CN216682238U - Grabbing mechanism of manipulator - Google Patents

Abstract

The utility model discloses a grabbing mechanism of a manipulator, which comprises: the device comprises a grabbing bracket, a miniature air pump, a sucker and foldable mechanical claws, wherein the miniature air pump is arranged in the grabbing bracket, the output end of the miniature air pump is connected with the sucker, the sucker vertically penetrates through the grabbing bracket, and a plurality of groups of foldable mechanical claws are arranged below the grabbing bracket; the adsorption bracket comprises an upper adsorption bracket, a lower adsorption bracket, a buffer spring and a buffer rod, wherein a plurality of groups of grooves are arranged below the upper adsorption bracket, and the buffer spring is fixedly connected in each groove; a plurality of groups of grooves are arranged on the lower adsorption bracket, and the grooves on the lower adsorption bracket correspond to the grooves on the upper adsorption bracket; the buffer spring is fixedly connected with the groove of the lower adsorption bracket; and a buffer rod is arranged between the upper adsorption bracket and the lower adsorption bracket.

Description

Grabbing mechanism of manipulator

Technical Field

The utility model belongs to the technical field of grabbing mechanisms of manipulators, and particularly relates to a grabbing mechanism of a manipulator.

Background

The manipulator is an automatic operating device which can imitate certain action functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed through programming, and the manipulator has the advantages of both human and manipulator machines in structure and performance, and a grabbing mechanism of the manipulator is an important component of the manipulator and is used for grabbing objects; the existing manipulator grabbing mechanism has certain defects when in use, the grabbing mechanism does not have a guiding effect when moving, the grabbing piece is not high in stability when moving, the operation is troublesome, and certain influence is brought to the use process of people

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a grabbing mechanism of a 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 mechanism of snatching of manipulator, the mechanism of snatching of manipulator is used for installing in robotic arm, includes: the device comprises a grabbing bracket, a miniature air pump, a sucker and a foldable mechanical claw, wherein the miniature air pump is arranged in the grabbing bracket, the output end of the miniature air pump is connected with the sucker, the sucker vertically penetrates through the grabbing bracket, and a plurality of groups of foldable mechanical claws are arranged below the grabbing bracket;

the adsorption bracket comprises an upper adsorption bracket, a lower adsorption bracket, a buffer spring and a buffer rod, wherein a plurality of groups of grooves are arranged below the upper adsorption bracket, and the buffer spring is fixedly connected in each groove;

a plurality of groups of grooves are arranged on the lower adsorption bracket, and the grooves on the lower adsorption bracket correspond to the grooves on the upper adsorption bracket;

the buffer spring is fixedly connected with the groove of the lower adsorption bracket;

and a buffer rod is arranged between the upper adsorption bracket and the lower adsorption bracket.

As a preferred technical scheme of the utility model, every two adjacent groups of foldable mechanical claws form an included angle of 120 degrees, each mechanical claw comprises a front fixed mechanical support and a bendable mechanical support, and the front fixed mechanical support is fixed on the lower end face of a grabbing support;

And a bendable mechanical support is arranged below the front fixing mechanical support, and the front fixing mechanical support is hinged with the bendable mechanical support.

As a preferred technical scheme of the utility model, an included angle of 60 degrees is formed between the front fixed mechanical support and the lower end surface of the grabbing support.

As a preferred technical scheme of the utility model, the buffer rod comprises an upper buffer rod, a lower buffer rod and a return spring, and sliding blocks are arranged on the left side and the right side of the tail end of the upper buffer rod;

a sliding track is arranged on the inner wall of the lower buffer rod and is connected with the sliding block in a clamping manner;

and a reset spring is fixedly connected to the base inside the lower buffer rod.

As a preferable technical solution of the present invention, the lower adsorption bracket is arc-shaped.

The utility model has the technical effects and advantages that: this mechanism of snatching of manipulator, lead to the sucking disc and adsorb spare and accessory part to folding gripper carries out fixing about to spare and accessory part, and the safety of thing is grabbed in effectual protection.

Drawings

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

FIG. 2 is a schematic structural view of the grasping mechanism of the present invention;

FIG. 3 is a schematic view of the structure of the adsorption stent of the present invention;

Fig. 4 is a schematic structural view of the buffer rod of the present invention.

In the figure: 11. grabbing the bracket; 12. a micro air pump; 13. a suction cup; 14. a gripper; 15. a hose; 16. adsorbing the stent; 17. an upper adsorption bracket; 18. a lower adsorption support; 19. a buffer spring; 110. a buffer rod; 111. an upper buffer rod; 112. a lower buffer rod; 113. a return spring; 114. a front fixed mechanical support; 115. the mechanical support can be bent.

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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

The utility model provides a grabbing mechanism of a manipulator as shown in fig. 1, fig. 2, fig. 3 and fig. 4, the grabbing mechanism of the manipulator is used for being installed on a manipulator arm, and the grabbing mechanism comprises: the device comprises a grabbing bracket 11, a miniature air pump 12, a sucker 13 and foldable mechanical claws 14, wherein the miniature air pump 12 is arranged inside the grabbing bracket 11, the output end of the miniature air pump 12 is connected with the sucker 13, the sucker 13 vertically penetrates through the grabbing bracket 11, and a plurality of groups of foldable mechanical claws 14 are arranged below the grabbing bracket 11;

The suction cup 13 comprises a hose 15 and an adsorption bracket 16, the hose 15 vertically penetrates through the adsorption bracket 16, the hose 15 is connected with the micro air pump 12, and an object is adsorbed by utilizing the adsorption force generated by air suction of the hose 15;

the adsorption bracket 16 comprises an upper adsorption bracket 17, a lower adsorption bracket 18, a buffer spring 19 and a buffer rod 110, wherein a plurality of groups of grooves are arranged below the upper adsorption bracket 17, and the buffer spring 19 is fixedly connected inside the grooves;

a plurality of groups of grooves are arranged on the lower adsorption bracket 18, and the grooves on the lower adsorption bracket 18 correspond to the grooves on the upper adsorption bracket 17;

the buffer spring 19 is fixedly connected with the groove of the lower adsorption bracket 18, and when the hose 15 adsorbs the accessories, the buffer spring 19 plays a role in buffering to prevent the accessories from being damaged;

a buffer rod 110 is disposed between the upper adsorption bracket 17 and the lower adsorption bracket 18.

In a specific implementation process, every two adjacent groups of foldable mechanical claws 14 form an included angle of 120 degrees, each mechanical claw 14 comprises a front fixed mechanical bracket 114 and a bendable mechanical bracket 115, and the front fixed mechanical bracket 114 is fixed on the lower end surface of the grabbing bracket 11;

a bendable mechanical bracket 115 is arranged below the front fixing mechanical bracket 114, and the front fixing mechanical bracket 114 is hinged with the bendable mechanical bracket 115.

In a specific implementation, the front fixing mechanical support 114 forms an angle of 60 ° with the lower end surface of the gripping support 11.

In a specific implementation process, the buffer rod 110 comprises an upper buffer rod 111, a lower buffer rod 112 and a return spring 113, and sliding blocks are arranged on the left side and the right side of the tail end of the upper buffer rod 111;

a sliding track is arranged on the inner wall of the lower buffer rod 112 and is connected with the sliding block in a clamping manner;

fixedly connected with reset spring 113 on the inside base of lower buffer rod 112 can make buffer rod 110 reset fast after the compression, snatch next time.

In a specific implementation, the lower suction bracket 18 has an arc shape.

The working principle is as follows: this mechanism of snatching of manipulator, when snatching the article, the arm aims at the article with folding gripper, at this moment, flexible mechanical support on the folding gripper is 120 contained angles with preceding fixed mechanical support, can wrap up the article as far as, the absorption dish on the absorption support is breathed in through miniature air pump and is made it adsorb the article, after absorption finishes, flexible mechanical support receives that external motor is rotatory to press from both sides the article and gets, further consolidate the fixed to the price of the article, press from both sides and finish the back, the arm transports the article to next procedure.

In the description of the present invention, it is to be understood that, if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate an orientation or positional relationship indicated based on the orientation or positional relationship shown in the drawings, it is merely for convenience of describing and simplifying the description, and it is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (5)

1. The utility model provides a mechanism of snatching of manipulator, the mechanism of snatching of manipulator is used for installing in robotic arm, includes: snatch support (11), miniature air pump (12), sucking disc (13), folding gripper (14), its characterized in that: a micro air pump (12) is arranged in the grabbing bracket (11), the output end of the micro air pump (12) is connected with a sucker (13), the sucker (13) vertically penetrates through the grabbing bracket (11), and a plurality of groups of foldable mechanical claws (14) are arranged below the grabbing bracket (11);

the sucker (13) comprises a hose (15) and an adsorption bracket (16), the hose (15) vertically penetrates through the adsorption bracket (16), and the hose (15) is connected with the miniature air pump (12);

the adsorption support (16) comprises an upper adsorption support (17), a lower adsorption support (18), a buffer spring (19) and a buffer rod (110), wherein a plurality of groups of grooves are formed below the upper adsorption support (17), and the buffer spring (19) is fixedly connected inside each groove;

a plurality of groups of grooves are arranged on the lower adsorption bracket (18), and the grooves on the lower adsorption bracket (18) correspond to the grooves on the upper adsorption bracket (17);

the buffer spring (19) is fixedly connected with the groove of the lower adsorption bracket (18);

a buffer rod (110) is arranged between the upper adsorption bracket (17) and the lower adsorption bracket (18).

2. The gripping mechanism of a manipulator according to claim 1, characterized in that: every two adjacent groups of foldable mechanical claws (14) form an included angle of 120 degrees, each mechanical claw (14) comprises a front fixed mechanical support (114) and a bendable mechanical support (115), and the front fixed mechanical supports (114) are fixed on the lower end face of the grabbing support (11);

a bendable mechanical support (115) is arranged below the front fixing mechanical support (114), and the front fixing mechanical support (114) is hinged with the bendable mechanical support (115).

3. The gripping mechanism of a manipulator according to claim 2, characterized in that: the front fixed mechanical support (114) and the lower end surface of the grabbing support (11) form an included angle of 60 degrees.

4. The gripping mechanism of a manipulator according to claim 1, characterized in that: the buffer rod (110) comprises an upper buffer rod (111), a lower buffer rod (112) and a return spring (113), and sliders are arranged on the left side and the right side of the tail end of the upper buffer rod (111);

a sliding track is arranged on the inner wall of the lower buffer rod (112), and the sliding track is connected with the sliding block in a clamping manner;

and a return spring (113) is fixedly connected to the base inside the lower buffer rod (112).

5. The gripping mechanism of a manipulator according to claim 1, characterized in that: the lower adsorption bracket (18) is arc-shaped.

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