CN212193222U

CN212193222U - Stable manipulator of centre gripping

Info

Publication number: CN212193222U
Application number: CN202020548463.2U
Authority: CN
Inventors: 熊林州
Original assignee: Shanghai Dengjie Machinery Equipment Co ltd
Current assignee: Shanghai Dengjie Machinery Equipment Co ltd
Priority date: 2020-04-14
Filing date: 2020-04-14
Publication date: 2020-12-22
Anticipated expiration: 2030-04-14

Abstract

The utility model discloses a stable manipulator of centre gripping, including the set casing, the fixedly connected with connecting piece of center department at set casing top, the right side fixedly connected with servo motor of set casing, the left side of servo motor output run through to the inner chamber of set casing and the two-way threaded rod of fixedly connected with, the left side swing joint of two-way threaded rod is in the left side of set casing inner chamber. The utility model discloses a two-way threaded rod, the thread bush, the shifting chute, servo motor, first electric telescopic handle, the grip block, a groove, second electric telescopic handle, the limiting plate, the cooperation of movable plate and rubber pad is used, the in-process of current manipulator carrying out the centre gripping to article has been solved, cause the phenomenon of landing very easily, especially the glossy article in surface, consequently can often cause the damage to article, and simultaneously, can't carry out the centre gripping to the article of equidimension not, when article centre gripping to undersize, then need change miniature manipulator, very troublesome problem.

Description

Stable manipulator of centre gripping

Technical Field

The utility model relates to a manipulator technical field specifically is a stable manipulator of centre gripping.

Background

The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and conveying article or operating tool according to fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance.

The existing manipulator is easy to cause the phenomenon of slipping off in the process of clamping articles, particularly smooth-surface articles, so that the articles are often damaged, meanwhile, the articles with different sizes cannot be clamped, and when the articles with small sizes are clamped, the small-sized manipulator needs to be replaced, which is very troublesome.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a stable manipulator of centre gripping possesses the stable advantage of centre gripping, has solved current manipulator and is carrying out the in-process of centre gripping to article, causes the phenomenon of landing very easily, especially surperficial glossy article, consequently can often cause the damage to article, simultaneously, can't carry out the centre gripping to the article of equidimension not, when the article centre gripping to undersize, then need change miniature manipulator, very troublesome problem.

In order to achieve the above object, the utility model provides a following technical scheme: a manipulator stable in clamping comprises a fixed shell, wherein a connecting piece is fixedly connected to the center of the top of the fixed shell, a servo motor is fixedly connected to the right side of the fixed shell, the left side of the output end of the servo motor penetrates through the inner cavity of the fixed shell and is fixedly connected with a bidirectional threaded rod, the left side of the bidirectional threaded rod is movably connected to the left side of the inner cavity of the fixed shell, threaded sleeves are respectively sleeved on two sides of the surface of the bidirectional threaded rod in a threaded manner, moving grooves are respectively formed in two sides of the bottom of the fixed shell, a connecting plate is fixedly connected to the bottom of each threaded sleeve, the bottom of each connecting plate penetrates through the inner cavity of each moving groove and extends to the bottom of each moving plate, a mounting shell is fixedly connected to the top and the bottom of one side opposite to the moving plate, a first electric telescopic rod is fixedly connected to the inner cavity of the mounting shell, one side opposite to, the bottom of the opposite side of movable plate all sets up flutedly, the first fixed block of recess inner chamber's top fixedly connected with, the positive surperficial swing joint of first fixed block has the limiting plate, the equal fixedly connected with second fixed block in bottom of the opposite side of recess inner chamber, the positive surperficial swing joint of second fixed block has second electric telescopic handle, one side swing joint of second fixed block and the top of the positive opposite side of surface of limiting plate are kept away from to second electric telescopic handle.

Preferably, the sliding blocks are arranged on two sides of the top of the inner cavity of the fixed shell, the sliding blocks are fixedly connected to the top of the threaded sleeve, and the top of each sliding block extends to the inner cavity of the corresponding sliding groove and is in sliding connection with the inner wall of the sliding groove.

Preferably, both sides on the surface of the bidirectional threaded rod are respectively provided with a positive thread and a negative thread, and the positive thread and the negative thread are respectively in threaded connection with the thread sleeves on the left side and the right side.

Preferably, the surface of one side opposite to the clamping plate and the center of the bottom of the fixed shell are both fixedly connected with rubber pads, and the joint of the mounting shell and the moving plate is fixedly connected through fastening screws.

Preferably, the bottom of limiting plate and the bottom of movable plate are in same horizontal plane, through first bearing swing joint between the junction of servo motor output and set casing, through second bearing swing joint between the left side of two-way threaded rod and set casing inner chamber.

Compared with the prior art, the beneficial effects of the utility model are as follows:

1. the utility model discloses a two-way threaded rod, the thread bush, the shifting chute, servo motor, first electric telescopic handle, the grip block, a groove, second electric telescopic handle, the limiting plate, the cooperation of movable plate and rubber pad is used, can stabilize the centre gripping to article, avoid it to drop and damage at the in-process of centre gripping, and can carry out the centre gripping to the article of equidimension not, the in-process of carrying out the centre gripping to article of having solved current manipulator, cause the phenomenon of landing very easily, especially smooth article in surface, consequently can often cause the damage to article, and simultaneously, can't carry out the centre gripping to the article of equidimension not, when the article centre gripping to small-size, then need to change miniature manipulator, very troublesome problem.

2. The utility model discloses a use of connecting piece, can conveniently carry out erection joint to the manipulator, use through spout and slider, stability when can improving the thread bush and remove, the in-process of avoiding its removal takes place to rotate, use through first bearing and second bearing, can make things convenient for the two-way threaded rod to rotate, use through the installation shell, can conveniently fix first electric telescopic handle, use through the rubber pad, can protect the article of centre gripping, use through the limiting plate, can carry on spacingly to the article after the centre gripping, avoid it to drop.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged structural view of A in FIG. 1 according to the present invention;

fig. 3 is a front view structure diagram of the present invention.

In the figure: the device comprises a fixed shell 1, a connecting plate 2, a sliding groove 3, a bidirectional threaded rod 4, a connecting piece 5, a threaded sleeve 6, a sliding block 7, a moving groove 8, a servo motor 9, a first electric telescopic rod 10, a clamping plate 11, a mounting shell 12, a groove 13, a second electric telescopic rod 14, a limiting plate 15, a moving plate 16, a rubber pad 17, a first fixing block 18 and a second fixing block 19.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. 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 "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", 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 to be referred must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "connected", and the like are to be construed broadly, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; 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.

The utility model discloses a set casing 1, connecting plate 2, two-way threaded rod 4, connecting piece 5, thread bush 6, slider 7, servo motor 9, first electric telescopic handle 10, grip block 11, installation shell 12, second electric telescopic handle 14, limiting plate 15, movable plate 16, rubber pad 17, first

fixed block

18 and 19 parts of second fixed block are the parts that general standard component or technical personnel in the field know, and its structure and principle all can learn through the technical manual or learn through conventional experimental method for this technical personnel.

Referring to fig. 1-3, a manipulator with stable clamping comprises a fixed shell 1, a connecting piece 5 is fixedly connected at the center of the top of the fixed shell 1, the manipulator can be conveniently installed and connected by using the connecting piece 5, a servo motor 9 is fixedly connected at the right side of the fixed shell 1, the left side of the output end of the servo motor 9 penetrates through the inner cavity of the fixed shell 1 and is fixedly connected with a bidirectional threaded rod 4, the two sides of the surface of the bidirectional threaded rod 4 are respectively provided with a positive thread and a negative thread, the positive thread and the negative thread are respectively in threaded connection with thread sleeves 6 at the left side and the right side, the left side of the bidirectional threaded rod 4 is movably connected at the left side of the inner cavity of the fixed shell 1, the connecting position between the output end of the servo motor 9 and the fixed shell 1 is movably connected through a first bearing, the left side of the inner cavity, through the use of the first bearing and the second bearing, the rotation of the bidirectional threaded rod 4 can be facilitated, the threaded sleeves 6 are respectively and threadedly sleeved on the two sides of the surface of the bidirectional threaded rod 4, the sliding blocks 7 are respectively arranged on the two sides of the top of the inner cavity of the fixed shell 1, the sliding blocks 7 are fixedly connected to the top of the threaded sleeves 6, the top of the sliding blocks 7 extends to the inner cavity of the sliding groove 3 and is in sliding connection with the inner wall of the sliding groove, through the use of the sliding groove 3 and the sliding blocks 7, the stability of the threaded sleeves 6 during movement can be improved, the threaded sleeves are prevented from rotating in the movement process, the moving grooves 8 are respectively arranged on the two sides of the bottom of the fixed shell 1, the bottom of the threaded sleeves 6 is fixedly connected with the connecting plate 2, the bottom of the connecting plate 2 penetrates through the inner cavity of the moving groove 8 and extends to the bottom of the connecting, the first electric telescopic rod 10 can be conveniently fixed by using the mounting shell 12, one side opposite to the first electric telescopic rod 10 penetrates through the movable plate 16 and extends to a position between one sides opposite to the movable plate 16, the clamping plate 11 is fixedly connected between the surface of one side opposite to the clamping plate 11 and the center of the bottom of the fixed shell 1, the mounting shell 12 and the movable plate 16 are fixedly connected through fastening screws, clamped articles can be protected by using the rubber gasket 17, the bottom of one side opposite to the movable plate 16 is provided with the groove 13, the top of the inner cavity of the groove 13 is fixedly connected with the first fixing block 18, the front surface of the first fixing block 18 is movably connected with the limiting plate 15, the bottom of the limiting plate 15 and the bottom of the movable plate 16 are positioned on the same horizontal plane, and the movable plate can limit the clamped articles by using the limiting plate 15, the article clamping device has the advantages that the article is prevented from falling, the bottom of the opposite side of the inner cavity of the groove 13 is fixedly connected with the second fixed block 19, the front surface of the second fixed block 19 is movably connected with the second electric telescopic rod 14, one side, far away from the second fixed block 19, of the second electric telescopic rod 14 is movably connected with the top of the opposite side of the front surface of the limiting plate 15, the article can be stably clamped through the matching use of the two-way threaded rod 4, the threaded sleeve 6, the moving groove 8, the servo motor 9, the first electric telescopic rod 10, the clamping plate 11, the groove 13, the second electric telescopic rod 14, the limiting plate 15, the moving plate 16 and the rubber pad 17, the article is prevented from falling and being damaged in the clamping process, the articles with different sizes can be clamped, the problem that the existing manipulator is easy to cause the phenomenon of falling in the clamping process of the articles is solved, particularly the articles, meanwhile, the clamping of articles with different sizes cannot be realized, and when the clamping of articles with small sizes is realized, a small-sized manipulator needs to be replaced, so that the problem of great trouble is solved.

When the manipulator moves to an article to be clamped, the servo motor 9 is started, the output end of the servo motor drives the bidirectional threaded rod 4 to slowly rotate, the threaded sleeve 6 on the surface of the bidirectional threaded rod is driven to rotate, the connecting plate 2 drives the moving plate 16 to move oppositely, the article is clamped, initially, the second electric telescopic rod 14 is located at the maximum retraction distance, in the clamping process, the limiting plate 15 is in contact with the bottom of the article, the article is lifted upwards, the article is located above the limiting plate 15, then the second electric telescopic rod 14 is started, the limiting plate 15 is driven to rotate by taking the first fixing block 18 as the center of a circle, when the second electric telescopic rod 14 extends to the maximum, the limiting plate 15 is in a horizontal state, when the rubber pad 17 on the clamping plate 11 is in close contact with the article, the clamping effect is achieved, when the article is small, the first electric telescopic rod 10 extends, thereby driving the clamping plates 11 to move oppositely, adjusting the clamping distance and clamping small articles.

To sum up: this manipulator that centre gripping is stable, through two-way threaded rod 4, thread bush 6, shifting chute 8, servo motor 9, first electric telescopic handle 10, grip block 11, recess 13, second electric telescopic handle 14, limiting plate 15, the cooperation of movable plate 16 and rubber pad 17 is used, the in-process of having solved current manipulator and carrying out the centre gripping to article, cause the phenomenon of landing very easily, especially the glossy article in surface, consequently can often cause the damage to article, and simultaneously, can't carry out the centre gripping to the article of equidimension not, when the article centre gripping to undersize, then need change miniature manipulator, very troublesome problem.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a manipulator that centre gripping is stable, includes set casing (1), its characterized in that: the center of the top of the fixed shell (1) is fixedly connected with a connecting piece (5), the right side of the fixed shell (1) is fixedly connected with a servo motor (9), the left side of the output end of the servo motor (9) penetrates through the inner cavity of the fixed shell (1) and is fixedly connected with a bidirectional threaded rod (4), the left side of the bidirectional threaded rod (4) is movably connected with the left side of the inner cavity of the fixed shell (1), both sides of the surface of the bidirectional threaded rod (4) are respectively provided with a threaded sleeve (6), both sides of the bottom of the fixed shell (1) are respectively provided with a movable groove (8), the bottom of the threaded sleeve (6) is fixedly connected with a connecting plate (2), the bottom of the connecting plate (2) penetrates through the inner cavity of the movable groove (8) and extends to the bottom of the movable plate (16), and the top and the bottom of the opposite side of the movable, the inner cavity of the mounting shell (12) is fixedly connected with a first electric telescopic rod (10), the opposite side of the first electric telescopic rod (10) penetrates through the movable plate (16) and extends to the opposite side of the movable plate (16) and a clamping plate (11) is fixedly connected between the opposite sides, the bottom of the opposite side of the moving plate (16) is provided with a groove (13), the top of the inner cavity of the groove (13) is fixedly connected with a first fixed block (18), the front surface of the first fixed block (18) is movably connected with a limit plate (15), the bottom of the opposite side of the inner cavity of the groove (13) is fixedly connected with a second fixed block (19), the front surface of the second fixed block (19) is movably connected with a second electric telescopic rod (14), one side of the second electric telescopic rod (14) far away from the second fixed block (19) is movably connected with the top of the side opposite to the front surface of the limiting plate (15).

2. A grip-stabilizing manipulator as claimed in claim 1, wherein: slider (7) have all been seted up to the both sides at set casing (1) inner chamber top, top fixedly connected with slider (7) of thread bush (6), the top of slider (7) extend to the inner chamber of spout (3) and rather than inner wall sliding connection.

3. A grip-stabilizing manipulator as claimed in claim 1, wherein: two sides of the surface of the bidirectional threaded rod (4) are respectively provided with a positive thread and a negative thread, and the positive thread and the negative thread are respectively in threaded connection with thread sleeves (6) on the left side and the right side.

4. A grip-stabilizing manipulator as claimed in claim 1, wherein: the surface of one side opposite to the clamping plate (11) and the center of the bottom of the fixed shell (1) are fixedly connected with rubber pads (17), and the joint of the mounting shell (12) and the moving plate (16) is fixedly connected through fastening screws.

5. A grip-stabilizing manipulator as claimed in claim 1, wherein: the bottom of limiting plate (15) and the bottom of movable plate (16) are in same horizontal plane, through first bearing swing joint between the junction of servo motor (9) output and set casing (1), through second bearing swing joint between the left side of two-way threaded rod (4) and set casing (1) inner chamber.