CN215968832U

CN215968832U - Quick grabbing mechanism of medium-sized transverse-moving type manipulator

Info

Publication number: CN215968832U
Application number: CN202122443465.2U
Authority: CN
Inventors: 李凤江; 边冬峰
Original assignee: Tianjin Jinyang Intelligent Technology Co ltd
Current assignee: Tianjin Jinyang Intelligent Technology Co ltd
Priority date: 2021-10-11
Filing date: 2021-10-11
Publication date: 2022-03-08
Anticipated expiration: 2031-10-11

Abstract

The utility model discloses a quick grabbing mechanism of a medium-sized transverse walking type manipulator, which comprises a supporting beam, wherein supporting vertical beams are arranged on two sides of the lower end surface of the supporting beam, a transverse beam block is arranged on the end surface close to the supporting vertical beams on the two sides, a square accommodating groove is formed in the upper horizontal center line of the transverse beam block in a penetrating mode, a transverse walking assembly is arranged at the inner side end of the square accommodating groove in a matching mode, a first threaded rod is arranged on the end surface of one side of the upper side of the transverse beam block in a screwed mode, the top end of the first threaded rod penetrates through the supporting beam, a first motor is arranged at the top end of the supporting beam, a guide rail bar is arranged on the end surface of the other side of the upper side of the transverse beam block in a sliding mode, and the guide rail bar is arranged on the end surface of the inner side of the supporting vertical beam. The utility model has reasonable integral design and strong practicability, synchronously realizes the transverse displacement change and the vertical displacement change of the grabbing mechanism, effectively enlarges the grabbing range of the grabbing mechanism, and has the advantages of good use effect and the like.

Description

Quick grabbing mechanism of medium-sized transverse-moving type manipulator

Technical Field

The utility model relates to the technical field related to manipulator grabbing, in particular to a quick grabbing mechanism of a medium-sized transverse walking manipulator.

Background

A robot refers to an automatic operating device that can simulate some motion functions of a human hand and an arm to grab, carry objects or operate tools according to a fixed program. It can replace the heavy labor of people to realize the mechanization and automation of production, and can be operated under harmful environment to protect the personal safety, thus being widely applied to the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

The manipulator mainly comprises an actuating mechanism, a movement mechanism and a control system. The actuator is a member for gripping a workpiece (or a tool), and has various structural forms such as a clamp type, a holding type, an adsorption type, and the like according to the shape, size, weight, material, and operation requirements of the gripped object. At present, the existing manipulator can be limited to a certain extent in the grabbing use range, and cannot finish transverse grabbing migration and vertical displacement change. Therefore, the quick grabbing mechanism of the medium-sized transverse-moving type manipulator is provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a quick grabbing mechanism of a medium-sized transverse-moving type manipulator, which aims to solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a medium-sized transverse walking type manipulator snatchs mechanism fast, includes supporting beam, supporting beam's lower terminal surface both sides are installed and are supported upright roof beam, both sides the support is erected the close terminal surface between the roof beam and is installed the crossbeam piece, the horizontal central line runs through and has seted up arrangement square groove on the crossbeam piece, arrangement square groove medial extremity agrees with and installs the transverse walking subassembly, a side end connects soon on the crossbeam piece and installs first threaded rod, the top of first threaded rod runs through supporting beam and installs first motor on supporting beam's top, opposite side terminal surface slidable mounting has the guide rail strip on the crossbeam piece, just the guide rail strip is installed support upright roof beam medial extremity face.

Preferably, the subassembly of violently walking includes the second threaded rod and installs the second motor at a second threaded rod side, just the second motor passes through the coupling joint and installs the second threaded rod, connect soon on the second threaded rod and install and remove a piece, just it looks sideways at the visual angle and is concave type to remove a piece, remove an inboard horizontal end with the lower extreme sliding connection of crossbeam piece, the lower terminal surface that removes a piece is installed and is snatched the mechanism.

Preferably, the grabbing mechanism comprises a mounting bracket, a driving motor is mounted at the upper end of the center of the mounting bracket, an output shaft of the driving motor is sleeved with a first bevel gear, two side ends of the first bevel gear are meshed with second bevel gears, inner rings of the second bevel gears at two sides are fixedly sleeved with transmission rods, and the transmission rods are rotatably connected with clamping plates.

Preferably, the upper end of the clamping plate extends to the inner cavity of the mounting bracket, and a sliding rail is slidably mounted at the top in the mounting bracket.

Preferably, a guide rail block is installed on the outer side of the second threaded rod, and a plurality of limiting teeth which are distributed equidistantly are installed on the inner side of the center line of the guide rail block.

Preferably, a buffer cushion block is arranged on one side of the traversing assembly and at the inner side end of the square placement groove, and a buffer spring is welded and arranged at the inner side end of the buffer cushion block.

Compared with the prior art, the utility model has the beneficial effects that:

1. according to the utility model, the first motor, the first threaded rod, the second motor and the second threaded rod are arranged, displacement change of the grabbing mechanism on the cross beam block in the horizontal direction can be realized through rotation of the second threaded rod under the action of the second motor, and meanwhile, the first threaded rod is driven to rotate through the first motor, so that a guide rail strip arranged on the inner side end of a support vertical beam of the cross beam block screwed on the first threaded rod on one side can realize displacement change in the vertical direction, the grabbing range of the mechanical claw is expanded, and the mechanical claw has the advantages of good use effect and the like;

2. the driving motor is arranged to drive the first bevel gear to drive the second bevel gears which are arranged at two ends of the first bevel gear in a meshed mode to rotate, inner rings of the second bevel gears at two sides are sleeved with the fixedly combined transmission rods to rotate, and the clamping plates which are screwed on the transmission rods at two sides and combined to move oppositely, so that a good clamping effect of the grabbing mechanism is achieved, and the grabbing mechanism is high in practicability.

Drawings

FIG. 1 is a schematic diagram of an overall structure of a fast grabbing mechanism of a medium-sized traverse manipulator according to the present invention;

FIG. 2 is a schematic view of the overall appearance structure of a quick grabbing mechanism of a medium-sized traverse manipulator according to the present invention;

fig. 3 is an enlarged structural diagram of a position a in a fast grabbing mechanism diagram 1 of a medium-sized traverse manipulator according to the present invention;

fig. 4 is an enlarged structural diagram of a portion B of a middle-sized traverse manipulator according to the present invention in fig. 1.

In the figure: 1. a support beam; 2. supporting the vertical beam; 3. a beam block; 4. arranging a square groove; 5. a traversing assembly; 51. a second threaded rod; 52. a second motor; 53. moving the support block; 54. a grabbing mechanism; 541. mounting a bracket; 542. a drive motor; 543. a first bevel gear; 544. a second bevel gear; 545. a transmission rod; 546. a splint; 547. a slide rail; 55. a guide rail block; 56. limiting teeth; 6. a first threaded rod; 7. a first motor; 8. a guide rail bar; 9. buffering cushion blocks; 10. a buffer spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: the utility model provides a medium-sized transverse moving type manipulator snatchs mechanism fast, including supporting beam 1, supporting beam 1's lower terminal surface both sides are installed and are supported upright roof beam 2, both sides support upright roof beam 2 between close terminal surface install crossbeam piece 3, crossbeam piece 3 is gone up the horizontal central line and is run through and has been seted up

arrangement square groove

4, 4 medial extremity agrees with to install and violently walk subassembly 5 in arrangement square groove, 3 last side end of crossbeam piece connect soon and install first threaded rod 6, the top of first threaded rod 6 is run through supporting beam 1 and is installed first motor 7 on supporting beam 1's top, 3 last another side end face slidable mounting of crossbeam piece has guide rail strip 8, and guide rail strip 8 installs and is supporting upright 2 medial extremity faces of roof beam.

The traversing assembly 5 comprises a second threaded rod 51 and a second motor 52 arranged at one side end of the second threaded rod 51, the second motor 52 is connected with and provided with the second threaded rod 51 through a coupler, the second threaded rod 51 is connected with and provided with a movable support block 53 in a rotating connection mode, the side view angle of the movable support block 53 is concave, the horizontal end of the inner side of the movable support block 53 is connected with the lower end of the beam block 3 in a sliding mode, and the lower end face of the movable support block 53 is provided with a grabbing mechanism 54; the grabbing mechanism 54 comprises a mounting bracket 541, a driving motor 542 is mounted at the upper end of the center of the mounting bracket 541, a first bevel gear 543 is mounted on an output shaft of the driving motor 542 in a sleeved mode, second bevel gears 544 are mounted at the two side ends of the first bevel gear 543 in a meshed mode, transmission rods 545 are fixedly mounted on the inner rings of the second bevel gears 544 at the two sides in a sleeved mode, and a clamp plate 546 is rotatably mounted on the transmission rods 545; the upper end of the clamp plate 546 extends to the inner cavity of the mounting bracket 541 and a slide rail 547 is slidably mounted at the top in the mounting bracket 541; a guide rail block 55 is arranged on the outer side of the second threaded rod 51, and a plurality of limit teeth 56 which are distributed at equal intervals are arranged on the inner side of the center line of the guide rail block 55; the buffer cushion block 9 is installed on one side of the transverse walking component 5 and at the inner side end of the square placement groove 4, and the buffer spring 10 is installed on the inner side end of the buffer cushion block 9 in a welded mode, so that impact of the transverse beam block 3 on the inner side end of the square placement groove 4 can be relieved.

The working principle is as follows: when the utility model is used, the first motor 7 is operated to drive the first threaded rod 6 to rotate so that the first threaded rod 6 is screwed on the combined beam block 3 to realize the displacement change of the vertical direction of the beam block 3 between the two side supporting vertical beams 2, then the second motor 52 is operated to drive the second threaded rod 51 to make the grabbing mechanism 54 perform the displacement change of the horizontal direction through the movable support block 53 arranged on the beam block 3 so as to realize the transverse moving of the manipulator, thereby enlarging the grabbing range, and when the grabbing mechanism 54 contacts the grabbed object, the driving motor 542 can drive the first bevel gear 543 and drive the second bevel gear 544 with two ends meshed and arranged to rotate, so that the inner rings of the second bevel gears 544 at two sides are sleeved on the transmission rod 545 of the fixed combination to rotate, and further the clamping plates 546 screwed on the transmission rods 545 to be combined move oppositely so as to realize the good clamping effect of the grabbing mechanism 54, has the advantages of simple operation, convenient use and good use effect.

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 utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a medium-sized walking manipulator snatchs mechanism fast, includes supporting beam (1), its characterized in that: the utility model discloses a supporting beam, including supporting beam (1), crossbeam piece (3), settling square groove (4) medial extremity, crossbeam piece (3) upper horizontal central line, supporting beam (2) lower extreme face both sides are provided with supports found roof beam (2), both sides support that close terminal surface is provided with crossbeam piece (3) between standing roof beam (2), a lateral surface connects soon on crossbeam piece (3) and is provided with first threaded rod (6), the top of first threaded rod (6) is run through supporting beam (1) and is provided with first motor (7) on the top of supporting beam (1), the opposite side terminal surface slides and is provided with guide rail strip (8) on crossbeam piece (3), just guide rail strip (8) set up support found roof beam (2) medial extremity face.

2. The quick grabbing mechanism of the middle-sized transverse-moving type manipulator according to claim 1, wherein: violently walk subassembly (5) and include second threaded rod (51) and be provided with second motor (52) in second threaded rod (51) one side end, just second motor (52) are provided with second threaded rod (51) through the coupling joint, second threaded rod (51) top spin connects and is provided with and removes a piece (53), just it is concave type to remove a piece (53) side view visual angle, remove the inboard horizontal end of a piece (53) with the lower extreme sliding connection of crossbeam piece (3), the lower terminal surface that removes a piece (53) is provided with snatchs mechanism (54).

3. The middle-sized traverse manipulator rapid gripping mechanism according to claim 2, characterized in that: the grabbing mechanism (54) comprises an installation support (541), a driving motor (542) is arranged at the upper end of the center of the installation support (541), an output shaft of the driving motor (542) is provided with a first bevel gear (543) in a sleeved mode, two side ends of the first bevel gear (543) are meshed with second bevel gears (544), inner rings of the second bevel gears (544) on two sides are fixedly provided with transmission rods (545) in a sleeved mode, and clamping plates (546) are arranged on the transmission rods (545) in a rotating mode.

4. The quick grabbing mechanism of the middle-sized traversing manipulator according to claim 3, wherein: the upper end of the clamping plate (546) extends to the inner cavity of the mounting bracket (541) and a sliding rail (547) is arranged at the top in the mounting bracket (541) in a sliding manner.

5. The middle-sized traverse manipulator rapid gripping mechanism according to claim 2, characterized in that: and a guide rail block (55) is arranged on the outer side of the second threaded rod (51), and a plurality of limiting teeth (56) distributed at equal intervals are arranged on the inner side of the center line of the guide rail block (55).

6. The quick grabbing mechanism of the middle-sized transverse-moving type manipulator according to claim 1, wherein: a buffer cushion block (9) is arranged on one side of the transverse walking assembly (5) and at the inner side end of the square placement groove (4), and a buffer spring (10) is welded to the inner side end of the buffer cushion block (9).