CN111185931B

CN111185931B - Mechanical arm

Info

Publication number: CN111185931B
Application number: CN202010072058.2A
Authority: CN
Inventors: 吴刘根; 付伟; 刘发林; 黄坤诚; 张坤
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-01-21
Filing date: 2020-01-21
Publication date: 2021-05-18
Anticipated expiration: 2040-01-21
Also published as: CN111185931A

Abstract

The invention belongs to the technical field of mechanical equipment, and particularly relates to a manipulator which comprises a moving mechanism, an elastic component, a mounting plate, a connecting plate and a clamping claw mechanism, wherein the driving end of the moving mechanism is connected with the mounting plate, one end of the elastic component is connected with the mounting plate, the other end of the elastic component is connected with the connecting plate, the connecting plate is connected with the mounting plate in a sliding mode and slides along the moving direction of the moving mechanism relative to the mounting plate so as to compress or stretch the elastic component, and the clamping claw mechanism is mounted on the connecting plate and used for grabbing a jig. When the workpiece is clamped, the elastic component is arranged between the mounting plate and the connecting plate, and the elastic component is compressed or stretched, so that the mounting plate slides relative to the connecting plate, the connecting plate is static relative to the working table, and the workpiece is static relative to the working table, thereby preventing the workpiece from moving on the working table to cause a cutter and the working table.

Description

Mechanical arm

Technical Field

The invention belongs to the technical field of mechanical equipment, and particularly relates to a manipulator.

Background

When some tools with smaller sizes are machined, the tools are required to be loaded, a plurality of accommodating holes are formed in the tools, the tools are placed in the accommodating holes in a one-to-one correspondence mode, and the manipulator and the tools loaded with the tools are placed into machining equipment together for machining so as to improve the machining production efficiency; in the use of reality, when the pulling tool of manipulator moved on table surface and goes up unloading, the work piece rocked in the holding hole for the cutter appeared the slope and when dead with the table surface card, but the manipulator continued the pulling tool to remove, thereby made the cutter scrape colored table surface, and then caused cutter and table surface to damage.

Disclosure of Invention

The invention aims to provide a manipulator, and aims to solve the technical problem that when a workpiece in a jig and a working table top are stuck in the prior art, the manipulator continuously pulls the jig to move, so that a tool and the working table top are damaged.

In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a manipulator, includes moving mechanism, elastic component, mounting panel, connecting plate and jack catch mechanism, moving mechanism's drive end with the mounting panel is connected, elastic component's one end with the mounting panel is connected, elastic component's the other end with the connecting plate is connected, the connecting plate with mounting panel sliding connection and for the mounting panel is followed moving mechanism's direction of movement slides in order to compress or stretch elastic component, jack catch mechanism install in on the connecting plate and be used for snatching the tool.

Optionally, the elastic assembly includes a middle plate, a first elastic member and a second elastic member, the mounting plate, the middle plate and the connecting plate are sequentially arranged in parallel, the mounting plate and the connecting plate are respectively slidably mounted on two opposite surfaces of the middle plate, the first elastic member is located between the middle plate and the connecting plate, and two ends of the first elastic member are respectively connected with the middle plate and the connecting plate; the second elastic piece is located the intermediate lamella with between the mounting panel, the both ends of second elastic piece respectively with the intermediate lamella with the mounting panel is connected.

Optionally, a first elongated hole extending parallel to the moving direction of the moving mechanism is formed in the middle plate, a first limiting column is arranged on the connecting plate, and an end of the first limiting column extends into the first elongated hole;

be equipped with on the mounting panel and be on a parallel with the rectangular hole of second that moving mechanism's moving direction extends, be equipped with the spacing post of second on the intermediate lamella, the tip of the spacing post of second stretches into the rectangular downthehole of second.

Optionally, a first sliding assembly is arranged between the middle plate and the connecting plate, a second sliding assembly is arranged between the middle plate and the mounting plate, the first sliding assembly and the second sliding assembly both include a sliding rail and a sliding block, the sliding rail is arranged parallel to the moving direction of the moving mechanism, and the sliding block is slidably mounted on the sliding rail;

the slide rail of the first sliding assembly is mounted on the middle plate, and the slide block of the first sliding assembly is mounted on the connecting plate; or, the slide rail of the first sliding assembly is mounted on the connecting plate, and the slide block of the first sliding assembly is mounted on the middle plate;

the slide rail of the second sliding assembly is mounted on the middle plate, and the slide block of the second sliding assembly is mounted on the mounting plate; or the slide rail of the second sliding assembly is arranged on the mounting plate, and the sliding block of the second sliding assembly is arranged on the middle plate.

Optionally, the manipulator further comprises a control device; a bracket is arranged on the side part of the mounting plate, a first proximity switch and a second proximity switch which are arranged in parallel to the moving direction of the moving mechanism are arranged on the bracket, a first trigger plate for triggering the first proximity switch is arranged on the middle plate at a position corresponding to the first proximity switch, and a second trigger plate for triggering the second proximity switch is arranged on the connecting plate at a position corresponding to the second proximity switch; the moving mechanism, the first proximity switch and the second proximity switch are electrically connected with the control device.

Optionally, the clamping jaw mechanism comprises a clamping assembly and two clamping assemblies, the clamping assembly is arranged on the connecting plate, the two clamping assemblies are arranged on the clamping assembly respectively and are located on two opposite sides of the clamping assembly respectively, and the clamping assembly is used for driving the two clamping assemblies to be relatively close to each other so as to clamp a jig located between the two clamping assemblies.

Optionally, the clamping assembly comprises a connecting frame, a clamping cylinder and two moving plates, the connecting frame is connected with the connecting plate, the clamping cylinder is mounted on the connecting frame, a conical column is arranged at the driving end of the clamping cylinder, the two moving plates are both connected with the connecting frame in a sliding manner, the two moving plates are respectively located on two opposite sides of the clamping cylinder, rolling columns are respectively arranged at the end parts, close to the clamping cylinder, of the two moving plates, and the two rolling columns are respectively located on two opposite sides of the conical column and are both abutted against the conical surface of the conical column; and the two clamping components are respectively arranged on the two movable plates.

Optionally, the clamping assembly further includes a third elastic member, and two ends of the third elastic member are respectively mounted on the two moving plates.

Optionally, the clamping assembly further includes a moving cylinder and a mounting bracket, the mounting bracket is fixedly connected to the connecting plate, the moving cylinder is mounted on the mounting bracket, and a driving end of the moving cylinder is connected to the clamping cylinder and used for driving the clamping cylinder to move.

Optionally, two the joint subassembly all includes lift cylinder and joint board, the lift cylinder install in correspond on the movable plate, the joint board install in on the drive end of lift cylinder, be equipped with on the joint board be used for with the tool on the foreign steamer tooth meshing's joint post.

One or more technical solutions in the manipulator provided by the present invention have at least one of the following technical effects: when the clamping jaw mechanism is in work, after the clamping jaw mechanism grabs the jig, the moving mechanism is started, and the moving mechanism drives the clamping jaw mechanism connected with the moving mechanism and the jig grabbed on the clamping jaw mechanism to move on the working table surface, so that the jig is loaded and unloaded; in the process of moving the jaw mechanism driven by the moving mechanism, when a workpiece in the jig is inclined or inclined and clamped with the workbench surface, the driving end of the moving mechanism continues to drive the mounting plate to move, but the elastic component is arranged between the mounting plate and the connecting plate, at the moment, the elastic component is compressed or stretched, so that the mounting plate slides relative to the connecting plate, the connecting plate is static relative to the workbench surface, and the workpiece is static relative to the workbench surface, thereby avoiding the damage of the cutter and the workbench surface caused by the movement of the workpiece on the workbench surface.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a view of a robot provided in an embodiment of the present invention.

Fig. 2 is a schematic view of another perspective of the robot shown in fig. 1.

Fig. 3 is a sectional view taken along line a-a in fig. 2.

Fig. 4 is a partially enlarged view of fig. 3 at B.

Fig. 5 is an exploded view of the spring assembly, mounting plate and connecting plate of the robot shown in fig. 1.

Fig. 6 is an exploded view of the jaw mechanism of the robot shown in fig. 1.

Wherein, in the figures, the respective reference numerals:

2. a jig;

210. a moving mechanism;

220. an elastic component; 221. a middle plate; 222. a first elastic member; 223. a second elastic member; 2211. a first elongated hole; 2212. a second limit post; 2213. a first trigger plate;

230. mounting a plate; 231. a second elongated hole; 232. a support; 2321. a first proximity switch; 2322. a second proximity switch;

240. a connecting plate; 241. a first limit post; 242. a second trigger plate;

250. a jaw mechanism; 251. a clamping assembly; 252. a clamping assembly; 2511. a connecting frame; 2512. a clamping cylinder; 2513. a mounting frame; 2514. moving the plate; 2515. a third elastic member; 2516. a moving cylinder; 25121. a conical column; 25141. a rolling post; 2521. a lifting cylinder; 2522. a clamping and connecting plate; 25221. a clamping column;

261. a first slide assembly; 262. a second slide assembly; 2611. a slide rail; 2612. a slide block.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-6 are exemplary and intended to be used to illustrate the invention, but are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 6, in an embodiment of the present invention, a manipulator is provided, which is used with a processing apparatus, and is configured to drag a jig 2 loaded with a workpiece into or out of the processing apparatus; wherein the processing equipment can be grinding equipment, passivation equipment and the like.

The manipulator comprises a moving mechanism 210, an elastic component 220, a mounting plate 230, a connecting plate 240 and a jaw mechanism 250, wherein the driving end of the moving mechanism 210 is connected with the mounting plate 230, one end of the elastic component 220 is connected with the mounting plate 230, the other end of the elastic component 220 is connected with the connecting plate 240, the connecting plate 240 is connected with the mounting plate 230 in a sliding mode and slides relative to the mounting plate 230 along the moving direction of the moving mechanism 210 to compress or stretch the elastic component 220, and the jaw mechanism 250 is mounted on the connecting plate 240 and used for grabbing the jig 2.

Specifically, in the manipulator of the embodiment of the present invention, when the manipulator works, after the jaw mechanism 250 grabs the jig 2, the moving mechanism 210 is started, and the moving mechanism 210 drives the jaw mechanism 250 connected thereto and the jig 2 grabbed on the jaw mechanism 250 to move on the working table, so as to realize loading and unloading of the jig 2; in the process of driving the jaw mechanism 250 to move by the moving mechanism 210, when a workpiece in the jig 2 is inclined or inclined and is stuck on the table top, the driving end of the moving mechanism 210 continues to drive the mounting plate 230 to move, but because the elastic component 220 is arranged between the mounting plate 230 and the connecting plate 240, at this time, the elastic component is compressed or stretched, so that the mounting plate 230 slides relative to the connecting plate 240, and the connecting plate 240 is relative to the table top, so that the workpiece is static relative to the table top, and the damage of a cutter and the table top caused by the movement of the workpiece on the table top is avoided.

Further, moving mechanism 210 can be the sharp module, and mounting panel 230 is the L type, and the first end of mounting panel 230 is installed on the slip table at the sharp module, and the second end of mounting panel 230 is on a parallel with the extension of sharp module and is located the side of sharp module, and connecting plate 240 slidable mounting is served at the second of mounting panel 230, and the overall arrangement is favorable to the setting of part like this for whole structure is more compact.

In another embodiment of the present invention, referring to fig. 1, 2, 3 and 4, the elastic assembly 220 of the robot arm is provided, which includes a middle plate 221, a first elastic member 222 and a second elastic member 223, the mounting plate 230, the middle plate 221 and the connecting plate 240 are sequentially arranged in parallel, the mounting plate 230 and the connecting plate 240 are respectively slidably mounted on opposite surfaces of the middle plate 221, the first elastic member 222 is located between the middle plate 221 and the connecting plate 240, and both ends of the first elastic member 222 are respectively connected to the middle plate 221 and the connecting plate 240; the second elastic member 223 is positioned between the middle plate 221 and the mounting plate 230, and both ends of the second elastic member 223 are connected to the middle plate 221 and the mounting plate 230, respectively.

Specifically, the first elastic member 222 between the mounting plate 230 and the middle plate 221 and the second elastic member 223 between the middle plate 221 and the connecting plate 240 can provide a certain buffer distance through two-stage deformation of the first elastic member 222 and the second elastic member 223 when the workpiece is stuck, so that damage to the workpiece and the workbench surface can be avoided; the elastic components 220 can be ensured to have good rigidity by connecting a plurality of elastic members, and when the moving mechanism 210 drives the mounting plate 230 and the jaw mechanism 250 to move, the elastic components 220 cannot be compressed and deformed, so that the jaw grabbing accuracy is affected.

Further, the number of the first elastic member 222 and the second elastic member 223 may be two, three or more, and the specific number thereof may be selected according to actual needs.

In another embodiment of the present invention, referring to fig. 4 and 5, a first elongated hole 2211 extending parallel to the moving direction of the moving mechanism 210 is provided on the middle plate 221 of the robot, a first limiting column 241 is provided on the connecting plate 240, and an end of the first limiting column 241 extends into the first elongated hole 2211; the mounting plate 230 is provided with a second elongated hole 231 extending parallel to the moving direction of the moving mechanism 210, the middle plate 221 is provided with a second limiting column 2212, and the end of the second limiting column 2212 extends into the second elongated hole 231. Specifically, during the compression or deformation process of the first elastic member 222, the connecting plate 240 and the middle plate 221 move relatively, the first position-limiting column 241 moves in the first elongated hole 2211, and the first position-limiting column 241 can only move in the first elongated hole 2211, so that the relative displacement between the connecting plate 240 and the middle plate 221 is limited, thus the first elastic member 222 can be prevented from being damaged due to excessive compression and stretching, and the function of protecting the first elastic member 222 is achieved, in addition, the first elongated hole 2211 also plays a role of guiding the movement of the first position-limiting column 241, so that the movement of the connecting plate 240 relative to the middle plate 221 is more stable and reliable; in the process of compressing or deforming the second elastic member 223, the middle plate 221 moves relative to the mounting plate 230, the second position-limiting column 2212 moves in the second elongated hole 231, and the second position-limiting column 2212 can only move in the second elongated hole 231, so that the relative displacement between the mounting plate 230 and the middle plate 221 is limited, and thus the second elastic member 223 can be prevented from being damaged due to excessive compression and stretching, and the effect of protecting the second elastic member 223 is achieved, and in addition, the second elongated hole 231 also plays a role of guiding the movement of the second position-limiting column 2212, so that the movement of the middle plate 221 relative to the mounting plate 230 is more stable and reliable.

In another embodiment of the present invention, referring to fig. 4 and 5, a first sliding assembly 261 is disposed between the middle plate 221 and the connecting plate 240 of the robot, a second sliding assembly 262 is disposed between the middle plate 221 and the mounting plate 230, the first sliding assembly 261 and the second sliding assembly 262 both include a sliding rail 2611 and a sliding block 2612, the sliding rail 2611 is disposed parallel to the moving direction of the moving mechanism 210, and the sliding block 2612 is slidably mounted on the sliding rail 2611; the slide rail 2611 of the first sliding assembly 261 is mounted on the middle plate 221, and the slide block 2612 of the first sliding assembly 261 is mounted on the connecting plate 240; alternatively, the slide rail 2611 of the first sliding assembly 261 is mounted on the connecting plate 240, and the slide block 2612 of the first sliding assembly 261 is mounted on the middle plate 221; the slide rail 2611 of the second sliding assembly 262 is mounted on the middle plate 221, and the slide block 2612 of the second sliding assembly 262 is mounted on the mounting plate 230; alternatively, the slide track 2611 of the second slide assembly 262 is mounted on the mounting plate 230 and the slide 2612 of the second slide assembly 262 is mounted on the intermediate plate 221. Specifically, under the guiding action of the sliding block 2612 and the sliding rail 2611 of the first sliding assembly 261, the relative movement between the connecting plate 240 and the intermediate plate 221 is more stable and reliable, and the first elastic member 222 can be compressed positively, so that the problem of the first elastic member 222 compressed obliquely or stretched is avoided, and the first elastic member 222 is protected; under the guiding action of the sliding block 2612 and the sliding rail 2611 of the second sliding assembly 262, the relative movement between the middle plate 221 and the mounting plate 230 is more stable and reliable, and the second elastic member 223 can be compressed positively, so that the problem of the second elastic member 223 which is compressed obliquely or stretched is avoided, and the effect of protecting the first elastic member 222 is achieved;

in another embodiment of the present invention, referring to fig. 1 and 5, there is provided the robot hand of the robot hand further including a control device; a bracket 232 is arranged on the side of the mounting plate 230, a first proximity switch 2321 and a second proximity switch 2322 which are arranged in parallel to the moving direction of the moving mechanism 210 are arranged on the bracket 232, a first trigger plate 2213 for triggering the first proximity switch 2321 is arranged on the middle plate 221 at a position corresponding to the first proximity switch 2321, and a second trigger plate 242 for triggering the second proximity switch 2322 is arranged on the connecting plate 240 at a position corresponding to the second proximity switch 2322; the moving mechanism 210, the first proximity switch 2321 and the second proximity switch 2322 are all electrically connected to the control device. Specifically, when at least one of the connecting plate 240 and the middle plate 221 moves relative to the mounting plate 230, that is, it indicates that the workpiece is stuck, at this time, the first trigger plate 2213 on the middle plate 221 moves close to or away from the first proximity switch 2321, the second trigger plate 242 on the connecting plate 240 moves close to or away from the first proximity switch 2321, and triggers the first contact switch and the second contact switch to send signals to the control device, and the control device sends a command to the moving mechanism 210 after receiving the signals, so as to stop the moving mechanism 210, and the moving mechanism 210 cannot continue to drive the jaw mechanism 250 to continue to move, thereby effectively preventing the workpiece from being further damaged.

In another embodiment of the present invention, referring to fig. 1, 2, 3 and 6, the clamping mechanism 250 of the robot is provided to include a clamping assembly 251 and two clamping assemblies 252, wherein the clamping assembly 251 is mounted on the connecting plate 240, the two clamping assemblies 252 are respectively mounted on the clamping assembly 251 and are respectively located at two opposite sides of the clamping assembly 251, and the clamping assembly 251 is used to drive the two clamping assemblies 252 to relatively approach to clamp the jig 2 located between the two clamping assemblies 252. Specifically, the moving mechanism 210 moves the jaw mechanism 250 to the fixture 2, and the clamping components 252 are distributed on two opposite sides of the fixture 2, then the clamping component 251 is started, and the clamping component 251 drives the two clamping components 252 to relatively approach, so as to clamp the fixture 2 located in the two clamping components 252, thereby completing the grabbing of the fixture 2; when the clamping assembly 251 drives the two clamping assemblies 252 to move away from each other, the jig 2 clamped in the two clamping assemblies 252 is released.

In another embodiment of the present invention, referring to fig. 3 and 6, the provided clamping assembly 251 of the manipulator includes a connecting frame 2511, a clamping cylinder 2512 and two moving plates 2514, the connecting frame 2511 is connected with the connecting plate 240, the clamping cylinder 2512 is installed on the connecting frame 2511, a conical column 25121 is arranged at the driving end of the clamping cylinder 2512, the two moving plates 2514 are both slidably connected with the connecting frame 2511, the two moving plates 2514 are respectively located at two opposite sides of the clamping cylinder 2512, rolling columns 25141 are respectively located at two opposite sides of the conical column 25121 and are both abutted against a conical surface of the conical column 25121, and the two moving plates 2514 are respectively located at two opposite sides of the conical column 25121; the two clamping assemblies 252 are respectively mounted on the two moving plates 2514.

Specifically, the driving end of the clamping cylinder 2512 performs reciprocating telescopic motion to drive the conical column 25121 connected with the clamping cylinder to perform reciprocating telescopic motion, and as the rolling columns 25141 on the two moving plates 2514 abut against the conical surface of the conical column 25121, the conical column 25121 drives the two rolling columns 25141 to be relatively close to or far away from each other in the reciprocating telescopic process, and the two rolling columns 25141 respectively drive the two moving plates 2514 to be relatively close to or far away from each other, so as to drive the clamping assemblies 252 respectively installed on the two moving plates 2514 to be relatively close to or far away from each other, thereby realizing the grabbing and loosening of the jig 2.

Further, the moving plate 2514 is provided with a sliding block 2612, the mounting frame 2513 is provided with a sliding rail 2611, and under the guiding action of the sliding block 2612 and the sliding rail 2611, the moving plate 2514 can move more stably and accurately, so that the two clamping assemblies 252 can accurately clamp the jig 2.

In another embodiment of the present invention, referring to fig. 3 and 6, the clamping assembly 251 of the robot arm is further provided to include a third elastic member 2515, and both ends of the third elastic member 2515 are respectively mounted on the two moving plates 2514. Specifically, under the action of the elastic member of the third elastic member 2515, the two rolling columns 25141 always abut against the conical surface of the conical column 25121, so that the two moving plates 2514 can be relatively close to and far away from the conical column 25121 as the conical column 25121 stretches back and forth, thereby clamping and releasing the two clamping assemblies 252.

In another embodiment of the present invention, referring to fig. 3 and 6, the clamping assembly 251 of the robot further includes a moving cylinder 2516 and a mounting frame 2513, the mounting frame 2513 is fixedly connected to the connecting plate 240, the moving cylinder 2516 is mounted on the mounting frame 2513, and a driving end of the moving cylinder 2516 is connected to the clamping cylinder 2512 and is used for driving the clamping cylinder 2512 to move. Specifically, mounting bracket 2513 provides the installation base member for moving cylinder 2516, thereby moving cylinder 2516's drive end is flexible back and forth and is driven and be connected clamping cylinder 2512 back and forth movement with it, and then drives two joint subassemblies 252 back and forth movement for the position of joint subassembly 252 obtains the adjustment, guarantees that two joint subassemblies 252 accurately press from both sides tool 2 tightly.

Furthermore, a sliding rail 2611 is arranged on the mounting frame 2513, a sliding block 2612 is arranged on the connecting frame 2511, the sliding block 2612 is slidably mounted on the sliding rail 2611, and the connecting frame 2511 moves more stably and reliably under the guiding action of the sliding rail 2611 and the sliding block 2612.

In another embodiment of the present invention, referring to fig. 1, 2 and 6, each of the two clamping assemblies 252 of the robot arm includes a lifting cylinder 2521 and a clamping plate 2522, the lifting cylinder 2521 is installed on the corresponding moving plate 2514, the clamping plate 2522 is installed on the driving end of the lifting cylinder 2521, and the clamping plate 2522 is provided with a clamping column 25221 for engaging with the outer gear teeth on the jig 2. Specifically, the driving end of lift cylinder 2521 drives joint board 2522 and reciprocates to adjust the interval between joint board 2522 and the tool 2, make joint post 25221 on the joint board 2522 stretch into accurately stretch into in the teeth of a cogwheel on the tool 2, thereby press from both sides tool 2 steadily tightly, guarantee the stability and the reliability that tool 2 removed.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A manipulator, its characterized in that: the clamping device comprises a moving mechanism, an elastic component, a mounting plate, a connecting plate and a clamping jaw mechanism, wherein the driving end of the moving mechanism is connected with the mounting plate, one end of the elastic component is connected with the mounting plate, the other end of the elastic component is connected with the connecting plate, the connecting plate is connected with the mounting plate in a sliding mode and slides relative to the mounting plate along the moving direction of the moving mechanism so as to compress or stretch the elastic component, and the clamping jaw mechanism is mounted on the connecting plate and used for grabbing a jig;

the elastic assembly comprises a middle plate, a first elastic piece and a second elastic piece, the mounting plate, the middle plate and the connecting plate are sequentially arranged in parallel, the mounting plate and the connecting plate are respectively and slidably mounted on two opposite surfaces of the middle plate, the first elastic piece is positioned between the middle plate and the connecting plate, and two ends of the first elastic piece are respectively connected with the middle plate and the connecting plate; the second elastic piece is positioned between the middle plate and the mounting plate, and two ends of the second elastic piece are respectively connected with the middle plate and the mounting plate;

the middle plate is provided with a first long-strip-shaped hole extending in parallel to the moving direction of the moving mechanism, the connecting plate is provided with a first limiting column, and the end part of the first limiting column extends into the first long-strip-shaped hole;

2. The robot hand according to claim 1, wherein: a first sliding assembly is arranged between the middle plate and the connecting plate, a second sliding assembly is arranged between the middle plate and the mounting plate, the first sliding assembly and the second sliding assembly both comprise a sliding rail and a sliding block, the sliding rail is arranged in parallel to the moving direction of the moving mechanism, and the sliding block is slidably mounted on the sliding rail;

3. The robot hand according to claim 1, wherein: the manipulator further comprises a control device; a bracket is arranged on the side part of the mounting plate, a first proximity switch and a second proximity switch which are arranged in parallel to the moving direction of the moving mechanism are arranged on the bracket, a first trigger plate for triggering the first proximity switch is arranged on the middle plate at a position corresponding to the first proximity switch, and a second trigger plate for triggering the second proximity switch is arranged on the connecting plate at a position corresponding to the second proximity switch; the moving mechanism, the first proximity switch and the second proximity switch are electrically connected with the control device.

4. The robot hand according to any one of claims 1 to 3, wherein: the clamping jaw mechanism comprises a clamping component and two clamping components, wherein the clamping component is arranged on the connecting plate, the clamping components are arranged on the clamping component and are respectively positioned on two opposite sides of the clamping component, the clamping component is used for driving the two clamping components to be relatively close to each other so as to clamp a jig between the two clamping components.

5. The robot hand according to claim 4, wherein: the clamping assembly comprises a connecting frame, a clamping cylinder and two moving plates, the connecting frame is connected with the connecting plate, the clamping cylinder is installed on the connecting frame, a conical column is arranged on the driving end of the clamping cylinder, the two moving plates are both in sliding connection with the connecting frame, the two moving plates are respectively located on two opposite sides of the clamping cylinder, rolling columns are respectively located on two ends, close to the clamping cylinder, of the two moving plates, and the two rolling columns are respectively located on two opposite sides of the conical column and are both abutted against the conical surface of the conical column; and the two clamping components are respectively arranged on the two movable plates.

6. The robot hand of claim 5, wherein: the clamping assembly further comprises a third elastic piece, and two ends of the third elastic piece are respectively installed on the two moving plates.

7. The robot hand of claim 5, wherein: the clamping assembly further comprises a movable air cylinder and a mounting frame, the mounting frame is fixedly connected with the connecting plate, the movable air cylinder is installed on the mounting frame, and a driving end of the movable air cylinder is connected with the clamping air cylinder and used for driving the clamping air cylinder to move.

8. The robot hand of claim 5, wherein: two the joint subassembly all includes lift cylinder and joint board, the lift cylinder install in correspond on the movable plate, the joint board install in on the drive end of lift cylinder, be equipped with on the joint board be used for with the tool on the joint post of foreign steamer tooth meshing.