CN217345528U - a manipulator - Google Patents

Abstract

The utility model discloses a manipulator, which relates to the technical field of manipulators, comprising a monitoring device, a driving device, a holder, a driving part, at least two driven gears and at least two mechanical claws; There are at least two driving racks on the member, the driving racks are used to extend in the moving direction of the driving member, and the number of driving racks, the number of driven gears and the number of mechanical claws are equal; each driven gear is used for It is arranged at one end of each mechanical claw and meshes with each driving rack. The grasping end of each mechanical claw away from each driven gear can approach each other to complete the grasping action or move away from each other to complete the releasing action when the driving piece moves; the monitoring device can By monitoring the position and movement of each mechanical claw, the manipulator disclosed by the utility model has a simple and compact structure and a long service life, and can also accurately confirm whether the manipulator moves to a preset position capable of grasping and the grasping of objects by the manipulator. Effect.

Description

a manipulator

technical field

The utility model relates to the technical field of manipulators, in particular to a manipulator.

Background technique

With the development of science and technology, all aspects of production have become intelligent and mechanized, and machinery has replaced most manual operations in production and life. The manipulator is an indispensable component in the work of mechanical equipment, but most of the mechanical claws on the traditional manipulator are opened and gathered through the screw nut transmission mechanism and the connecting rod structure. The structure is complex, and the mechanical claws are completed many times. After repeated opening and gathering, the thread between the nut and the lead screw is prone to failure, resulting in a short service life of the manipulator; Since there is generally a certain distance between the manipulator and the operator, it is impossible for the operator to directly and accurately confirm whether the manipulator has moved to a preset position capable of grasping and the grasping effect of the manipulator on the object.

Utility model content

The purpose of the present invention is to provide a manipulator to solve the above-mentioned problems in the prior art, which has a simple and compact structure, a long service life, and can accurately confirm whether the manipulator has moved to a preset position capable of grasping and The grasping effect of the manipulator on the object.

For achieving the above object, the utility model provides the following scheme:

The utility model provides a manipulator, which comprises a monitoring device, a driving device, a holder, a driving member, at least two driven gears and at least two mechanical claws; the driving device is used for driving the driving member to move, and the driving There are at least two driving racks on the member, the driving racks are used to extend in the moving direction of the driving member, and the number of the driving racks, the number of the driven gears and the mechanical claw The numbers are equal; each of the driven gears is used to be arranged at one end of each of the mechanical claws and meshed with each of the driving racks, and the grasping end of each of the mechanical claws away from each of the driven gears can be When the active parts move, they approach each other to complete the grasping action or move away from each other to complete the releasing action; the monitoring device can monitor the position and action of each of the mechanical claws.

Preferably, the monitoring device includes a camera module and a processing module, the camera module is used to be fixed on the active member, and the camera module is connected in communication with the processing module.

Preferably, the camera module is fixedly arranged on the active member for being close to one end of the grabbing end.

Preferably, each of the driven gears is rotatably provided on the holder around a first rotational axis, and the position of the first rotational axis relative to the holder is kept fixed, and each of the mechanical claws is far away from the holder. One end of each of the grab ends is used to be fixedly connected with each of the driven gears, and the rotation of each of the driven gears can drive the connected mechanical claw to rotate around the first rotation axis and drive each of the grabbers. Take the ends closer or farther away from each other.

Preferably, it also includes a first shaft, the first shaft is used to be fixed on the holding member, the axis of the first shaft coincides with the first rotation axis, and the driven gear is provided with a through hole. a hole, and the hole wall of the through hole is used for clearance fit with the outer wall of the first shaft to keep the driven gear rotatable around the first shaft.

Preferably, each of the driven gears is rotatably provided at one end of each of the mechanical claws so as to be rotatable around the first axis of rotation, and there is a rotational connection portion between two ends of each of the mechanical claws, and each of the rotational connection portions is used for The second rotation axis is rotatably provided on the holder, the second rotation axis is parallel to the first rotation axis, the position of the second rotation axis relative to the holder remains fixed, and the The distance between the first rotation axis and the second rotation axis can be adaptively adjusted according to the change of the meshing position of the driven gear and the driving rack.

Preferably, it also includes a first shaft, the first shaft is rotatably provided at the center of the driven gear around the first rotation axis; a guide limit is provided on the end of the mechanical claw away from the grab end. A position slot, an elastic member is arranged in the guide limit slot, and the pressure of the elastic member is used to act on the first shaft and keep the driven gear and the driving rack in mesh; the first The elastic member can be compressed when moving in an axial direction close to the second rotation axis.

Preferably, it also includes a second shaft, the second shaft is fixed on the holder, the axis of the second shaft coincides with the second rotation axis, and the rotation connection portion is provided with a through hole, The hole wall of the through hole is used for clearance fit with the outer wall of the second shaft and to keep the rotating connection part rotatable around the second shaft.

Preferably, it further includes a second shaft, the second shaft is rotatably provided on the holding member around the second rotation axis, a through hole is formed on the rotating connecting portion, and the hole wall of the through hole is used for interference fit with the outer wall of the second shaft.

Preferably, the number of the mechanical claws is four, two of the mechanical claws are placed on the first plane, the other two of the mechanical claws are placed on the second plane, and the first plane and the second plane are vertical.

The utility model has achieved the following technical effects with respect to the prior art:

In the manipulator provided by the utility model, by arranging a driving rack on the driving element, and keeping the driving rack in mesh with the driven gear, and the driven gear and the mechanical claw being connected, when the driving element is driven to move by the driving device, the driving The rack can drive the driven gear meshed with it to rotate, and then drive the grasping ends of the mechanical claws away from the driven gears to approach each other to complete the grasping action or move away from each other to complete the release action, the structure is simple and compact, and the service life is relatively long. At the same time, the monitoring device is used to monitor the position and movement of each mechanical claw in real time, so as to accurately confirm whether the manipulator has moved to the preset position that can grasp the object and the grasping effect of the manipulator on the object.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only of the present invention. For some embodiments of the present invention, for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic diagram of the overall structure of the manipulator provided in Embodiment 1;

FIG. 2 is a schematic diagram of the connection relationship between the holder, the driving part, the driven gear and the mechanical claw in the manipulator provided in FIG. 1;

3 is a schematic diagram of the overall structure of the manipulator provided in Embodiment 2;

FIG. 4 is a schematic diagram of the connection relationship between the holder, the driving element, the driven gear and the mechanical claw in the manipulator provided in FIG. 3 .

In the picture: 100-manipulator, 10-camera module, 1-holding piece, 2-driving piece, 3-driving rack, 4-driven gear, 5-manipulator claw, 51-grabbing end, 6-first axis , 7-Second shaft, 8-Guide limit slot, 9-Elastic piece.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

The purpose of the present invention is to provide a manipulator to solve the above-mentioned problems in the prior art, which has a simple and compact structure, a long service life, and can accurately confirm whether the manipulator has moved to a preset position capable of grasping and The grasping effect of the manipulator on the object.

In order to make the above objects, features and advantages of the present utility model more clearly understood, the present utility model will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example 1

This embodiment provides a manipulator 100, including a monitoring device, a driving device, a holder 1, a driving member 2, at least two driven gears 4, and at least two mechanical claws 5; the driving device is used to drive the driving member 2 to move, and the driving device The member 2 is provided with at least two driving racks 3, the driving racks 3 are used to extend in the moving direction of the driving member 2, and the number of the driving racks 3, the number of the driven gears 4 and the number of the mechanical claws 5 are equal Each driven gear 4 is used to be arranged at one end of each mechanical claw 5 and mesh with each driving rack 3, and the grasping end 51 of each mechanical claw 5 away from each driven gear 4 can approach each other when the driving member 2 moves The grasping action is completed or the releasing action is completed by moving away from each other; the monitoring device can monitor the position and action of each mechanical claw 5 .

Therefore, in the manipulator 100 provided in this embodiment, by disposing the driving rack 3 on the driving element 2 and keeping the driving rack 3 meshing with the driven gear 4 and the driven gear 4 connected with the mechanical claw 5, the driving element 2 can be connected to the mechanical claw 5. When driven by the driving device to move, the driving rack 3 can drive the driven gear 4 meshing with it to rotate, thereby driving the grasping ends 51 of the mechanical claws 5 away from the driven gears 4 to approach each other to complete the grasping action. Or move away from each other to complete the release action, the structure is simple and compact, and the service life is long. At the same time, the monitoring device is used to monitor the position and movement of each gripper 5 in real time, so as to accurately confirm whether the manipulator 100 has moved to the preset position that can be grasped. As for the grasping effect of the manipulator 100 on the object, it should be noted here that the driving device may be any existing device such as a linear motor that can realize the feeding and retreating of the driving member 2 .

Further, the monitoring device includes a camera module 10 and a processing module. The camera module 10 is used to be fixed on the active element 2 , and the camera module 10 is connected to the processing module in communication. The camera module 10 can collect the position and action information of each mechanical claw 5 . , the processing module can receive the position and motion information of each mechanical claw 5 collected by the camera module 10 and feed it back to the operator, so that the operator can know the state of each mechanical claw 5 and the object in time.

Further, the camera module 10 is fixed on the active member 2 for being close to one end of the grasping end 51, which is more convenient to collect the position and motion information of each mechanical claw 5. In this embodiment, the camera module 10 adopts the existing camera, namely Can.

Further, each driven gear 4 is rotatably provided on the holder 1 around the first rotation axis, and the position of the first rotation axis relative to the holder 1 is kept fixed, and each mechanical claw 5 is far from each grab end 51 . One end is used to be fixedly connected with each driven gear 4, and the rotation of each driven gear 4 can drive the connected mechanical claw 5 to rotate around the first rotation axis and drive the grab ends 51 to approach or move away from each other. When the driving rack 3 moves, the driving rack 3 drives the driven gear 4 to rotate around the first rotation axis, and the mechanical claw 5 fixedly connected with the driven gear 4 rotates around the first rotation axis with the driven gear 4. The grasping ends 51 on the top can approach each other to complete the grasping action or be far away from each other to complete the releasing action.

Further, the manipulator 100 provided in this embodiment further includes a first shaft 6 , the first shaft 6 is used to be fixed on the holder 1 , the axis of the first shaft 6 coincides with the first rotation axis, and the driven gear 4 is provided with There is a through hole, and the hole wall of the through hole is used for clearance fit with the outer wall of the first shaft 6 and to keep the driven gear 4 able to rotate around the first shaft 6, the structure is simple and compact, and the space utilization rate is high. Optionally, the first shaft 6 can also be used to be fixed at the center of the driven gear 4, the axis of the first shaft 6 is coincident with the first rotation axis, the holder 1 is provided with a through hole, and the hole of the through hole is formed. The wall is for clearance fit with the outer wall of the first shaft 6 and for keeping the first shaft 6 rotatable about the first axis of rotation.

Further, the number of mechanical claws 5 is four, two mechanical claws 5 are placed on the first plane, and the other two mechanical claws 5 are placed on the second plane, and the first plane is perpendicular to the second plane, so that the grasped The force of the object is uniform, and the grasping and transfer process is guaranteed to be carried out smoothly.

Embodiment 2

This embodiment provides a manipulator 100. Compared with the manipulator 100 provided in the first embodiment, only the connection structure between the driven gear 4, the manipulator 5 and the holder 1 is different. The movable gear 4 is provided at one end of each mechanical claw 5 so as to be rotatable around the first rotation axis, and there is a rotating connection portion between the two ends of each mechanical claw 5, and each rotating connection portion is used to be rotatably arranged on the second rotating axis. On the holder 1, the second rotation axis is parallel to the first rotation axis, the position of the second rotation axis relative to the holder 1 remains fixed, and the distance between the first rotation axis and the second rotation axis can be determined according to the driven gear 4. Compared with the first embodiment, the manipulator 100 provided in this embodiment can increase the distance from the meshing position of the driven gear 4 and the driving rack 3 to the rotation center of the mechanical claw 5, and the The large power arm improves the mechanical advantage of the lever structure, thereby reducing the driving force required by the mechanical claw 5 to grasp the object, saving time and effort.

Further, the manipulator 100 provided in this embodiment further includes a first shaft 6 , and the first shaft 6 is rotatably provided at the center of the driven gear 4 around the first rotation axis; There is a guide limit slot 8, an elastic member 9 is arranged in the guide limit slot 8, and the pressure of the elastic member 9 is used to act on the first shaft 6 and keep the driven gear 4 meshing with the driving rack 3; the first shaft 6 When moving in the direction close to the second rotation axis, the elastic member 9 can be compressed. During the movement of the driving rack 3, the elastic member 9 in the guide limit groove 8 can be adjusted according to the movement of the driving rack 3 on the driven gear 4. The thrust adaptively adjusts the position of the first shaft 6 along the guide limit groove 8, and can keep the driven gear 4 and the driving rack 3 in constant meshing, the specific shape of the guide limit groove 8 and the specific selection requirements of the elastic member 9 Determined in combination with the actual movement path of the driven gear 4 and the actual force.

As a more preferred implementation, the manipulator 100 provided in this embodiment further includes a second shaft 7 , the second shaft 7 is fixedly arranged on the holder 1 , the axis of the second shaft 7 coincides with the second rotation axis, and is rotatably connected There is a through hole on the part, the hole wall of the through hole is used for clearance fit with the outer wall of the second shaft 7 and keep the rotating connection part able to rotate around the second shaft 7, the structure is simple, and it is easy to disassemble and assemble.

As another preferred embodiment, the manipulator 100 provided in this embodiment further includes a second shaft 7 , the second shaft 7 is rotatably provided on the holder 1 around the second rotation axis, and a through-hole is opened on the rotating connection part. The hole, the hole wall of the through hole is used for interference fit with the outer wall of the second shaft 7, and the structure is simple. The connection method that realizes the fixed connection, such as welding, screw connection, etc.

The principles and implementations of the present utility model are described with specific examples in the present utility model, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present utility model; meanwhile, for those skilled in the art , according to the idea of the present utility model, there will be changes in the specific implementation and application scope. In conclusion, the content of this specification should not be construed as a limitation on the present invention.

Claims (10)

1. A manipulator, characterized in that it comprises a monitoring device, a driving device, a holder, a driving member, at least two driven gears and at least two mechanical claws; the driving device is used to drive the driving member to move, so The driving member is provided with at least two driving racks, the driving racks are used to extend in the moving direction of the driving member, and the number of the driving racks, the number of the driven gears and the The number of mechanical claws is equal; each of the driven gears is used to be arranged on one end of each of the mechanical claws and mesh with each of the driving racks, and each of the mechanical claws is away from the grab end of each of the driven gears When the active parts move, they can approach each other to complete the grasping action or move away from each other to complete the releasing action; the monitoring device can monitor the position and action of each of the mechanical claws. 2 . The manipulator according to claim 1 , wherein the monitoring device comprises a camera module and a processing module, the camera module is used to be fixed on the active part, and the camera module is connected to the processing module. 3 . Module communication connection. 3 . The manipulator according to claim 2 , wherein the camera module is fixedly arranged on the active member for being close to one end of the grasping end. 4 . 4 . The manipulator according to claim 1 , wherein each of the driven gears is provided on the holder so as to be rotatable around a first rotation axis, and the first rotation axis is relative to the holder. 5 . The position of each of the mechanical claws is kept fixed, and one end of each of the mechanical claws away from each of the grabbing ends is used to be fixedly connected to each of the driven gears, and the rotation of each of the driven gears can drive the mechanical claws to which it is connected to go around the place. The first rotation axis rotates and drives the grabbing ends to approach or move away from each other. 5 . The manipulator according to claim 4 , further comprising a first shaft, the first shaft is used to be fixed on the holder, and the axis of the first shaft is connected to the first rotation axis. 6 . The axes are coincident, a through hole is formed on the driven gear, and the hole wall of the through hole is used for clearance fit with the outer wall of the first shaft to keep the driven gear rotatable around the first shaft. 6 . The manipulator according to claim 1 , wherein each of the driven gears is rotatably provided on one end of each of the mechanical claws so as to be rotatable around the first rotation axis, and there is a space between the two ends of each of the mechanical claws. 7 . Rotational connection parts, each of which is configured to be rotatably provided on the holder around a second rotation axis, the second rotation axis is parallel to the first rotation axis, and the second rotation axis is opposite to The position of the holder is kept fixed, and the distance between the first rotation axis and the second rotation axis can be adaptively adjusted according to the change of the meshing position of the driven gear and the driving rack. 7 . The manipulator according to claim 6 , further comprising a first shaft, the first shaft being rotatably provided at the center of the driven gear around the first rotation axis; the manipulator claw The upper end away from the grabbing end is provided with a guide limit groove, an elastic member is arranged in the guide limit groove, and the pressure of the elastic member is used to act on the first shaft and maintain the driven gear meshing with the driving rack; the elastic member can be compressed when the first axial direction moves in a direction close to the second rotation axis. 8 . The manipulator according to claim 6 , further comprising a second shaft, the second shaft is fixed on the holder, and the axis of the second shaft coincides with the second rotation axis. 9 . A through hole is formed on the rotating connecting part, and the hole wall of the through hole is used for clearance fit with the outer wall of the second shaft and keeping the rotating connecting part rotatable around the second shaft. 9 . The manipulator according to claim 6 , further comprising a second shaft, the second shaft is rotatably provided on the holding member around the second rotation axis, and the rotation connecting portion is provided with a A through hole, the hole wall of which is used for interference fit with the outer wall of the second shaft. 10 . The manipulator according to claim 1 , wherein the number of the mechanical claws is four, two of the mechanical claws are placed on the first plane, and the other two of the mechanical claws are placed on the second plane, 10 . And the first plane is perpendicular to the second plane.

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