Power-assisted manipulator turnover mechanism

Abstract

The utility model provides a power-assisted manipulator turnover mechanism which comprises a carrier plate, a servo motor is installed on one side face of the carrier plate through two screws, an output shaft of the servo motor penetrates through the carrier plate and is provided with a pneumatic clamping jaw, and first U-shaped frames are fixedly connected to the two side faces, adjacent to the pneumatic clamping jaw, of the carrier plate. A column rod is inserted in the first U-shaped frame, the other end of the column rod is sleeved with a second U-shaped frame, the second U-shaped frame is fixedly connected with a servo motor, the face, away from the second U-shaped frame, of the first U-shaped frame and the face, away from the first U-shaped frame, of the second U-shaped frame are both closed, and inserting holes are formed in the upper surface of the first U-shaped frame and the upper surface of the second U-shaped frame. Pin holes matched with the inserting holes are formed in the two ends of the column rod, positioning columns are inserted into the inserting holes, the servo motor installation stability is improved, and the requirement for the anti-loosening performance of screws limiting the position of the servo motor is lowered.

Description

Technical Field

[0001] The utility model relates to a turning mechanism of a power-assisted manipulator, belonging to the field of manipulators. Background Technique

[0002] Pneumatic grippers are often installed at the end of a manipulator. Among them, the pneumatic gripper is installed on the output shaft of a servo motor. The servo motor is connected to its support carrier through multiple screws. When the servo motor works, it drives the pneumatic gripper to rotate within a certain range to realize the turning of the pneumatic gripper, so as to adjust the state of the workpiece clamped in the pneumatic gripper as needed. At this time, the reaction force generated by the workpiece clamped in the pneumatic gripper will act on the output shaft of the servo motor, and the reaction force received by the servo motor will act on the installation position of the screw that restricts the position of the servo motor. On the one hand, the screw that restricts the position of the servo motor is in a loaded state, and on the other hand, when the screw that restricts the position of the servo motor loosens due to vibration, it will affect the stability of the entire structure, and the anti-loosening performance requirements for the screw are relatively high. Content of the Utility Model

[0003] Aiming at the deficiencies of the existing technology, the purpose of the utility model is to provide a turning mechanism of a power-assisted manipulator to solve the problems put forward in the above background technique. The utility model improves the installation stability of the servo motor and reduces the requirements for the anti-loosening performance of the screw that restricts the position of the servo motor.

[0004] In order to achieve the above purpose, the utility model is realized through the following technical solutions: a turning mechanism of a power-assisted manipulator, including a carrier plate. One side of the carrier plate is installed with a servo motor through two screws. The output shaft of the servo motor penetrates the carrier plate and is installed with a pneumatic gripper. On two sides of the carrier plate adjacent to the pneumatic gripper, first U-shaped frames are fixedly connected. A column rod is inserted into the first U-shaped frame. The other end of the column rod is sleeved with a second U-shaped frame. The second U-shaped frame is fixedly connected to the servo motor. The side of the first U-shaped frame facing away from the second U-shaped frame and the side of the second U-shaped frame facing away from the first U-shaped frame are both closed. Jacks are opened on the upper surfaces of the first U-shaped frame and the second U-shaped frame. Pin holes matching the jacks are opened at both ends of the column rod. A positioning column is inserted into the jack, and the positioning column is inserted into the pin hole.

[0005] Furthermore, a rubber head is pasted at one end of the positioning column, and the outer diameter of the rubber head is the same as the inner diameter of the jack and the inner diameter of the pin hole.

[0006] Furthermore, a threaded blind hole is opened at the middle position of the end of the positioning column away from the rubber head, and a bolt is threadedly connected in the threaded blind hole.

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[0008] Furthermore, a transverse plate portion is connected and fixed to the upper end of the carrier plate, and the upper surface of the transverse plate portion is recessed downward to form two countersunk holes, and screws threadedly connected to the servo motor are inserted into the countersunk holes.

[0009] Furthermore, the servo motor output shaft is equipped with a connecting disk, and the pneumatic clamp is fixed to the connecting disk via a plurality of bolts.

[0010] Furthermore, a first reinforcing rib is installed at the bottom of the first U-shaped frame, and the first reinforcing rib is connected and fixed to the carrier plate. A second reinforcing rib is installed at the bottom of the second U-shaped frame, and the second reinforcing rib is connected and fixed to the servo motor.

[0011] Furthermore, a connecting portion is connected and fixed to the lower edge of one side surface of the carrier plate, and two symmetrically arranged fixing holes are provided on one side surface of the connecting portion.

[0012] Beneficial effects of the utility model:

[0013] 1. When using screws to connect the carrier plate and the servo motor, first insert one end of the column into the first U-shaped frame, and then insert a positioning column into the space formed by the socket opened on the first U-shaped frame and the pin hole on the column to limit the relative position of the column and the carrier plate. Then, insert the other end of the column into the second U-shaped frame, and insert another positioning column into the space formed by the socket opened on the second U-shaped frame and the pin hole on the column. At this time, the column, the first U-shaped frame and the second U-shaped frame jointly play the role of limiting the relative position of the servo motor and the carrier plate. There is no need to manually maintain the relative position of the servo motor and the carrier plate during the screwing process, which is conducive to the installation of the screws.

[0014] 2. When the servo motor is working, it drives the pneumatic gripper to flip. At this time, the reaction force generated by the object clamped in the pneumatic gripper acts on the output shaft of the servo motor through the pneumatic gripper. The reaction force exerted on the servo motor is dispersed to the column and screws, thereby reducing the requirements for the anti-loosening performance of the screws that limit the position of the servo motor and improving the stability of the servo motor installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Other features, objects and advantages of the present invention will become more apparent from the detailed description of the non-limiting embodiments with reference to the following drawings:

[0016] Figure 1 This is a structural diagram of a turning mechanism of a power-assisted manipulator in the present utility model;

[0017] Figure 2 This is a schematic diagram of the assembly of a column, a positioning column, a second U-shaped frame and a first U-shaped frame in a turning mechanism of a power-assisted manipulator according to the present invention;

[0018] Figure 3 This is a three-dimensional view of the first U-shaped frame in the flipping mechanism of a power-assisted manipulator of the present utility model;

[0019] Figure 4 This is a three-dimensional view of the second U-shaped frame in the flipping mechanism of a power-assisted manipulator of the present utility model;

[0020] In the figure: 1 - carrier plate, 2 - connecting disk, 3 - pneumatic gripper, 4 - connecting part, 5 - first U-shaped frame, 6 - column rod, 7 - second U-shaped frame, 8 - servo motor, 9 - rubber head, 10 - jack, 11 - pin hole, 12 - blind hole, 13 - positioning post, 14 - threaded blind hole. Specific embodiments

[0021] In order to make the technical means, creative features, achieved purposes and effects of the present utility model easy to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0022] Please refer to Figure 1 , the present utility model provides a technical solution: a flipping mechanism of a power-assisted manipulator, including a carrier plate 1, a servo motor 8 is installed on one side surface of the carrier plate 1 by two screws. Wherein, a transverse plate part is fixedly connected to the upper end of the carrier plate 1, two counterbore holes are formed by downward depression on the upper surface of the transverse plate part, and screws threadedly connected to the servo motor 8 are inserted into the counterbore holes. The output shaft of the servo motor 8 penetrates through the carrier plate 1 and is installed with a connecting disk 2, and the pneumatic gripper 3 is fixedly connected to the connecting disk 2 by a plurality of bolts. A connecting part 4 is fixedly connected to the lower edge of one side surface of the carrier plate 1, and two symmetrically arranged fixing holes are formed on one side surface of the connecting part 4, and the connecting part 4 is installed at the required position by using the fixing holes to complete the limitation of the position of the carrier plate 1.

[0023] Refer to Figure 1 and Figure 2 , first U-shaped frames 5 are fixedly connected to both side surfaces of the carrier plate 1 adjacent to the pneumatic gripper 3. A first reinforcing rib is installed at the bottom of the first U-shaped frame 5, and the first reinforcing rib is fixedly connected to the carrier plate 1. The first reinforcing rib improves the mechanical strength of the connection between the first U-shaped frame 5 and the carrier plate 1. A column rod 6 is inserted into the first U-shaped frame 5, the cross section of the column rod 6 is rectangular, and a second U-shaped frame 7 is sleeved at the other end of the column rod 6. The second U-shaped frame 7 is fixedly connected to the servo motor 8. A second reinforcing rib is installed at the bottom of the second U-shaped frame 7, and the second reinforcing rib is fixedly connected to the servo motor 8. The second reinforcing rib improves the mechanical strength of the connection between the second U-shaped frame 7 and the servo motor 8.

[0024] Refer to Figures 1-4, the side of the first U-shaped frame 5 facing away from the second U-shaped frame 7 and the side of the second U-shaped frame 7 facing away from the first U-shaped frame 5 are both closed. Jack holes 10 are provided on the upper surfaces of the first U-shaped frame 5 and the second U-shaped frame 7. Pin holes 11 that match the jack holes 10 are provided at both ends of the column rod 6. A positioning column 13 is inserted into the jack hole 10. The positioning column 13 is inserted into the pin hole 11. When connecting the carrier plate 1 and the servo motor 8 with screws, first insert one end of the column rod 6 into the first U-shaped frame 5, and then insert a positioning column 13 into the space formed by the jack hole 10 provided on the first U-shaped frame 5 and the pin hole 11 on the column rod 6, so that the relative position between the column rod 6 and the carrier plate 1 is restricted. Then insert the other end of the column rod 6 into the second U-shaped frame 7, and insert the other positioning column 13 into the space formed by the jack hole 10 provided on the second U-shaped frame 7 and the pin hole 11 on the column rod 6. At this time, the column rod 6, the first U-shaped frame 5 and the second U-shaped frame 7 together play a role in restricting the relative position between the servo motor 8 and the carrier plate 1. During the process of screwing the screws, there is no need to manually maintain the relative position between the servo motor 8 and the carrier plate 1, which is beneficial to the installation of the screws. When the servo motor 8 works, it drives the pneumatic gripper 3 to flip. At this time, the reaction force generated by the item clamped by the pneumatic gripper 3 acts on the output shaft of the servo motor 8 through the pneumatic gripper 3. The reaction force received by the servo motor 8 is dispersed to the column rod 6 and the screws, thereby reducing the requirement for the anti-loosening performance of the screws that restrict the position of the servo motor 8 and improving the stability of the installation of the servo motor 8.

[0025] Refer to Figure 2 , a rubber head 9 is pasted at one end of the positioning column 13. The outer diameter of the rubber head 9 is the same as the inner diameter of the jack hole 10 and the inner diameter of the pin hole 11. Blind holes 12 aligned with the jack holes 10 are provided at the inner bottoms of the first U-shaped frame 5 and the second U-shaped frame 7, so that the lower end of the positioning column 13 extends into the blind holes 12. At this time, the rubber head 9 is in contact with the inner wall of the blind hole 12, increasing the friction coefficient between the end of the positioning column 13 and the inner wall of the blind hole 12 and preventing the positioning column 13 from moving randomly. A threaded blind hole 14 is provided at the middle position of the end of the positioning column 13 away from the rubber head 9. After screwing a bolt into the threaded blind hole 14, it is convenient to pull out the positioning column 13 from the channel formed by the jack hole 10 and the pin hole 11 by using the bolt.

[0026] Although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A turning mechanism of a power-assisted manipulator, comprising a carrier plate (1), characterized in that: On one side of the carrier board (1), a servo motor (8) is installed through two screws. The output shaft of the servo motor (8) penetrates the carrier board (1) and is installed with a pneumatic gripper (3). On two sides of the carrier board (1) adjacent to the pneumatic gripper (3), first U-shaped frames (5) are fixedly connected. A column rod (6) is inserted into the first U-shaped frame (5). The other end of the column rod (6) is sleeved with a second U-shaped frame (7). The second U-shaped frame (7) is fixedly connected with the servo motor (8). One side of the first U-shaped frame (5) facing away from the second U-shaped frame (7) and one side of the second U-shaped frame (7) facing away from the first U-shaped frame (5) are both closed. Jack holes (10) are opened on the upper surfaces of the first U-shaped frame (5) and the second U-shaped frame (7). Pin holes (11) matching the jack holes (10) are opened at both ends of the column rod (6). A positioning column (13) is inserted into the jack hole (10). The positioning column (13) is inserted into the pin hole (11).

2. The flipping mechanism of a power-assisted manipulator according to claim 1, wherein: A rubber head (9) is pasted at one end of the positioning column (13). The outer diameter of the rubber head (9) is the same as the inner diameter of the jack hole (10) and the inner diameter of the pin hole (11).

3. The turning mechanism of a power-assisted manipulator according to claim 1, characterized in that: A threaded blind hole (14) is opened at the middle position of the end of the positioning column (13) away from the rubber head (9). A bolt is threadedly connected in the threaded blind hole (14).

4. The turning mechanism of a power-assisted manipulator according to claim 1, characterized in that: Blind holes (12) aligned with the jack holes (10) are opened at the inner bottoms of the first U-shaped frame (5) and the second U-shaped frame (7). The lower end of the positioning column (13) extends into the blind hole (12).

5. The flipping mechanism of a power-assisted manipulator according to claim 1, characterized in that: A transverse plate part is fixedly connected to the upper end of the carrier board (1). Two counterbore holes are formed by downward depression on the upper surface of the transverse plate part. Screws threadedly connected to the servo motor (8) are inserted into the counterbore holes.

6. The flipping mechanism of a power-assisted manipulator according to claim 1, wherein: A connecting disc (2) is installed on the output shaft of the servo motor (8). The pneumatic gripper (3) is fixedly connected to the connecting disc (2) through a plurality of bolts.

7. A turning mechanism of a power-assisted manipulator according to claim 1, characterized in that: A first reinforcing rib is installed at the bottom of the first U-shaped frame (5). The first reinforcing rib is fixedly connected to the carrier board (1). A second reinforcing rib is installed at the bottom of the second U-shaped frame (7). The second reinforcing rib is fixedly connected to the servo motor (8).

8. The flipping mechanism of a power-assisted manipulator according to claim 1, characterized in that: A connecting part (4) is fixedly connected to the lower edge of one side of the carrier board (1). Two symmetrically arranged fixing holes are opened on one side of the connecting part (4).

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