CN214163010U

CN214163010U - Clamping manipulator

Info

Publication number: CN214163010U
Application number: CN202022872285.1U
Authority: CN
Inventors: 邹思琳; 王阳; 徐毓
Original assignee: Shenzhen Suying Technology Co ltd
Current assignee: Shenzhen Suying Technology Co ltd
Priority date: 2020-12-01
Filing date: 2020-12-01
Publication date: 2021-09-10
Anticipated expiration: 2030-12-01

Abstract

The utility model discloses a clamping manipulator, which comprises a fixed frame, a horizontal moving structure, a telescopic structure, a rotating structure, a plurality of bending structures and a clamping structure; the fixing frame is used for fixing and mounting; one part of the horizontal moving structure is arranged in the fixed frame, and the other part of the horizontal moving structure is arranged at the side of the fixed frame; the horizontal migration structure the extending structure, revolution mechanic, a plurality of the curved structure, the centre gripping structure sets up from the top down in proper order, the extending structure for the horizontal migration structure can stretch out and draw back, revolution mechanic for the extending structure can rotate, curved structure can for revolution mechanic can buckle. The utility model discloses a motion mode of five degrees of freedom of manipulator to the home range and the application scene of manipulator have been strengthened.

Description

Clamping manipulator

Technical Field

The utility model relates to a manipulator technical field particularly, especially relates to a centre gripping manipulator.

Background

The manipulator can imitate some action functions of human hand and arm, and can be used for automatic operation device for gripping and conveying article or operating tool according to fixed program, it can replace the heavy labour of human body to implement mechanization and automation of production, and can be operated under the harmful environment to protect personal safety, so that it can be extensively used in the mechanical manufacture, metallurgy, electronic, light industry and atomic energy department. The existing clamping type manipulator changes the position and the posture of a gripped object through a driving mechanism, and independent motion modes such as lifting, stretching and rotating of a motion mechanism are called the degree of freedom of the manipulator, and the general clamping type manipulator has 2-3 degrees of freedom respectively, but in some occasions, the clamping type manipulator has more freedom requirements. Therefore, the present invention is modified and improved in view of the defects of the above solutions in actual manufacturing and implementation, and the present invention is created with the help of professional knowledge and experience, and after many kinds of puzzles and experiments.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a centre gripping manipulator to solve above-mentioned problem.

The utility model relates to a centre gripping manipulator can realize through following technical scheme:

the utility model relates to a clamping manipulator, which comprises a fixed frame, a horizontal moving structure, a telescopic structure, a rotating structure, a plurality of bending structures and a clamping structure; the fixing frame is used for fixing and mounting; one part of the horizontal moving structure is arranged in the fixed frame, and the other part of the horizontal moving structure is arranged at the side of the fixed frame; the horizontal migration structure the extending structure, revolution mechanic, a plurality of the curved structure, the centre gripping structure sets up from the top down in proper order, the extending structure for the horizontal migration structure can stretch out and draw back, revolution mechanic for the extending structure can rotate, curved structure can for revolution mechanic can buckle.

In one embodiment, the bending structure comprises a first bending structure and a second bending structure, the first bending structure is arranged below the rotating structure and can be bent relative to the rotating structure; the second bending structure is arranged below the first bending structure and can be bent relative to the first bending structure.

In one embodiment, the first bending structure comprises a second motor, a first rotating plate and a first rotating rod, the second motor and the first rotating plate are respectively arranged on two sides of the lower end of the rotating structure, and the rotating shaft of the second motor is connected with the first rotating plate; one end of the first rotating rod is connected with the first rotating plate, and the other end of the first rotating rod is connected with the second bending structure.

In one embodiment, the second bending structure includes a third motor, a second rotating plate and a second rotating rod, the third motor and the second rotating plate are respectively disposed at two sides of the lower end of the first rotating rod, and a rotating shaft of the third motor is connected to the second rotating plate; one end of the second rotating rod is connected with the second rotating rod in a rotating mode, and the other end of the second rotating rod is connected with the clamping structure.

In one embodiment, the second motor and the third motor are servo motors.

In one embodiment, the clamping structure comprises a clamping shell, a grabbing cylinder and a clamping jaw, wherein the clamping shell is arranged below the second rotating plate; the grabbing cylinder is arranged in the clamping shell; the clamping jaw is arranged below the clamping shell.

In one embodiment, the horizontal moving structure comprises a first motor, the screw rod and a movable block; the first motor is arranged on the side of the fixed frame; the screw rods are arranged at two ends of the fixing frame and are connected with the first motor; the movable block is arranged on the screw rod.

In one embodiment, the telescopic structure comprises a telescopic shell and a telescopic rod, the telescopic shell is fixedly arranged below the movable block, a part of the telescopic shell is arranged on the telescopic shell, and the lower end of the telescopic rod is connected with the rotating structure.

In one embodiment, the extension pole is an electrically powered extension pole.

In one embodiment, the rotating structure includes a rotating housing disposed below the telescopic rod, and a rotating motor disposed in the rotating housing, which drives the rotating housing to rotate.

Compared with the prior art, the utility model relates to a centre gripping manipulator's beneficial effect does:

the clamping manipulator of the utility model realizes the movement of the manipulator in the horizontal direction through the action of the horizontal moving structure; the mechanical arm moves longitudinally under the action of the telescopic structure; the manipulator can rotate 360 degrees under the action of the rotating structure; through mutually supporting of first bending structure and second bending structure, realized manipulator multi-angle bending, make the utility model relates to a centre gripping manipulator has realized the motion mode of 5 degrees of freedom to the home range and the application scene of manipulator have been strengthened.

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 view of a clamping manipulator of the present invention;

fig. 2 is a schematic view of a partial cross-sectional structure of a part of a clamping robot of the present invention shown in fig. 1;

fig. 3 is a schematic view of a partial cross-sectional structure of another part of the clamping robot of the present invention shown in fig. 1.

The following are marked in the figure: 11, a fixing frame; 12, a horizontal moving structure; 121, a first motor; 122, a screw rod; 123, a movable block; 13, a telescopic structure; 131, a telescoping housing; 132, a telescoping rod; 14, a rotating structure; 141, a rotating housing; 142, a rotating electrical machine; 15, a first flexure structure; 151, a second motor; 152, a first rotation plate; 153, a first rotating lever; 16, a second flexure structure; 161, a third motor; 162, a second rotating plate; 163, a second swivelling lever; 17, a clamping structure; 171, clamping the housing; 172, a grasping cylinder; 173, a clamping jaw.

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 the 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 work 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 "upper" and "lower" are used for indicating 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 describing the present invention and simplifying the description, but not for indicating or implying that the indicated device or element must have a specific position, be constructed and operated in a specific position, and thus should not be construed as limiting the present invention.

Further, in the present disclosure, unless otherwise expressly stated or limited, the first feature may comprise both the first and second features directly contacting each other, and also may comprise the first and second features not being directly contacting each other but being in contact with each other by means of further features between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.

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 explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, e.g., as meaning 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.

Referring to fig. 1, a clamping robot of the present invention may include a fixing frame 11, a horizontal moving structure 12, a telescopic structure 13, a rotating structure 14, a first bending structure 15, a second bending structure 16, and a clamping structure 17; the fixed frame 11 is used for fixedly mounting the manipulator; one part of the horizontal moving structure 12 is arranged in the fixed frame 11, and the other part of the horizontal moving structure is arranged on the side edge of the fixed frame 11 and can drive the manipulator to horizontally move; the telescopic structure 13 is arranged below the horizontal moving structure 12 and can move longitudinally relative to the horizontal moving structure 12, so that the manipulator can move longitudinally; the rotating structure 14 is arranged below the telescopic structure 13, and the rotating structure 14 can rotate 360 degrees relative to the telescopic structure 13; in some embodiments, the rotating structure 14 may also be disposed between the horizontally moving structure 12 and the telescopic structure 13, such that the rotating structure 14 rotates relative to the horizontally moving structure 12, and the telescopic structure 13 is capable of longitudinal movement relative to the rotating structure 14; the first bending structure 15 is arranged below the rotating structure 14 and can be bent relative to the rotating structure 14; the second bending structure 16 is arranged below the first bending structure 15 and can be bent relative to the first bending structure 15; the clamping structure 17 is arranged below the second bending structure 16 and can perform a clamping action.

Referring to fig. 1, in the present embodiment, the horizontal moving structure 12 includes a first motor 121, the screw rod 122 and a movable block 123; the first motor 121 is arranged on the side of the fixed frame 11, and can rotate forward and backward, so as to drive the movable block 123 to move horizontally on the screw rod 122; the screw rods 122 are arranged at two ends of the fixed frame 11 and connected with the first motor 121; the movable block 123 is disposed on the screw rod 122, and under the driving of the first motor 121, the movable block 123 can move horizontally on the screw rod 122, so that the manipulator moves horizontally.

Referring to fig. 2, in the present embodiment, the telescopic structure 13 includes a telescopic housing 131 and a telescopic rod 132, the telescopic housing 131 is fixedly disposed below the movable block 123 and is a hollow cavity, the telescopic rod 132 is an electric telescopic rod, a portion of which is disposed on the telescopic housing 131, a lower end of the telescopic rod 132 is connected to the rotating structure 14, and a longitudinal movement of the manipulator can be realized through the telescopic rod 132. In this embodiment, the rotating structure 14 includes a rotating housing 141 and a rotating motor 142, the rotating housing 141 is disposed below the telescopic rod 132, and the rotating motor 142 is disposed in the rotating housing 141 and drives the rotating housing 141 to rotate.

Referring to fig. 2, in this embodiment, the first bending structure 15 includes a second motor 151, a first rotating plate 152 and a first rotating rod 153, the second motor 151 and the first rotating plate 152 are respectively disposed at two sides of the lower end of the rotating structure 14, a rotating shaft of the second motor 151 is connected to the first rotating plate 152, and the second motor 151 rotates to drive the first rotating plate 152 to rotate; one end of the first rotation lever 153 is connected to the first rotation plate 152, and the other end thereof is connected to the second bending structure 16.

Referring to fig. 3, in this embodiment, the second bending structure 16 includes a third motor 161, a second rotating plate 162 and a second rotating rod 163, the third motor 161 and the second rotating plate 162 are respectively disposed at two sides of the lower end of the first rotating rod 153, a rotating shaft of the third motor 161 is connected to the second rotating plate 162, and the third motor 161 rotates to drive the second rotating plate 162 to rotate; one end of the second rotating lever 163 is connected to the second rotating plate 162, and the other end thereof is connected to the clamping structure 17. In other embodiments, the second bending structure 16 may also be provided with a plurality of bending structures, and the specific structure of the bending structures is similar to that of the first bending structure 15 and the second bending structure 16. In this embodiment, the clamping structure 17 includes a clamping housing 171, a grasping cylinder 172, and a clamping jaw 173, and the clamping housing 171 is disposed below the second rotating plate 162 and moves with the rotation of the second rotating plate 162; the grasping air cylinder 172 is disposed in the holding case 171; the clamping jaw 173 is disposed below the clamping housing 171, and the grabbing cylinder 172 is connected to the clamping jaw 173, and drives the clamping jaw 173 to grab an object. In this embodiment, the second motor 151 and the third motor 161 are servo motors.

It should be noted that the movable block 123 can horizontally move on the screw rod 122 under the driving of the first motor 121, so that the movement of the manipulator in the horizontal direction is realized; the mechanical arm moves longitudinally under the action of the telescopic structure 13; through the action of the rotating structure 14, the manipulator can rotate 360 degrees; through first bending structure 15 with mutually supporting of second bending structure 16, realized manipulator multi-angle bending, make the utility model relates to a centre gripping manipulator has realized the motion mode of 5 degrees of freedom to the home range and the application scene of manipulator have been strengthened.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A clamping manipulator is characterized by comprising a fixed frame, a horizontal moving structure, a telescopic structure, a rotating structure, a plurality of bending structures and a clamping structure; the fixing frame is used for fixing and mounting; one part of the horizontal moving structure is arranged in the fixed frame, and the other part of the horizontal moving structure is arranged at the side of the fixed frame; the horizontal migration structure the extending structure, revolution mechanic, a plurality of the curved structure, the centre gripping structure sets up from the top down in proper order, the extending structure for the horizontal migration structure can stretch out and draw back, revolution mechanic for the extending structure can rotate, curved structure can for revolution mechanic can buckle.

2. A gripping manipulator according to claim 1, wherein the bending structure comprises a first bending structure and a second bending structure, the first bending structure being arranged below the rotating structure and being bendable with respect to the rotating structure; the second bending structure is arranged below the first bending structure and can be bent relative to the first bending structure.

3. The clamping manipulator as claimed in claim 2, wherein the first bending structure comprises a second motor, a first rotating plate and a first rotating rod, the second motor and the first rotating plate are respectively arranged at two sides of the lower end of the rotating structure, and the rotating shaft of the second motor is connected with the first rotating plate; one end of the first rotating rod is connected with the first rotating plate, and the other end of the first rotating rod is connected with the second bending structure.

4. The clamping manipulator according to claim 3, wherein the second bending structure comprises a third motor, a second rotating plate and a second rotating rod, the third motor and the second rotating plate are respectively arranged at two sides of the lower end of the first rotating rod, and the rotating shaft of the third motor is connected with the second rotating plate; one end of the second rotating rod is connected with the second rotating rod in a rotating mode, and the other end of the second rotating rod is connected with the clamping structure.

5. A clamping robot as claimed in claim 4, wherein said second motor and said third motor are servo motors.

6. The clamping manipulator as claimed in claim 4, wherein the clamping structure comprises a clamping shell, a grabbing cylinder and a clamping jaw, and the clamping shell is arranged below the second rotating plate; the grabbing cylinder is arranged in the clamping shell; the clamping jaw is arranged below the clamping shell.

7. The clamping manipulator as claimed in claim 1, wherein the horizontal moving structure comprises a first motor, a screw and a movable block; the first motor is arranged on the side of the fixed frame; the screw rods are arranged at two ends of the fixing frame and are connected with the first motor; the movable block is arranged on the screw rod.

8. The clamping manipulator as claimed in claim 7, wherein the telescopic structure comprises a telescopic housing and a telescopic rod, the telescopic housing is fixedly arranged below the movable block, a part of the telescopic housing is arranged on the telescopic housing, and the lower end of the telescopic rod is connected with the rotating structure.

9. The clamping manipulator as claimed in claim 8, wherein the telescopic rod is an electric telescopic rod.

10. The clamping manipulator as claimed in claim 9, wherein the rotating structure includes a rotating housing and a rotating motor, the rotating housing is disposed below the telescopic rod, and the rotating motor is disposed in the rotating housing and drives the rotating housing to rotate.