CN115674173A

CN115674173A - Wear-resisting skid-proof multi-claw manipulator

Info

Publication number: CN115674173A
Application number: CN202110868068.1A
Authority: CN
Inventors: 麦兴广; 白天浩
Original assignee: Dongyuan GDUT Modern Industries Cooperative Innovation Institute
Current assignee: Dongyuan GDUT Modern Industries Cooperative Innovation Institute
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2023-02-03

Abstract

The invention belongs to the technical field of manipulators, and particularly relates to a wear-resistant and anti-skid multi-claw manipulator which comprises a barrel body with an open bottom, wherein vertical plates are fixed on the inner walls of two sides of the barrel body, lifting blocks are slidably mounted on one opposite sides of the two vertical plates, the lifting blocks are connected with arc-shaped rods, a disc is fixed between the bottoms of the two arc-shaped rods, a circular groove is formed in the bottom of the disc, a circular ring is arranged in the circular groove, four threaded rods which are uniformly distributed in an annular shape are rotatably mounted between the side wall of the circular groove and the circular ring, a driving bevel gear is rotatably mounted in the circular ring, one end of each threaded rod extends into the circular ring and is fixedly connected with a driven bevel gear, and the driven bevel gear is meshed with the driving bevel gear; the invention clamps and grabs from four sides of the object, the object is evenly stressed, the object cannot be damaged, the use quality of the manipulator is improved, the grabbed object is lifted and protected, and the object grabbing safety is improved.

Description

Wear-resisting skid-proof multi-claw manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a wear-resistant and anti-skidding multi-claw manipulator.

Background

The mechanical fingers can imitate some action functions of human hand and arm, and can be used for grabbing, carrying objects or operating automatic operation device of tool according to fixed program. The device mainly comprises an executing mechanism, a driving mechanism and a control system. It can replace human to carry out heavy work to realize mechanization and automation of production, and is widely applied to departments of mechanical manufacturing, light industry, atomic energy and the like. When the existing manipulator is used, the two sides of an article are grabbed and clamped, the article is stressed unevenly, is easy to deform and slide, and is low in safety, so that a wear-resistant and anti-skidding multi-claw manipulator is provided.

Disclosure of Invention

The invention aims to provide a wear-resistant and anti-skid multi-claw manipulator to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a wear-resisting skid-proof multi-jaw manipulator, includes that the bottom is the uncovered barrel that sets up, the both sides inner wall of barrel is fixed with the riser of vertical setting, and two opposite one side slidable mounting of riser have the elevator, the elevator is connected with the arc pole, is fixed with the disc between the bottom of two arc poles, the bottom of disc is equipped with the circular recess, is equipped with the ring in the circular recess, rotate between the lateral wall of circular recess and the ring and install four threaded rods that are annular evenly distributed, drive bevel gear is installed to the ring internal rotation, the one end of threaded rod extends to in the ring and fixedly connected with driven bevel gear, driven bevel gear and drive bevel gear meshing, gear motor is installed at the top of circular recess, and gear motor's output shaft and drive bevel gear transmission are connected, the movable block is installed to the threaded rod, the inner wall sliding connection of movable block and circular recess, the bottom of movable block is fixed with the arc supporting rod, be equipped with evenly distributed's anti-skidding lug on the arc supporting rod, the bottom slidable mounting of barrel has the baffle, the both sides of barrel are fixed with the horizontal plate, are equipped with the moving mechanism that is used for baffle horizontal migration on the horizontal migration.

Preferably, the movable block is provided with two guide rods, the movable block is slidably sleeved on the guide rods, and the guide rods are positioned between the circular ring and the inner wall of the circular groove.

Preferably, the riser is close to the one side of lifting block and is seted up the lift groove of vertical setting, the inner wall sliding connection in lift groove, and the screw thread post is installed to the lifting inslot internal rotation, screw thread post and lifting block threaded connection are equipped with servo motor on the riser, and servo motor's output shaft and screw thread post transmission are connected.

Preferably, the moving mechanism comprises a groove arranged at the bottom of the horizontal plate, a sliding block is arranged in the groove in a sliding manner, a horizontally arranged screw rod is arranged in the groove in a rotating manner, the screw rod is in threaded connection with the sliding block, a bidirectional motor is arranged in the groove, an output shaft of the bidirectional motor is in transmission connection with the screw rod, and the sliding block is fixedly connected with the baffle.

Preferably, the ring is provided with four mounting holes which are uniformly distributed in an annular shape, the mounting holes are internally provided with bearings, and the bearings are sleeved on the threaded rods.

Preferably, the cross section of the baffle is a rectangular structure, the cross section of the cylinder is a circular structure, the width of the baffle is larger than the radius of the cross section of the cylinder, and the length of the baffle is larger than the diameter of the cross section of the cylinder.

The invention has the beneficial effects that:

drive bevel gear through gear motor and rotate and make four driven bevel gears rotate, drive the threaded rod and rotate, drive the movable block and remove, make four movable blocks remove to the ring, make two arc supporting rods draw close the centre gripping of realizing article each other, carry out the centre gripping from four sides of article and snatch, the article atress is even, can not press from both sides bad article, improve the service quality of manipulator, be equipped with the lug on the arc supporting rod, increase frictional force has fine non-skid property.

Drive the screw post through servo motor and rotate and make the elevator elevating movement for arc pole, disc rise, make by the article of centre gripping enter into the barrel, then drive the lead screw through two-way motor and rotate and make the slider remove and drive the baffle and remove, until the one end contact that two baffles are mutually opposite, hold in the palm article through the baffle, to the protection of lifting that provides that is snatched, promote the security that article snatched.

The invention clamps and grabs from four sides of the object, the object is evenly stressed, the object can not be damaged, the use quality of the manipulator is improved, the grabbed object is lifted and protected, and the safety of grabbing the object is improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic bottom view of the disk of the present invention;

FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2;

FIG. 4 is a schematic cross-sectional view of a riser of the present invention;

FIG. 5 is a schematic cross-sectional view of a horizontal plate according to the present invention.

In the figure: 1. a cylinder body; 2. a vertical plate; 3. a lifting block; 4. an arcuate bar; 5. a disc; 6. a movable block; 7. an arc-shaped clamping rod; 8. a horizontal plate; 9. a baffle plate; 10. a reduction motor; 11. a circular groove; 12. a threaded rod; 13. a guide bar; 14. a circular ring; 15. a driven bevel gear; 16. a drive bevel gear; 17. a threaded post; 18. a servo motor; 19. a screw rod; 20. a slider; 21. a bi-directional motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-5, a wear-resistant and anti-skid multi-jaw manipulator comprises a barrel body 1 with an open bottom, vertical risers 2 are fixed on the inner walls of two sides of the barrel body 1, lifting blocks 3 are slidably mounted on one side of each of the two risers 2, the lifting blocks 3 are connected with arc-shaped rods 4, a disc 5 is fixed between the bottoms of the two arc-shaped rods 4, a circular groove 11 is formed in the bottom of the disc 5, a circular ring 14 is arranged in the circular groove 11, four threaded rods 12 which are uniformly distributed in an annular shape are rotatably mounted between the side wall of the circular groove 11 and the circular ring 14, a driving bevel gear 16 is rotatably mounted in the circular ring 14, one end of each threaded rod 12 extends into the circular ring 14 and is fixedly connected with a driven bevel gear 15, the driven bevel gear 15 is meshed with the driving bevel gear 16, a speed reduction motor 10 is mounted at the top of the circular groove 11, an output shaft of the speed reduction motor 10 is in transmission connection with the driving bevel gear 16, a movable block 6 is mounted on the threaded rod 12, the movable block 6 is slidably connected with the inner wall of the circular groove 11, an arc-shaped clamping rod 7 is fixed with an arc-shaped clamping rod 7, anti-skid lugs which are uniformly distributed on the bottom, a horizontal baffle plate 9 is mounted at the bottom of the barrel body 1, and a horizontal baffle plate 8 for moving mechanism is arranged on the horizontal baffle plate 8 which is arranged on the barrel body 1.

In this embodiment, two guide rods 13 are disposed on the movable block 6, the movable block 6 is slidably sleeved on the guide rods 13, and the guide rods 13 are disposed between the circular ring 14 and the inner wall of the circular groove 11.

In this embodiment, the riser 2 is close to the lift groove of vertical setting is seted up to one side of lifter 3, and the inner wall sliding connection in lift groove 3 and lift groove, the screw thread post 17 is installed to the lift inslot internal rotation, and

screw thread post

17 and 3 threaded connection of lifter are equipped with servo motor 18 on the riser 2, and servo motor 18's output shaft and screw thread post 17 transmission are connected.

In this embodiment, the moving mechanism includes a groove formed in the bottom of the horizontal plate 8, a slider 20 is slidably mounted in the groove, a horizontally disposed screw rod 19 is rotatably mounted in the groove, the screw rod 19 is in threaded connection with the slider 20, a bidirectional motor 21 is disposed in the groove, an output shaft of the bidirectional motor 21 is in transmission connection with the screw rod 19, and the slider 20 is fixedly connected with the baffle 9.

In this embodiment, the ring 14 is provided with four mounting holes uniformly distributed in an annular shape, and the mounting holes are provided with bearings sleeved on the threaded rod 12.

In this embodiment, the cross section of the baffle 9 is a rectangular structure, the cross section of the cylinder 1 is a circular structure, the width of the baffle 9 is greater than the radius of the cross section of the cylinder 1, and the length of the baffle 9 is greater than the diameter of the cross section of the cylinder 1.

The working principle is as follows: drive bevel gear 16 through gear motor 10 and rotate and make four driven bevel gear 15 rotate, it rotates to drive threaded rod 12, it removes to drive movable block 6, make four movable blocks remove to ring 14, make two arc supporting rods 7 draw close the centre gripping of realization article each other, carry out the centre gripping from four sides of article and snatch, the article atress is even, can not press from both sides bad article, the service quality of manipulator is improved, be equipped with the lug on the arc supporting rod 7, increase frictional force, and has good anti-skidding performance. Drive screw post 17 through servo motor 18 and rotate and make the elevating block 3 elevating movement, make arc pole 4, disc 5 rise, make in the article that are got into barrel 1 by the centre gripping, then drive lead screw 19 through two-way motor 21 and rotate and make slider 20 remove and drive baffle 9 and remove, the one end contact that two baffles 9 are mutually up is held in the palm article through baffle 9, to the protection of lifting that provides that is snatched, promotes the security that article snatched.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered 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.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The wear-resistant and anti-skid multi-claw manipulator comprises a barrel body (1) with the bottom arranged in an open mode, and is characterized in that vertical plates (2) are fixed to the inner walls of the two sides of the barrel body (1), lifting blocks (3) are slidably mounted on one opposite sides of the two vertical plates (2), arc-shaped rods (4) are connected to the lifting blocks (3), a disc (5) is fixed between the bottoms of the two arc-shaped rods (4), a circular groove (11) is formed in the bottom of the disc (5), a circular ring (14) is arranged in the circular groove (11), four threaded rods (12) which are uniformly distributed in an annular mode are rotatably mounted between the side wall of the circular groove (11) and the circular ring (14), a driving bevel gear (16) is rotatably mounted in the circular ring (14), one end of each threaded rod (12) extends into the corresponding circular ring (14) and is fixedly connected with a driven bevel gear (15), the driven bevel gear (15) is meshed with the driving bevel gear (16), a driving motor (10) is mounted at the top of the speed reduction groove (11), an output shaft of the motor (10) is in transmission connection with the corresponding gear (16), the corresponding movable bevel gear (6) is mounted on the corresponding movable block (6), and the movable block (7) is connected with the inner wall of the circular groove (6), be equipped with evenly distributed's skid proof block on arc supporting rod (7), the bottom slidable mounting of barrel (1) has baffle (9), the both sides of barrel (1) are fixed with horizontal plate (8), are equipped with the moving mechanism who is used for baffle (9) horizontal migration on horizontal plate (8).

2. A wear-resistant and anti-slip multi-jaw manipulator according to claim 1, wherein the movable block (6) is provided with two guide rods (13), the movable block (6) is slidably sleeved on the guide rods (13), and the guide rods (13) are located between the circular ring (14) and the inner wall of the circular groove (11).

3. The wear-resistant and anti-skid multi-claw manipulator is characterized in that a vertically arranged lifting groove is formed in one side, close to the lifting block (3), of the vertical plate (2), the lifting block (3) is in sliding connection with the inner wall of the lifting groove, a threaded column (17) is installed in the lifting groove in a rotating mode, the threaded column (17) is in threaded connection with the lifting block (3), a servo motor (18) is arranged on the vertical plate (2), and an output shaft of the servo motor (18) is in transmission connection with the threaded column (17).

4. A wear-resistant and anti-slip multi-claw manipulator according to claim 1, wherein the moving mechanism comprises a groove arranged at the bottom of the horizontal plate (8), a sliding block (20) is slidably mounted in the groove, a horizontally arranged screw rod (19) is rotatably mounted in the groove, the screw rod (19) is in threaded connection with the sliding block (20), a two-way motor (21) is arranged in the groove, an output shaft of the two-way motor (21) is in transmission connection with the screw rod (19), and the sliding block (20) is fixedly connected with the baffle (9).

5. A wear-resistant and anti-slip multi-claw manipulator as claimed in claim 1, wherein the ring (14) is provided with four mounting holes uniformly distributed in a ring shape, and the mounting holes are internally provided with bearings which are sleeved on the threaded rod (12).

6. A wear-resistant and anti-slip multi-claw manipulator according to claim 1, wherein the cross section of the baffle (9) is a rectangular structure, the cross section of the cylinder (1) is a circular structure, the width of the baffle (9) is larger than the radius of the cross section of the cylinder (1), and the length of the baffle (9) is larger than the diameter of the cross section of the cylinder (1).