CN210633693U

CN210633693U - Manipulator and robot

Info

Publication number: CN210633693U
Application number: CN201921038059.4U
Authority: CN
Inventors: 程顺鹏; 孔令超; 金明亮; 崔中; 马章宇; 钟成堡; 章幂
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2019-07-03
Filing date: 2019-07-03
Publication date: 2020-05-29
Anticipated expiration: 2029-07-03

Abstract

The utility model relates to the field of mechanical equipment, in particular to a manipulator and a robot, which comprises a frame; a mounting seat; more than two clamping jaws; the sliding parts are arranged corresponding to the clamping jaws and are respectively connected with the mounting base in a sliding manner, and each sliding part is rotatably connected with one clamping jaw so as to adjust the size of a clamping space formed by the two or more clamping jaws; the power device is respectively connected with each clamping jaw and can drive each clamping jaw to rotate to grab or put down an object, and the clamping jaws are moved through the sliding parts, so that the space is clamped by adjusting, and the practicability of the manipulator is improved.

Description

Manipulator and robot

Technical Field

The utility model relates to a mechanical equipment field particularly, relates to a manipulator and robot.

Background

An industrial robot is an intelligent operation machine, and is a key research field from a manufacturing big country to a manufacturing strong country. The robot manipulator is an important branch of the industrial robot as a main execution link in the operation process of the industrial robot, and the design of the manipulator is different along with different operation environments and operation tasks. Although the manipulator is not as flexible as a human hand at present, it has the characteristics of being capable of continuously and repeatedly working and working, not knowing fatigue, being not afraid of danger, and having a larger force for grabbing heavy objects than the human hand, so the manipulator has received attention from many departments and is more and more widely applied. The manipulator is at the working process, adjusts the state of opening and shutting of jack catch and presss from both sides and get the object, presss from both sides and gets the object size limited, has influenced the use of manipulator.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a manipulator and robot, it removes the jack catch through the sliding part to the space is got to the regulation clamp, improves the practicality of manipulator.

The embodiment of the utility model is realized like this:

a manipulator, comprising:

a mounting seat;

more than two clamping jaws;

the sliding parts are arranged corresponding to the clamping jaws and are respectively connected with the mounting base in a sliding manner, and each sliding part is connected with one clamping jaw so as to adjust the size of a clamping space formed by the two clamping jaws;

and the power device is respectively connected with each clamping jaw and can drive each clamping jaw to rotate to grab or put down an object.

Preferably, the power device comprises more than two driving pieces corresponding to the number of the jaws;

each driving piece is connected with one corresponding clamping jaw in a sliding mode and drives the clamping jaws to rotate.

Preferably, a connecting rod is arranged between the clamping jaw and the power device, and the connecting rod is respectively hinged with the power device and the clamping jaw.

Preferably, the robot further includes:

the pressure detection device is used for detecting the stress state of the clamping jaw;

the main control board is electrically connected with the power device and the pressure detection device, and controls the power device based on the stress state of the clamping jaws detected by the pressure detection device so as to keep the same stress on each clamping jaw.

Preferably, the pressure detection means is provided on a side surface of the mounting seat with respect to an orientation of the claw.

Preferably, the mounting seat is provided with a sliding groove for sliding connection with the sliding portion.

Preferably, the mounting base is further provided with a sliding driving device, and each sliding part is connected with the sliding driving device;

the sliding driving device can drive each sliding part to independently slide on the mounting seat.

Preferably, the mounting seat is provided with stoppers at both ends of each of the sliding portions in the sliding direction.

Preferably, the sliding part includes a slider and a support frame connected to each other;

the slider with mount pad sliding connection, the support frame be used for with the jack catch rotates to be connected.

Preferably, the power device uses hydraulic pressure as power.

Preferably, the mounting seat is provided with a hydraulic valve corresponding to the power device.

Preferably, the sliding portions are provided in two numbers, and the two sliding portions can slide in opposite directions and in opposite directions.

Preferably, the sliding part is provided in plurality, and sliding tracks of the sliding parts are radial;

or the plurality of sliding parts are arranged in two groups, and the sliding parts between the two groups can slide oppositely and oppositely.

A robot comprises the manipulator.

The embodiment of the utility model provides a beneficial effect is:

more than two jack catchs or puts down the object, and every jack catch is connected with a sliding part, through the portable jack catch of sliding part to adjust the size that the space was got to two above jack catchs formation clamp, can press from both sides the big or small scope grow of getting the object, improve the practicality of manipulator, can adjust the opening and shutting degree of jack catch and the sliding state of sliding part according to the object size, get the space with the regulation clamp.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an embodiment of the present invention;

fig. 2 is a schematic view of another view structure according to an embodiment of the present invention.

Icon: 100-a mounting seat; 200-claws; 300-a sliding portion; 400-a power plant; 500-a pressure detection device; 600-a slide drive; 700-connecting rod;

110-a chute; 120-a stop;

210-a cross-bar; 220-vertical rod;

310-a slider; 320-a support frame; 320' 1-base member; 320' 2-support;

410-a drive member; 420-a hydraulic valve;

610-hydraulic cylinder A; 620-hydraulic cylinder B.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-2, the present embodiment provides a manipulator, which includes a mounting base 100, two or more jaws 200, one-to-one corresponding to the jaws 200, one jaw 200 rotatably mounted on each of the two or more sliding portions 300, a power device 400 respectively connected to the two or more jaws 200 on each of the two or more sliding portions 300, and the power device 400 drives the two or more jaws 200 to rotate, so that all the jaws 200 rotate simultaneously to open and close for gripping or putting down an object.

Referring to fig. 1, the manipulator includes two jaws 200 and two sliding parts 300, each sliding part 300 is rotatably connected with one jaw 200, the jaws 200 face to the vertical mounting base 100, and the power device 400 can drive the two jaws 200 to rotate toward each other to close and rotate away from each other to open; two sliding part 300 respectively with mount pad 100 sliding connection, can slide in opposite directions and slide dorsad between two sliding part 300, sliding part 300 slides the interval between the adjustable two jack catchs 200 to change the size that the space was got to the manipulator clamp, the big or small scope grow of object is got to the manipulator clamp, improves the practicality of manipulator.

In this embodiment, the power device 400 may be a driving motor or a hydraulic cylinder, the power device 400 may drive the jaws 200 to rotate through a gear transmission mechanism or a link mechanism, and the sliding portion 300 may be driven by an external force to slide.

When the jaws 200 are provided in plurality, the corresponding sliding parts 300 are also provided in plurality, the sliding tracks of the sliding parts 300 can be in a radial shape, and the sliding parts 300 adjust the size of the clamping space by sliding convergence and sliding divergence; or, the plurality of sliding parts 300 are arranged in two groups, the sliding parts 300 between the two groups can slide in opposite directions or slide in opposite directions, when the sliding parts 300 between the two groups slide in opposite directions, the distance between the two groups of jaws 200 is increased,

example 2

Referring to fig. 1, the present embodiment provides a manipulator, which includes a mounting base 100, a jaw 200, a sliding portion 300 and a power device 400, wherein the mounting base 100 is provided with a sliding slot 110, the mounting base 100 is provided with limiting members 120 at two ends of the sliding slot 110, a sliding driving device 600 is provided in the sliding slot 110, and the sliding driving device 600 includes two drivers, which are horizontally disposed with respect to the sliding slot 110 and are defined as a hydraulic cylinder a610 and a hydraulic cylinder B620. The number of the jaws 200 is two, the number of the sliding portions 300 corresponding to the number of the jaws 200 is two, and the sliding portions 300 are respectively a first sliding portion 300 and a second sliding portion 300, the sliding portion 300 includes a slider 310 and a supporting frame 320, the supporting frame 320 includes a bottom part 320 '1 and a supporting part 320' 2, in this embodiment, the bottom part 320 '1 and the supporting part 320' 2 are both plate-shaped structures, and the supporting part 320 '2 is perpendicular to the bottom part 320' 1. The power device 400 is provided with two driving members 410 corresponding to the number of the jaws 200, and the two driving members 410 are fixedly connected with the first sliding portion 300 and the second sliding portion 300, respectively. The mounting seat 100 is provided with a pressure detection device 500 and a main control board, and the pressure detection device 500 is provided with two pressure sensors corresponding to the number of the clamping jaws 200.

The hydraulic cylinder A610 and the hydraulic cylinder B620 face opposite directions and are fixed in the sliding groove 110 in parallel, the power directions of the hydraulic cylinder A610 and the hydraulic cylinder B620 are the same as the sliding direction of the sliding groove 110, the hydraulic cylinder A610 is connected with the sliding block 310 of the first sliding part 300, the hydraulic cylinder B620 is connected with the sliding block 310 of the second sliding part 300, and the first sliding part 300 and the second sliding part 300 can slide oppositely and reversely through the hydraulic cylinder A610 and the hydraulic cylinder B620 so as to adjust the size of the clamping space formed by the two clamping claws 200.

The first sliding part 300 and the second sliding part 300 have the same structure and are oppositely arranged, and the embodiment is only explained from the structure. The bottom member 320 ' 1 is detachably connected to the slider 310 by a hexagonal nut, the supporting member 320 ' 2 is integrally or detachably connected to the bottom member 320 ' 1, the bottom member 320 ' 1 and the supporting member 320 ' 2 are both plate-shaped structures, and the length direction of the supporting member 320 ' 2 is perpendicular to the bottom member 320 ' 1. The latch 200 is rotatably disposed on a surface of the supporting member 320 '2 perpendicular to the bottom member 320' 1. The jack catch is formed by horizontal pole 210 and montant 220 body coupling, and the jack catch is approximate "T" font structure, and the one end and the support piece 320' 2 rotatable coupling of horizontal pole 210, the articulated one end of connecting rod 700 of the other end of horizontal pole 210, driving piece 410 is connected to the other end of connecting rod 700, and driving piece 410 adopts hydraulic drive in this embodiment, and hydraulic drive stability is good, and the object is difficult for droing.

The driving member 410 drives the connecting rod 700 to move, the connecting rod 700 pushes the cross bar 210 to rotate around the rotating connection point with the supporting member 320' 2, one end of the vertical rod 220 is located at the middle part of the cross bar 210, and the other end of the vertical rod 220 serves as the grabbing end of the claw 200. The rotation of the cross bar 210 drives the rotation of the vertical bar 220.

The grooved side of the mounting seat 100 is defined as a front side, and two independent hydraulic lines are arranged inside the mounting seat 100, and each hydraulic line is connected with a driving member 410. The mounting seat 100 is provided with two hydraulic valves 420 corresponding to the two driving pieces 410, the controller, the two pressure sensors and the two hydraulic valves 420 are all arranged on the side face of the mounting seat 100, the side face is a non-working face of the mounting seat 100, the dismounting is convenient, and the pressure sensors, the controller and the hydraulic valves 420 can be prevented from being collided and scratched in the working process. The pressure sensor detects the pressure in the hydraulic cylinder, so that the stress states of the two jaws 200 are known and fed back to the controller, and the controller controls the hydraulic valve 420 according to an electric signal of the stress state of each jaw 200, changes the flow rate, and controls the power of the driving member 410 so that the two jaws 200 are stressed equally. When the forces applied to the two jaws 200 are unequal, the controller takes the jaw 200 with smaller force as an adjusting reference. Meanwhile, the upper limit of the clamping force of the clamping jaw 200 can be set through the controller, and objects damaged in the clamping process can be placed.

In the scheme, the clamping jaws 200 can be rotatably arranged, the clamping jaws 200 are driven to rotate in a hydraulic driving mode, and the clamping jaws 200 are rotated to be closed or opened to grab or put down objects. Each jack catch 200 is independent setting, and every jack catch 200 is connected with the sliding part 300 with mount pad 100 sliding connection respectively, and control sliding part 300 slides, and sliding part 300 drives jack catch 200 and removes, can further adjust two jack catches 200 and form the size of getting the space. A pressure sensor is arranged corresponding to each jaw 200, the stress state of each jaw 200 is sent to a controller in the form of an electric signal, and the controller adjusts hydraulic valves 420 corresponding to other driving pieces 410 by taking the electric signal with the maximum stress as a reference so as to adjust the clamping force of the corresponding jaw 200. The number of the sliding portions 300, the drivers 410, the drivers, the hydraulic lines, the hydraulic valves 420, and the pressure sensors corresponds to the number of the jaws 200, and two or more jaws 200 may be provided. The sliding part 300 includes a sliding block 310 and a supporting frame 320, the supporting frame 320 includes a bottom part 320 '1 and a supporting part 320' 2, and the sliding block 310, the bottom part 320 '1 and the supporting part 320' 2 may also be an integrated connection structure.

The embodiment also provides a robot, and the robot is provided with the manipulator.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement 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, characterized by comprising:

a mounting base (100);

more than two clamping jaws (200);

the sliding parts (300) are arranged corresponding to the clamping jaws (200) and are respectively in sliding connection with the mounting base (100), and each sliding part (300) is connected with one clamping jaw (200) so as to adjust the size of a clamping space formed by the two or more clamping jaws (200);

and the power device (400) is respectively connected with each clamping jaw (200) and can drive each clamping jaw (200) to rotate to grab or put down an object.

2. The manipulator according to claim 1, characterized in that the power means (400) comprise more than two driving members (410) corresponding to the number of jaws (200);

each driving piece (410) is connected with one sliding piece, and each driving piece (410) is connected with the corresponding clamping jaw (200) and drives the clamping jaw (200) to rotate.

3. The manipulator according to claim 1, characterized in that a connecting rod (700) is arranged between the jaws (200) and the power device (400), the connecting rod (700) being hinged to the power device (400) and the jaws (200), respectively.

4. The robot hand of claim 1, further comprising:

the pressure detection device (500) is used for detecting the stress state of the clamping jaw (200);

the main control board is electrically connected with the power device (400) and the pressure detection device (500), and controls the power device (400) based on the stress state of the clamping jaws (200) detected by the pressure detection device (500) so as to keep the stress of each clamping jaw (200) the same.

5. The manipulator according to claim 4, characterized in that the pressure detection means (500) are arranged on the side of the mounting seat (100) with respect to the orientation of the jaws (200).

6. The manipulator according to claim 1, characterized in that the mounting (100) is provided with a runner (110) for sliding connection with the sliding part (300).

7. The manipulator according to claim 1, characterized in that the mounting (100) is further provided with a slide drive (600), each slide (300) being connected to the slide drive (600), respectively;

the sliding driving device (600) can drive each sliding part (300) to independently slide on the mounting seat (100).

8. The manipulator according to claim 1, wherein the mount (100) is provided with stoppers (120) at both ends in the sliding direction of each of the sliding portions (300).

9. The manipulator according to claim 1, wherein the sliding part (300) comprises a slider (310) and a support (320) connected to each other;

the sliding block (310) is connected with the mounting seat (100) in a sliding mode, and the supporting frame (320) is used for being connected with the clamping jaw (200) in a rotating mode.

10. The manipulator according to claim 1, characterized in that the power means (400) is powered hydraulically.

11. The manipulator according to claim 10, characterized in that the mounting (100) is provided with a hydraulic valve (420) in correspondence of the power means (400).

12. The manipulator according to claim 1, wherein the sliding portions (300) are provided in two, and the two sliding portions (300) are slidable toward and away from each other.

13. The manipulator according to claim 1, wherein the sliding part (300) is provided in plurality, and sliding tracks of the sliding parts (300) are radial;

or the plurality of sliding parts (300) are arranged in two groups, and the sliding parts (300) between the two groups can slide towards and away from each other.

14. A robot comprising the manipulator of any one of claims 1 to 13.