CN220614005U - Automatic positioning manipulator capable of automatically returning - Google Patents

Abstract

The utility model discloses an automatic positioning manipulator capable of automatically returning, which comprises a positioning frame and bearing upright posts fixedly arranged at four corners of the bottom surface of the positioning frame; main positioning sliding grooves for adjusting the transverse distance are formed in the front side and the rear side of the top surface of the positioning frame, and main guide threaded rods for adjusting the positioning distance are arranged in the main positioning sliding grooves in the front side and the rear side in a rotating mode through bearings; further comprises: the top surface of the positioning frame is provided with a bearing positioning plate in a sliding manner; wherein, the inside of bearing the weight of the locating plate has offered the pair of locating chute that is used for adjusting longitudinal distance. This automatic positioning manipulator of self return, but the mechanical tongs that the bearing location board that can transversely and longitudinal movement drove the bottom surface through the locating frame inside removes, and then snatchs the work piece of different positions to but the location conflict board of self return is contradicted with conflict grip block to the work piece through the mechanical tongs, prevents to take place the slippage at the removal in-process.

Description

Automatic positioning manipulator capable of automatically returning

Technical Field

The utility model relates to the technical field of manipulators, in particular to an automatic positioning manipulator capable of automatically returning.

Background

The manipulator is high-tech automatic production equipment, can complete various expected operation tasks through programming, has the advantages of people and machines in terms of construction and performance, particularly reflects the intelligence and adaptability of people, and can position workpieces to be grabbed through movement in all directions;

the disclosure No. CN206287166U discloses an automatic positioning manipulator, wherein a scanning laser is connected above a paw, a lifting cylinder is fixed above the scanning laser, a gravity sensor is connected above the lifting cylinder, a clamping cylinder is fixed above the gravity sensor, and the automatic positioning manipulator is provided with the gravity sensor and a code scanner, so that the accurate butt joint of the manipulator and goods is ensured, the dislocation delay is reduced, the movable angle and more moving routes are increased, and the application range is wider;

however, the manipulator capable of automatically positioning has the following problems in the actual use process: the first connecting piston cylinder and the second connecting piston cylinder are arranged to drive the large arm and the small arm to extend respectively, so that the manipulator can move, but the manipulator can only move along the transverse direction of the large arm and the small arm in a working state, the manipulator cannot grasp in the longitudinal direction, and meanwhile, the machine body arranged on the right side can enable the manipulator to shake in the grasping process, so that the grasping work is difficult to maintain the required stability.

We have therefore proposed an automatic positioning manipulator that returns automatically in order to solve the problems set out above.

Disclosure of Invention

The utility model aims to provide an automatic positioning manipulator capable of automatically returning, which is used for solving the problems that in the prior art, a first connecting piston cylinder and a second connecting piston cylinder are arranged to drive a large arm and a small arm to stretch respectively so as to enable the manipulator to move, but the manipulator can only move along the transverse directions of the large arm and the small arm in a working state and cannot grasp in the longitudinal direction, and a machine body arranged on the right side can shake the manipulator in the grabbing process, so that the grabbing work is difficult to maintain the required stability.

In order to achieve the above purpose, the present utility model provides the following technical solutions: an automatic positioning manipulator capable of automatically returning comprises a positioning frame and bearing upright posts fixedly arranged at four corners of the bottom surface of the positioning frame;

main positioning sliding grooves for adjusting the transverse distance are formed in the front side and the rear side of the top surface of the positioning frame, and main guide threaded rods for adjusting the positioning distance are arranged in the main positioning sliding grooves in the front side and the rear side in a rotating mode through bearings;

further comprises:

the top surface of the positioning frame is provided with a bearing positioning plate in a sliding manner, and the bottom surface of the bearing positioning plate is connected to the outer wall of the top surface of the positioning frame in a fitting manner;

the bearing positioning plate is provided with a secondary positioning sliding groove for adjusting the longitudinal distance, and a secondary guiding threaded rod for adjusting the positioning distance is rotatably arranged in the secondary positioning sliding groove through a bearing.

Preferably, the whole positioning frame is arranged in a rectangular structure with open upper and lower side surfaces, a main servo motor is fixedly arranged at the left side rear of the positioning frame, the end part of an output shaft of the main servo motor is fixedly connected to the left end of a main guide threaded rod at the rear inside the positioning frame, the right ends of the main guide threaded rods at the front side and the rear side are mutually connected through a chain wheel mechanism, and the main guide threaded rods at the front side and the rear side are driven to rotate through the chain wheel mechanism.

Preferably, the front side and the rear side of the bottom surface of the bearing positioning plate are fixedly provided with main guide sliding blocks, the main guide sliding blocks on the front side and the rear side are in threaded connection with the outer walls of the main guide threaded rods on the front side and the rear side of the positioning frame, the main guide sliding blocks can be driven to move left and right with the bearing positioning plate through rotation of the main guide threaded rods on the front side and the rear side, and the main guide sliding blocks drive the bearing positioning plate to move.

Preferably, the inside of bearing the locating plate is provided with an auxiliary guide sliding block in a sliding manner, the middle part of the auxiliary guide sliding block is connected with the outer wall of the auxiliary guide threaded rod in a threaded manner, an auxiliary servo motor is fixedly arranged at the rear of the bearing locating plate, an output shaft of the auxiliary servo motor is fixedly connected with the rear end of the auxiliary guide threaded rod, and the auxiliary guide threaded rod is driven to rotate through the auxiliary servo motor.

Preferably, the bearing positioning plate is arranged in a sliding clamping connection mode with the auxiliary guide sliding block, the bottom end of the auxiliary guide sliding block is fixedly connected to the top end of the telescopic sleeve rod, and the bottom end of the auxiliary telescopic sleeve rod is fixedly connected to the top surface of the return transverse plate.

Preferably, the inside central point department of return diaphragm is provided with the driving gear through the bearing rotation, and bears the inside left and right sides of locating plate and all slide and be provided with driven rack to the driven rack of left and right sides all meshes to connect in the outer wall of middle part driving gear, and the outside bottom of the driven rack of left and right sides is all fixed connection in the top of machinery tongs moreover.

Preferably, the inner sides of the mechanical grippers which are symmetrically installed are all connected with the outer ends of the supporting clamping plates in a sliding and penetrating mode, the inner walls of the mechanical grippers on the left side and the right side are connected with the outer walls of the supporting clamping plates through limiting springs, and the bottom ends of the supporting clamping plates on the left side and the right side are fixedly connected with the top ends of the traction steel ropes.

Preferably, the bottom of the mechanical tongs of symmetry installation is all sliding connection in the outer end of location conflict board, and passes through reset spring interconnect between the bottom inner wall of the mechanical tongs of left and right sides and the outer end of location conflict board to the outer end of the equal fixed connection of left and right sides location conflict board is in the bottom of traction cable wire.

Compared with the prior art, the utility model has the beneficial effects that: this automatic positioning manipulator of self return, but the inside horizontal and longitudinal movement of locating frame bear the weight of the mechanical tongs that the locating plate drove the bottom surface and remove, and then snatch the work piece of different positions to but the location conflict board of self return is contradicted with contradicting the grip block to the work piece through the mechanical tongs, prevents to take place the slippage at the removal in-process, its concrete content is as follows:

1. the main servo motor drives the main guide threaded rod in the rear main positioning chute to rotate, the main guide sliding block in threaded connection and the bearing positioning plate on the top surface drive the main guide sliding block to move in the left-right direction, the auxiliary servo motor drives the auxiliary guide threaded rod in the auxiliary positioning chute to rotate, and further the auxiliary guide sliding block and the telescopic sleeve rod on the bottom surface drive the auxiliary guide sliding block to move in the front-back direction, so that the mechanical grippers on the ground are driven by the return transverse plate to automatically position workpieces in different positions so as to carry out subsequent grabbing work;

2. the mechanical gripper drives the inside driving gear and the bottom surface to move towards the inner side and the outer side, when the mechanical gripper contacts a workpiece through the inner side abutting clamping plates and extrudes, the abutting clamping plates at the two sides compress the limiting springs and move towards the outer side, when the traction steel cable does not pull the positioning abutting plates at the bottom end, the positioning abutting plates move towards the inner side under the extension of the reset springs at the outer end, and the bottom of the workpiece is lifted, so that slipping is prevented in the moving process.

Drawings

FIG. 1 is a schematic view of the overall three-dimensional structure of the present utility model;

FIG. 2 is a schematic perspective view of a bearing and positioning plate according to the present utility model;

FIG. 3 is a schematic view of the connection structure of the telescopic loop bar and the return cross plate of the present utility model;

FIG. 4 is a schematic diagram of the mounting structure of the auxiliary servo motor of the present utility model;

FIG. 5 is a schematic perspective view of a mechanical gripper according to the present utility model;

FIG. 6 is a schematic view of the mounting structure of the positioning interference plate of the present utility model.

In the figure: 1. a positioning frame; 2. a load-bearing upright; 3. a main positioning chute; 4. a main guide threaded rod; 5. carrying a positioning plate; 6. an auxiliary positioning chute; 7. an auxiliary guide threaded rod; 8. a main servo motor; 9. a sprocket mechanism; 10. a main guide slider; 11. an auxiliary guide slide block; 12. an auxiliary servo motor; 13. a telescopic loop bar; 14. a return transverse plate; 15. a drive gear; 16. a driven rack; 17. a mechanical gripper; 18. abutting against the clamping plate; 19. traction steel rope; 20. positioning an abutting plate; 21. a limit spring; 22. and a return spring.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-6, the present utility model provides the following technical solutions: an automatic positioning manipulator capable of automatically returning comprises a positioning frame 1 and bearing upright posts 2 fixedly arranged at four corners of the bottom surface of the positioning frame 1; the front side and the rear side of the top surface of the positioning frame 1 are respectively provided with a main positioning chute 3 for adjusting the transverse distance, and the inside of the main positioning chute 3 at the front side and the rear side is respectively provided with a main guide threaded rod 4 for adjusting the positioning distance through bearing rotation; a main servo motor 8 is fixedly arranged at the rear left side of the positioning frame 1, the end part of an output shaft of the main servo motor 8 is fixedly connected to the left end of a rear main guide threaded rod 4 in the positioning frame 1, and the right ends of the front main guide threaded rod 4 and the rear main guide threaded rod 4 are mutually connected through a sprocket mechanism 9; as shown in fig. 1, the carrying upright posts 2 at four corners of the bottom surface of the positioning frame 1 are supported, and then when workpieces at different positions need to be grasped, the main servo motor 8 at the left rear side of the positioning frame 1 is installed to drive the main guiding threaded rod 4 in the rear main positioning chute 3 to rotate, and the main guiding threaded rod 4 at the rear drives the main guiding threaded rod 4 at the front to rotate through the sprocket mechanism 9;

the top surface of the positioning frame 1 is provided with a bearing positioning plate 5 in a sliding manner, and the bottom surface of the bearing positioning plate 5 is attached to the outer wall of the top surface of the positioning frame 1; an auxiliary guide slide block 11 is slidably arranged in the bearing positioning plate 5, the middle part of the auxiliary guide slide block 11 is in threaded connection with the outer wall of the auxiliary guide threaded rod 7, an auxiliary servo motor 12 is fixedly arranged at the rear of the bearing positioning plate 5, and an output shaft of the auxiliary servo motor 12 is fixedly connected with the rear end of the auxiliary guide threaded rod 7; the bearing positioning plate 5 is internally provided with a secondary positioning chute 6 for adjusting the longitudinal distance, and a secondary guiding threaded rod 7 for adjusting the positioning distance is rotatably arranged in the secondary positioning chute 6 through a bearing; as shown in fig. 2 and 4, the main guiding threaded rod 4 rotates, so that the main guiding sliding block 10 in threaded connection and the bearing and positioning plate 5 on the top surface drive to move in the left-right direction, and the auxiliary servo motor 12 arranged behind the bearing and positioning plate 5 drives the auxiliary guiding threaded rod 7 in the auxiliary positioning chute 6 inside the auxiliary servo motor to rotate;

the front and back sides of the bottom surface of the bearing positioning plate 5 are fixedly provided with main guide sliding blocks 10, and the main guide sliding blocks 10 on the front and back sides are in threaded connection with the outer walls of the main guide threaded rods 4 on the front and back sides in the positioning frame 1; an auxiliary guide slide block 11 is slidably arranged in the bearing positioning plate 5, the middle part of the auxiliary guide slide block 11 is in threaded connection with the outer wall of the auxiliary guide threaded rod 7, an auxiliary servo motor 12 is fixedly arranged at the rear of the bearing positioning plate 5, and an output shaft of the auxiliary servo motor 12 is fixedly connected with the rear end of the auxiliary guide threaded rod 7; the bottom end of the auxiliary guide sliding block 11 is fixedly connected to the top end of the telescopic sleeve rod 13, and the bottom end of the auxiliary telescopic sleeve rod 13 is fixedly connected to the top surface of the return transverse plate 14; as shown in fig. 2, the auxiliary guiding threaded rod 7 rotates, so that the auxiliary guiding sliding block 11 in threaded connection and the telescopic sleeve rod 13 at the bottom surface drive the workpiece to move in the front-rear direction, and the mechanical gripper 17 on the ground is driven by the return transverse plate 14 to automatically position workpieces at different positions so as to carry out subsequent grabbing work;

the driving gear 15 is rotatably arranged at the inner center position of the return transverse plate 14 through a bearing, driven racks 16 are slidably arranged on the left side and the right side of the inner part of the bearing positioning plate 5, the driven racks 16 on the left side and the right side are in meshed connection with the outer wall of the middle driving gear 15, and the outer bottom ends of the driven racks 16 on the left side and the right side are fixedly connected with the top ends of the mechanical grippers 17; as shown in fig. 3 and 5, the return transverse plate 14 drives the driving gear 15 inside to rotate through the driving part built-in the telescopic loop bar 13, so that the driven rack 16 and the mechanical grippers 17 on the bottom surface which are in meshed connection are driven to move towards the inner side and the outer side;

the inner sides of the symmetrically installed mechanical grippers 17 are all connected with the outer ends of the abutting clamping plates 18 in a sliding and penetrating manner, the inner walls of the mechanical grippers 17 on the left side and the right side are connected with the outer walls of the abutting clamping plates 18 through limiting springs 21, and the bottom ends of the abutting clamping plates 18 on the left side and the right side are fixedly connected with the top ends of the traction steel ropes 19; as shown in fig. 3, when the mechanical gripper 17 contacts the workpiece through the inner abutting clamping plates 18 and extrudes, the abutting clamping plates 18 at the two sides compress the limiting spring 21 and move outwards, so that the traction steel cable 19 at the bottom end is loosened, and when the traction steel cable 19 does not pull the positioning abutting plate 20 at the bottom end;

the bottom ends of the symmetrically installed mechanical grippers 17 are all in sliding connection with the outer ends of the positioning and abutting plates 20, the inner walls of the bottom ends of the mechanical grippers 17 on the left side and the right side are connected with the outer ends of the positioning and abutting plates 20 through reset springs 22, and the outer ends of the positioning and abutting plates 20 on the left side and the right side are all fixedly connected with the bottom ends of the traction steel ropes 19; as shown in fig. 6, the positioning interference plate 20 moves inward under the extension of the return spring 22 at the outer end, lifts the bottom of the workpiece, prevents slipping during the movement, and allows the positioning interference plate 20 and the interference clamping plate 18 to return automatically after the clamping operation is completed.

Working principle: before the automatic positioning manipulator with automatic return is used, the whole situation of the device needs to be checked firstly, normal work can be carried out, as shown in fig. 1-6, bearing columns 2 arranged at four corners of the bottom surface of a positioning frame 1 are supported firstly, then when workpieces at different positions need to be grabbed, a main servo motor 8 arranged at the left rear side of the positioning frame 1 drives a main guide threaded rod 4 in a rear main positioning chute 3 to rotate, the rear main guide threaded rod 4 drives the front main guide threaded rod 4 to rotate through a chain wheel mechanism 9, a main guide sliding block 10 in threaded connection and a bearing positioning plate 5 on the top surface are driven to move in the left-right direction, a sub servo motor 12 arranged at the rear of the bearing positioning plate 5 drives a sub guide threaded rod 7 in the inner sub positioning chute 6 to rotate, and then a sub guide sliding block 11 in threaded connection and a telescopic sleeve rod 13 on the bottom surface are driven to move in the front-rear direction, so that a return transverse plate 14 drives a mechanical gripper 17 on the ground to automatically position workpieces at different positions to carry out subsequent grabbing work;

according to the specifications of different workpieces, the return transverse plate 14 drives the driving gear 15 inside through the driving part of the telescopic sleeve rod 13 to rotate, and then the driven rack 16 connected in a meshed manner and the mechanical gripper 17 on the bottom face drive the two sides to move inwards and outwards, when the mechanical gripper 17 contacts the workpiece through the inner abutting clamping plate 18 and extrudes, the abutting clamping plates 18 on the two sides compress the limiting spring 21 and move outwards, and then the traction steel cable 19 at the bottom is loosened, when the traction steel cable 19 does not pull the positioning abutting plate 20 at the bottom, the positioning abutting plate 20 moves inwards under the extension of the return spring 22 at the outer end, the bottom of the workpiece is lifted, slipping in the moving process is prevented, and after the clamping work is completed, the positioning abutting plate 20 and the abutting clamping plate 18 can return automatically.

Although the present utility model has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present utility model.

Claims (4)

1. An automatic positioning manipulator capable of automatically returning comprises a positioning frame (1) and bearing upright posts (2) fixedly arranged at four corners of the bottom surface of the positioning frame (1);

main positioning sliding grooves (3) for adjusting the transverse distance are formed in the front side and the rear side of the top surface of the positioning frame (1), and main guide threaded rods (4) for adjusting the positioning distance are arranged in the main positioning sliding grooves (3) in the front side and the rear side in a rotating mode through bearings;

characterized by further comprising:

the top surface of the positioning frame (1) is provided with a bearing positioning plate (5) in a sliding manner, and the bottom surface of the bearing positioning plate (5) is attached to the outer wall of the top surface of the positioning frame (1);

the bearing positioning plate (5) is internally provided with a secondary positioning chute (6) for adjusting the longitudinal distance, and the secondary positioning chute (6) is internally provided with a secondary guide threaded rod (7) for adjusting the positioning distance in a rotating way through a bearing;

the bearing positioning plate (5) is arranged in a sliding clamping connection mode with the auxiliary guide sliding block (11) inside, the bottom end of the auxiliary guide sliding block (11) is fixedly connected to the top end of the telescopic sleeve rod (13), and the bottom end of the auxiliary telescopic sleeve rod (13) is fixedly connected to the top surface of the return transverse plate (14);

the driving gear (15) is rotatably arranged at the inner center position of the return transverse plate (14) through a bearing, driven racks (16) are slidably arranged on the left side and the right side of the inner part of the bearing positioning plate (5), the driven racks (16) on the left side and the right side are in meshed connection with the outer wall of the middle driving gear (15), and the outer bottom ends of the driven racks (16) on the left side and the right side are fixedly connected with the top ends of mechanical grippers (17);

the inner sides of the symmetrically installed mechanical grippers (17) are connected with the outer ends of the abutting clamping plates (18) in a sliding and penetrating manner, the inner walls of the left mechanical grippers (17) and the right mechanical grippers are connected with the outer walls of the abutting clamping plates (18) through limiting springs (21), and the bottom ends of the left mechanical grippers and the right mechanical grippers (18) are fixedly connected with the top ends of the traction steel ropes (19);

the bottom of mechanical tongs (17) of symmetry installation all sliding connection is in the outer end of location conflict board (20), and through reset spring (22) interconnect between the bottom inner wall of left and right sides mechanical tongs (17) and the outer end of location conflict board (20), and the outer end of left and right sides location conflict board (20) all fixed connection in the bottom of traction cable wire (19).

2. The self-returning self-positioning manipulator of claim 1, wherein: the whole positioning frame (1) is arranged in a rectangular structure with open upper and lower side surfaces, a main servo motor (8) is fixedly arranged at the left side rear of the positioning frame (1), the end part of an output shaft of the main servo motor (8) is fixedly connected to the left end of a rear main guide threaded rod (4) in the positioning frame (1), and the right ends of the front main guide threaded rod (4) and the rear main guide threaded rod (4) are mutually connected through a sprocket mechanism (9).

3. The self-returning self-positioning manipulator of claim 1, wherein: the main guide sliding blocks (10) are fixedly mounted on the front side and the rear side of the bottom surface of the bearing positioning plate (5), the main guide sliding blocks (10) on the front side and the rear side are in threaded connection with the outer walls of the main guide threaded rods (4) on the front side and the rear side of the inside of the positioning frame (1), and the main guide sliding blocks (10) can be driven to move left and right with the bearing positioning plate (5) through rotation of the main guide threaded rods (4) on the front side and the rear side.

4. The self-returning self-positioning manipulator of claim 1, wherein: the inside slip of bearing locating plate (5) is provided with vice direction slider (11), and the middle part threaded connection of vice direction slider (11) is in the outer wall of vice direction threaded rod (7) to bear the fixed auxiliary servo motor (12) that is provided with in the rear of locating plate (5), and the output shaft fixed connection of auxiliary servo motor (12) is in the rear end of vice direction threaded rod (7).