CN218313603U

CN218313603U - Manipulator fixture

Info

Publication number: CN218313603U
Application number: CN202222840072.XU
Authority: CN
Inventors: 熊青山
Original assignee: Guangdong Six Edge Intelligent Equipment Technology Co ltd
Current assignee: Guangdong Six Edge Intelligent Equipment Technology Co ltd
Priority date: 2022-10-27
Filing date: 2022-10-27
Publication date: 2023-01-17
Anticipated expiration: 2032-10-27

Abstract

The utility model discloses a manipulator clamping mechanism, comprises a workbench, be equipped with the base on the fixed workstation, be equipped with rotatory chassis on the base, install the main shaft crank on the rotatory chassis, the upper end of main shaft crank is equipped with first servo motor, the main shaft crank is connected with first rotor arm through first servo motor, the upper end of first rotor arm is equipped with second servo motor, first rotor arm is connected with second rotor arm through second servo motor, the upper end of second rotor arm is connected with the connection shoulder, the upper end of connection shoulder is equipped with third servo motor, the connection shoulder is connected with clamping structure through third servo motor; the clamping structure comprises a clamping head and a sliding assembly, the clamping head is connected with the sliding assembly, and a pressure sensor is further arranged on the clamping head. The utility model discloses a manipulator fixture can adapt to not unidimensional battery case in the clamping process, and can stabilize and avoid the battery case extrusion, and the practicality is strong.

Description

Manipulator fixture

Technical Field

The utility model relates to a production and processing technology field specifically is a manipulator fixture.

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 manipulator is the earliest appearing industrial robot and the earliest appearing modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like. Also often use the manipulator in the battery processing field, when involving the battery case transport, often will grab transport battery case with the manipulator. And traditional manipulator can't carry out the centre gripping to unidimensional battery, when meetting unidimensional battery case, then need to change looks adaptation size's gripper jaw, it is troublesome and practical relatively poor to change, and traditional manipulator's gripper jaw can't judge the dynamics, can't carry out the dynamics according to the pressure value that produces in the clamping process and adjust, often appears easily because the too big circumstances that leads to the battery case to appear warping of dynamics, brings the loss for the user.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a manipulator fixture aims at solving above-mentioned technical problem, can realize the automatic centre gripping battery case that stabilizes of centre gripping in-process holding head, avoids the battery case extrusion deformation condition to appear, and the holding head can open a mouthful and the centre gripping according to the not unidimensional of battery case, and the practicality is strong.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes:

a manipulator clamping mechanism comprises a workbench, wherein a base is fixedly arranged on the workbench, a rotating chassis is arranged on the base, a spindle crank is installed on the rotating chassis, a first servo motor is arranged at the upper end of the spindle crank, the spindle crank is connected with a first rotating arm through the first servo motor, a second servo motor is arranged at the upper end of the first rotating arm, the first rotating arm is connected with a second rotating arm through the second servo motor, the upper end of the second rotating arm is connected with a connecting shoulder through a rotating part, a third servo motor is arranged at the upper end of the connecting shoulder, and the connecting shoulder is connected with a clamping structure through the third servo motor; the clamping structure comprises a clamping head, a pressure sensor, a sliding assembly, a fourth servo motor and a motor mounting seat, one end of the third servo motor is connected with the upper surface of the motor mounting seat, the fourth servo motor is symmetrically arranged on two sides of the third servo motor, the sliding assembly is located below the motor mounting seat and connected with the clamping head, and the pressure sensor is arranged on the clamping head.

Further, the centre gripping head symmetry sets up in the motor mount pad below, the centre gripping head is "7" word shape, including vertical portion and horizontal portion, horizontal portion is connected with sliding assembly, vertical portion is connected with pressure sensor, the lower extreme of vertical portion is equipped with inclined plane portion, rectangular recess has been seted up to inclined plane portion. In the centre gripping process, the bottom joint of battery case is on rectangular recess to with inclined plane portion butt, be favorable to improving stability.

Further, one end of the pressure sensor is positioned outside the vertical portion of the gripping head, and the other end passes through the vertical portion and faces the inside of the vertical portion. The pressure sensor can control the force of the clamping head when the battery box is clamped, and the clamping force is prevented from being too large or too small.

Further, the both ends of motor mount pad are equipped with the fixed block, fourth servo motor's one end is connected with the fixed block, the bottom of motor mount pad is equipped with the curb plate of symmetry setting, the both ends and the fixed block fixed connection of curb plate.

Further, the sliding assembly comprises a screw rod, a coupler and a limiting seat, the coupler and the limiting seat are fixedly connected with the lower surface of the motor mounting seat, one end of the screw rod is connected with the fixing block through the coupler and penetrates through the fixing block to be connected with a fourth servo motor through a connecting piece, and the other end of the screw rod is fixedly connected with the limiting seat.

Furthermore, the sliding assembly further comprises a sliding rail, a sliding block and a moving block, one side of the sliding rail is fixedly connected with the side plate, the sliding block is sleeved on the other side of the sliding rail, the sliding block is fixedly connected with the transverse portion of the clamping head, the moving block is located between the coupler and the limiting seat and sleeved on the lead screw, one side of the moving block is movably connected with the motor installation seat, the other side of the moving block is fixedly connected with the transverse portion of the clamping head, and the fourth servo motor can drive the clamping head to slide left and right along the sliding rail to clamp an article.

Furthermore, the servo motor assembly further comprises a triangular connecting plate, wherein a first end, a second end and a third end are arranged on the triangular connecting plate, and the first end is connected with the output end of the second servo motor.

Furthermore, the device also comprises a curved bar and a connecting rod, wherein one end of the curved bar is rotatably connected with the main shaft crank through a rotating piece, the other end of the curved bar is rotatably connected with the second end of the triangular connecting plate, one end of the connecting rod is rotatably connected with the third end of the triangular connecting plate, and the other end of the connecting rod is rotatably connected with the connecting shoulder.

The utility model discloses manipulator fixture has following beneficial effect:

1. the manipulator clamping mechanism is strong in practicability and good in stability, the moving block is driven to move left and right on the lead screw under the driving of the fourth servo motor, so that the clamping head moves left and right under the matching of the slide rail and the slide block, opening and clamping are performed according to batteries with different sizes, and the clamping head is strong in practicability and is provided with the inclined plane part and the strip-shaped groove, so that the battery box and the clamping head can be connected more stably in the clamping process, and the battery box is prevented from falling;

2. the utility model discloses manipulator clamping mechanism, pressure sensor's one end is located the vertical portion outside of clamping head, and the other end passes vertical portion and towards the vertical portion inboard, and the pressure sensor can real-time supervision clamping head between the pressure value, and when clamping head presss from both sides tight battery case, the battery case contacts the contact of pressure sensor, makes clamping head keep the clamping dynamics, can enough prevent that the battery case from appearing the condition that drops, can also prevent that clamping head from compressing the battery case when the centre gripping battery case warp;

3. can accurate control manipulator height and angle, the utility model discloses manipulator fixture, the main shaft crank can 360 rotations, and the first rotor arm of first servo motor drive carries out the up-and-down motion, and second servo motor drive second rotor arm carries out the up-and-down motion, and the second rotor arm rotates and then drives and connects the shoulder rotation, and third servo motor drive clamping structure carries out the up-and-down motion to under the rotation of first rotor arm and second rotor arm, corresponding rotation is also carried out to curved bar, triangle even board and connecting rod, the accurate control of realization manipulator height and angle that like this can be better.

Drawings

Fig. 1 is an overall schematic view of the manipulator clamping mechanism of the present invention;

fig. 2 is a rear view of the manipulator clamping mechanism of the present invention;

FIG. 3 is a schematic view of the clamping structure, the connecting shoulder and the third servomotor shown in FIG. 1;

fig. 4 is a bottom schematic view of the clamping structure shown in fig. 1.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the following embodiments and the accompanying drawings are used to describe the product of the present invention in further detail.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present; when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 and fig. 2, a manipulator clamping mechanism includes a workbench 1, a base 2 is fixedly arranged on the workbench 1, a rotary chassis 3 is arranged on the base 2, a spindle crank 4 is mounted on the rotary chassis 3, a first servo motor 5 is arranged at the upper end of the spindle crank 4, the spindle crank 4 is connected with a first rotary arm 6 through the first servo motor 5, a second servo motor 7 is arranged at the upper end of the first rotary arm 6, the first rotary arm 6 is connected with a second rotary arm 8 through the second servo motor 7, the upper end of the second rotary arm 8 is connected with a connecting shoulder 9 through a rotary part, a third servo motor 10 is arranged at the upper end of the connecting shoulder 9, and the connecting shoulder 9 is connected with a clamping structure 11 through the third servo motor 10; still including triangle even board 12, be equipped with first end 13, second end 14 and third end 15 on the triangle even board 12, first end 13 is connected with second servo motor 7's output. Still including curved bar 16 and connecting rod 17, the one end of curved bar 16 is connected with main shaft crank 4 through rotating, and the other end rotates with the second end 14 of triangle even board 12 and is connected, the one end of connecting rod 17 rotates with the third end 15 of triangle even board 12 and is connected, and the other end rotates with connecting shoulder 9 and is connected.

As shown in fig. 1 to 4, the clamping structure 11 includes a clamping head 18, a pressure sensor 19, a sliding assembly, a fourth servo motor 20 and a motor mounting seat 21, one end of the third servo motor 10 is connected to the upper surface of the motor mounting seat 21, the fourth servo motor 20 is symmetrically disposed on two sides of the third servo motor 10, the sliding assembly is located below the motor mounting seat 21 and connected to the clamping head 18, and the pressure sensor 19 is disposed on the clamping head 18. Clamping head 18 symmetry sets up in motor mount 21 below, clamping head 18 is "7" word shape, including vertical portion 22 and horizontal portion 23, horizontal portion 23 is connected with sliding assembly, vertical portion 22 is connected with pressure sensor 19, the lower extreme of vertical portion 22 is equipped with inclined plane portion 24, rectangular recess 25 has been seted up to inclined plane portion 24. One end of the pressure sensor 19 is located outside the vertical portion 22 of the gripping head 18 and the other end passes through the vertical portion 22 and faces inside the vertical portion 22. The both ends of motor mount pad 21 are equipped with fixed block 26, the one end and the fixed block 26 of fourth servo motor 20 are connected, the bottom of motor mount pad 21 is equipped with the curb plate 27 that the symmetry set up, the both ends and the fixed block 26 fixed connection of curb plate 27. The sliding assembly comprises a screw 28, a coupler 29 and a limiting seat 30, the coupler 29 and the limiting seat 30 are both fixedly connected with the lower surface of the motor mounting seat 21, one end of the screw 28 is connected with the fixing block 26 through the coupler 29 and penetrates through the fixing block 26 to be connected with the fourth servo motor 20 through a connecting piece, and the other end of the screw 28 is fixedly connected with the limiting seat 30. The sliding assembly further comprises a sliding rail 31, a sliding block 32 and a moving block 33, one side of the sliding rail 31 is fixedly connected with the side plate 27, the other side of the sliding rail 31 is sleeved with the sliding block 32, the sliding block 32 is fixedly connected with the transverse portion 23 of the clamping head 18, the moving block 33 is located between the coupler 29 and the limiting seat 30 and is sleeved on the lead screw 28, one side of the moving block 33 is movably connected with the motor mounting seat 21, the other side of the moving block is fixedly connected with the transverse portion 23 of the clamping head 18, and the fourth servo motor 20 can drive the clamping head 18 to slide left and right along the sliding rail 31 to clamp an article. The number of the slide rail 1 and the number of the slide block 32 in this embodiment are four, and the number of the clamping head 18, the pressure sensor 19, the fourth servo motor 20, the moving block 33, the fixed block 26, the side plate 27, the lead screw 28, the coupler 29, and the limiting seat 30 is two.

The working principle of the utility model is as follows:

when the manipulator is used, the spindle crank 4 can rotate 360 degrees through an electric control device in the base 2, the first servo motor 5 drives the first rotating arm 6 to move up and down, the second servo motor 7 drives the second rotating arm 8 to move up and down, the second rotating arm 8 rotates to drive the connecting shoulder 9 to rotate, the third servo motor 10 drives the clamping structure 11 to move up and down, and under the rotation of the first rotating arm 6 and the second rotating arm 8, the crank rod 16, the triangular connecting plate 12 and the connecting rod 17 also rotate correspondingly, so that the height and the angle of the manipulator can be accurately controlled; under fourth servo motor 20's drive, it removes about moving block 33 moves on lead screw 28 to drive, and then make holding head 18 remove about under the cooperation of slide rail 31 and slider 32, in order to realize firm clamp and get the effect of battery case, and under pressure sensor's effect, can real-time supervision holding head 18 between the pressure value, when holding head 18 presss from both sides tight battery case, the contact of pressure sensor is contacted to the battery case, make holding head 18 keep the centre gripping dynamics, can enough prevent that the condition that drops from appearing in the battery case, can also prevent that holding head 18 from warping the battery case oppression when the centre gripping battery case.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way; the present invention can be smoothly implemented by those skilled in the art according to the drawings and the above description; however, those skilled in the art should understand that they can make various changes, modifications and evolutions equivalent to those disclosed above without departing from the scope of the present invention; meanwhile, any changes, modifications, evolutions, etc. of any equivalent changes made to the above embodiments according to the essential technology of the present invention all still belong to the technical solution of the present invention.

Claims

1. The utility model provides a manipulator fixture which characterized in that: the clamping device comprises a workbench, wherein a base is fixedly arranged on the workbench, a rotary chassis is arranged on the base, a main shaft crank is installed on the rotary chassis, a first servo motor is arranged at the upper end of the main shaft crank, the main shaft crank is connected with a first rotating arm through the first servo motor, a second servo motor is arranged at the upper end of the first rotating arm, the first rotating arm is connected with a second rotating arm through the second servo motor, the upper end of the second rotating arm is connected with a connecting shoulder through a rotating part, a third servo motor is arranged at the upper end of the connecting shoulder, and the connecting shoulder is connected with a clamping structure through the third servo motor;

the clamping structure comprises a clamping head, a pressure sensor, a sliding assembly, a fourth servo motor and a motor mounting seat, one end of the third servo motor is connected with the upper surface of the motor mounting seat, the fourth servo motor is symmetrically arranged on two sides of the third servo motor, the sliding assembly is located below the motor mounting seat and connected with the clamping head, and the pressure sensor is arranged on the clamping head.

2. The robot gripping mechanism according to claim 1, wherein: the clamping head symmetry sets up in motor mount pad below, the clamping head is "7" word shape, including vertical portion and horizontal portion, horizontal portion is connected with sliding assembly, vertical portion is connected with pressure sensor, the lower extreme of vertical portion is equipped with inclined plane portion, rectangular recess has been seted up to inclined plane portion.

3. The robot gripping mechanism of claim 2, wherein: one end of the pressure sensor is positioned outside the vertical part of the clamping head, and the other end of the pressure sensor penetrates through the vertical part and faces the inner side of the vertical part.

4. The robot gripping mechanism of claim 3, wherein: the two ends of the motor mounting seat are provided with fixed blocks, one end of the fourth servo motor is connected with the fixed blocks, the bottom of the motor mounting seat is provided with side plates which are symmetrically arranged, and the two ends of each side plate are fixedly connected with the fixed blocks.

5. The robot gripping mechanism of claim 4, wherein: the sliding assembly comprises a screw rod, a coupler and a limiting seat, the coupler and the limiting seat are fixedly connected with the lower surface of the motor mounting seat, one end of the screw rod is connected with the fixing block through the coupler and penetrates through the fixing block to be connected with a fourth servo motor through a connecting piece, and the other end of the screw rod is fixedly connected with the limiting seat.

6. The robot gripping mechanism of claim 5, wherein: the sliding assembly further comprises a sliding rail, a sliding block and a moving block, one side of the sliding rail is fixedly connected with the side plate, the other side of the sliding rail is sleeved with the sliding block, the sliding block is fixedly connected with the transverse portion of the clamping head, the moving block is located between the coupler and the limiting seat and sleeved on the lead screw, one side of the moving block is movably connected with the motor installation seat, the other side of the moving block is fixedly connected with the transverse portion of the clamping head, and the fourth servo motor can drive the clamping head to slide left and right along the sliding rail to clamp an article.

7. The robot gripping mechanism of claim 6, wherein: still link the board including the triangle, the triangle is equipped with first end, second end and third end on linking the board, first end is connected with second servo motor's output.

8. The robot gripping mechanism of claim 7, wherein: still including curved bar and connecting rod, the one end of curved bar is connected through rotating a piece and main shaft crank rotation, and the other end rotates with the second end that the triangle links the board to be connected, the one end of connecting rod is connected with the third end rotation that the triangle links the board, and the other end rotates with the connection shoulder to be connected.