CN215149153U

CN215149153U - Simple robot with clamping and picking functions

Info

Publication number: CN215149153U
Application number: CN202120906177.3U
Authority: CN
Inventors: 雷志彬; 雷小军; 雷小伟
Original assignee: Zigong Weibo Culture And Art Co ltd
Current assignee: Zigong Weibo Culture And Art Co ltd
Priority date: 2021-04-28
Filing date: 2021-04-28
Publication date: 2021-12-14
Anticipated expiration: 2031-04-28

Abstract

The utility model belongs to the technical field of the robot, and a possess centre gripping and pick up simple and easy robot of function is disclosed, including the robot, the equal movable mounting in top of side has first armed lever about the robot, the bottom swing joint of first armed lever has the second armed lever, the bottom fixedly connected with stop collar of second armed lever, the top fixedly connected with small-size cylinder of second armed lever inner chamber. The utility model discloses a set up the stop collar, the small-size cylinder, first clamping jaw, second clamping jaw and reset spring, can upwards draw first clamping jaw and second clamping jaw through connecting plate and connecting axle under the drive of small-size cylinder, and because the effect of stop collar then can make the two move in opposite directions and extrude reset spring simultaneously and make reset spring have elasticity restorability through its bottom extrusion first clamping jaw and second clamping jaw, and then alright function that the bottom move in opposite directions of utilizing first clamping jaw and second clamping jaw cliies the object in order to realize.

Description

Simple robot with clamping and picking functions

Technical Field

The utility model belongs to the technical field of the robot, specifically a possess centre gripping and pick up simple and easy robot of function.

Background

The robot is an automatic machine, and is different from a robot which has intelligent capabilities similar to human or biology, such as perception capability, planning capability, action capability and coordination capability, and the robot is an automatic machine with high flexibility.

At present, the products of robots are more and more abundant, and the existing simple robot can basically assist people to complete some simple works in daily use, but the existing simple robot generally can not assist people to accurately clamp and pick some smaller objects, so that people are required to repeatedly control the robot to try to pick up the objects, and the use of the simple robot is complicated and difficult, and therefore the improvement of the simple robot is needed.

Meanwhile, the existing robot can basically complete the function of picking up objects in the daily use process, but generally does not have the function of accurate fixed-point release, so that the meaning of the function of picking up the objects is greatly reduced, and therefore, the improvement of the robot is needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims at the above problem, the utility model provides a possess the centre gripping and pick up simple and easy robot of function has the centre gripping to pick up and the fixed point advantage of puting in.

In order to achieve the above object, the utility model provides a following technical scheme: a simple robot with a clamping and picking function comprises a robot body, wherein a first arm rod is movably mounted at the top of the left side surface and the top of the right side surface of the robot body, a second arm rod is movably connected at the bottom of the first arm rod, a limiting sleeve is fixedly connected at the bottom of the second arm rod, a small air cylinder is fixedly connected at the top of an inner cavity of the second arm rod, the small air cylinder is a conventional device, the type of the small air cylinder is suitable for SAT8-4DCFT-3GCJSD series, the bottom of the small air cylinder penetrates through the second arm rod and the limiting sleeve and extends to the lower part of the limiting sleeve and is fixedly connected with a connecting plate, a connecting shaft is movably sleeved inside the connecting plate, two ends of the connecting shaft penetrate through the connecting plate and extend to the outside of the connecting plate and are fixedly sleeved with a second clamping jaw, and a first clamping jaw positioned between the connecting plate and the second clamping jaw is fixedly sleeved on the outer surface of the connecting shaft, and the tops of the opposite surfaces of the first clamping jaw and the second clamping jaw are fixedly connected with return springs.

As a preferred technical scheme of the utility model, the cavity has been seted up to the positive bottom of robot body, the positive fixed mounting of cavity has sealed apron, cavity inner chamber's bottom fixedly connected with mounting bracket, because the setting of mounting bracket has then made things convenient for operating personnel fixed to the installation of power motor.

As an optimal technical scheme of the utility model, the bottom fixed mounting of mounting bracket has power motor, power motor output shaft's the fixed cover of the other end has connect the connecting axle, power motor is current device, and power motor's model is applicable to Y80M1-2 series, then can drive the directional rotation of driving gear under power motor's operation owing to the setting of connecting axle.

As a preferred technical scheme of the utility model, the bottom swing joint of connecting axle has the support frame, the bottom of support frame and cavity inner chamber's bottom fixed connection, the surface mounting of connecting axle has cup jointed the driving gear that is located the support frame top, because the setting of driving gear then can realize that the connecting axle rotates the back homoenergetic and drive one of them driven gear rotatory.

As a preferred technical scheme of the utility model, the equal swing joint in both ends has the transfer line about the support frame, the external fixed surface of transfer line has cup jointed the driven gear who is located the driving gear both sides, the top of transfer line run through cavity and robot and extend to robot's outside and with first armed lever fixed connection, because the setting of transfer line not only can play and prescribe a limit to driven gear's position, but also can realize the effect of the first armed lever of transmission.

As a preferred technical scheme of the utility model, the storing groove that is located the cavity below is seted up to the inside of robot, the positive top movable mounting in storing groove has removable cover, because removable cover's setting has then made things convenient for the user to take article from the storing inslot.

As a preferred technical scheme of the utility model, the notch has been seted up at the top of removable cover side, the stock has been cup jointed in the inside activity of notch, the both ends of stock all with the side fixed connection of storing inslot chamber, because the setting of stock then not only can connect removable cover at the storing groove openly but also can realize removable cover's arbitrary rotation.

As a preferred technical scheme of the utility model, the outer fixed surface of stock is connected with clockwork spring, clockwork spring's the other end and the inner wall fixed connection of notch can still reset under clockwork spring's effect after the removable cover rotates owing to clockwork spring's setting then can ensure.

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

1. the utility model discloses a set up the stop collar, the small-size cylinder, first clamping jaw, second clamping jaw and reset spring, can upwards draw first clamping jaw and second clamping jaw through connecting plate and connecting axle under the drive of small-size cylinder, and because the effect of stop collar then can make first clamping jaw and second clamping jaw move in opposite directions and extrude reset spring and make reset spring have elasticity restorability simultaneously through the extrusion of its bottom with first clamping jaw and second clamping jaw, and then alright bottom move in opposite directions with realizing first clamping jaw and second clamping jaw, thereby alright carry the object with utilizing the two motion in opposite directions, and then can realize pressing from both sides the function of getting the object.

2. The utility model discloses a set up first armed lever, the second armed lever, power motor, the driving gear, driven gear and transfer line, the function that turns to of control power motor then can realize controlling the driving gear to turn to through the connecting axle, and only half cambered surface is provided with the tooth because the surface of driving gear, when the driving gear is rotatory to equidirectional not, then can drive the driven gear rotation of difference in both sides, and then realize controlling different first armed lever and rotate, then can drive first clamping jaw and second clamping jaw removal through second armed lever and stop collar after first armed lever rotates, and then alright put into the effect of storing inslot with the object through removable cover with first clamping jaw of realization control and second clamping jaw.

Drawings

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

FIG. 2 is a schematic view of a second arm of the present invention in a partial cross-sectional view;

FIG. 3 is a schematic view of a partial sectional structure of the storage tank of the present invention;

FIG. 4 is a schematic view of a partial cross-sectional structure of the cavity of the present invention;

FIG. 5 is an enlarged view of a portion of the structure of FIG. 2 at A;

fig. 6 is a partially enlarged structural view at B in fig. 3.

In the figure: 1. a robot body; 2. a first arm; 3. a second arm; 4. a limiting sleeve; 5. a small cylinder; 6. a connecting plate; 7. a connecting shaft; 8. a first jaw; 9. a second jaw; 10. a return spring; 11. a cavity; 12. a mounting frame; 13. a power motor; 14. a connecting shaft; 15. a driving gear; 16. a support frame; 17. a transmission rod; 18. a driven gear; 19. sealing the cover plate; 20. a storage tank; 21. a removable cover plate; 22. a notch; 23. a long rod; 24. a clockwork spring.

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.

As shown in figures 1 to 6, the utility model provides a simple robot with clamping and picking functions, which comprises a robot body 1, wherein the top of the left side surface and the right side surface of the robot body 1 are movably provided with a first arm rod 2, the bottom of the first arm rod 2 is movably connected with a second arm rod 3, the bottom of the second arm rod 3 is fixedly connected with a limit sleeve 4, the top of the inner cavity of the second arm rod 3 is fixedly connected with a small air cylinder 5, the small air cylinder 5 is a prior device, the model of the small air cylinder 5 is suitable for SAT8-4DCFT-3GCJSD series, the bottom of the small air cylinder 5 penetrates through the second arm rod 3 and the limit sleeve 4 and extends to the lower part of the limit sleeve 4 and is fixedly connected with a connecting plate 6, the connecting shaft 7 is movably sleeved in the connecting plate 6, the two ends of the connecting shaft 7 both penetrate through the connecting plate 6 and extend to the outer part of the connecting plate 6 and are fixedly sleeved with a second clamping jaw 9, the outer surface of the connecting shaft 7 is fixedly sleeved with a first clamping jaw 8 positioned between the connecting plate 6 and a second clamping jaw 9, and the tops of the opposite surfaces of the first clamping jaw 8 and the second clamping jaw 9 are fixedly connected with a return spring 10.

Wherein, cavity 11 has been seted up to the positive bottom of robot 1, and the positive fixed mounting of cavity 11 has sealed apron 19, and the bottom fixedly connected with mounting bracket 12 of cavity 11 inner chamber has then made things convenient for operating personnel to the installation of power motor 13 fixed owing to the setting of mounting bracket 12.

The power motor 13 is fixedly mounted at the bottom of the mounting frame 12, the other end of the output shaft of the power motor 13 is fixedly sleeved with the connecting shaft 14, the power motor 13 is an existing device, the type of the power motor 13 is suitable for Y80M1-2 series, and the driving gear 15 can be driven to rotate directionally under the operation of the power motor 13 due to the arrangement of the connecting shaft 14.

Wherein, the bottom swing joint of connecting axle 14 has support frame 16, the bottom of support frame 16 and the bottom fixed connection of cavity 11 inner chamber, and the surface mounting of connecting axle 14 has cup jointed the driving gear 15 that is located the support frame 16 top, and the setting of driving gear 15 then can realize that connecting axle 14 all can drive one of them driven gear 18 after rotating rotatory.

Wherein, the equal swing joint in both ends has the transfer line 17 about support frame 16, and the external surface of transfer line 17 is fixed to cup joint the driven gear 18 that is located driving gear 15 both sides, and cavity 11 and robot body 1 are run through and extend to the outside of robot body 1 and with first armed lever 2 fixed connection to the top of transfer line 17, because the setting of transfer line 17 not only can play and prescribe a limit to the position of driven gear 18, but also can realize the effect of the first armed lever 2 of transmission.

Wherein, the storing groove 20 that is located cavity 11 below is seted up to the inside of robot 1, and the positive top movable mounting in storing groove 20 has removable cover 21, has then made things convenient for the user of service to take article from storing groove 20 owing to removable cover 21's setting.

Wherein, notch 22 has been seted up at the top of removable cover 21 side, and notch 22's inside activity has cup jointed stock 23, the both ends of stock 23 all with the side fixed connection of storing groove 20 inner chamber, because stock 23 set up then not only can connect removable cover 21 at storing groove 20 openly but also can realize removable cover 21's arbitrary rotation.

Wherein, the outer fixed surface of stock 23 is connected with clockwork spring 24, and the other end of clockwork spring 24 and the inner wall fixed connection of notch 22 can ensure still can reset under clockwork spring 24's effect after removable cover 21 rotates owing to clockwork spring 24's setting.

The utility model discloses a theory of operation and use flow:

when it presss from both sides when getting the object to need control, at first start small-size cylinder 5, can drive first clamping jaw 8 and second clamping jaw 9 rebound through connecting plate 6 and connecting axle 7 under small-size cylinder 5's drive, and because the effect of stop collar 4 then can be through the bottom of its bottom extrusion first clamping jaw 8 and second clamping jaw 9 make the bottom of first clamping jaw 8 and second clamping jaw 9 move towards each other and extrude reset spring 10 simultaneously and make reset spring 10 have elasticity restorability, and then alright with the relative motion of utilizing the two bottoms of first clamping jaw 8 and second clamping jaw 9 to clip the object, thereby then realized pressing from both sides the function of getting the object.

When the clamping object is required to be controlled to be placed into the storage groove 20, the power motor 13 is started firstly, the function of controlling the steering of the driving gear 15 can be realized through the connecting shaft 14 by controlling the steering of the power motor 13, and only one half of the cambered surfaces on the surface of the driving gear 15 are provided with teeth, so that when the driving gear 15 rotates towards different directions on two sides, the driving gear can respectively drive the driven gears 18 with different two sides to rotate, and further the purpose of controlling the rotation of different first arm rods 2 is realized, after the first arm rods 2 rotate, the first clamping jaws 8 and the second clamping jaws 9 can be driven to move to the movable cover plate 21 through the second arm rods 3 and the limiting sleeves 4 and extrude the movable cover plate 21, so that the movable cover plate 21 rotates into the storage groove 20 around the long rod 23, and after the movable cover plate 21 rotates, the clockwork spring 24 can be driven to rotate, and further the clockwork spring 24 has elastic recovery performance, when the object clamped by the first clamping jaw 8 and the second clamping jaw 9 is in the storage groove 20, the small air cylinder 5 is controlled to enable the first clamping jaw 8 and the second clamping jaw 9 to move back and forth under the action of the return spring 10, and therefore the clamped object can be loosened.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

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 simple and easy robot that possesses centre gripping pick-up function, includes robot body (1), its characterized in that: the robot comprises a robot body (1), wherein a first arm rod (2) is movably mounted at the top of the left side surface and the right side surface of the robot body (1), a second arm rod (3) is movably connected at the bottom of the first arm rod (2), a limiting sleeve (4) is fixedly connected at the bottom of the second arm rod (3), a small air cylinder (5) is fixedly connected at the top of an inner cavity of the second arm rod (3), a connecting shaft (7) is movably sleeved at the inner part of the connecting plate (6) and penetrates through the second arm rod (3) and the limiting sleeve (4) and extends to the lower part of the limiting sleeve (4), a second clamping jaw (9) is fixedly sleeved at the outer part of the connecting plate (6), a first clamping jaw (8) positioned between the connecting plate (6) and the second clamping jaw (9) is fixedly sleeved at the outer surface of the connecting shaft (7), and the tops of the opposite surfaces of the first clamping jaw (8) and the second clamping jaw (9) are fixedly connected with a return spring (10).

2. The simple robot having a gripping and picking function according to claim 1, wherein: cavity (11) have been seted up to the positive bottom of robot body (1), the positive fixed mounting of cavity (11) has sealed apron (19), the bottom fixedly connected with mounting bracket (12) of cavity (11) inner chamber.

3. The simple robot having a gripping and picking function according to claim 2, wherein: the bottom of mounting bracket (12) is fixed mounting has power motor (13), the other end of power motor (13) output shaft is fixed the cup and is connect connecting axle (14).

4. The simple robot having a gripping and picking function according to claim 3, wherein: the bottom swing joint of connecting axle (14) has support frame (16), the bottom of support frame (16) and the bottom fixed connection of cavity (11) inner chamber, the surface mounting of connecting axle (14) has cup jointed driving gear (15) that are located support frame (16) top.

5. The simple robot having a gripping and picking function according to claim 4, wherein: the utility model discloses a robot arm, including support frame (16), both ends all swing joint have transfer line (17) about support frame (16), the external fixed surface of transfer line (17) has cup jointed driven gear (18) that are located driving gear (15) both sides, the top of transfer line (17) runs through cavity (11) and robot body (1) and extends to the outside of robot body (1) and with first armed lever (2) fixed connection.

6. The simple robot having a gripping and picking function according to claim 1, wherein: the robot is characterized in that a storage groove (20) located below the cavity (11) is formed in the robot body (1), and a movable cover plate (21) is movably mounted at the front top of the storage groove (20).

7. The simple robot having a gripping and picking function according to claim 6, wherein: notch (22) have been seted up at the top of removable cover (21) side, stock (23) have been cup jointed in the inside activity of notch (22), the both ends of stock (23) all with the side fixed connection of storing groove (20) inner chamber.

8. The simple robot having a gripping and picking function according to claim 7, wherein: the outer surface of the long rod (23) is fixedly connected with a clockwork spring (24), and the other end of the clockwork spring (24) is fixedly connected with the inner wall of the notch (22).