CN211615664U

CN211615664U - Novel grab cup manipulator device

Info

Publication number: CN211615664U
Application number: CN201922219259.6U
Authority: CN
Inventors: 钱云; 王超
Original assignee: Qimi Shanghai Network Technology Co ltd
Current assignee: Qimi Shanghai Network Technology Co ltd
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-10-02
Anticipated expiration: 2029-12-06

Abstract

The utility model discloses a novel cup grabbing manipulator device, which comprises a first supporting disc and a chassis, wherein the top end of a manipulator frame is respectively fixed at the four corners of the bottom of the first supporting disc, the bottom end of the manipulator frame is respectively fixed at the four sides of the chassis, a first bearing is fixed on the chassis, a motor is arranged in a hollow structure of the first supporting disc in a penetrating way and is fixedly connected with the first supporting disc, an output shaft of the motor is connected with a lead screw through a coupling, a fixed disc and a lead screw nut are sleeved on the lead screw, the fixed disc is fixedly connected with the lead screw nut, the bottom end of the lead screw is connected with the first bearing in a shaft way, pressing claws are respectively fixed at the four sides of the fixed disc, each pressing claw is respectively connected with a pushing connecting rod in a shaft way, each pushing connecting rod is connected with one end of a long connecting rod in a shaft way, the middle part of the long, the other end of the long connecting rod and the other end of the short connecting rod are both in shaft connection with a mechanical clamping jaw used for clamping a cup.

Description

Novel grab cup manipulator device

Technical Field

The utility model relates to a manipulator technical field especially relates to a novel grab cup manipulator device.

Background

The current grabbing mechanical arm is mainly an industrial mechanical arm and is used for completing certain operations in industrial production. The prior scheme has the following defects:

1. at present, the multi-joint mechanical arm which is most widely applied occupies a large area, is of a uniform type, is difficult to customize and is not very suitable for cup grabbing operation;

2. the pneumatic claw of the industrial manipulator is required to depend on an air pump, and the manipulator torsion controlled by a steering engine is too small;

3. the design of the two opening and closing claws is not easy to stably hold the cup.

SUMMERY OF THE UTILITY MODEL

The utility model discloses problem and not enough to prior art exist provides a novel grab cup manipulator device.

The utility model discloses a solve above-mentioned technical problem through following technical scheme:

the utility model provides a novel cup grabbing manipulator device, which is characterized by comprising a first supporting disc and a chassis, wherein four corners of the bottom of the first supporting disc are respectively fixed with the top end of a manipulator frame, four sides of the chassis are respectively fixed with the bottom end of the manipulator frame, a first bearing is fixed on the chassis, a hollow structure of the first supporting disc is provided with a motor in a penetrating way, the motor is fixedly connected with the first supporting disc, an output shaft of the motor is connected with a lead screw through a coupler, a fixed disc and a lead screw nut are sleeved on the lead screw, the fixed disc is fixedly connected with the lead screw nut, the bottom end of the lead screw is in shaft joint with the first bearing, four sides of the fixed disc are respectively fixed with pressing claws, each pressing claw is respectively in shaft joint with a pushing connecting rod, each pushing connecting rod is in shaft joint with one end of a long connecting rod, the middle part of the long connecting rod is in shaft joint with the, the bottom of manipulator frame has the one end of short connecting rod in the coupling joint, the other end of long connecting rod and the other end of short connecting rod all the coupling joint be used for pressing from both sides the mechanical clamping jaw who gets the cup.

Preferably, shaft fixing parts are respectively fixed at four corners of the top of the first supporting disk.

Preferably, a motor heat dissipation baffle is fixed at the top of the motor.

Preferably, the top end of the screw is coupled to a second bearing, the second bearing is sleeved with a second supporting plate, and four corners of the second supporting plate are respectively engaged with corresponding inner recesses of the manipulator frame.

On the basis of the common knowledge in the field, the above preferred conditions can be combined at will to obtain the preferred embodiments of the present invention.

The utility model discloses an actively advance the effect and lie in:

the utility model discloses one set of simple and easy and efficient grabbing device has been designed to grabbing the cup operation, and manipulator among the grabbing device is by four claw branches of single motor control, can be stable grab the cup and put the cup. A plurality of clamping jaws make and grab cup stability good, and whole gripper design is simple and snatchs the time weak point.

The manipulator through new design can effectually snatch the cup and put down. This design adopts the lead screw to impel, and the drawback that pneumatic clamping jaw and steering wheel clamping jaw moment are little is avoided to the power of grabbing of increase manipulator that can be very big.

Drawings

Fig. 1 is a schematic structural diagram of the novel cup grabbing manipulator device according to a preferred embodiment of the present invention.

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. 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.

As shown in fig. 1, this embodiment provides a novel cup grabbing manipulator device, which includes a first supporting disk 1 and a chassis 2, the top end of a manipulator frame 3 is respectively fixed at four corners of the bottom of the first supporting disk 1, the bottom end of the manipulator frame 3 is respectively fixed at four sides of the chassis 2, a first bearing 4 is fixed on the chassis 2, a motor 5 is arranged in a hollow structure of the first supporting disk 1 in a penetrating manner, the motor 5 is fixedly connected with the first supporting disk 1, an output shaft of the motor 5 is connected with a lead screw 7 through a coupling 6, a fixed disk 8 and a lead screw nut 9 are sleeved on the lead screw 7, the fixed disk 8 is fixedly connected with the lead screw nut 9, the bottom end of the lead screw 7 is coupled with the first bearing 4, the top end of the lead screw 7 is coupled with a second bearing 10, a second supporting disk 11 is sleeved on the second bearing 10, the four corners of the second support plate 11 are respectively engaged with the corresponding inner side recesses of the manipulator frame 3.

The four sides of the fixed disc 8 are respectively fixed with a pressing claw 12, each pressing claw 12 is respectively connected with a pushing connecting rod 13 in a shaft mode, each pushing connecting rod 13 is connected with one end of a long connecting rod 14 in a shaft mode, the middle of each long connecting rod 14 is connected with the lower portion of the corresponding manipulator frame 3 in a shaft mode, the bottom end of each manipulator frame 3 is connected with one end of a short connecting rod 15 in a shaft mode, and the other end of each long connecting rod 14 and the other end of each short connecting rod 15 are connected with a mechanical clamping jaw 16 used for clamping a cup 20 in a.

In addition, shaft fixing parts 17 are respectively fixed at four corners of the top of the first supporting disk 1, and a motor heat dissipation baffle 18 is fixed at the top of the motor 5.

The working principle of the novel cup grabbing manipulator device is specifically described as follows:

motor 5 starts work, and motor 5 corotation drives lead screw 7 corotation, and screw nut 9 rebound to drive the pressure claw 12 on the fixed disk 8 and upwards remove, promote connecting rod 13 and promote long connecting rod 14 and short connecting rod 15 and move to the inboard, thereby drive mechanical clamping jaw 16 and also move to the inboard, like this, four all to the inboard mechanical clamping jaw 16 of moving just can clip cup 20, thereby realize pressing from both sides the function of getting cup 20.

The motor 5 reverses, drives the lead screw 7 reversal, and screw nut 9 moves down to drive the 12 downstream of pressure claw on the fixed disk 8, promote connecting rod 13 and promote long connecting rod 14 and short connecting rod 15 outside motion, thereby drive mechanical clamping jaw 16 and also outside motion, like this, four all outside motion mechanical clamping jaw 16 just can release the cup 20 of getting, thereby realize unclamping the function of cup 20.

The utility model discloses the advantage of this kind of design lies in that the whole up-and-down motion of manipulator need not be great displacement because mechanical clamping jaw itself has upwards (pine cup) and the displacement of downwards (pressing from both sides the cup). And the distance that the pressure claw needs to move is very little, through the lead screw conveying, can realize great holding power.

The round bosses are designed at the positions of the short connecting rods and the long connecting rods, which are in contact with the bearings, so that the short connecting rods and the long connecting rods can be effectively fixed with the inner rings of the bearings, the friction between the short connecting rods and the outer rings of the bearings cannot be increased, and the clamping and loosening friction force of the mechanical hand is very small.

Although particular embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these are examples only and that the scope of the present invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and the principles of the present invention, and these changes and modifications are all within the scope of the present invention.

Claims

1. A novel cup grabbing manipulator device is characterized by comprising a first supporting disc and a chassis, wherein the top end of a manipulator frame is respectively fixed at four corners of the bottom of the first supporting disc, the bottom end of the manipulator frame is respectively fixed at four sides of the chassis, a first bearing is fixed on the chassis, a motor penetrates through the hollow structure of the first supporting disc and is fixedly connected with the first supporting disc, an output shaft of the motor is connected with a lead screw through a coupling, a fixed disc and a lead screw nut are sleeved on the lead screw, the fixed disc and the lead screw nut are fixedly connected, the bottom end of the lead screw is in shaft connection with the first bearing, pressing claws are respectively fixed at four sides of the fixed disc, each pressing claw is respectively in shaft connection with a pushing connecting rod, each pushing connecting rod is in shaft connection with one end of a long connecting rod, and the middle part of the long connecting rod is in shaft connection with the lower part of the corresponding manipulator frame, the bottom of manipulator frame has the one end of short connecting rod in the coupling joint, the other end of long connecting rod and the other end of short connecting rod all the coupling joint be used for pressing from both sides the mechanical clamping jaw who gets the cup.

2. A novel cup grabbing manipulator device as claimed in claim 1, wherein shaft fixing pieces are fixed at four corners of the top of the first supporting plate respectively.

3. A novel cup grabbing manipulator device as claimed in claim 1, wherein a motor heat dissipation baffle is fixed to the top of the motor.

4. The novel cup grabbing manipulator device as claimed in claim 1, wherein the top end of the lead screw is in shaft connection with a second bearing, a second supporting plate is sleeved on the second bearing, and four corners of the second supporting plate are respectively engaged with corresponding inner side depressions of the manipulator frame.