CN210551301U - Automatic manipulator of robot - Google Patents
Automatic manipulator of robot Download PDFInfo
- Publication number
- CN210551301U CN210551301U CN201921092588.2U CN201921092588U CN210551301U CN 210551301 U CN210551301 U CN 210551301U CN 201921092588 U CN201921092588 U CN 201921092588U CN 210551301 U CN210551301 U CN 210551301U
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- clamping
- gear
- driving
- pin shaft
- gear arm
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- 125000006850 spacer group Chemical group 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000002411 adverse Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Abstract
The utility model relates to a robot automatic manipulator, which comprises a driving mechanism and a clamping mechanism, wherein the driving mechanism comprises a gear motor, the gear motor is directly connected with a driving gear, and the driving gear is respectively meshed with a front gear arm and a rear gear arm; a front waist groove is formed in the front gear arm, a rear waist groove is formed in the rear gear arm, and limiting pins are arranged on the front waist groove and the rear waist groove; the front gear arm is provided with a first clamping end, the rear gear arm is provided with a second clamping end, the front ends of the first clamping end and the second clamping end are respectively provided with a first pin shaft and a second pin shaft, and the joint surface of the first pin shaft and the second pin shaft is respectively provided with a first clamping plate and a second clamping plate. The utility model realizes the opening and closing between the front and the rear gear arms by directly connecting the gear motor with the drive gear; the buffer spring is arranged to buffer the impact force when the manipulator clamps the object, so as to protect the transported object; but the centre gripping scope is bigger, and preceding, back gear arm replaceability is strong to choose for use gear motor its clamping-force big, guarantee transportation stability.
Description
Technical Field
The utility model relates to a manipulator, especially an automatic manipulator of robot.
Background
In the past, articles are mostly carried by manpower in China, but with the development and application of domestic technical capacity and the continuous rise of labor cost, under most working conditions, the robot can also replace the manpower to complete carrying work. When a robot grabs an object, the robot usually grabs the object through a manipulator at the end of a mechanical arm, and the mechanical arm moves the object to a place where the object needs to be placed after the object is grabbed. And when carrying goods by manpower, the fatigue can be avoided, the labor cost is increased, and the production efficiency is greatly influenced. In the process of carrying by manpower for a long time, the quality and the stability of the product cannot be kept at the same level, and great potential safety hazard exists.
In recent years, the domestic robot technology is mature and perfected day by day, and the manual carrying is replaced by the robot carrying to become a feasible trend. For example, when dangerous objects are carried by manpower, firstly, the operation and the requirement on personnel are high in safety; secondly, when people touch the objects, pollutants are easily brought in, and the quality of the objects with special requirements can be adversely affected. Various carrying robots independently researched and developed in China, wherein the mechanical arms at the key parts of the robots are various, most of the robots are complex in structure, small in clamping range and high in manufacturing cost, and aiming at the problems, a simple and compact structure is urgently needed; the manufacturing cost is low; and the manipulator with large safe clamping force meets the clamping requirement.
Disclosure of Invention
The utility model aims to solve the technical problem that to prior art not enough, provide a simple structure, compactness, cost are lower, the big automatic robot manipulator of safe clamping-force.
The technical problem to be solved by the utility model is realized through the following technical scheme. The utility model provides a robot automatic manipulator, includes actuating mechanism and fixture, its characteristics are:
the driving mechanism comprises a speed reducing motor, an output shaft of the speed reducing motor is directly connected with a driving gear, the front end of the driving gear is meshed with the driving end of the front gear arm, and the rear end of the driving gear is meshed with the driving end of the rear gear arm;
an upper cover plate is arranged between the driving gear and the speed reducing motor, a lower cover plate is arranged below the driving gear, the driving ends of the front gear arm and the rear gear arm are both arranged between the upper cover plate and the lower cover plate, and the front end and the rear end of the upper cover plate and the rear end of the lower cover plate are both provided with a limiting shaft;
the driving end of the front gear arm is provided with a front waist groove, the driving end of the rear gear arm is provided with a rear waist groove, the front waist groove and the rear waist groove are both provided with limiting pins, and the limiting pins sequentially penetrate through the upper cover plate, the front waist groove or the rear waist groove and the lower cover plate;
the front gear arm is provided with a first clamping end perpendicular to the driving end of the front gear arm, the rear gear arm is provided with a second clamping end perpendicular to the driving end of the rear gear arm, the front ends of the first clamping end and the second clamping end are respectively provided with a first pin shaft and a second pin shaft which are correspondingly arranged, the joint surface of the first pin shaft and the second pin shaft is respectively provided with a first clamping plate and a second clamping plate which are correspondingly arranged, a first circular plate is arranged above the first clamping plate, and a second circular plate is arranged below the second clamping plate; a first buffer spring is sleeved on a first pin shaft between the first circular plate and the first clamping end, and a second buffer spring is sleeved on a second pin shaft between the second circular plate and the second clamping end;
the first circular plate is connected with the first clamping plate through a pin shaft, and the second circular plate is connected with the second clamping plate through a pin shaft.
The utility model discloses, its further preferred technical scheme as follows: the first buffer spring is sleeved with a spacer bush for protecting the first buffer spring, and the second buffer spring is sleeved with a spacer bush for protecting the second buffer spring.
The utility model discloses, its further preferred technical scheme as follows: the surfaces of the first clamping plate and the second clamping plate are both set to be frosted surfaces.
The utility model discloses, its further preferred technical scheme as follows: a first fixing groove for fixing the first buffer spring is formed in the first circular plate, and a second fixing groove for fixing the second buffer spring is formed in the second circular plate.
Compared with the prior art, the utility model directly connects the driving gear through the speed reducing motor to drive the front and the rear gear arms to realize the opening and closing between the front and the rear gear arms; the buffer spring is arranged and used for buffering the impact force on the object when the manipulator clamps the object, so that the quality of the transported object is protected; but the centre gripping scope is bigger, and preceding, back gear arm replaceability is strong to select for use gear motor its clamping-force big, can the centre gripping great article, guarantee stability in the transportation, strengthened factor of safety.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a top view of the present invention.
Detailed Description
The following further describes embodiments of the present invention in order to facilitate further understanding of the present invention by those skilled in the art, and does not constitute a limitation to the right thereof.
Embodiment 1, a robot manipulator, comprising a driving mechanism and a clamping mechanism, wherein the driving mechanism comprises a gear motor 1, an output shaft of the gear motor 1 is directly connected with a driving gear 6, the front end of the driving gear 6 is meshed with the driving end of a front gear arm 5, and the rear end of the driving gear 6 is meshed with the driving end of a rear gear arm 8; the front gear arm and the rear gear arm interact with the driving gear, and the mechanical arm is loosened and clamped through gear transmission.
An upper cover plate 2 is arranged between the driving gear 6 and the gear motor 1, a lower cover plate 4 is arranged below the driving gear 6, the driving ends of the front gear arm 5 and the rear gear arm 8 are both arranged between the upper cover plate and the lower cover plate, and the front end and the rear end of the upper cover plate and the rear end of the lower cover plate are both provided with a limiting shaft 9;
a front waist groove 19 is formed in the driving end of the front gear arm 5, a rear waist groove 20 is formed in the driving end of the rear gear arm 8, limiting pins 7 are arranged on the front waist groove 19 and the rear waist groove 20, and the limiting pins 7 sequentially penetrate through the upper cover plate 2, the front waist groove or the rear waist groove and the lower cover plate 4;
the front gear arm 5 is provided with a first clamping end perpendicular to the driving end of the front gear arm, the rear gear arm 8 is provided with a second clamping end perpendicular to the driving end of the rear gear arm, the front ends of the first clamping end and the second clamping end are respectively provided with a first pin shaft 10 and a second pin shaft 18 which are correspondingly arranged, the joint surfaces of the first pin shaft 10 and the second pin shaft 18 are respectively provided with a first clamping plate 14 and a second clamping plate 15 which are correspondingly arranged, a first circular plate 13 is arranged above the first clamping plate 14, and a second circular plate 16 is arranged below the second clamping plate 15; a first buffer spring 11 is sleeved on a first pin shaft 10 between the first circular plate 13 and the first clamping end, and a second buffer spring 17 is sleeved on a second pin shaft 18 between the second circular plate 16 and the second clamping end; the first buffer spring 11 and the second buffer spring 17 are used for protecting the object from instant impact force when the manipulator contacts the object.
The first circular plate 13 and the first clamping plate 14 are connected through a pin, and the second circular plate 16 and the second clamping plate 15 are connected through a pin.
The first buffer spring 11 is externally sleeved with a spacer 12 for protecting the first buffer spring 11, the second buffer spring 17 is externally sleeved with a spacer 12 for protecting the second buffer spring 17, and the spacer 12 is used for protecting the buffer spring to be compressed within a limit state, so that the service life of the buffer spring is prolonged.
The surfaces of the first clamping plate 14 and the second clamping plate 15 are both provided with frosted surfaces for increasing the friction coefficient and protecting objects.
A first fixing groove for fixing the first buffer spring 11 is formed on the first circular plate 13, and a second fixing groove for fixing the second buffer spring 17 is formed on the second circular plate 16.
The controller used in the application is a universal speed controller talon srx, a motor controller and a 120A circuit breaker, and is installed on the lower cover plate 4.
Claims (4)
1. The utility model provides a robot automatic manipulator, includes actuating mechanism and fixture, its characterized in that:
the driving mechanism comprises a speed reducing motor, an output shaft of the speed reducing motor is directly connected with a driving gear, the front end of the driving gear is meshed with the driving end of the front gear arm, and the rear end of the driving gear is meshed with the driving end of the rear gear arm;
an upper cover plate is arranged between the driving gear and the speed reducing motor, a lower cover plate is arranged below the driving gear, the driving ends of the front gear arm and the rear gear arm are both arranged between the upper cover plate and the lower cover plate, and the front end and the rear end of the upper cover plate and the rear end of the lower cover plate are both provided with a limiting shaft;
the driving end of the front gear arm is provided with a front waist groove, the driving end of the rear gear arm is provided with a rear waist groove, the front waist groove and the rear waist groove are both provided with limiting pins, and the limiting pins sequentially penetrate through the upper cover plate, the front waist groove or the rear waist groove and the lower cover plate;
the front gear arm is provided with a first clamping end perpendicular to the driving end of the front gear arm, the rear gear arm is provided with a second clamping end perpendicular to the driving end of the rear gear arm, the front ends of the first clamping end and the second clamping end are respectively provided with a first pin shaft and a second pin shaft which are correspondingly arranged, the joint surface of the first pin shaft and the second pin shaft is respectively provided with a first clamping plate and a second clamping plate which are correspondingly arranged, a first circular plate is arranged above the first clamping plate, and a second circular plate is arranged below the second clamping plate; a first buffer spring is sleeved on a first pin shaft between the first circular plate and the first clamping end, and a second buffer spring is sleeved on a second pin shaft between the second circular plate and the second clamping end;
the first circular plate is connected with the first clamping plate through a pin shaft, and the second circular plate is connected with the second clamping plate through a pin shaft.
2. The robotic robot hand of claim 1, wherein: the first buffer spring is sleeved with a spacer bush for protecting the first buffer spring, and the second buffer spring is sleeved with a spacer bush for protecting the second buffer spring.
3. The robotic robot hand of claim 1, wherein: the surfaces of the first clamping plate and the second clamping plate are both set to be frosted surfaces.
4. The robotic robot hand of claim 1, wherein: a first fixing groove for fixing the first buffer spring is formed in the first circular plate, and a second fixing groove for fixing the second buffer spring is formed in the second circular plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921092588.2U CN210551301U (en) | 2019-07-12 | 2019-07-12 | Automatic manipulator of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921092588.2U CN210551301U (en) | 2019-07-12 | 2019-07-12 | Automatic manipulator of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210551301U true CN210551301U (en) | 2020-05-19 |
Family
ID=70674166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921092588.2U Expired - Fee Related CN210551301U (en) | 2019-07-12 | 2019-07-12 | Automatic manipulator of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210551301U (en) |
-
2019
- 2019-07-12 CN CN201921092588.2U patent/CN210551301U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200519 |