Manipulator auxiliary positioning device for high-end equipment manufacturing

Abstract

The utility model relates to the technical field of manipulators, and discloses a manipulator auxiliary positioning device for high-end equipment manufacturing, which comprises a support frame, a first clamping arm, a second clamping arm and a pull rod nut, a pull rod sliding groove matched with the outer wall face of the pull rod nut is formed in the middle of the inner side of the supporting frame in a penetrating mode, the pull rod nut is vertically connected into the pull rod sliding groove in a sliding mode, and an adjusting mechanism driving the pull rod nut to move up and down is arranged at the top of the supporting frame. The adjusting mechanism comprises a driving motor fixedly installed on the top wall face of the supporting frame and a driving lead screw fixedly installed at the output end of the bottom side of the driving motor, the bottom end of the driving lead screw is in threaded connection with the interior of the pull rod nut, and a synchronizing mechanism for driving the first clamping arm and the second clamping arm to rotate is arranged at the bottom end of the pull rod nut. By arranging the adjusting mechanism, the synchronizing mechanism and the positioning mechanism, the stability of the equipment structure is improved, and the practicability of the equipment is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and in particular to a manipulator auxiliary positioning device for high-end equipment manufacturing. Background Art

[0002] After searching, application number 202420030932.X discloses a manipulator positioning device, including a first clamping arm, a second clamping arm and a support frame, the first clamping arm and the second clamping arm are rotatably connected to the support frame through a positioning pin, a slide groove and an installation groove are provided in the support frame, and a pull rod nut is slidably connected inside the slide groove; the device has high positioning accuracy and flexibility, can adapt to various grasping tasks, and can be widely used in various automated production lines, robots, machining centers and other equipment. No external cylinder is required to position the manipulator, reducing manufacturing costs.

[0003] During use, a manipulator positioning device in this patent application realizes the positioning operation of the two clamping arms by meshing the positioning teeth on the positioning rod with the arc-shaped toothed ring on the connecting arm. However, during such use, since the positioning rod is set at the center position of the lower side wall of the draw rod nut, and the connecting arm is connected to the bottom of the draw rod nut through a limiting sleeve and an arc-shaped connecting block, the relative position of the positioning teeth on the positioning rod and the arc-shaped toothed ring on the connecting arm remains unchanged. Therefore, when the limiting sleeve moves, the arc-shaped toothed ring will not rotate with the central axis of the positioning pin due to the meshing of the positioning teeth, which will interfere with the rotational movement of the connecting arm, causing the equipment to be unable to be used normally. There is room for improvement. To this end, we propose a manipulator auxiliary positioning device for high-end equipment manufacturing. Utility Model Content

[0004] The utility model mainly solves the technical problems existing in the above-mentioned prior art and provides a manipulator auxiliary positioning device for high-end equipment manufacturing.

[0005] To achieve the above object, the utility model adopts the following technical solutions. A manipulator auxiliary positioning device for high-end equipment manufacturing includes a support frame, a first clamping arm and a second clamping arm rotatably connected to the left and right sides of the support frame, and a pull rod nut. A pull rod chute adapted to the outer wall surface of the pull rod nut is penetrated through the middle of the inner side of the support frame. The pull rod nut is slidably connected vertically inside the pull rod chute. An adjusting mechanism for driving the pull rod nut to move up and down is arranged at the top of the support frame. The adjusting mechanism includes a driving motor fixedly installed on the top wall surface of the support frame and a driving lead screw fixedly installed at the output end of the bottom side of the driving motor. The bottom end of the driving lead screw is threadedly connected inside the pull rod nut. A synchronizing mechanism for driving the first clamping arm and the second clamping arm to rotate is arranged at the bottom end of the pull rod nut. The synchronizing mechanism includes a connecting bracket fixedly installed at the bottom of the positioning sleeve and two connecting arms symmetrically rotatably connected to the left and right sides of the connecting bracket. A positioning mechanism is arranged inside the positioning sleeve. The positioning mechanism includes a positioning slider slidably connected inside the positioning sleeve.

[0006] Further, a motor support fixedly connected to the bottom end of the driving motor is fixedly connected to the middle of the top wall surface of the support frame.

[0007] Further, the top end of the driving lead screw penetrates through the inside of the motor support.

[0008] Further, a fixed disk is fixedly installed on the top wall surface of the support frame through a connecting rod.

[0009] Further, one ends of the two connecting arms away from the connecting bracket are respectively rotatably connected to the middle parts of the mutually approaching surfaces of the first clamping arm and the second clamping arm.

[0010] Further, a return spring fixedly connected to the top wall surface of the inner cavity of the positioning sleeve is fixedly installed at the top end of the positioning slider.

[0011] Further, positioning tooth grooves are evenly distributed on the left and right side wall surfaces of the positioning slider.

[0012] Further, arc-shaped tooth rings meshing with the positioning tooth grooves on the left and right side wall surfaces of the positioning slider are fixedly connected to one ends of the two connecting arms approaching each other.

[0013] Further, limiting chutes are opened on the front and rear side wall surfaces of the inner cavity of the positioning sleeve, and two limiting sliders fixedly connected to the front and rear side wall surfaces of the positioning slider are slidably connected inside the two limiting chutes.

[0014] The utility model provides a manipulator auxiliary positioning device for high-end equipment manufacturing. It has the following

[0015] Beneficial effects:

[0016] 1. The manipulator auxiliary positioning device for high-end equipment manufacturing realizes the rotation process of the manipulator by connecting the fixed disk to the rotary cylinder. When in use, the output end of the driving motor drives the driving lead screw to rotate, forcing the pull rod nut threadedly connected to the driving lead screw to move upward along the inner part of the pull rod chute. The pull rod nut drives the two connecting arms on the connecting bracket through the positioning sliding sleeve to pull the first clamping arm and the second clamping arm to rotate and approach each other for grasping operation. When the pull rod nut drives the two connecting arms on the connecting bracket to move upward through the positioning sliding sleeve, it will force the tops of the two connecting arms to drive the two arc-shaped toothed rings thereon to rotate, forcing the positioning slider meshing with the two arc-shaped toothed rings through the positioning tooth groove to move upward along the inner cavity of the positioning sliding sleeve to compress the return spring, so that the positioning slider forms a positioning effect on the two connecting arms by the elastic force of the return spring through the positioning tooth groove and the two arc-shaped toothed rings, that is, forms a positioning effect on the first clamping arm and the second clamping arm through the two connecting arms. The above operations are simple and practical, the structure is reasonable and compact, improving the stability of the equipment structure and the practicability of the equipment.

[0017] 2. The manipulator auxiliary positioning device for high-end equipment manufacturing forms a limiting and guiding effect on the positioning slider by arranging a positioning mechanism, and the limiting slider is slidably connected to the inner side wall surface of the positioning sliding sleeve through the limiting chute inside, so that the positioning slider can move smoothly along the inside of the positioning sliding sleeve, and also avoids the positioning slider disengaging from the inside of the positioning sliding sleeve and affecting the normal use of the equipment, further improving the practicability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The structures, ratios, sizes, etc. shown in this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limited conditions that the present utility model can be implemented, so they do not have technical essential significance.

[0019] Figure 1 It is a schematic structural diagram of the manipulator auxiliary positioning device for high-end equipment manufacturing of the present utility model;

[0020] Figure 2 It is a schematic diagram of the disassembled state of the manipulator auxiliary positioning device for high-end equipment manufacturing of the present utility model;

[0021] Figure 3 It is a perspective view of the positioning mechanism of the present utility model.

[0022] Legend Explanation:

[0023] 10. Support frame; 11. First clamping arm; 12. Second clamping arm; 13. Pull rod chute; 14. Pull rod nut; 15. Driving lead screw; 16. Motor support; 17. Driving motor; 18. Fixed disk; 19. Positioning sliding sleeve; 20. Connecting bracket; 21. Connecting arm; 22. Positioning slider; 23. Return spring; 24. Positioning tooth groove; 25. Arc-shaped tooth ring; 26. Limit chute; 27. Limit slider. Detailed implementation manner

[0024] A manipulator auxiliary positioning device for high-end equipment manufacturing, as Figures 1-3 shown, includes a support frame 10, a first clamping arm 11 and a second clamping arm 12 rotatably connected to the left and right sides of the support frame 10, and a pull rod nut 14. The first clamping arm 11 and the second clamping arm 12 are both prior arts and will not be elaborated. A pull rod chute 13 adapted to the outer wall surface of the pull rod nut 14 is penetrated and opened in the middle of the inner side of the support frame 10. The pull rod nut 14 is vertically slidably connected inside the pull rod chute 13. An adjusting mechanism for driving the pull rod nut 14 to move up and down is provided at the top of the support frame 10. The adjusting mechanism includes a driving motor 17 fixedly installed on the top wall surface of the support frame 10 and a driving lead screw 15 fixedly installed at the output end of the bottom side of the driving motor 17. The bottom end of the driving lead screw 15 is threadedly connected inside the pull rod nut 14. A motor support 16 fixedly connected to the bottom end of the driving motor 17 is fixedly connected to the middle of the top wall surface of the support frame 10. The top end of the driving lead screw 15 penetrates through the inside of the motor support 16. A fixed disk 18 is fixedly installed on the top wall surface of the support frame 10 through a connecting rod. A synchronous mechanism for driving the first clamping arm 11 and the second clamping arm 12 to rotate is provided at the bottom end of the pull rod nut 14. The synchronous mechanism includes a connecting bracket 20 fixedly installed at the bottom of the positioning sliding sleeve 19 and two connecting arms 21 symmetrically rotatably connected to the left and right sides of the connecting bracket 20. One ends of the two connecting arms 21 away from the connecting bracket 20 are respectively rotatably connected to the middle parts of the mutually approaching surfaces of the first clamping arm 11 and the second clamping arm 12. A positioning mechanism is provided inside the positioning sliding sleeve 19. The positioning mechanism includes a positioning slider 22 slidably connected inside the positioning sliding sleeve 19. A return spring 23 fixedly connected to the top wall surface of the inner cavity of the positioning sliding sleeve 19 is fixedly installed at the top end of the positioning slider 22. Positioning tooth grooves 24 are evenly distributed on the left and right side walls of the positioning slider 22. Arc-shaped tooth rings 25 meshing with the positioning tooth grooves 24 on the left and right side walls of the positioning slider 22 are fixedly connected to one ends of the two connecting arms 21 approaching each other. Limit chutes 26 are opened on the front and rear side walls of the inner cavity of the positioning sliding sleeve 19. Two limit sliders 27 fixedly connected to the front and rear side walls of the positioning slider 22 are slidably connected inside the two limit chutes 26.

[0025] Working principle of the utility model: During use, the fixed disk 18 can be connected to a rotary cylinder to achieve the rotation process of the manipulator. The output end of the drive motor 17 drives the drive lead screw 15 to rotate, forcing the pull rod nut 14 threadedly connected to the drive lead screw 15 to move upward along the inside of the pull rod chute 13. The pull rod nut 14 drives the two connecting arms 21 on the connecting bracket 20 through the positioning sliding sleeve 19 to pull the first clamping arm 11 and the second clamping arm 12 to rotate and approach each other for grasping operation. When the pull rod nut 14 drives the two connecting arms 21 on the connecting bracket 20 to move upward through the positioning sliding sleeve 19, it will force the tops of the two connecting arms 21 to drive the two arc-shaped toothed rings 25 thereon to rotate, forcing the positioning slider 22 engaged with the two arc-shaped toothed rings 25 through the positioning tooth groove 24 to move upward along the inner cavity of the positioning sliding sleeve 19 to compress the return spring 23, so that the positioning slider 22 forms a positioning effect on the two connecting arms 21 with opposite rotational directions on the top side through the positioning tooth groove 24 and the two arc-shaped toothed rings 25 under the elastic force of the return spring 23, that is, a positioning effect is formed on the first clamping arm 11 and the second clamping arm 12 through the two connecting arms 21. The above operations are simple and practical, the structure is reasonable and compact, the stability of the device structure is improved, and the practicability of the device is improved; the limit slider 27 forms a limit guiding effect on the positioning slider 22 by slidingly connecting with the inside of the limit chute 26 on the side wall of the inner cavity of the positioning sliding sleeve 19, so that the positioning slider 22 can move smoothly along the inside of the positioning sliding sleeve 19, and it also prevents the positioning slider 22 from detaching from the inside of the positioning sliding sleeve 19 and affecting the normal use of the device, further improving the practicability of the device.

[0026] The above shows and describes the basic principles, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model will have various changes and improvements, and these changes and improvements all fall within the scope of the utility model claimed.

Claims

1. A manipulator-assisted positioning device for high-end equipment manufacturing, comprising a support frame (10), a first clamping arm (11) and a second clamping arm (12) rotatably connected to the left and right sides of the support frame (10), and a tie rod nut (14), characterized in that: A rod slide groove (13) adapted to the outer wall of the rod nut (14) is provided through the middle of the inner side of the support frame (10), and the rod nut (14) is vertically slidably connected to the inside of the rod slide groove (13). An adjustment mechanism for driving the rod nut (14) to move up and down is provided on the top of the support frame (10), and the adjustment mechanism includes a drive motor (17) fixedly mounted on the top wall of the support frame (10) and a drive screw (15) fixedly mounted on the output end of the bottom side of the drive motor (17). The drive screw (15) 5) is threadedly connected to the inside of the tie rod nut (14), and the bottom end of the tie rod nut (14) is provided with a synchronization mechanism for driving the first clamping arm (11) and the second clamping arm (12) to rotate, the synchronization mechanism includes a connecting bracket (20) fixedly installed at the bottom of the positioning sleeve (19) and two connecting arms (21) symmetrically connected to the left and right sides of the connecting bracket (20), and a positioning mechanism is provided inside the positioning sleeve (19), and the positioning mechanism includes a positioning slider (22) slidably connected to the inside of the positioning sleeve (19).

2. The manipulator-assisted positioning device for high-end equipment manufacturing according to claim 1 is characterized in that: A motor support (16) fixedly connected to the bottom end of the driving motor (17) is fixedly connected to the middle of the top wall of the support frame (10), and the top end of the driving screw (15) is arranged to penetrate the inside of the motor support (16).

3. The manipulator-assisted positioning device for high-end equipment manufacturing according to claim 1 is characterized in that: A fixing plate (18) is fixedly mounted on the top wall surface of the support frame (10) via a connecting rod.

4. The manipulator-assisted positioning device for high-end equipment manufacturing according to claim 1 is characterized in that: One end of the two connecting arms (21) away from the connecting bracket (20) is rotatably connected to the middle of a surface of the first clamping arm (11) and the second clamping arm (12) that is close to each other.

5. The manipulator-assisted positioning device for high-end equipment manufacturing according to claim 1 is characterized in that: A return spring (23) fixedly connected to the top wall surface of the inner cavity of the positioning sleeve (19) is fixedly mounted on the top of the positioning slide block (22).

6. The manipulator-assisted positioning device for high-end equipment manufacturing according to claim 1 is characterized in that: The left and right side walls of the positioning slide block (22) are evenly provided with positioning tooth grooves (24), and the ends of the two connecting arms (21) close to each other are fixedly connected with arc-shaped tooth rings (25) meshing with the positioning tooth grooves (24) on the left and right side walls of the positioning slide block (22).

7. The manipulator-assisted positioning device for high-end equipment manufacturing according to claim 1 is characterized in that: The front and rear side walls of the inner cavity of the positioning sleeve (19) are both provided with limit sliding grooves (26), and two limit sliding blocks (27) fixedly connected to the front and rear side walls of the positioning slide block (22) are slidably connected inside the two limit sliding grooves (26).

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