CN211541251U

CN211541251U - Manipulator device

Info

Publication number: CN211541251U
Application number: CN201922397321.0U
Authority: CN
Inventors: 武宝利; 李闯
Original assignee: Qiongyi Technology Co ltd
Current assignee: Qiongyi Technology Co ltd
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2020-09-22
Anticipated expiration: 2029-12-27

Abstract

The utility model relates to a manipulator device, it includes: a support frame; the left clamping arms are hinged with the supporting frame, the left clamping arms are provided with two parallel clamping arms, the two left clamping arms are connected through a left connecting sheet, two ends of the left connecting sheet are respectively hinged with the two left clamping arms, and a left clamping jaw is arranged on each left clamping arm; the right clamping arms are hinged with the supporting frame, the number of the right clamping arms is two, the two right clamping arms are connected through a right connecting piece, two ends of the right connecting piece are respectively hinged with the two right clamping arms, and a right clamping jaw is arranged on each right clamping arm; the cylinder is arranged on the support frame, and a driving end of the cylinder is provided with a force transmission plate; the two ends of one connecting rod are respectively hinged with the force transmission plate and the left clamping arm, and the two ends of the other connecting rod are respectively hinged with the force transmission plate and the right clamping arm. Has larger gripping force.

Description

Manipulator device

Technical Field

The utility model relates to a manipulator device.

Background

The manipulator is used in automatic production, and various manipulators exist at present. For some products, such as stainless steel products, a great gripping force is required from the robot arm in order to be able to grip the product powerfully. How to design a manipulator to make the manipulator have great grabbing power is a problem to be solved.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a manipulator device supports great power of grabbing.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

the utility model provides a manipulator device, it includes:

a support frame;

the left clamping arms are hinged with the supporting frame, the number of the left clamping arms is two, the two left clamping arms are connected through a left connecting sheet, two ends of the left connecting sheet are respectively hinged with the two left clamping arms, and a left clamping jaw is arranged on each left clamping arm;

the right clamping arms are hinged with the supporting frame, the number of the right clamping arms is two, the two right clamping arms are connected through a right connecting piece, two ends of the right connecting piece are respectively hinged with the two right clamping arms, and a right clamping jaw is arranged on each right clamping arm;

the air cylinder is arranged on the support frame, and a driving end of the air cylinder is provided with a force transmission plate;

the connecting rod, the connecting rod is provided with two, one of them both ends of connecting rod respectively with the biography power board with the left arm lock is articulated mutually, wherein the both ends of another one of them connecting rod respectively with the biography power board with the right arm lock is articulated mutually.

Optionally, it further comprises:

the guide mechanism comprises a guide rod connected to the dowel plate and a linear bearing arranged on the support frame, the guide rod penetrates through the linear bearing, and the extending direction of the guide rod is consistent with the moving direction of the cylinder driving end.

Further, the guide rods and the corresponding linear bearings are respectively provided in plurality.

Optionally, a backing plate is arranged on the left clamping jaw and/or the right clamping jaw.

Furthermore, a soft cushion layer is arranged on the grabbing surface of at least one backing plate.

Furthermore, the soft cushion layer is made of high-strength rubber.

Optionally, the support frame includes an upper plate and a lower plate, a certain distance is kept between the upper plate and the lower plate, and the cylinder is arranged between the upper plate and the lower plate.

Because of the application of the technical scheme, compared with the prior art, the utility model has the following advantages:

the utility model discloses a manipulator device is provided with left clamping jaw and right clamping jaw on left clamping jaw and the right clamping jaw respectively owing to have left arm lock and right arm lock, and the drive end of cylinder is provided with the biography power board, is connected through the connecting rod respectively between biography power board and left arm lock and the right arm lock, and when cylinder drive biography power board removed, it is rotatory to drive left arm lock and right arm lock through the connecting rod to it snatchs or relaxs the action to drive between left clamping jaw and the right clamping jaw. Because left arm lock and right arm lock are provided with two respectively and have strengthened intensity, and parallel arrangement respectively, are connected through left connection piece between two left arm locks and reach stably, are connected through right connection piece between two right arm locks and reach stably, and left arm lock and right arm lock can support bigger grabbing power because intensity increases like this.

Drawings

Some specific embodiments of the present invention will be described in detail hereinafter, by way of illustration and not by way of limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:

fig. 1 is a schematic perspective view of a robot apparatus according to a preferred embodiment of the present invention;

wherein the reference numerals are as follows:

1. a support frame; 101. an upper splint; 102. a lower splint; 103. a side plate;

2. a left clamp arm;

3. a right clamp arm;

4. a cylinder;

5. a connecting rod;

6. a guide mechanism; 61. a guide bar; 62. a linear bearing;

7. a left connecting sheet;

8. a left clamping jaw;

9. a right connecting sheet;

10. a right jaw;

11. a force transmission plate;

12. a base plate;

13. a soft cushion layer;

14. and (5) producing the product.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

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 orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

As shown in fig. 1, the robot device includes a supporting frame 1, the supporting frame 1 includes an upper clamping plate 101, a lower clamping plate 102, and two side plates 103 connected between the upper clamping plate 101 and the lower clamping plate 102, and the side plates 103 are hollowed out to reduce weight.

The upper and

lower jaws

101 and 102 are spaced apart to provide a space.

Be provided with cylinder 4 between upper plate 101 and the lower plate 102, the drive end of cylinder 4 passes lower plate 102 downwards and continues the extension, and the drive end of cylinder 4 is provided with dowel steel 11, and under the drive of cylinder 4, dowel steel 11 can reciprocate in vertical direction. The cylinder 4 is protected to some extent by being installed between the upper and

lower clamp plates

101 and 102.

One side of lower plate 102 articulates there are two left arm lock 2, and these two left arm lock 2 set up parallelly to each other, and is connected through left connection piece 7 between two left arm lock 2, and the both ends of left connection piece 7 are articulated mutually with two left arm lock 2 respectively and play firm effect. The end part of the left clamping arm 2 is provided with a left clamping jaw 8, and the left clamping jaw 8 is connected with a base plate 12.

The left clamping arm 2 is connected with the force transmission plate 11 through a connecting rod 5, and two ends of the connecting rod 5 are respectively hinged with the left clamping arm 2 and the force transmission plate 11.

The structure of the right clamping arm 3 is similar to that of the left clamping arm 2. The right arm lock 3 is articulated at the opposite side of lower plate 102, and right arm lock 3 is provided with two and two right arm lock 3 parallel arrangement, is connected through right connection piece 9 between two right arm lock 3, and the both ends of right connection piece 9 are articulated mutually with two right arm lock 3 respectively and play firm effect. The end part of the right clamping arm 3 is provided with a right clamping jaw 10, and the right clamping jaw 10 is connected with a base plate 12.

The right clamping arm 3 is connected with the force transmission plate 11 through a connecting rod 5, and two ends of the connecting rod 5 are respectively hinged with the right clamping arm 3 and the force transmission plate 11.

When the air cylinder 4 drives the force transmission plate 11 to move upwards, the left clamping jaw 8 and the right clamping jaw 10 are clamped in opposite directions through the transmission action of the connecting rod 5, and a product 14 is clamped. When the air cylinder 4 drives the force transmission plate 11 to move downwards, the left clamping jaw 8 and the right clamping jaw 10 are far away from each other through the transmission action of the connecting rod 5, so that the product 14 is released.

The provision of the pad 12 facilitates increasing the force bearing surface of the product 14 to more smoothly grip the product 14.

The gripping surface of the backing plate 12 on the left clamping jaw 8 is also provided with a soft cushion layer 13, and the soft cushion layer 13 is soft, so that the stress surface of the product 14 is further increased, and the product 14 can be further stably clamped. In this embodiment, the soft cushion layer 13 is a super glue and has high toughness. In this example, although the cushion material 13 is provided only on the pad 12 of the left jaw 8, in other embodiments, the cushion material 13 may be provided only on the pad 12 of the right jaw 10, or the cushion material 13 may be provided on both pads 12 at the same time.

In order to drive the force transmission plate 11 up and down more smoothly, a guide mechanism 6 is also provided in this example. The guide mechanism 6 includes a guide rod 61 and a linear bearing 62. Wherein, the lower end of the guide rod 61 is connected to the dowel plate 11, the upper end penetrates into the linear bearing 62, and the linear bearing 62 is arranged on the lower clamping plate 102. The guide rod 61 extends in the same direction as the direction of movement of the driving end of the cylinder 4, or the force transmission plate 11. Thus, when the force transmission plate 11 moves up and down, the guide is provided by the guide rod 61 and the linear bearing 62, so that the force transmission plate 11 moves up and down smoothly. The linear bearing 62 is disposed on the upper surface of the lower plate 102, or between the upper plate 101 and the lower plate 102, in order to make full use of the space between the upper plate 101 and the lower plate 102, and to allow better guidance by making the linear bearing 62 farther from the force transmission plate 11.

The guide rods 61 and the corresponding linear bearings 62 are respectively provided with a plurality of (three or more), in this case four, so as to achieve a more smooth guiding effect. In other embodiments, at least one set of guide rod 61 and corresponding linear bearing 62 may be provided.

In this example, although the support frame 1 comprises the upper and

lower clamping plates

101 and 102 and the side plate 103, which is a preferred solution and aims to facilitate the installation and to protect the cylinder 4, in other embodiments, the support frame 1 may have various structures, such as only the lower clamping plate 102 in this example.

In summary, in the manipulator device of this embodiment, since the left clamp arm 2 and the right clamp arm 3 are respectively provided with two arms, the strength is increased, and a larger gripping force can be supported (the gripping force can be increased by the power of the lift cylinder 4). The provision of the spacer 12 increases the force bearing surface of the product 14 so that the product 14 is held more firmly. The soft cushion layer 13 further increases the stress surface of the product, and further enables the product 14 to be firmly clamped.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, so as not to limit the protection scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims

1. A manipulator apparatus, characterized in that it comprises:

a support frame (1);

the left clamping arm (2) is hinged with the support frame (1), the left clamping arm (2) is provided with two parallel clamping arms, the two left clamping arms (2) are connected through a left connecting piece (7), two ends of the left connecting piece (7) are respectively hinged with the two left clamping arms (2), and a left clamping jaw (8) is arranged on the left clamping arm (2);

the right clamping arm (3) is hinged with the support frame (1), the right clamping arm (3) is provided with two parallel clamping arms, the two right clamping arms (3) are connected through a right connecting piece (9), two ends of the right connecting piece (9) are respectively hinged with the two right clamping arms (3), and a right clamping jaw (10) is arranged on the right clamping arm (3);

the air cylinder (4) is mounted on the support frame (1), and a driving end of the air cylinder (4) is provided with a force transmission plate (11);

the connecting rod (5), connecting rod (5) are provided with two, one of them the both ends of connecting rod (5) respectively with biography power board (11) with left arm lock (2) are articulated mutually, and wherein another one the both ends of connecting rod (5) respectively with biography power board (11) with right arm lock (3) are articulated mutually.

2. The robot apparatus of claim 1, further comprising:

the guide mechanism (6) comprises a guide rod (61) connected to the dowel plate (11) and a linear bearing (62) arranged on the support frame (1), the guide rod (61) penetrates through the linear bearing (62), and the extending direction of the guide rod (61) is consistent with the moving direction of the driving end of the air cylinder (4).

3. The robot apparatus according to claim 2, wherein: the guide rods (61) and the corresponding linear bearings (62) are respectively provided in plurality.

4. The robot apparatus according to claim 1, wherein: and a base plate (12) is arranged on the left clamping jaw (8) and/or the right clamping jaw (10).

5. The robot apparatus according to claim 4, wherein: the grabbing surface of at least one backing plate (12) is provided with a soft cushion layer (13).

6. The robot apparatus according to claim 5, wherein: the soft cushion layer (13) is made of acrylic rubber.

7. The robot apparatus according to claim 1, wherein: the support frame (1) comprises an upper clamping plate (101) and a lower clamping plate (102), a certain distance is reserved between the upper clamping plate (101) and the lower clamping plate (102), and the air cylinder (4) is arranged between the upper clamping plate (101) and the lower clamping plate (102).