CN207824925U - One kind grabbing clamping manipulator with multivariant - Google Patents

Abstract

The utility model discloses one kind have it is multivariant grab clamping manipulator, including moving platform, silent flatform, central drive shaft module, grab clamp hand module, five structures completely just as bottom base module and five completely identical in structure driven flexible axle modules；Five bottom base modules are distributed on silent flatform；Central drive shaft module lower end is fixed on the center of silent flatform, and the upper end of central drive shaft module passes through the circular through hole at moving platform center；The lower end of the flexible module of five driven shafts is separately connected a bottom base module, the upper end of the flexible module of five driven shafts is distributed on moving platform bottom margin position, the clamp hand module of grabbing is arranged on moving platform, and grabs the upper end that clamp hand module is attached across the central drive shaft module of moving platform；The utility model is designed reasonably, processing and assembly technology are good；Using five groups of bottom base modules and driven flexible axle module, the advantage that mechanism bearing capacity is strong, working space is big.

Description

One kind grabbing clamping manipulator with multivariant

Technical field

The utility model is related to claw fixture technology fields, more specifically, more particularly to a kind of with multivariant Grab clamping manipulator.

Background technology

Jaw fixtures are as an important technology in robot device, are to be located in chuck mainly in mechanical structure For blocking, the part of clamping workpiece, or the machine tool accessories Workpiece clamping and positioning.It is in mostly 360 degree in identical platform Annular is uniformly distributed, and two or more number claws are close or exit to complete work to center simultaneously.

Claw has automatic and manual two kinds of working methods in mechanical processing process.But current mechanical device and equipment Only by the composition form of changing mechanism or increase and decrease the number of claw, different application scenarios are adapted to this.Application No. is 201720059335.X Chinese utility model patents disclose a kind of electric pole and grab binder, pass through the revolution being arranged among rack and drive Dynamic device rotates and the positioning device clamping action in rack or so is arranged so that electric pole, which grabs binder, can disposably grab more of folder Object.Application No. is 201520610057.3 Chinese utility model patents disclose it is a kind of rotation grab folder, filled by The gear deceleration It sets and the power of power plant is transmitted to disk, drive two gripping arms rotation, realization device to rotate smoothly by disk.Application No. is 201621090578.1 Chinese utility model patent discloses a kind of material strip of full-automatic unloading machine and grabs clamp device, lived by cylinder The stretching motion of plug makes to grab folder linkage, improves the quality of electroplating activity product.

But above three utility model is all by the way of driving part linkage, motion mode is single, mechanism composition Form is simple.Also, mechanical mechanism only influences to grab folder part efficiency and effect by claw movement, for supporting claw module Platform, rod piece there is no innovative design so that degree of freedom is few when running, and working space is small, for different scenes and apparatus for work To be suitable for power low.

Against the above deficiency, design and develop it is a kind of it is novel grab clamping manipulator device, to make up the above-mentioned each disadvantage of foot, show It obtains particularly necessary.

Utility model content

Utility model aims to solve it is existing grab folder mechanical device using driving part link by the way of move The disadvantage that mode is single, mechanism composition form is simple, it is proposed that one kind grabbing clamping manipulator with multivariant, which passes through The movement locus of claw support platform can realize that the folder of grabbing of bigger working space acts.

The utility model is achieved through the following technical solutions above-mentioned purpose：There is one kind multivariant grab to press from both sides machinery Hand, including moving platform, silent flatform, active lifting module, leading screw sliding block, driven twisting module, center movement module and grab The bottom of clamp hand module, the active lifting module is fixed on the center of silent flatform, the upper end connection of active lifting module Center movement module, the leading screw sliding block are provided with the surrounding that multigroup and leading screw sliding block is distributed on the silent flatform, The slipper of each leading screw sliding block connects one end of a driven twisting module, the other end of multiple driven twisting modules It is hinged on the bottom of moving platform, and the tie point of multiple driven twisting modules and moving platform is not at the edge of moving platform；It is described It grabs clamp hand module and is provided with multiple, the one end for grabbing clamp hand module is hinged on moving platform, and the other end is hinged in moving platform It is driven in the center movement module of the circular through hole of the heart, when active lifting module drives center movement module to move up and down and grabs clamp hand Inwardly tightening or outside release, multiple leading screw sliding blocks drive module when driving driven twisting block motion at different rates The twisting of moving platform.

Further, the leading screw sliding block includes triangle bracket, the first sliding block, stepper motor, the first shaft coupling Device, the second sliding block pedestal, fixed bearing block, the second sliding block pedestal end cap, the second sliding block, stepper motor fixing bracket, is led at lead screw Rail, guide rail fixed block；The triangle bracket is fixed on the silent flatform, and the bottom of triangle bracket is provided with one and erects Straight rectangular recess, the rectangular recess are matched with the oblong-shaped raised line for being arranged in silent flatform upper surface；The guide rail Fixed block is fixed in the sloped top face of the triangle bracket；Stepper motor is fixed on by stepper motor fixing bracket and is led One end of rail fixed block, stepper motor are mounted on by two fixed bearing blocks and are led by first shaft coupling connection wire rod, lead screw On rail fixed block, guide rail is installed on the guide rail fixed block, guide rail is arranged in parallel with lead screw, and the first cunning is set on guide rail Block, the second sliding block are fixed on the first sliding block, and the second sliding block pedestal is fixed on the second sliding block, and the second sliding block pedestal end cap is fixed In the upper surface of the second sliding block pedestal, first sliding block is integrally in rectangular shape, the bottom surface of the first sliding block be provided with one with lead The matched rectangular slot of rail is provided with and the matched threaded hole of the lead screw on second sliding block；First sliding block, Second sliding block, the second sliding block pedestal and the second sliding block pedestal end cap are integrally formed the sliding block moved along lead screw and guide rail, institute It is on multi-diameter shaft to state the second sliding block pedestal integrally, and the oblique excision in bottom surface of the second sliding block pedestal forms new bottom surface, and new bottom Face is bolted on the second sliding block, and the part that the second sliding block pedestal raises up is provided with spherical groove, spherical groove It is matched with the bulb end of driven twisting module；Second sliding block pedestal end cap is mounted on the second sliding block pedestal and will be driven The bulb end of twisting module is limited in inside of spherical groove rotation；

Further, the active lifting module includes that centre-drive motor, second shaft coupling, center push rod and center push away Bar rod set, the centre-drive motor are fixed on the center of the upper surface of silent flatform, and the electrode tip of centre-drive motor is logical The lower end of second shaft coupling connection center push rod rod set is crossed, the upper end of the center push rod rod set is provided with central circular groove, The center push rod is in cylindrical shape, and the lower end of center push rod is sleeved in the central circular groove of center push rod rod set, center The lower end of push rod is provided with external screw thread, is provided on the central circular groove of center push rod rod set outer with the lower end of center push rod The matched internal thread of screw thread.

Further, the center movement module includes center movement block shaft axle bed and center movement block, center movement Block is fixed on the upper end of the center push rod；Center movement block shaft axle bed setting there are four and be uniformly mounted on it is described in On the upper surface of heart moving mass, each center movement block shaft axle bed is both provided with for connecting the claw one end for grabbing clamp hand module Rotation axis.

Further, the driven twisting module includes connector under fixed push rod, fixed push rod, Hooke hinge connection Part, fixed push rod upper connector and bulb, one end of the fixed push rod are described by connector connecting ball head under fixed push rod Bulb is mounted on the inside of spherical groove of the second sliding block pedestal in leading screw sliding block；The other end of the fixed push rod passes through fixation One end of connector connection Hooke hinge connector, the other end of Hooke hinge connector are fixed on the bottom of moving platform under push rod Portion；Each driven twisting module bottom bulb end is correspondingly arranged on the second sliding block pedestal of corresponding leading screw sliding block, is owned The upper end of driven twisting module be distributed on the marginal position of silent flatform.

Further, the clamp hand module of grabbing includes claw, the first buckle spring, the second buckle spring, third buckle bullet Spring, load cell and moving platform shaft axle bed, the claw are in integrally N-shaped, and claw includes the outer side edges being vertically arranged, vertical In outer side edges setting top margin, be parallel to the interior upper side edge of outer side edges setting and to far from outer side edges side inclined inner underside Side, the outer side edges of the claw, top margin, interior upper side edge and inner underside side is sequentially connected and integral molding, the outer side edges of claw Lower end be fixed on the upper surface of moving platform by moving platform shaft axle bed, the lower end of the outer side edges of claw is hinged on moving platform On shaft axle bed, the lower end on the inner underside side of the claw is hinged on center movement block shaft axle bed；The first buckle bullet Spring, the second buckle spring, third buckle spring are arranged in parallel, and outer side edges and interior upside in claw are arranged in the first buckle spring Between side, the second buckle spring is arranged between the outer side edges and the upper end on inner underside side of claw, and the setting of third buckle spring exists Between the outer side edges and the middle part on inner underside side of claw；It is described to grab there are four the settings of clamp hand module, four cards for grabbing clamp hand module The inner underside side of pawl corresponds to and is hinged on four center movement block shaft axle beds, is both provided on the interior upper side edge of each claw One load cell.

Further, the center movement block is in integrally cylindrical shape, and the bottom centre of center movement block is provided with a circle The upper end of shape slot, center push rod is inserted into the circular trough of center movement block and is fixedly connected with center movement block by bolt；In Eight counter sinks are provided on the upper surface of heart moving mass, four center movement block shaft axle beds are by passing through this eight counter sinks Bolt be fixed on the upper surface of center movement block.

Further, the silent flatform is in regular pentagon, and five leading screw sliding blocks are arranged at silent flatform center to five On five lines on vertex, it is respectively provided with that there are one the oblong-shaped for being positioned to leading screw sliding block is convex on every line Item, the oblong-shaped raised line are matched with the rectangular recess of leading screw sliding block bottom, so that triangle bracket is fixed on quiet On platform.

Further, the circular through hole on the moving platform is arranged at the center of moving platform, and the internal diameter of circular through hole is bigger In center movement block, center movement block passes through the circular through hole on moving platform to carry out fortune up and down under the push-and-pull action of center push rod It is dynamic.

Further, the Hooke hinge connector includes upper end hinge connector, middle part hinge connector and lower end hinge Chain fitting, upper end hinge connector are fixedly connected with moving platform, and lower end hinge connector is fixed with fixed push rod upper connector Connection, middle part hinge connector are in integrally square, and upper end hinge connector is hinged on the hinge connector of middle part, lower end hinge Connector is hinged on the hinge connector of middle part, the articulated shaft and lower end hinge of upper end hinge connector and middle part hinge connector The articulated shaft of connector and middle part hinge connector is mutually perpendicular to.

Further, the triangle bracket laterally offers the vee gutter through entire triangle bracket, Guide rail fixed block is fixed on by holding screw in triangle bracket, and fixed bearing block is fixed on triangle by holding screw and consolidates On fixed rack, stepper motor fixing bracket is fixed on by holding screw in triangle bracket.

The operation principle of the utility model is as follows：When needing to grab folder object, by active lifting mould centre-drive in the block Motor drives the movement of center push rod rod set as driving source when centre-drive motor rotates by second shaft coupling, and passes through Accept center push rod one end in heart push rod rod set one end so that central circular groove of the center push rod along center push rod rod set center It moves downward.The upper end of center push rod is connected to center movement block, and center movement block also follows center push rod to move downward；Center It is that four center movement block shaft axle beds for driving center movement block upper surface in succession are put down along dynamic simultaneously that moving mass, which moves downward, Circular through hole among platform moves down, while four center movement block shaft axle beds drive four ined succession by turning effort Claw one end moves downward.Since the other end of claw is hinged on moving platform shaft axle bed and moving platform shaft axle bed is fixed on On moving platform, the other end of claw can be rotated to center movement block position, and then four claws is driven inwardly to tighten.

When needing to discharge object, center is driven by second shaft coupling by active lifting mould centre-drive motor in the block Push rod set revolution, and center push rod one end is accepted by center push rod rod set one end so that center push rod is along center push rod The central circular groove at rod set center moves upwards；The center push rod other end is connected to center movement block, center movement block also to Upper movement；Drive four center movement block shaft axle beds logical from the circle among moving platform simultaneously when center movement block moves upwards Four claw one end are driven to move upwards toward upper direction, four center movement block shaft axle beds below hole, it is another due to claw One end is hinged on moving platform shaft axle bed and moving platform shaft axle bed is fixed on moving platform, and the other end of claw is to moving platform side Boundary position rotates, and then realizes that four claws unclamp outward.

When needing to realize when grabbing folder of space different location object, by five steps in five leading screw sliding blocks on silent flatform Stepper motor drives lead screw rotation when five stepper motors move as driving source by first shaft coupling, and then drives second to slide The entirety of block and the first sliding block composition is slided on guide rail, while driving the second sliding block base motion ined succession on the second sliding block, Second sliding block base top surface central circular slot is connect with the spherical surface of bulb in driven twisting module, drives ball motion, and then band The upper end of the movement of dynamic fixed push rod, fixed push rod drives Hooke hinge connector combination fortune by fixed push rod upper connector It is dynamic, by the different rotating speed of five stepper motors, realize that the variable-speed motion simultaneously of five groups of driven twisting modules, final realization are dynamic flat Platform drives claw to grab folder to the object of different location in space.

The beneficial effects of the utility model are：The utility model is designed reasonably, processing and assembly technology are good；Using five Group leading screw sliding block and driven twisting module, the advantage that mechanism bearing capacity is strong, working space is big；Active lifting module uses Centre-drive motor is connected by the centre-drive motor being arranged on silent flatform with center push rod rod set as driving source, driving The up and down motion of center movement block, for entirely grabbing clamp device provides power and energy safeguard；It is slided by active lifting module, leading screw The structure grabbed folder supporting platform and use serial-parallel mirror of three part compositions of module and driven twisting module, mechanism kinematic is flexible, Compact-sized, the object that space any position may be implemented grabs folder；It grabs clamp hand module and is hinged an end motion using claw both ends Mode drives one end of claw to be rotated by center movement block, and that completes claw grabs folder and releasing effect, has simple in structure It is compact, it grabs and presss from both sides convenient feature；Whole device is controllable to grab the big of grip force by grabbing clamp hand module setting load cell It is small, the movement locus with multiple degree of freedom, and have the advantages that convenient, efficient, intelligent.

Description of the drawings

Fig. 1, which is that the utility model is a kind of, having the multivariant overall structure diagram for grabbing clamping manipulator.

Fig. 2 is the structural schematic diagram of the utility model leading screw sliding block and part silent flatform.

Fig. 3 is the structural schematic diagram of the utility model active lifting module and silent flatform.

Fig. 4 is the driven twisting module of the utility model, the part-structure schematic diagram of leading screw sliding block and moving platform.

Fig. 5 be the utility model grab clamp hand module, moving platform and active lifting module top half structural schematic diagram.

In figure, 1- triangle brackets, the first sliding blocks of 2-, 3- stepper motors, 4- first shaft couplings, 5- lead screws, 6- second Sliding block pedestal, 7- fix connector under push rod, 8- fixes push rod, 9- moving platforms, 10- claws, the first buckles of 11- spring, 12- the Two buckle springs, 13- third buckles spring, 14- moving platform shafts axle bed, 15- Hookes hinge connector, 16- are fixed on push rod Connector, 17- fixed bearing blocks, 18- bulbs, 19- the second sliding block pedestals end cap, the second sliding blocks of 20-, 21- stepper motors are fixed Holder, 22- guide rails, 23- guide rails fixed block, 24- silent flatforms, 25- second shaft couplings, 26- center push rods, 27- center movement blocks Shaft axle bed, 28- center movements block, 29- center push rods rod set, 30- load cells.

Specific implementation mode

The utility model is described in further detail below in conjunction with the accompanying drawings：

As shown in Fig. 1 ~ 5, one kind grabbing clamping manipulator, including moving platform 9, silent flatform 24, actively liter with multivariant It drops module, leading screw sliding block, driven twisting module, center movement module and grabs clamp hand module, the active lifting module Bottom is fixed on the center of silent flatform 24, and the upper end of active lifting module connects center movement module, the leading screw sliding Module is provided with the surrounding that multigroup and leading screw sliding block is distributed on the silent flatform 24, the sliding part of each leading screw sliding block One end of the driven twisting module of connection one, the other ends of multiple driven twisting modules is divided to be hinged on the bottom of moving platform 9, and more The tie point of a driven twisting module and moving platform 9 is not at the edge of moving platform 9；It is described grab clamp hand module be provided with it is multiple, The one end for grabbing clamp hand module is hinged on moving platform, and the other end is hinged on across the center of the circular through hole at 9 center of moving platform fortune It is driven on dynamic model block, when active lifting module drives center movement module to move up and down and grabs the inside tightening of clamp hand module or outward pine It opens, multiple leading screw sliding blocks drive the twisting of moving platform 9 when driving driven twisting block motion at different rates.

The leading screw sliding block includes triangle bracket 1, the first sliding block 2, stepper motor 3, first shaft coupling 4, silk Bar 5, the second sliding block pedestal 6, fixed bearing block 17, the second sliding block pedestal end cap 19, the second sliding block 20, stepper motor fixing bracket 21, guide rail 22, guide rail fixed block 23；The triangle bracket 1 is fixed on the silent flatform 24, triangle bracket 1 Bottom is provided with a vertical rectangular recess, the rectangular recess and the oblong-shaped raised line in 24 upper surface of silent flatform is arranged It matches；The guide rail fixed block 23 is fixed in the sloped top face of the triangle bracket 1；Stepper motor 3 passes through stepping Motor fixed rack 21 is fixed on one end of guide rail fixed block 23, and stepper motor 3 passes through 4 connection wire rod 5 of first shaft coupling, lead screw 5 are mounted on by two fixed bearing blocks 17 on guide rail fixed block 23, and guide rail 22, guide rail are equipped on the guide rail fixed block 23 22 are arranged in parallel with lead screw 5, and the first sliding block 2 is set on guide rail 22, and the second sliding block 20 is fixed on the first sliding block 2, and second slides Block pedestal 6 is fixed on the second sliding block 20, and the second sliding block pedestal end cap 19 is fixed on the upper surface of the second sliding block pedestal 6, described First sliding block 2 is whole in rectangular shape, and the bottom surface of the first sliding block 2 is provided with one and 22 matched rectangular slot of guide rail, described It is provided on second sliding block 20 and 5 matched threaded hole of the lead screw；First sliding block 2, the second sliding block 20, the second sliding block Pedestal 6 and the second sliding block pedestal end cap 19 are integrally formed the sliding block moved along lead screw 5 and guide rail 22, the second sliding block base Seat 6 is whole on multi-diameter shaft, and the oblique excision in bottom surface of the second sliding block pedestal 6 forms new bottom surface, and new underrun bolt It is fixed on the second sliding block 20, the part that the second sliding block pedestal 6 raises up is provided with spherical groove, spherical groove and driven torsion The bulb end of dynamic model block matches；Second sliding block pedestal end cap 19 is mounted on the second sliding block pedestal 6 and by driven twisting The bulb end of module is limited in inside of spherical groove rotation.

The active lifting module includes centre-drive motor 31, second shaft coupling 25, center push rod 26 and center push rod Rod set 29, the centre-drive motor 31 are fixed on the center of the upper surface of silent flatform 24, the electricity of centre-drive motor 31 Cartridge connects the lower end of center push rod rod set 29 by second shaft coupling 25, during the upper end of the center push rod rod set 29 is provided with Heart circular groove, the center push rod 26 are in cylindrical shape, and the lower end of center push rod 26 is sleeved in center push rod rod set 29 In heart circular groove, the lower end of center push rod 26 is provided with external screw thread, is arranged on the central circular groove of center push rod rod set 29 Have and the matched internal thread of the external screw thread of the lower end of center push rod 26；

The center movement module includes center movement block shaft axle bed and center movement block, and center movement block 28 is fixed on The upper end of the center push rod 26；There are four the settings of center movement block shaft axle bed 27 and is uniformly mounted on the center transports On the upper surface of motion block 28, each center movement block shaft axle bed 27 is both provided with for connecting the claw 10 1 for grabbing clamp hand module The rotation axis at end.

The driven twisting module includes connector 7 under fixed push rod, fixed push rod 8, Hooke hinge connector 15, fixes One end of push rod upper connector 16 and bulb 18, the fixed push rod 8 passes through 7 connecting ball head 18 of connector under fixed push rod, institute State inside of spherical groove of the bulb 18 mounted on the second sliding block pedestal 6 in leading screw sliding block；The other end of the fixed push rod 8 is logical One end that connector 7 under fixed push rod connects Hooke hinge connector 15 is crossed, the other end of Hooke hinge connector 15 is fixed on The bottom of moving platform 9；Each driven twisting module bottom bulb end is correspondingly arranged at the second sliding block of corresponding leading screw sliding block On pedestal 6, the upper end of all driven twisting modules is distributed on the marginal position of silent flatform 24.

The clamp hand module of grabbing includes claw 10, the first buckle spring 11, the second buckle spring 12, third buckle spring 13, load cell 30 and moving platform shaft axle bed 14, the whole claw 10 is in N-shaped, and claw 10 is outer including what is be vertically arranged Side, perpendicular to outer side edges setting top margin, be parallel to outer side edges setting interior upper side edge and to far from outer side edges side tilt Inner underside side, the outer side edges of the claw 10, top margin, interior upper side edge and inner underside side is sequentially connected and integral molding, card The lower end of the outer side edges of pawl 10 is fixed on by moving platform shaft axle bed 14 on the upper surface of moving platform 9, the outer side edges of claw 10 Lower end be hinged on moving platform shaft axle bed 14, the lower end on the inner underside side of the claw 10 is hinged on center movement block shaft On axle bed 27；The first buckle spring 11, the second buckle spring 12, third buckle spring 13 are arranged in parallel, the first buckle Spring 11 is arranged between the outer side edges and interior upper side edge of claw 10, the second buckle spring 12 be arranged claw 10 outer side edges and Between the upper end on inner underside side, third buckle spring 13 is arranged between the outer side edges and the middle part on inner underside side of claw 10；Institute It states and grabs there are four the settings of clamp hand module, the inner underside side of four claws 10 for grabbing clamp hand module, which corresponds to, is hinged on four center movements Load cell 30 there are one being respectively provided on the interior upper side edge of each claw on block shaft axle bed 27.

The whole center movement block 28 is in cylindrical shape, and the bottom centre of center movement block 28 is provided with a circular trough, The upper end of center push rod 26 is inserted into the circular trough of center movement block 28 and is fixedly connected with center movement block 28 by bolt；In Eight counter sinks are provided on the upper surface of heart moving mass 28, four center movement block shaft axle beds 27 sink by passing through this eight The bolt of head bore is fixed on the upper surface of center movement block 28.

The silent flatform 24 is in regular pentagon, there are five leading screw sliding block and driven twisting module are respectively provided with, five silks Thick stick sliding block is arranged on five lines at 24 center of silent flatform to five vertex, is respectively provided on every line there are one being used for To the oblong-shaped raised line that leading screw sliding block is positioned, the rectangle of the oblong-shaped raised line and leading screw sliding block bottom Fit depressions make triangle bracket 1 be fixed on silent flatform 24.

The Hooke hinge connector 15 includes upper end hinge connector, middle part hinge connector and lower end hinge connection Part, upper end hinge connector are fixedly connected with moving platform 9, lower end hinge connector and fixed 16 company of fixation of push rod upper connector It connects, middle part hinge connector is in integrally square, and upper end hinge connector is hinged on the hinge connector of middle part, and lower end hinge connects Fitting is hinged on the hinge connector of middle part, and upper end hinge connector and the articulated shaft and lower end hinge of middle part hinge connector connect The articulated shaft of fitting and middle part hinge connector is mutually perpendicular to.

The triangle bracket 1 laterally offers the vee gutter through entire triangle bracket 1, and guide rail is fixed Block 23 is fixed on by holding screw in triangle bracket 1, and fixed bearing block 17 is fixed on triangle by holding screw and fixes On holder 1, stepper motor fixing bracket 21 is fixed on by holding screw in triangle bracket 1.The outside of the claw 10 It is both provided with the semi-circular groove hooked for spring on the inside of in inside, interior upper side edge inside and inner underside.

The operation principle of the utility model is as follows：When needing to grab folder object, by active lifting mould centre-drive in the block Motor 31 is used as driving source, drives center push rod rod set 29 to move by second shaft coupling 25 when centre-drive motor 31 rotates, And 26 one end of center push rod is accepted by 29 one end of center push rod rod set so that center push rod 26 is in center push rod rod set 29 The central circular groove of the heart moves downward.The upper end of center push rod 26 is connected to center movement block 28, center movement block 28 also with Center push rod 26 to move downward；It is in drive 28 upper surface of center movement block in succession four that center movement block 28, which moves downward, Heart moving mass shaft axle bed 27 is moved along the circular through hole among moving platform 9 down simultaneously, while four center movement blocks turn Axis axle bed 27 drives four 10 one end of claw ined succession to move downward by turning effort.Since the other end of claw 10 is hinged on On moving platform shaft axle bed 14 and moving platform shaft axle bed 14 is fixed on moving platform 9, and the other end of claw 10 can be transported to center Motion block position rotates, and then four claws 10 is driven inwardly to tighten.

When needing to discharge object, driven by second shaft coupling 25 by active lifting mould centre-drive motor 31 in the block Center push rod rod set 29 is turned round, and accepts 26 one end of center push rod by 29 one end of center push rod rod set so that center push rod 26 Central circular groove along 29 center of center push rod rod set moves upwards；26 other end of center push rod is connected to center movement block 28, center movement block 28 also moves upwards；Four center movement block shaft axle beds 27 are driven when center movement block 28 moves upwards Simultaneously four cards are driven toward upper direction, four center movement block shaft axle beds 27 below the circular through hole among moving platform 9 10 one end of pawl moves upwards, and since the other end of claw 10 is hinged on moving platform shaft axle bed 14, simultaneously moving platform shaft axle bed 14 is solid It is scheduled on moving platform 9, the other end of claw 10 is rotated to moving platform boundary position, and then realizes four claws 10 pine outward It opens.

When needing to realize when grabbing folder of space different location object, by five in five leading screw sliding blocks on silent flatform 24 Stepper motor 3 is used as driving source, and lead screw rotation is driven by first shaft coupling 4 when five stepper motors 3 move, and then drives the The entirety of two sliding blocks 20 and the first sliding block 2 composition is slided on guide rail, while driving the second sliding block ined succession on the second sliding block 20 Pedestal 6 moves, and 6 end face center circular trough of the second sliding block pedestal is connect with the spherical surface of bulb 18 in driven twisting module, drives ball First 18 movement, and then the movement of fixed push rod 8 is driven, the upper end of fixed push rod 8 is driven recklessly by fixed push rod upper connector 16 Gram 15 aggregate motion of hinge connector realizes five groups of driven twisting modules while not by the different rotating speed of five stepper motors 3 Movement at the uniform velocity, it is final to realize that moving platform 6 drives claw 10 to grab folder to the object of different location in space.

Above-described embodiment is the preferred embodiment of the utility model, is not the limit to technical solutions of the utility model System, as long as without the technical solution that creative work can be realized on the basis of the above embodiments, is regarded as falling into In the rights protection scope of the utility model patent.

Claims (10)

1. one kind grabbing clamping manipulator with multivariant, it is characterised in that：Including moving platform（9）, silent flatform（24）, actively rise It drops module, leading screw sliding block, driven twisting module, center movement module and grabs clamp hand module, the active lifting module Bottom is fixed on silent flatform（24）Center, the upper end of active lifting module connects center movement module, and the leading screw is slided Dynamic model block is provided with multigroup and leading screw sliding block and is distributed on the silent flatform（24）Surrounding, the cunning of each leading screw sliding block One end of the dynamic driven twisting module of part connection one, the other end of multiple driven twisting modules are hinged on moving platform（9）Bottom Portion, and multiple driven twisting modules and moving platform（9）Tie point not in moving platform（9）Edge；It is described to grab clamp hand module It is provided with multiple, the one end for grabbing clamp hand module is hinged on moving platform, and the other end is hinged on across moving platform（9）The circle at center Drive that grab clamp hand module inside in the center movement module of through-hole, when active lifting module drives center movement module to move up and down Tightening is unclamped outward, and multiple leading screw sliding blocks drive moving platform when driving driven twisting block motion at different rates （9）Twisting.

2. one kind according to claim 1 grabs clamping manipulator with multivariant, it is characterised in that：The leading screw sliding Module includes triangle bracket（1）, the first sliding block（2）, stepper motor（3）, first shaft coupling（4）, lead screw（5）, second slide Block pedestal（6）, fixed bearing block（17）, the second sliding block pedestal end cap（19）, the second sliding block（20）, stepper motor fixing bracket （21）, guide rail（22）, guide rail fixed block（23）；The triangle bracket（1）It is fixed on the silent flatform（24）On, triangle is solid Fixed rack（1）Bottom be provided with a vertical rectangular recess, the rectangular recess be arranged in silent flatform（24）Upper surface Oblong-shaped raised line match；The guide rail fixed block（23）It is fixed on the triangle bracket（1）Sloped top face on； Stepper motor（3）Pass through stepper motor fixing bracket（21）It is fixed on guide rail fixed block（23）One end, stepper motor（3）Pass through First shaft coupling（4）Connection wire rod（5）, lead screw（5）Pass through two fixed bearing blocks（17）Mounted on guide rail fixed block（23）On, The guide rail fixed block（23）On guide rail is installed（22）, guide rail（22）With lead screw（5）It is arranged in parallel, guide rail（22）On be set with First sliding block（2）, the second sliding block（20）It is fixed on the first sliding block（2）On, the second sliding block pedestal（6）It is fixed on the second sliding block（20） On, the second sliding block pedestal end cap（19）It is fixed on the second sliding block pedestal（6）Upper surface, first sliding block（2）Whole is in length Square shape, the first sliding block（2）Bottom surface be provided with one and guide rail（22）Matched rectangular slot, second sliding block（20）On It is provided with and the lead screw（5）Matched threaded hole；First sliding block（2）, the second sliding block（20）, the second sliding block pedestal （6）With the second sliding block pedestal end cap（19）Overall structure is along lead screw（5）And guide rail（22）The sliding block of movement, described second slides Block pedestal（6）Whole is in the second sliding block pedestal on multi-diameter shaft（6）Bottom surface it is oblique excision form new bottom surface, and new bottom surface It is bolted on the second sliding block（20）On, the second sliding block pedestal（6）The part to raise up is provided with spherical groove, spherical Groove is matched with the bulb end of driven twisting module；Second sliding block pedestal end cap（19）Mounted on the second sliding block pedestal （6）Above and by the bulb end of driven twisting module it is limited in inside of spherical groove rotation.

3. one kind according to claim 2 grabs clamping manipulator with multivariant, it is characterised in that：The active lifting Module includes centre-drive motor（31）, second shaft coupling（25）, center push rod（26）With center push rod rod set（29）, in described Heart driving motor（31）It is fixed on silent flatform（24）Upper surface center, centre-drive motor（31）Electrode tip pass through Second shaft coupling（25）Connect center push rod rod set（29）Lower end, the center push rod rod set（29）Upper end be provided with center Circular groove, the center push rod（26）In cylindrical shape, center push rod（26）Lower end be sleeved on center push rod rod set（29） Central circular groove in, center push rod（26）Lower end be provided with external screw thread, center push rod rod set（29）Central circular it is recessed It is provided on slot and center push rod（26）Lower end the matched internal thread of external screw thread.

4. one kind according to claim 3 grabs clamping manipulator with multivariant, it is characterised in that：The center movement Module includes center movement block shaft axle bed and center movement block, center movement block（28）It is fixed on the center push rod（26）'s Upper end；The center movement block shaft axle bed（27）There are four settings and is uniformly mounted on the center movement block（28）Upper table On face, each center movement block shaft axle bed（27）It is both provided with for connecting the claw for grabbing clamp hand module（10）The rotation of one end Axis.

5. one kind according to claim 4 grabs clamping manipulator with multivariant, it is characterised in that：The driven twisting Module includes connector under fixed push rod（7）, fixed push rod（8）, Hooke hinge connector（15）, fixed push rod upper connector （16）And bulb（18）, the fixed push rod（8）One end pass through connector under fixed push rod（7）Connecting ball head（18）, described Bulb（18）The second sliding block pedestal in leading screw sliding block（6）Inside of spherical groove；The fixed push rod（8）It is another End passes through connector under fixed push rod（7）Connect Hooke hinge connector（15）One end, Hooke hinge connector（15）It is another One end is fixed on moving platform（9）Bottom；Each driven twisting module bottom bulb end is correspondingly arranged at corresponding leading screw sliding die Second sliding block pedestal of block（6）On, the upper end of all driven twisting modules is distributed on silent flatform（24）Marginal position.

6. one kind according to claim 5 grabs clamping manipulator with multivariant, it is characterised in that：It is described to grab clamp hand mould Block includes claw（10）, the first buckle spring（11）, the second buckle spring（12）, third buckle spring（13）, load cell （30）With moving platform shaft axle bed（14）, the claw（10）Whole is in N-shaped, claw（10）Including be vertically arranged outer side edges, Perpendicular to outer side edges setting top margin, be parallel to outer side edges setting interior upper side edge and to far from outer side edges side it is inclined it is interior under Side, the claw（10）Outer side edges, top margin, interior upper side edge and inner underside side is sequentially connected and integral molding, claw （10）The lower ends of outer side edges pass through moving platform shaft axle bed（14）It is fixed on moving platform（9）Upper surface on, claw（10）'s The lower end of outer side edges is hinged on moving platform shaft axle bed（14）On, the claw（10）The lower end on inner underside side be hinged on center Moving mass shaft axle bed（27）On；The first buckle spring（11）, the second buckle spring（12）, third buckle spring（13） It is arranged in parallel, the first buckle spring（11）It is arranged in claw（10）Outer side edges and interior upper side edge between, the second buckle spring （12）It is arranged in claw（10）Outer side edges and the upper end on inner underside side between, third buckle spring（13）It is arranged in claw（10） Outer side edges and the middle part on inner underside side between；It is described to grab there are four the settings of clamp hand module, four claws for grabbing clamp hand module （10）Inner underside side correspond to be hinged on four center movement block shaft axle beds（27）On the interior upper side edge of each upper claw There are one load cells for setting（30）.

7. one kind according to claim 4 grabs clamping manipulator with multivariant, it is characterised in that：The center movement Block（28）Whole is in cylindrical shape, center movement block（28）Bottom centre be provided with a circular trough, center push rod（26）It is upper Center movement block is inserted at end（28）Circular trough in and pass through bolt and center movement block（28）It is fixedly connected；Center movement block （28）Upper surface on be provided with eight counter sinks, four center movement block shaft axle beds（27）By passing through this eight counter sinks Bolt be fixed on center movement block（28）Upper surface on.

8. one kind according to claim 1 grabs clamping manipulator with multivariant, it is characterised in that：The silent flatform （24）In regular pentagon, there are five leading screw sliding block and driven twisting module are respectively provided with, five leading screw sliding blocks settings exist Silent flatform（24）On center to five lines on five vertex, it is respectively provided with that there are one for leading screw sliding block on every line The oblong-shaped raised line positioned, the oblong-shaped raised line match with the rectangular recess of leading screw sliding block bottom, make Triangle bracket（1）It is fixed on silent flatform（24）On.

9. one kind according to claim 5 grabs clamping manipulator with multivariant, it is characterised in that：The Hooke hinge Connector（15）Including upper end hinge connector, middle part hinge connector and lower end hinge connector, upper end hinge connector with Moving platform（9）It is fixedly connected, lower end hinge connector and fixed push rod upper connector（16）It is fixedly connected, middle part hinge connector Whole is in square, and upper end hinge connector is hinged on the hinge connector of middle part, and lower end hinge connector is hinged on middle part hinge On chain fitting, upper end hinge connector and the articulated shaft and lower end hinge connector of middle part hinge connector connect with middle part hinge The articulated shaft of fitting is mutually perpendicular to.

10. one kind according to claim 2 grabs clamping manipulator with multivariant, it is characterised in that：The triangle is solid Fixed rack（1）It laterally offers through entire triangle bracket（1）Vee gutter, guide rail fixed block（23）Pass through tightening Screw is fixed on triangle bracket（1）On, fixed bearing block（17）It is fixed on triangle bracket by holding screw（1） On, stepper motor fixing bracket（21）It is fixed on triangle bracket by holding screw（1）On.