CN218195229U

CN218195229U - Novel manipulator clamping jaw connection structure

Info

Publication number: CN218195229U
Application number: CN202220850993.1U
Authority: CN
Inventors: 刘新华; 郝敬宾; 王勇; 刘一磊
Original assignee: Suqian Simate Robot Technology Co ltd
Current assignee: Suqian Simate Robot Technology Co ltd
Priority date: 2022-04-12
Filing date: 2022-04-12
Publication date: 2023-01-03
Anticipated expiration: 2032-04-12

Abstract

The utility model discloses a novel manipulator clamping jaw connection structure, including manipulator main part, outer adjustment tank, interior adjustment tank, regulation piece, regulation extension board, regulation and control mechanism and auto-lock actuating mechanism, the other end of regulation piece connection regulation extension board and the outside front and back end downside of manipulator main part all are equipped with the flexible arm of manipulator, the flexible end bottom of manipulator one side of keeping away from the manipulator main part is equipped with coupling mechanism, the flexible end bottom of manipulator is located one side that coupling mechanism is close to the manipulator main part and is equipped with the reinforcing mechanism who cooperates its use, the coupling mechanism lower extreme is equipped with the clamping jaw rather than connecting, the outside top center department of manipulator main part is equipped with the extension piece, the inside outer hole that connects that is equipped with of extension piece. Compared with the prior art, the utility model the advantage lie in: the number and type of the clamping jaws can be changed and the clamping jaw connection is convenient.

Description

Novel manipulator clamping jaw connection structure

Technical Field

The utility model relates to a manipulator technical field specifically indicates a novel manipulator clamping jaw connection structure.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator has a plurality of clamping jaws, and different clamping jaw quantity reply is in different work piece sizes and quantity, and publication number CN207630058U a mechanical clamping jaw quick connect structure guarantee clamping jaw quick connect and stability through coordinating through pothook, round pin post and pinhole, but the connection of pinhole and round pin post needs the outside instrument that uses to correspond just can use, and it is convenient inadequately to use to this practicality can not be adjusted the quantity type of clamping jaw according to the type of work piece, and it is relatively poor to use the flexibility.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to overcome above-mentioned defect, provide a can change clamping jaw quantity type and make things convenient for novel manipulator clamping jaw connection structure that the clamping jaw is connected.

In order to solve the technical problem, the utility model provides a technical scheme does: the utility model provides a novel manipulator clamping jaw connection structure, includes the manipulator main part, the inside both sides of manipulator main part all are equipped with curved outer adjustment tank, the inside one end that is located outer adjustment tank and is close to each other of manipulator main part all is equipped with sectorial interior adjustment tank from top to bottom, outer adjustment tank and interior adjustment tank intercommunication, the inside regulation rampart that is equipped with of outer adjustment tank, the inside regulation extension board that is connected with regulation rampart that is equipped with of interior adjustment tank, the position that the inside center department of manipulator main part lies in interior adjustment tank upside is equipped with regulation mechanism, the inside one side that lies in regulation mechanism of manipulator main part is equipped with the auto-lock actuating mechanism who connects with it, the other end that adjusts the extension board is connected to regulation rampart and manipulator main part outside front and back end downside all are equipped with the flexible arm of manipulator, the flexible end bottom of the flexible arm of manipulator is equipped with coupling mechanism in one side that coupling mechanism is close to the manipulator main part, the coupling mechanism lower extreme is equipped with its clamping jaw of connecting with it, the outside top center department of manipulator main part is equipped with the extension block, the extension block is equipped with the extension piece, the outer portion that connects the outer hole that is equipped with.

As an improvement, the regulating mechanism comprises an inner rotating rod and an outer rotating cylinder, the inner rotating rod is inserted into the outer rotating cylinder, the bottom end of the inner rotating rod is fixedly inserted into the lower side of the regulating support plate, the bottom end of the outer rotating cylinder is fixedly inserted into the upper side of the regulating support plate, a regulating cavity is arranged at the position, located on the upper side of the inner regulating groove, of the center of the interior of the manipulator body, the top end of the inner rotating rod extends to the top end of the interior of the regulating cavity and is provided with an upper bevel gear, the top end of the outer rotating cylinder extends to the lower side of the interior of the regulating cavity and is provided with a lower bevel gear in a sleeved mode, a bearing sleeved and connected with the outer rotating cylinder is arranged at the position between the regulating cavity and the inner regulating groove, and one ends of the upper bevel gear and the lower bevel gear are provided with side bevel gears which are meshed with the upper bevel gear and the lower bevel gear.

As an improvement, the auto-lock actuating mechanism is including setting up in the drive chamber of regulation and control chamber one side, one side center department that side bevel gear is close to the drive chamber is equipped with the bull stick, the bull stick other end extends to the drive intracavity portion and is equipped with the worm wheel, the inside rear side of drive chamber is equipped with rotates the worm of being connected with its bottom surface, the worm is with the worm wheel meshing, the inside top surface of drive chamber is equipped with the motor of being connected with the worm.

As the improvement, coupling mechanism includes the damping pivot, the damping pivot sets up in the flexible end bottom of the flexible arm of manipulator one side of keeping away from the manipulator main part, one side that the manipulator main part was kept away from to damping pivot bottom is equipped with the riser, the riser all is equipped with the locking lever near the lower extreme on one side of manipulator main part, the clamping jaw cup joints on the locking lever, the clamping jaw upper end is equipped with the lockhole that the cooperation locking lever used.

As an improvement, the reinforcing mechanism comprises an installation block, the installation block is arranged on one side, close to the manipulator body, of the damping rotating shaft, a sliding groove is formed in the installation block, a sliding block is arranged in the sliding groove in an inserted mode, a spring is arranged between one side wall, close to the manipulator body, of the sliding groove and the sliding block, a lock support plate matched with the clamping jaw and used is arranged at the lower end of the sliding block, and a lock hole matched with the lock rod and used is formed in the lock support plate.

As an improvement, the top end and the bottom end of the adjusting support block are respectively provided with a guide wheel, and arc guide grooves matched with the guide wheels for use are respectively arranged inside the top surface and the bottom surface of the outer adjusting groove.

Compared with the prior art, the utility model the advantage lie in: compared with the prior art, the utility model discloses a setting up the regulation extension board of regulation and control mechanism control both sides and adjusting a piece and swing in the within range of outer adjustment tank and interior adjustment tank, can realizing every and adjusting between a piece and be 120, and then realize changing into the structural style of three-jaw from two claws or four claws, realize the change of clamping jaw quantity type, can adapt to the structure of more work pieces, use the flexibility stronger, in addition, the utility model discloses a coupling mechanism cooperation strengthening mechanism uses, does not need additionally to use outside instrument cooperation round pin post to connect, and connected mode is more simple quick.

Drawings

Fig. 1 is a three-dimensional structure diagram of the novel manipulator clamping jaw connecting structure of the utility model.

Fig. 2 is a front cross-sectional view of the novel mechanical arm clamping jaw connecting structure of the present invention.

Fig. 3 is a top cross-sectional view of the novel mechanical arm clamping jaw connecting structure of the present invention.

Fig. 4 is an enlarged view of the novel mechanical arm clamping jaw connecting structure a of the present invention.

Fig. 5 is an enlarged view of the novel mechanical arm clamping jaw connecting structure B of the present invention.

As shown in the figure: 1. a manipulator main body; 2. an outer adjustment groove; 3. an inner adjustment groove; 4. adjusting the supporting block; 5. Adjusting the support plate; 6. a regulating mechanism; 6.1, rotating the rod inwards; 6.2, an outer rotary drum; 6.3, regulating and controlling the cavity; 6.4, a bearing; 6.5, an upper bevel gear; 6.6, a lower bevel gear; 6.7, side bevel gears; 7. a self-locking drive mechanism; 7.1, a driving cavity; 7.2, rotating a rod; 7.3, a worm wheel; 7.4, a worm; 7.5, a motor; 8. a manipulator telescopic arm; 9. a connecting mechanism; 9.1, damping a rotating shaft; 9.2, a vertical plate; 9.3, a lock rod; 9.4, lock hole; 10. a reinforcement mechanism; 10.1, mounting blocks; 10.2, a chute; 10.3, a sliding block; 10.4, a spring; 10.5, locking the support plate; 10.6, lock hole; 11. a clamping jaw; 12. an external connection block; 13. an outer connecting hole; 14. a guide wheel; 15. a guide groove.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Embodiment 1, a novel manipulator clamping jaw connection structure, as shown in fig. 1 to 4, includes a manipulator main body 1, an outer adjustment groove 2, an inner adjustment groove 3, an adjustment support plate 5, an adjustment mechanism 6, and a self-locking driving mechanism 7, where the adjustment mechanism 6 includes an inner rotating rod 6.1, an outer rotating cylinder 6.2, an adjustment cavity 6.3, a bearing 6.4, an upper bevel gear 6.5, a lower bevel gear 6.6, and a side bevel gear 6.7, where the bearing 6.4 is sleeved on the outer rotating cylinder 6.2, and can ensure the rotational stability of the outer rotating cylinder 6.2 while supporting the outer rotating cylinder, the inner rotating rod 6.1 is inserted into the outer rotating cylinder 6.2, and both can rotate freely and independently, and the inner rotating rod 6.1 and the outer rotating cylinder 6.2 are driven by the upper bevel gear 6.5 and the lower bevel gear 6.6 respectively, and the rotating speed and the direction of the upper bevel gear 6.5 and the lower bevel gear 6 can be opposite, and the adjustment of the swing angle of the upper bevel gear and the lower bevel gear 6.6 can be changed conveniently.

The self-locking driving mechanism 7 comprises a driving cavity 7.1, a rotating rod 7.2, a worm wheel 7.3, a worm 7.4 and a motor 7.5, the driving cavity 7.1 is used for installing and supporting the worm 7.4 and the motor 7.5, the rotation of the side bevel gear 6.7 depends on the rotation of the rotating rod 7.2 and the worm wheel 7.3, the motor 7.5 controls the rotation of the worm 7.4 to further engage the worm wheel 7.3 to rotate along with the rotation to realize the control of the side bevel gear 6.7, meanwhile, the rotation of the worm wheel 7.3 is controlled by the worm 7.4 to have self-locking capacity, and the problem that the supporting plate 5 is adjusted to swing unstably after clamping an object is effectively avoided.

Embodiment 2, a novel manipulator clamping jaw connection structure, as shown in fig. 1-3, includes an adjusting support block 4, an external connection block 12, an external connection hole 13, a guide wheel 14 and a guide groove 15, the external connection block 12 and the external connection hole 13 cooperate with each other to install an installation device on an external control device, so that the position of the whole manipulator main body 1 can be adjusted conveniently, the adjusting support block 4 is connected with an adjusting support plate 5, the adjusting support block 4 can be controlled to swing through the swing of the adjusting support plate 5, the guide wheel 14 cooperates with the guide groove 15 to be used, the adjusting support block 4 can be guaranteed not to be obstructed during the swing, the limiting and guiding movement effects are also achieved, and the movement stability of the adjusting support block 4 is enhanced.

Embodiment 3, a novel manipulator clamping jaw connection structure, as shown in fig. 1, 2, 3 and 5, includes manipulator telescopic arm 8, coupling mechanism 9, reinforcing mechanism 10 and clamping jaw 11, coupling mechanism 9 includes damping pivot 9.1, riser 9.2, locking lever 9.3 and lockhole 9.4, damping pivot 9.1 can guarantee that riser 9.2 rotates, and convenient the connection installation is carried out through lockhole 9.4 on locking lever 9.3 cooperation clamping jaw 11, reinforcing mechanism 10 includes installation piece 10.1, spout 10.2, slider 10.3, spring 10.4, lock extension board 10.5 and lockhole 10.6, and this practical spring 10.4 adopts high elastic modulus, guarantees that the control to lock extension board 10.5 is enough, installation piece 10.1 is used for installing and supporting spout 10.2, slider 10.3 and spring 10.4, slider 10.3 receives the reaction force influence of spring 10.4 and controls one side of lock extension board 10.5 to push down clamping jaw 11 to through the lockhole 10.6 and 9.3 that set up, guarantee firm connection of locking lever and connection process, do not need the whole external connection of the simplification.

The utility model discloses when concrete implementation, as shown in fig. 1-5, the utility model discloses when using, cooperation through circumscribed piece 12 and circumscribed hole 13, connect whole device on external control device, rotate through control damping pivot 9.1, change locking lever 9.3 on riser 9.2 out, install clamping jaw 11 on locking lever 9.3, then rotate through damping pivot 9.1 and restore locking lever 9.3 direction, receive spring 10.4 reaction force influence locking plate 10.5 and block the clamping jaw, can realize the installation of clamping jaw 11, when needs use two claws, only need carry out on the flexible arm 8 of manipulator that sets up in manipulator main part 1 front and back side connect clamping jaw 11 can, when needs carry out the four-jaw installation, it can to rotate to differ 90 between to have the flexible arm 8 of manipulator through motor 7.5 control, install four clamping jaw 11 can, when needs use the three-jaw structure, swing through motor 7.5 control both sides flexible arm 8 of manipulator, let between the three flexible arm 8 be 120, the flexible arm of manipulator installation can be accomplished the three-jaw installation on the manipulator that corresponds 11 and use.

The present invention and the embodiments thereof have been described above, but the description is not limited thereto, and the embodiment shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should understand that they should not be limited to the embodiments described above, and that they can design the similar structure and embodiments without departing from the spirit of the invention.

Claims

1. The utility model provides a novel manipulator clamping jaw connection structure, includes manipulator main part (1), its characterized in that: the manipulator is characterized in that both sides inside the manipulator main body (1) are provided with arc-shaped outer adjusting grooves (2), the upper side and the lower side of one end, close to each other, of each outer adjusting groove (2) inside the manipulator main body (1) are provided with fan-shaped inner adjusting grooves (3), the lower side of the other end is provided with inner adjusting grooves (2) communicated with the inner adjusting grooves (3), adjusting support blocks (4) are arranged inside the outer adjusting grooves (2), adjusting support plates (5) connected with the adjusting support blocks (4) are arranged inside the inner adjusting grooves (3), the position, located on the upper side of the inner adjusting grooves (3), of the center inside of the manipulator main body (1) is provided with an adjusting mechanism (6), one side, located inside the adjusting mechanism (6), of the manipulator main body (1) is provided with a self-locking driving mechanism (7) connected with the self locking mechanism, the adjusting support blocks (4) are connected with the adjusting support plates (5), the lower side of the front end and the rear end outside of the manipulator main body (1) is provided with a manipulator telescopic arm (8), one side, the bottom of the telescopic arm (8) is provided with one side, the manipulator main body (1) is provided with a connecting mechanism (9), the lower end of the manipulator telescopic arm (8) is provided with a lower end connecting mechanism (10) of the manipulator main body (10) which is arranged on one side, the manipulator main body (9) close to the lower end of the manipulator main body (10), the manipulator is characterized in that an external connecting block (12) is arranged at the center of the top end of the outer portion of the manipulator main body (1), and an external connecting hole (13) is formed in the external connecting block (12).

2. The novel manipulator jaw connection according to claim 1, wherein: the adjusting mechanism (6) comprises an inner rotating rod (6.1) and an outer rotating cylinder (6.2), the inner rotating rod (6.1) is inserted into the outer rotating cylinder (6.2), the bottom end of the inner rotating rod (6.1) is fixedly inserted into the lower side of the adjusting support plate (5), the bottom end of the outer rotating cylinder (6.2) is fixedly inserted into the upper side of the adjusting support plate (5), an adjusting cavity (6.3) is arranged at the position, located on the upper side of the inner adjusting groove (3), of the center of the interior of the manipulator body (1), the top end of the inner rotating rod (6.1) extends to the top end of the interior of the adjusting cavity (6.3) and is provided with an upper bevel gear (6.5), the top end of the outer rotating cylinder (6.2) extends to the lower side of the interior of the adjusting cavity (6.3) and is provided with a lower bevel gear (6.6) in a sleeved mode, a bearing (6.4) sleeved on the outer rotating cylinder (6.2) is arranged at the position between the adjusting cavity (6.3) and the inner adjusting groove (3), and a bearing (6.4) sleeved on the side of the upper bevel gear (6.5) and one end of the lower bevel gear (6.5) is provided with a bevel gear (6.7).

3. The novel manipulator clamping jaw connecting structure according to claim 2, characterized in that: self-locking actuating mechanism (7) is including setting up in drive chamber (7.1) of regulation and control chamber (6.3) one side, side bevel gear (6.7) are close to one side center department of drive chamber (7.1) and are equipped with bull stick (7.2), bull stick (7.2) other end extends to drive chamber (7.1) inside and is equipped with worm wheel (7.3), drive chamber (7.1) inside rear side is equipped with rotates worm (7.4) of being connected with its bottom surface, worm (7.4) are with worm wheel (7.3) meshing, the inside top surface of drive chamber (7.1) is equipped with motor (7.5) of being connected with worm (7.4).

4. The novel manipulator jaw connection according to claim 1, wherein: coupling mechanism (9) are including damping pivot (9.1), damping pivot (9.1) set up in the flexible end bottom of the arm (8) that the manipulator is flexible and keep away from one side of manipulator main part (1), one side that manipulator main part (1) was kept away from to damping pivot (9.1) bottom is equipped with riser (9.2), riser (9.2) are close to on one side of manipulator main part (1) lower extreme and all are equipped with locking lever (9.3), clamping jaw (11) cup joint on locking lever (9.3), clamping jaw (11) upper end is equipped with lockhole (9.4) that cooperation locking lever (9.3) used.

5. The novel manipulator jaw connection according to claim 4, wherein: reinforcing mechanism (10) are including installing piece (10.1), install piece (10.1) and set up in one side that damping pivot (9.1) is close to manipulator main part (1), install inside spout (10.2) that is equipped with of piece (10.1), spout (10.2) inside grafting is equipped with slider (10.3), inside lateral wall that is close to manipulator main part (1) of spout (10.2) is equipped with spring (10.4) between with slider (10.3), slider (10.3) lower extreme is equipped with lock support board (10.5) that cooperation clamping jaw (11) used, be equipped with on lock support board (10.5) and cooperate lockhole (10.6) that lockhole (9.3) used.

6. The novel manipulator jaw connection according to claim 1, wherein: the top end and the bottom end of the adjusting support block (4) are respectively provided with a guide wheel (14), and the top surface and the bottom surface of the outer adjusting groove (2) are respectively provided with an arc-shaped guide groove (15) used for matching with the guide wheel (14).