transport objects or operate tools according to a fixed program. Its characteristics are that it can complete various expected operations through programming, and it combines the respective advantages of humans and machines in terms of structure and performance. Fasteners are a type of mechanical parts used for fastening connections and are extremely widely used. In some engineering operations, manipulators are generally used to handle fasteners.

[0003] When the existing handling manipulators handle some slender fasteners, due to the large length of the fasteners, the fasteners are likely to fall off during the handling process, posing certain safety hazards. At the same time, the angles of the existing handling manipulators are relatively fixed, making it inconvenient to adjust the angles in multiple directions and resulting in low practicability. Content of the Utility Model

[0004] (I) Technical Problems to be Solved

[0005] In view of the deficiencies of the prior art, the utility model provides a manipulator for handling slender fasteners, which solves the problems raised in the above background art.

[0006] (II) Technical Solutions

[0007] To achieve the above purposes, the utility model is realized through the following technical solutions: A manipulator for handling slender fasteners includes a clamping frame. A support slide bar is arranged inside the clamping frame. A clamping plate is arranged on the outer surface of the support slide bar. A triangular block is arranged at the lower end of the clamping plate. A positioning through hole is opened at the lower end of the clamping plate. A support block is arranged on the outer surface of the clamping plate. A connecting slide bar is arranged on the outer surface of the support block. A connecting ring is sleeved on the outer surface of the connecting slide bar. A limiting baffle is arranged on the outer surface of the connecting ring. A first spring is arranged on the outer surface of the connecting ring. One end of the first spring far away from the connecting ring is provided with a fixed frame. The fixed frame is arranged at the end of the connecting slide bar far away from the support block. A pressure sensor is arranged in the middle of the fixed frame. The first spring is sleeved on the outer surface of the connecting slide bar. A material sliding groove is opened in the triangular block and the positioning through hole.

[0008] Optionally, a first servo motor is arranged inside the clamping frame. One end of the output shaft of the first servo motor is provided with a bidirectional screw rod. The bidirectional screw rod is rotatably connected inside the clamping frame. The clamping plate is drivingly connected to the outer surface of the bidirectional screw rod.

[0009] Optionally, the number of the support blocks, connecting slide bars and first springs is several, and they are evenly distributed around the limit baffle.

[0010] Optionally, a connecting seat is arranged on the upper surface of the clamping frame, a connecting shaft rod is arranged on the upper surface of the connecting seat, a fixed bearing is arranged on the outer surface of the connecting shaft rod, a protective box is arranged on the outer surface of the fixed bearing, a connecting block is arranged on the upper surface of the protective box, an adjusting gear is arranged at the upper end of the connecting block, a fixed shaft is arranged inside the adjusting gear, and a connecting arm is rotatably connected to the outer surface of the fixed shaft.

[0011] Optionally, a second servo motor is arranged inside the protective box, a control gear is arranged at one end of the output shaft of the second servo motor, and a transmission gear is meshed with the outer surface of the control gear, and the transmission gear is arranged on the outer surface of the connecting shaft rod.

[0012] Optionally, an installation groove is formed inside the connecting arm, a third servo motor is arranged inside the installation groove, an output gear is arranged at one end of the output shaft of the third servo motor, and the output gear is meshed with the adjusting gear.

[0013] Optionally, the size of the control gear is much smaller than that of the transmission gear, and the size of the output gear is much smaller than that of the adjusting gear.

[0014] The utility model provides a handling manipulator for slender fasteners, which has the following beneficial effects:

[0015] 1. The handling manipulator for slender fasteners, through the cooperative setting of the clamping frame, clamping plate, triangular block, positioning through hole, limit baffle, first spring, pressure sensor, first servo motor and bidirectional screw, enables the handling manipulator for slender fasteners to have the effect of ensuring the clamping stability of the fasteners during the handling process and preventing the fasteners from falling off.

[0016] 2. The handling manipulator for slender fasteners, through the cooperative setting of the connecting seat, connecting shaft rod, protective box, second servo motor, control gear, transmission gear, third servo motor, output gear and adjusting gear, enables the handling manipulator for slender fasteners to have the effect of conveniently adjusting the clamping angle of the manipulator and improving the practicability of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a front view structural schematic diagram of the utility model;

[0018] Figure 2 is a three-dimensional structural schematic diagram of the utility model;

[0019] Figure 3 is the utility model Figure 2 an enlarged structural schematic diagram at A in;

[0020] Figure 4 Schematic diagram of the internal structure of the protective box of the present utility model;

[0021] Figure 5 Schematic diagram of the internal structure of the connecting arm of the present utility model;

[0022] Figure 6 Schematic diagram of the side view structure of the present utility model.

[0023] In the figure: 1, clamping frame; 2, support slide bar; 3, clamping plate; 4, triangular block; 5, connecting slide bar; 6, connecting ring; 7, limit baffle; 8, first spring; 9, fixing frame; 10, pressure sensor; 11, material sliding groove; 12, first servo motor; 13, bidirectional screw; 14, connecting seat; 15, connecting shaft rod; 16, protective box; 17, adjusting gear; 18, connecting arm; 19, second servo motor; 20, control gear; 21, transmission gear; 22, third servo motor; 23, output gear. Specific implementation manners

[0024] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Embodiment

[0025] A handling manipulator for slender fasteners, comprising a clamping frame 1, a supporting slide bar 2 is arranged inside the clamping frame 1, a clamping plate 3 is arranged on the outer surface of the supporting slide bar 2, a triangular block 4 is arranged at the lower end of the clamping plate 3, a positioning through hole is opened at the lower end of the clamping plate 3, a supporting block is arranged on the outer surface of the clamping plate 3, a connecting slide bar 5 is arranged on the outer surface of the supporting block, a connecting ring 6 is sleeved on the outer surface of the connecting slide bar 5, a limiting baffle 7 is arranged on the outer surface of the connecting ring 6, a first spring 8 is arranged on the outer surface of the connecting ring 6, and a side of the first spring 8 away from the connecting ring 6 is provided. A fixing frame 9 is arranged at the end, the fixing frame 9 is arranged at the end of the connecting slide bar 5 away from the supporting block, a pressure sensor 10 is arranged in the middle of the fixing frame 9, the first spring 8 is sleeved on the outer surface of the connecting slide bar 5, a sliding groove 11 is opened inside the triangular block 4 and the positioning through hole, a first servo motor 12 is arranged inside the clamping frame 1, a bidirectional screw 13 is arranged at one end of the output shaft of the first servo motor 12, the bidirectional screw 13 is rotatably connected to the inside of the clamping frame 1, the clamping plate 3 is transmission-connected to the outer surface of the bidirectional screw 13, the supporting block, the connecting slide bar 5 and The number of first springs 8 is several and evenly distributed around the limit baffle 7. A connecting seat 14 is arranged on the upper surface of the clamping frame 1. A connecting shaft 15 is arranged on the upper surface of the connecting seat 14. A fixed bearing is arranged on the outer surface of the connecting shaft 15. A protective box 16 is arranged on the outer surface of the fixed bearing. A connecting block is arranged on the upper surface of the protective box 16. An adjusting gear 17 is arranged on the upper end of the connecting block. A fixed shaft is arranged inside the adjusting gear 17. A connecting arm 18 is rotatably connected to the outer surface of the fixed shaft. A second servo motor is arranged inside the protective box 16. 19. A control gear 20 is provided at one end of the output shaft of the second servo motor 19, and a transmission gear 21 is meshed on the outer surface of the control gear 20. The transmission gear 21 is provided on the outer surface of the connecting shaft 15. A mounting groove is provided inside the connecting arm 18, and a third servo motor 22 is provided inside the mounting groove. An output gear 23 is provided at one end of the output shaft of the third servo motor 22, and the output gear 23 is meshed with the adjusting gear 17. The size of the control gear 20 is much smaller than that of the transmission gear 21, and the size of the output gear 23 is much smaller than that of the adjusting gear 17.

[0026] In order to make the handling manipulator of the slender fastener have the effect of ensuring the clamping stability of the fastener during the handling process, preventing the fastener from falling off, and making the handling manipulator of the slender fastener have the effect of conveniently adjusting the clamping angle of the manipulator and improving the practicality of the manipulator, as shown in the attached Figures 1-6As shown in the figure, the present application adopts the following structure. Through the cooperation of the clamping frame 1, the clamping plate 3, the triangular block 4, the positioning through hole, the limiting baffle 7, the first spring 8, the pressure sensor 10, the first servo motor 12, the bidirectional screw 13, the connecting seat 14, the connecting shaft rod 15, the protection box 16, the second servo motor 19, the control gear 20, the transmission gear 21, the third servo motor 22, the output gear 23 and the adjusting gear 17, during the use process, the clamping plate 3 is moved to the corresponding slender fastener. By rotating the first servo motor 12, the rotation of the bidirectional screw 13 is driven, thereby driving the two clamping plates 3 to slide towards the middle along the support slide rod 2. When the triangular block 4 contacts the slender fastener, as the clamping plate 3 continues to move, the slender fastener slides along the sliding groove 11 of the triangular block 4 towards the positioning through hole. Under the continuous sliding of the clamping plate 3, the slender fastener squeezes the limiting baffle 7, causing the limiting baffle 7 to slide along the connecting slide rod 5 and squeezing the first spring 8. When the limiting baffle 7 contacts the pressure sensor 10, the pressure sensor 10 sends out a pressure signal to stop the rotation of the first servo motor 12. At this time, the slender fastener is located inside the positioning through hole of the clamping plate 3, and at the same time, the limiting baffle 7 and the first spring 8 fix the slender fastener, effectively preventing the slender fastener from detaching from the clamping plate 3 during the handling process. Moreover, during the use process, by rotating the second servo motor 19, the rotation of the control gear 20 is driven, thereby driving the rotation of the transmission gear 21 and the connecting shaft rod 15, driving the connecting seat 14 and the clamping frame 1 to adjust the angle in the horizontal direction. By rotating the third servo motor 22, the rotation of the output gear 23 is driven. Under the action of the adjusting gear 17, the protection, the connecting seat 14 and the clamping frame 1 are driven to adjust the angle in the vertical direction, so that the handling manipulator for the slender fastener has the effect of ensuring the clamping stability of the fastener during the handling process and preventing the fastener from falling off, and the handling manipulator for the slender fastener has the effect of facilitating the adjustment of the clamping angle of the manipulator and improving the practicability of the manipulator.

[0027] The above is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and the inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A handling robot for elongated fasteners, comprising a clamping frame, characterized in that: A supporting slide bar is arranged inside the clamping frame, a clamping plate is arranged on the outer surface of the supporting slide bar, a triangular block is arranged at the lower end of the clamping plate, a positioning through hole is opened at the lower end of the clamping plate, a supporting block is arranged on the outer surface of the clamping plate, a connecting slide bar is arranged on the outer surface of the supporting block, a connecting ring is sleeved on the outer surface of the connecting slide bar, a limiting baffle is arranged on the outer surface of the connecting ring, a first spring is arranged on the outer surface of the connecting ring, a fixing frame is arranged at the end of the connecting slide bar away from the supporting block, a pressure sensor is arranged in the middle of the fixing frame, the first spring is sleeved on the outer surface of the connecting slide bar, and a sliding groove is opened inside the triangular block and the positioning through hole.

2. A handling robot for elongated fasteners according to claim 1, characterized in that: A first servo motor is arranged inside the clamping frame, a bidirectional screw is arranged at one end of the output shaft of the first servo motor, the bidirectional screw is rotatably connected inside the clamping frame, and the clamping plate is transmission-connected to the outer surface of the bidirectional screw.

3. A robot for handling elongated fasteners according to claim 1, characterized in that: The number of the support blocks, the connecting slide bars and the first springs is several and evenly distributed around the limiting baffle.

4. The robot for handling elongated fasteners according to claim 1, characterized in that: A connecting seat is provided on the upper surface of the clamping frame, a connecting shaft is provided on the upper surface of the connecting seat, a fixed bearing is provided on the outer surface of the connecting shaft, a protective box is provided on the outer surface of the fixed bearing, a connecting block is provided on the upper surface of the protective box, an adjusting gear is provided on the upper end of the connecting block, a fixed shaft is provided inside the adjusting gear, and a connecting arm is rotatably connected to the outer surface of the fixed shaft.

5. A handling robot for elongated fasteners according to claim 4, characterized in that: A second servo motor is arranged inside the protection box, a control gear is arranged at one end of the output shaft of the second servo motor, a transmission gear is meshed on the outer surface of the control gear, and the transmission gear is arranged on the outer surface of the connecting shaft.

6. A robot for handling elongated fasteners according to claim 4, characterized in that: A mounting groove is provided inside the connecting arm, a third servo motor is arranged inside the mounting groove, an output gear is arranged at one end of the output shaft of the third servo motor, and the output gear is meshed with the adjusting gear.

7. A robot for handling elongated fasteners according to claim 5, characterized in that: The size of the control gear is much smaller than the transmission gear, and the size of the output gear is much smaller than the adjustment gear.

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