Manipulator limiting structure
By designing the combined structure of the threaded joint and the down-pressure sleeve, the adaptability inconvenience caused by the difference in the size of different tools is solved, and the tool is quickly clamped and limited fixing is achieved, simplifying the replacement process.
Patent Information
- Application Number
- CN202421664414.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-15
- Publication Date
- 2025-08-05
- Estimated Expiration
- 2034-07-15
AI Technical Summary
Due to the size difference between different machining tools, the existing robot limit structure requires multiple tool adapters to achieve adaptive connections, which causes inconvenience.
A robotic limiting structure including a threaded butt head and a down-pressing sleeve is designed. Through the combination of a wrapping positioning unit and a closed butt cover, the tool can be quickly clamped and limited fixated, and the tool can be prevented from loosening by using the extrusion angle of the eight-character polymer strip and the extrusion ring.
It realizes rapid adaptation and limit fixation of tools, simplifies the replacement process, and avoids loosening and disagreement of tools on the robotic arm.
Smart Images
Figure CN223186539U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of engineering machinery, in particular to a manipulator limiting structure. Background Art
[0002] A robotic finger is an automatic device that can mimic certain movements and functions of the human hand and arm, used to grasp, move objects, or operate tools according to a fixed program. Consisting primarily of an actuator, a drive mechanism, and a control system, it can replace heavy human labor to achieve mechanization and automation of production. It can operate in hazardous environments to protect human safety, and is therefore widely used in sectors such as machinery manufacturing, metallurgy, electronics, light industry, and atomic energy.
[0003] In the current existing technology, the limiting and fixing structure for the manipulator can be used to connect and install the manipulator, realize the operation of the manipulator, help to carry out the fastening work of picking up objects, realize the limiting and fixing of objects, help to transport objects, and realize the purpose of the manipulator processing operation. However, the current limiting and anchoring structure for the manipulator is fixed on the manipulator arm by threaded fixing. However, a variety of different processing tools need to be installed on the manipulator arm, but the sizes of different processing tools are different, so that the docking threaded holes or docking joints on one end of the tool will be different, so that different tools need to be docked with different manipulator arms, and multiple tool adapters are required to clamp the tools. It is inconvenient to perform adaptive connection of the inner end of the tool, which will cause certain inconveniences.
[0004] To this end, the utility model provides a manipulator limiting structure. Summary of the Invention
[0005] To this end, the technical problem to be solved by the present invention is to overcome the problem that different sizes of different processing tools in the prior art are different, so that there will be differences in the tool docking joints, so that different tools need to be docked with different robotic arms, and multiple tool adapters are required to clamp the tools, which makes it inconvenient to perform adaptive connection of the inner end of the tool, causing certain inconveniences.
[0006] In order to solve the above technical problems, the utility model provides a manipulator limiting structure, including a threaded joint and a pressing sleeve movably sleeved on the outer surface of the top of the threaded joint, a wrapping positioning unit is provided on the outer surface of the threaded joint, and the wrapping positioning unit includes a closed docking cover, a plurality of empty grooves are opened on the outer surface of the closed docking cover, a squeezing arm is swingably sleeved on the inner wall surface of the empty groove and located at the top edge position, an squeezing ring is fixedly connected to the inner wall surface of the closed docking cover and located at the bottom edge position, and push squeezing strips are symmetrically fixedly connected to the two side surfaces of the closed docking cover;
[0007] A downward pressing closing unit is provided on the outer surface of the downward pressing sleeve, and the downward pressing closing unit includes an eight-shaped polymeric strip symmetrically fixedly connected to the inner wall surfaces on both sides of the downward pressing sleeve, and an upper overlapping strip movably overlapped on the outer surface of the top of the closed docking cover is provided on the top surface of the downward pressing sleeve.
[0008] In one embodiment of the present invention, downward pressing extrusion strips are symmetrically provided on the bottom surface of the downward pressing sleeve, and an inner wall surface of the downward pressing extrusion strip is provided with an inclined groove movably overlapped on the outer surface of the extrusion arm.
[0009] In one embodiment of the present invention, the inner wall surface of the figure-eight aggregate strip is movably overlapped with the outer wall surface of the push-extrusion strip.
[0010] In one embodiment of the present invention, limiting rings that are movably sleeved on the outer surface of the top of the closed docking cover are fixedly connected to both side surfaces of the threaded docking joint.
[0011] In one embodiment of the present invention, a semicircular arc block is fixedly connected to the inner wall surface of the top of the closed docking cover, and an extruded silicone strip is fixedly connected to the inner wall surface of the semicircular arc block.
[0012] In one embodiment of the present invention, a docking groove is provided at one end of the extrusion ring, and a docking protrusion is provided at the other end of the extrusion ring.
[0013] In one embodiment of the present invention, an elastic band is fixedly connected to the inner wall surface of the extrusion ring, and an anti-slip pad is provided on the outer surface of the elastic band.
[0014] The above technical solution of the utility model has the following advantages compared with the prior art:
[0015] The utility model discloses a manipulator limiting structure, holding a tool and inserting the end of the tool to be docked into the inner wall of the closed docking cover, and then the employee presses the two closed docking covers together with the other hand of the employee, and clamps the docking end of the tool, cooperates with the hand previously holding the tool, and slides the pressing sleeve on the outer surface of the closed docking cover down and inserts it into the outer surface of the closed docking cover, and then uses the eight-shaped polymer strip on the inner wall of the pressing sleeve to fit the pushing and extruding strip on the outer surface of the closed docking cover. The inclined surface of the inner wall of the polymer strip is fitted and squeezed with the inclined surface of the outer surface of the pushing and extruding strip. As the pressing sleeve continues to slide down, the two closed docking covers are gradually squeezed together, thereby limiting the position of the tool. If the tool needs to be replaced later, it is only necessary to push the pressing sleeve upward so that the inner wall of the pressing sleeve falls off from the outer surface of the closed docking cover. When the outer surface of the closed docking cover no longer has the clamping force of the pressing sleeve, it is only necessary to pry the closed docking cover apart to directly replace the loose tool.
[0016] The utility model describes a manipulator limiting structure, in which the closed docking cover that is closed together cooperates with the two extrusion rings on the inner wall to be respectively sleeved on the outer surface of the tool, and as the pressing sleeve slides down, the pressing sleeve is used to squeeze the inner wall of the extrusion ring on the inner wall of the empty groove, and the extrusion ring is used to squeeze and fix the surface of the tool. If the size of the tool is large, it is not necessary to completely close the closed docking cover when closing the closed docking cover, and the outer surface of the extrusion arm is squeezed by descending the pressing sleeve, and the extrusion angle formed by the pressing sleeve and the extrusion arm is used to prevent the extrusion arm from expanding outward and causing the tool to become loose. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.
[0018] Figure 1 It is a three-dimensional diagram of the utility model;
[0019] Figure 2 This is a schematic diagram of the swinging three-dimensional structure of the threaded butt joint in the present utility model;
[0020] Figure 3 This is a schematic diagram of the swing cross-sectional three-dimensional structure of the threaded butt joint in the utility model;
[0021] Figure 4 This is a schematic diagram of the cross-sectional three-dimensional structure of the downward pressure sleeve in the present invention;
[0022] Figure 5 This is a schematic diagram of the sectional three-dimensional structure of the pressed-down housing in the present invention when closed;
[0023] Figure 6 It is a schematic diagram of the three-dimensional structure of the extrusion ring in the utility model.
[0024] Explanation of the reference numerals in the specification: 11, threaded butt joint; 111, limiting ring; 112, closed butt cover; 113, empty slot; 114, extrusion arm; 115, extrusion ring; a1, butt groove; a2, butt protrusion; a3, elastic band; a4, anti-slip pad; 116, semicircular arc block; 117, extruded silicone strip; 118, push extrusion strip; 12, press down shell; 121, upper lap strip; 122, press down extrusion strip; 123, inclined groove; 124, figure-eight polymer strip. DETAILED DESCRIPTION
[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.
[0026] Reference Figures 1 to 6 As shown, a manipulator limiting structure of the present invention comprises a threaded joint 11 and a pressing sleeve 12 movably sleeved on the outer surface of the top of the threaded joint 11, a wrapping positioning unit is provided on the outer surface of the threaded joint 11, and the wrapping positioning unit comprises a closed joint cover 112, a plurality of empty grooves 113 are provided on the outer surface of the closed joint cover 112, a squeezing arm 114 is swingably sleeved on the inner wall surface of the empty groove 113 and located at the top edge position, an squeezing ring 115 is fixedly connected to the inner wall surface of the closed joint cover 112 and located at the bottom edge position, and push squeezing strips 118 are symmetrically fixedly connected to the two side surfaces of the closed joint cover 112;
[0027] A downward pressing closing unit is provided on the outer surface of the downward pressing shell 12, and the downward pressing closing unit includes an eight-shaped polymeric strip 124 symmetrically fixedly connected to the inner wall surfaces on both sides of the downward pressing shell 12, and an upper overlapping strip 121 movably overlapped on the top outer surface of the closed docking cover 112 is provided on the top surface of the downward pressing shell 12.
[0028] When working, the employee holds the tool in hand and inserts the end of the tool that needs to be docked into the inner wall of the closed docking cover 112, and then presses the two closed docking covers 112 together with the other hand of the employee to close the two closed docking covers 112, and clamps the docking end of the tool. After the tool is clamped by the closed docking cover 112, the employee cooperates with the hand that previously held the tool to slide the pressing sleeve 12 on the outer surface of the closed docking cover 112 down and onto the outer surface of the closed docking cover 112, and then uses the eight-shaped polymer strip 124 on the inner wall of the pressing sleeve 12 to fit the pushing and extruding strip 118 on the outer surface of the closed docking cover 112. At the same time, the inclined surface of the inner wall of the eight-shaped polymer strip 124 is fit and squeezed with the inclined surface of the outer surface of the pushing and extruding strip 118. As the pressing sleeve 12 is continuously lowered The sliding mechanism 112 gradually squeezes the two closed docking covers 112 together, thereby limiting the position of the tool. The closed docking covers 112 that are closed together cooperate with the two squeezing collars 115 on the inner wall to be respectively sleeved on the outer surface of the tool. As the pressing sleeve 12 slides down, the squeezing arms 114 on the inner wall of the empty groove 113 are used to squeeze the inner wall of the squeezing collar 115, and the squeezing collar 115 is used to squeeze and fix the surface of the tool. If the tool is large in size, it is not necessary to completely close the closed docking cover 112 when closing the closed docking cover 112, and the outer surface of the squeezing arm 114 is squeezed by descending the pressing sleeve 12, and the squeezing angle formed by the pressing sleeve 12 and the squeezing arm 114 is used to prevent the squeezing arm 114 from expanding outward and causing the tool to become loose.
[0029] Further, such as Figures 1 to 2 and Figures 4 to 6 As shown, a downward pressing extrusion strip 122 is symmetrically arranged on the bottom surface of the downward pressing sleeve 12, and an inclined groove 123 that is movably overlapped on the outer surface of the extrusion arm 114 is provided on the inner wall surface of the downward pressing extrusion strip 122. A docking groove a1 is provided at one end of the extrusion ring 115, and a docking protrusion a2 is provided at the other end of the extrusion ring 115. An elastic band a3 is fixedly connected to the inner wall surface of the extrusion ring 115, and an anti-slip pad a4 is provided on the outer surface of the elastic band a3.
[0030] During operation, after the closed docking cover 112 is docked, if the two closed docking covers 112 are completely closed, the docking groove a1 on the outer surface of the extrusion ring 115 is docked with the docking protrusion a2 on the outer surface of the other extrusion ring 115, and the two extrusion rings 115 are docked and limited by the docking groove a1 and the docking protrusion a2. As the downward pressing shell 12 slides on the outer surface of the closed docking cover 112, the downward pressing extrusion strip 122 on the outer surface of the bottom of the downward pressing shell 12 is cooperated to squeeze the outer surface of the extrusion arm 114, so that the extrusion arm 114 elastically squeezes the elastic band a3 on the outer surface of the extrusion ring 115, and the anti-slip pad a4 on the outer surface of the elastic band a3 is adhered to the surface of the tool, and the anti-slip pad a4 is used to increase the anti-slip effect between the tool surface.
[0031] Further, such as Figures 1 to 5 As shown, the inner wall surface of the figure-eight polymer strip 124 is movably overlapped on the outer wall surface of the push extrusion strip 118, and the two side surfaces of the threaded joint 11 are fixedly connected with the limiting ring 111 that is movably sleeved on the outer surface of the top of the closed docking cover 112, and the inner wall surface of the top of the closed docking cover 112 is fixedly connected with the semicircular block 116, and the inner wall surface of the semicircular block 116 is fixedly connected with the extruded silicone strip 117;
[0032] During operation, the tool is extended into the inner wall of the closed docking cover 112, and the two closed docking covers 112 cooperate with the semi-circular block 116 on the inner wall of the closed docking cover 112 to wrap one end joint of the tool when docking. As the semi-circular block 116 is continuously closed and squeezed, the extruded silicone strip 117 on the inner wall of the semi-circular block 116 is adhered to the surface of the tool joint. The angle of the closed docking cover 112 is used to preferentially squeeze and fix the top end of the tool to avoid the tool from shaking. As the closed docking cover 112 is continuously squeezed and closed, the position of the tool other than the joint surface is clamped and fixed.
[0033] Working principle: The employee holds the tool in hand and inserts the end of the tool to be docked into the inner wall of the closed docking cover 112, and then uses the other hand of the employee to press the two closed docking covers 112 to close the two closed docking covers 112 together, and clamps the docking end of the tool. After the tool is clamped by the closed docking cover 112, the employee cooperates with the hand that previously held the tool to slide the pressing sleeve 12 on the outer surface of the closed docking cover 112 down and insert it onto the outer surface of the closed docking cover 112, and then use the eight-shaped polymer strip 124 on the inner wall of the pressing sleeve 12 to fit the pushing and extruding strip 118 on the outer surface of the closed docking cover 112. At the same time, the inclined surface of the inner wall of the eight-shaped polymer strip 124 is fit and squeezed with the inclined surface on the outer surface of the pushing and extruding strip 118. As the pressing sleeve 12 is pressed, The two closed docking covers 112 are squeezed together by continuously sliding down, thereby limiting the position of the tool. The closed docking covers 112 that are closed together cooperate with the two squeezing collars 115 on the inner wall to be respectively sleeved on the outer surface of the tool. As the pressing sleeve 12 slides down, the squeezing arms 114 on the inner wall of the empty groove 113 are used to squeeze the inner wall surface of the squeezing collar 115, and the squeezing collar 115 is used to squeeze and fix the surface of the tool. If the size of the tool is large, there is no need to completely close the closed docking cover 112 when closing the closed docking cover 112, and the outer surface of the squeezing arm 114 is squeezed by descending the pressing sleeve 12, and the squeezing angle formed by the pressing sleeve 12 and the squeezing arm 114 is used to prevent the squeezing arm 114 from expanding outward and causing the tool to become loose.
[0034] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.
Claims
1. A manipulator limiting structure, comprising a threaded joint (11) and a pressing sleeve (12) movably sleeved on the top outer surface of the threaded joint (11), characterized in that: A wrapping positioning unit is provided on the outer surface of the threaded butt joint (11), and the wrapping positioning unit includes a closed butt joint cover (112), a plurality of slots (113) are provided on the outer surface of the closed butt joint cover (112), an extrusion arm (114) is swingably sleeved on the inner wall surface of the slot (113) and located at the top edge position, an extrusion ring (115) is fixedly connected to the inner wall surface of the closed butt joint cover (112) and located at the bottom edge position, and push extrusion strips (118) are symmetrically fixedly connected to the two side surfaces of the closed butt joint cover (112); A downward pressing closing unit is provided on the outer surface of the downward pressing shell (12), and the downward pressing closing unit includes an eight-shaped polymeric strip (124) symmetrically fixedly connected to the inner wall surfaces on both sides of the downward pressing shell (12), and an upper overlapping strip (121) movably overlapped on the outer surface of the top of the closed docking cover (112) is provided on the top surface of the downward pressing shell (12).
2. A manipulator limiting structure according to claim 1, characterized in that: A downward pressing extrusion strip (122) is symmetrically arranged on the bottom surface of the downward pressing sleeve (12), and an inclined groove (123) movably overlapped on the outer surface of the extrusion arm (114) is provided on the inner wall surface of the downward pressing extrusion strip (122).
3. A manipulator limiting structure according to claim 1, characterized in that: The inner wall surface of the eight-shaped aggregation strip (124) is movably overlapped with the outer wall surface of the pushing and extruding strip (118).
4. The manipulator limiting structure according to claim 1, characterized in that: The two side surfaces of the threaded butt joint (11) are fixedly connected to limiting collars (111) that are movably sleeved on the top outer surface of the closed butt joint cover (112).
5. The manipulator limiting structure according to claim 1, characterized in that: A semicircular arc block (116) is fixedly connected to the inner wall surface of the top of the closed docking cover (112), and an extruded silicone strip (117) is fixedly connected to the inner wall surface of the semicircular arc block (116).
6. The manipulator limiting structure according to claim 1, characterized in that: One end of the extrusion ferrule (115) is provided with a docking groove (a1), and the other end of the extrusion ferrule (115) is provided with a docking protrusion (a2).
7. The manipulator limiting structure according to claim 1, characterized in that: An elastic band (a3) is fixedly connected to the inner wall surface of the extrusion ring (115), and an anti-slip pad (a4) is provided on the outer surface of the elastic band (a3).