Servo manipulator stable in grabbing

Abstract

The utility model relates to the technical field of servo manipulators, in particular to a servo manipulator stable in grabbing, which comprises a rack, a fixing frame, a sliding seat bin, a motor, a threaded rod, a fixing bin, a sliding plate, a sliding rod, an air cylinder, a sliding ring, a first spring, a connecting unit, an auxiliary unit and a counterweight unit. The auxiliary unit is arranged below the fixed bin, the counterweight unit is arranged above the sliding seat bin, a motor is started to drive a threaded rod to rotate and adjust the transverse distance of the sliding seat bin, then the height of the fixed bin is adjusted in cooperation with the connecting unit to enable the fixed bin to be located above goods, and at the moment, an air cylinder is started to push a sliding plate to move on a sliding rod; and the sliding ring compresses the first spring to stably support the sliding plate to move until the sliding plate and the auxiliary unit clamp the goods, in this way, the situation of shaking during goods grabbing is avoided, and the grabbing efficiency and quality are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of servo manipulators, in particular to a servo manipulator with stable grasping. Background Art

[0002] With the development of intelligent machinery, servo robots are often used for short-distance displacement of workpieces. Servo robots are automated production equipment that can imitate the functions of some human limbs and allow them to be automatically controlled, so that they can transport workpieces or manipulate tools for production operations according to predetermined requirements. They use electro-hydraulic servo control and have the advantages of flexible movement, large load rigidity, high precision, and fast response speed.

[0003] The existing robot is placed directly on the frame and controlled by the controller for grasping.

[0004] Current robotic arm devices are prone to shaking when grabbing goods, affecting the efficiency and quality of grabbing. Utility Model Content

[0005] The purpose of the utility model is to provide a servo manipulator with stable grasping, aiming to solve the problem that the current manipulator device is prone to shaking when grasping goods, which affects the efficiency and quality of grasping.

[0006] To achieve the above-mentioned purpose, the utility model provides a servo manipulator with stable grasping, including a frame, a fixed frame, a slide warehouse, a motor, a threaded rod, a fixed warehouse, a slide plate, a slide rod, a cylinder, a slip ring, a first spring, a connecting unit, an auxiliary unit and a counterweight unit, the fixed frame is above the frame, the slide warehouse is slidably connected to the fixed frame and is located above the slide warehouse, the motor is fixedly connected to the fixed frame and is located on one side of the fixed frame, the output end of the motor passes through the fixed frame, one end of the threaded rod is rotatably connected to the fixed frame, the other end of the threaded rod is fixedly connected to the output end of the motor, and the threaded rod is threadedly matched with the slide warehouse, and the connecting unit is arranged on the The cam is fixedly mounted on a top of the sliding seat, and the cam is secured to the bottom of the sliding seat with respect to the sliding seat. The cam is secured to the bottom of the sliding seat with respect to the sliding seat. The cam is secured to the bottom of the sliding seat with respect to the sliding seat.

[0007] In which, the connecting unit includes a mounting frame, a hydraulic cylinder, a movable plate and two vertical rods. The mounting frame is fixedly connected to the slide warehouse and is located above the slide warehouse. The hydraulic cylinder is fixedly connected to the mounting frame and is located below the mounting frame. The movable plate is arranged above the mounting frame. The mounting frame has two sliding holes, and both sliding holes are slidably matched with the corresponding vertical rods. The two ends of the two vertical rods are respectively fixedly connected to the movable plate and the fixed warehouse.

[0008] Wherein, the connecting unit further includes a limiting ring, which is fixedly connected to the vertical rod and is located on the outer side wall of the vertical rod.

[0009] In which, the auxiliary unit includes a fixed plate, a buffer plate, a round rod and a second spring. The fixed plate is fixedly connected to the fixed bin and is located below the fixed bin. The buffer plate is arranged on one side of the fixed plate. The round rod is fixedly connected to the buffer plate and is located on one side of the buffer plate. The fixed plate has a circular hole, and the circular hole slides with the round rod. The two ends of the second spring are respectively fixedly connected to the buffer plate and the fixed plate.

[0010] Wherein, the counterweight unit includes a counterweight block and a support frame, the support frame is fixedly connected to the mounting frame and is located on one side of the mounting frame, and the counterweight block is fixedly connected to the support frame and is located above the support frame.

[0011] The utility model provides a servo manipulator with stable grasping. The motor is started to drive the threaded rod to rotate, the lateral distance of the slide bin is adjusted, and the height of the fixed bin is adjusted in conjunction with the connecting unit to be located above the goods. At this time, the cylinder is started to push the slide plate to move on the slide rod until the slide plate and the auxiliary unit clamp the goods. The slip ring compresses the first spring to stably support the movement of the slide plate. In this way, shaking when grasping the goods is avoided, thereby ensuring the efficiency and quality of grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0013] Figure 1 It is a structural diagram of a servo manipulator with stable grasping according to the present invention.

[0014] Figure 2 It is a front view of the servo manipulator with stable grasping according to the present invention.

[0015] Figure 3 This utility model Figure 2AA line section view.

[0016] Figure 4 This utility model Figure 3 A magnified view of the local structure at point B.

[0017] 101-frame, 102-fixed frame, 103-sliding seat, 104-motor, 105-threaded rod, 106-fixed frame, 107-slide plate, 108-sliding rod, 109-cylinder, 110-slip ring, 111-first spring, 112-mounting frame, 113-hydraulic cylinder, 114-movable plate, 115-vertical rod, 116-limiting ring, 117-fixed plate, 118-buffer plate, 119-round rod, 120-second spring, 121-counterweight, 122-support frame, 123-sliding hole, 124-round hole. DETAILED DESCRIPTION

[0018] See also Figures 1 to 4 ,in, Figure 1 This is a structural diagram of the servo manipulator with stable grasping in the utility model. Figure 2 This is a front view of the servo manipulator with stable grasping according to the present invention. Figure 3 This utility model Figure 2 AA line section view, Figure 4 This utility model Figure 3 A magnified view of the local structure at point B.

[0019] The utility model provides a servo manipulator with stable grasping, comprising a frame 101, a fixed frame 102, a slide bin 103, a motor 104, a threaded rod 105, a fixed bin 106, a slide plate 107, a slide rod 108, a cylinder 109, a slip ring 110, a first spring 111, a connecting unit, an auxiliary unit and a counterweight unit, wherein the connecting unit comprises a mounting frame 112, a hydraulic cylinder 113, a movable plate 114, two vertical rods 115 and a limiting ring 116, the auxiliary unit comprises a fixed plate 117, a buffer plate 118, a round rod 119 and a second spring 120, the counterweight unit comprises a counterweight block 121 and a support frame 122, the mounting frame 112 has two sliding holes 123, and the fixed plate 117 has a round hole 124.

[0020] The fixed frame 102 is above the frame 101, the slide bin 103 is slidably connected to the fixed frame 102 and is located above the slide bin 103, the motor 104 is fixedly connected to the fixed frame 102 and is located on one side of the fixed frame 102, the output end of the motor 104 passes through the fixed frame 102, one end of the threaded rod 105 is rotatably connected to the fixed frame 102, the other end of the threaded rod 105 is fixedly connected to the output end of the motor 104, and the threaded rod 105 is threadedly matched with the slide bin 103, the connecting unit is arranged above the slide bin 103, the fixed bin 106 is arranged below the connecting unit, the slide plate 107 is slidably connected to the fixed bin 106, and is located On the inner wall of the fixed bin 106, the sliding rod 108 is fixedly connected to the fixed bin 106 and is located on the inner wall of the fixed bin 106, and the sliding rod 108 is slidably matched with the slide plate 107, the slip ring 110 is slidably connected to the sliding rod 108 and is located on the outer wall of the sliding rod 108, the two ends of the first spring 111 are respectively fixedly connected to the slip ring 110 and the fixed bin 106, the cylinder 109 is fixedly connected to the fixed bin 106 and is located on the outer wall of the fixed bin 106, the output end of the cylinder 109 is fixedly connected to the slide plate 107 and is located on one side of the slide plate 107, the auxiliary unit is arranged below the fixed bin 106, and the counterweight unit is arranged above the slide bin 103.

[0021] In this embodiment, the motor 104 is started to drive the threaded rod 105 to rotate, the lateral distance of the sliding seat bin 103 is adjusted, and then the height of the fixed bin 106 is adjusted in conjunction with the connecting unit so that it is located above the goods. At this time, the cylinder 109 is started to push the slide 107 to move on the slide rod 108 until the slide 107 and the auxiliary unit clamp the goods. The slip ring 110 compresses the first spring 111 to stably support the movement of the slide 107. In this way, shaking when grabbing goods is avoided, thereby ensuring the efficiency and quality of grabbing.

[0022] Furthermore, the mounting frame 112 is fixedly connected to the slide bin 103 and is located above the slide bin 103. The hydraulic cylinder 113 is fixedly connected to the mounting frame 112 and is located below the mounting frame 112. The movable plate 114 is arranged above the mounting frame 112. The mounting frame 112 has two sliding holes 123. Both sliding holes 123 are slidably matched with the corresponding vertical rods 115. The two ends of the two vertical rods 115 are respectively fixedly connected to the movable plate 114 and the fixed bin 106.

[0023] In this embodiment, the hydraulic cylinder 113 is activated to push the movable plate 114 upward. At this time, the vertical rod 115 pulls the fixed bin 106 to move, thereby adjusting the height of the fixed bin 106 to facilitate operation and use by staff.

[0024] Furthermore, the limiting ring 116 is fixedly connected to the vertical rod 115 and is located on the outer side wall of the vertical rod 115 .

[0025] In this embodiment, the limiting ring 116 limits the rising height of the fixed chamber 106 to avoid damage to the hydraulic cylinder 113 and reduce maintenance costs.

[0026] Furthermore, the fixed plate 117 is fixedly connected to the fixed bin 106 and is located below the fixed bin 106. The buffer plate 118 is arranged on one side of the fixed plate 117. The round rod 119 is fixedly connected to the buffer plate 118 and is located on one side of the buffer plate 118. The fixed plate 117 has a round hole 124, and the round hole 124 is slidably fitted with the round rod 119. The two ends of the second spring 120 are respectively fixedly connected to the buffer plate 118 and the fixed plate 117.

[0027] In this embodiment, after the buffer plate 118 is squeezed, the second spring 120 is compressed, thereby preventing the fixing plate 117 from directly contacting the cargo, thereby reducing damage to the cargo surface.

[0028] Furthermore, the support frame 122 is fixedly connected to the mounting frame 112 and is located on one side of the mounting frame 112 , and the counterweight 121 is fixedly connected to the support frame 122 and is located above the support frame 122 .

[0029] In this embodiment, the counterweight 121 above the support frame 122 balances the mounting frame 112 to avoid warping and ensure normal movement of the slide bin 103 .

[0030] The above disclosure is only a preferred embodiment of the present application and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made in accordance with the claims of the present application are still within the scope covered by the present application.

Claims

1. A servo manipulator with stable grasping, characterized in that: The invention comprises a frame, a fixed frame, a slide warehouse, a motor, a threaded rod, a fixed warehouse, a slide plate, a slide rod, a cylinder, a slip ring, a first spring, a connecting unit, an auxiliary unit and a counterweight unit. The fixed frame is above the frame, the slide warehouse is slidably connected to the fixed frame and is located above the slide warehouse, the motor is fixedly connected to the fixed frame and is located on one side of the fixed frame, the output end of the motor passes through the fixed frame, one end of the threaded rod is rotatably connected to the fixed frame, the other end of the threaded rod is fixedly connected to the output end of the motor, and the threaded rod is threadedly matched with the slide warehouse, the connecting unit is arranged above the slide warehouse, and the fixed warehouse is arranged Below the connecting unit, the slide is slidably connected to the fixed warehouse and is located on the inner side wall of the fixed warehouse, the slide rod is fixedly connected to the fixed warehouse and is located on the inner side wall of the fixed warehouse, and the slide rod and the slide are slidably matched, the slip ring is slidably connected to the slide rod and is located on the outer side wall of the slide rod, the two ends of the first spring are respectively fixedly connected to the slip ring and the fixed warehouse, the cylinder is fixedly connected to the fixed warehouse and is located on the outer side wall of the fixed warehouse, the output end of the cylinder is fixedly connected to the slide and is located on one side of the slide, the auxiliary unit is arranged below the fixed warehouse, and the counterweight unit is arranged above the slide warehouse.

2. The servo manipulator with stable grasping according to claim 1, characterized in that: The connecting unit includes a mounting frame, a hydraulic cylinder, a movable plate and two vertical rods. The mounting frame is fixedly connected to the slide warehouse and is located above the slide warehouse. The hydraulic cylinder is fixedly connected to the mounting frame and is located below the mounting frame. The movable plate is arranged above the mounting frame. The mounting frame has two sliding holes, and both sliding holes are slidably matched with the corresponding vertical rods. The two ends of the two vertical rods are respectively fixedly connected to the movable plate and the fixed warehouse.

3. The servo manipulator with stable grasping according to claim 2, characterized in that: The connecting unit further includes a limiting ring, which is fixedly connected to the vertical rod and is located on the outer side wall of the vertical rod.

4. The servo manipulator with stable grasping according to claim 3, characterized in that: The auxiliary unit includes a fixed plate, a buffer plate, a round rod and a second spring. The fixed plate is fixedly connected to the fixed bin and is located below the fixed bin. The buffer plate is arranged on one side of the fixed plate. The round rod is fixedly connected to the buffer plate and is located on one side of the buffer plate. The fixed plate has a round hole, and the round hole is slidably fitted with the round rod. The two ends of the second spring are respectively fixedly connected to the buffer plate and the fixed plate.

5. The servo manipulator with stable grasping according to claim 4, characterized in that: The counterweight unit includes a counterweight block and a support frame, the support frame is fixedly connected to the mounting frame and is located on one side of the mounting frame, and the counterweight block is fixedly connected to the support frame and is located above the support frame.

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