CN218504551U

CN218504551U - Manipulator with anti-shake structure that drops

Info

Publication number: CN218504551U
Application number: CN202222421671.8U
Authority: CN
Inventors: 张为臣; 李永; 解建员
Original assignee: Qingzhi Intelligent Equipment Manufacturing Suzhou Co ltd
Current assignee: Qingzhi Intelligent Equipment Manufacturing Suzhou Co ltd
Priority date: 2022-09-13
Filing date: 2022-09-13
Publication date: 2023-02-21
Anticipated expiration: 2032-09-13

Abstract

The utility model is suitable for a manipulator technical field provides a manipulator with anti-shake structure that drops, including coupling assembling, drive assembly, pincers subassembly, coupling assembling is including the sleeve, drive assembly is including cup jointing in the inside shell of sleeve, electric putter, the sliding tray, the pincers subassembly is including a plurality of axis of rotation of being connected with the shell rotation, claw pincers, the slider, the first rack of the inside fixedly connected with of telescopic lower extreme, one side meshing of first rack is connected with first gear, the opposite side meshing of first gear is connected with the second rack, just one side of second rack and the inner wall sliding connection of shell, spacing, second gear. The utility model discloses a set up first rack, first gear, second rack, spacing, second gear, make the manipulator carry out the locking to the pincers subassembly after snatching article and can make the manipulator be difficult for dropping moving article in-process article, improved work efficiency, do not influence the production progress.

Description

Manipulator with anti-shake structure that drops

Technical Field

The utility model belongs to the technical field of the manipulator, especially, relate to a manipulator with anti-shake drops structure.

Background

The manipulator is an automatic operation device which can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, and is widely applied to departments of mechanical manufacturing, electronics, light industry and the like.

SUMMERY OF THE UTILITY MODEL

The utility model provides a manipulator with anti-shake structure that drops aims at solving and has the problem of the risk that drops when traditional manipulator snatchs article.

The utility model discloses a realize like this, a manipulator with anti-shake structure that drops, including coupling assembling, drive assembly, pincers subassembly, coupling assembling is including the sleeve, drive assembly is including cup jointing in the inside shell of sleeve, the top of shell is provided with the electric putter who runs through to the shell bottom, a plurality of sliding tray have been seted up to electric putter's output outer wall, the pincers subassembly is including a plurality of axis of rotation of being connected with the shell rotation, and is a plurality of the outer wall fixedly connected with claw of axis of rotation, claw's one end fixedly connected with slider, just slider and sliding tray sliding connection, the first rack of the inside fixedly connected with of telescopic lower extreme, one side meshing of first rack is connected with first gear, the opposite side meshing of first gear is connected with the second rack, just one side of second rack and the inner wall sliding connection of shell, the bottom fixedly connected with spacing of second rack, the outer wall fixedly connected with second gear of axis of rotation.

Preferably, telescopic top fixedly connected with arm, the arm comprises the connecting rod of a plurality of mutual rotation connections, and the rotation hookup location department of two adjacent connecting rods all is provided with a driving motor, and driving motor passes through bolt assembly and installs in the outer wall of a connecting rod, and driving motor's output shaft runs through this connecting rod inboard and with another connecting rod fixed connection, the bottom inner wall of arm is connected with the mount pad through the pivot, just the internally mounted of mount pad has the driving motor who is connected with the pivot.

Preferably, the bottom fixedly connected with roating seat of mount pad, the bottom of roating seat is rotated and is connected with the base, the internally mounted of base has output and roating seat bottom fixed connection's rotation motor.

Preferably, the diameter of the inner wall of the sliding groove is matched with the diameter of the outer wall of one end of the sliding block.

Preferably, the size of the bottom end of the limiting strip is matched with the tooth groove of the outer wall of the second gear.

Preferably, the outer wall of the shell is provided with a movable groove matched with the moving track of the first rack, and the first gear is rotatably connected with the inner wall of the shell through a rotating shaft.

Preferably, the top end of the shell is located inside the sleeve and is fixedly provided with a limiting round block, and a movable groove matched with the limiting round block and the movable track of the electric push rod is formed inside the sleeve.

Compared with the prior art, the embodiment of the application mainly has the following beneficial effects:

through setting up first rack, first gear, second rack, spacing, second gear, make the manipulator carry out the locking to the pincers subassembly after snatching article and can make the manipulator be difficult for dropping at removal article in-process article, improved work efficiency, do not influence the production progress.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a schematic structural diagram of the connecting assembly, the driving assembly and the pliers assembly of the present invention;

FIG. 3 is a sectional view of the sleeve and the housing of the present invention;

fig. 4 is an enlarged schematic view of the present invention at a in fig. 3.

In the figure: 1. a connection assembly; 101. a sleeve; 102. a first rack; 103. a first gear; 2. a drive assembly; 201. a housing; 202. an electric push rod; 203. a sliding groove; 204. a second rack; 205. a limiting strip; 3. a hand vise assembly; 301. a rotating shaft; 302. claw tongs; 303. a slider; 304. a second gear; 4. a mechanical arm; 5. a mounting seat; 6. a rotating base; 7. a base.

Detailed Description

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 application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The embodiment of the utility model provides a manipulator with anti-shake structure that drops, as shown in fig. 1-4, including coupling assembling 1, drive assembly 2, pincers subassembly 3, coupling assembling 1 is including sleeve 101, drive assembly 2 is including cup jointing in the inside shell 201 of sleeve 101, the top of shell 201 is provided with the electric putter 202 that runs through to shell 201 bottom, a plurality of sliding tray 203 have been seted up to electric putter 202's output outer wall, pincers subassembly 3 is including a plurality of axis of rotation 301 of being connected with shell 201 rotation, the outer wall fixedly connected with claw 302 of a plurality of axis of rotation 301, the one end fixedly connected with slider 303 of claw 302, and slider 303 and sliding tray 203 sliding connection, a serial communication port, the inside fixedly connected with first rack 102 of lower extreme of sleeve 101, one side meshing of first rack 102 is connected with first gear 103, the opposite side meshing of first gear 103 is connected with second rack 204, and the inner wall sliding connection of second rack 204, the bottom fixedly connected with spacing strip 205 of second rack 204, the outer wall fixedly connected with second gear 304 of axis of rotation 301.

In this embodiment, the connecting assembly 1 can connect the driving assembly 2 for placement, the driving assembly 2 can drive and lock the pliers assembly 3, and the pliers assembly 3 can grip an object, when the manipulator works, the connecting assembly 1, the driving assembly 2, and the pliers assembly 3 can simultaneously align with the object and move downward, when the bottom end of the housing 201 contacts with the upper surface of the object, the sleeve 101 will continue to move downward for a certain distance, then the electric push rod 202 is started, the output end of the electric push rod 202 moves upward to push the slider 303 to move upward, the rotating shaft 301, the pliers 302, and the slider 303 can be driven to synchronously rotate by the transmission of the slider 303, so that the plurality of pliers 302 rotate inward to grip the object, at this time, the sleeve 101 is controlled to move upward, the first rack 102 can be driven to synchronously move upward by the movement of the sleeve 101, the first gear 103 can be driven to move downwards by the upward movement of the first rack 102, the second gear 204 and the limiting bar 205 can be driven to move in the same direction by the movement of the first gear 103 until the limiting bar 205 is clamped into the tooth gaps of the second gear 304, so that the second gear 304, the rotating shaft 301 and the claw 302 can not rotate any more to be in a locking state, the sleeve 101 can continuously move upwards to lift an article and move to a designated place, when the article is put down, when an object contacts a table top, the sleeve 101 continues to move downwards, the first rack 102 can be driven to synchronously move downwards through the movement of the sleeve 101, the first gear 103 can be driven to move upwards through the downward movement of the first rack 102, the second rack 204 and the limiting bar 205 can be driven to move in the same direction through the movement of the first gear 103 until the limiting bar 205 is pulled away from the second gear 304, at the moment, the second gear 304 is unlocked, and the object can pass through the rotating shaft 301, the rotation of claw 302 loosens article and accomplishes the work of removing the article, carries out the locking to the hand vice subassembly 3 after snatching the article through the manipulator and can make the manipulator be difficult for dropping at removal article in-process article, improves work efficiency, does not influence the production progress.

The utility model discloses in the further preferred embodiment, as shown in fig. 1, sleeve 101's top fixedly connected with arm 4, arm 4 comprises the connecting rod that a plurality of interrotation are connected, and the rotation hookup location department of two adjacent connecting rods all is provided with a driving motor, driving motor passes through bolt assembly and installs in the outer wall of a connecting rod, and driving motor's output shaft runs through this connecting rod inboard and with another connecting rod fixed connection, arm 4's bottom inner wall is connected with mount pad 5 through the pivot, and the internally mounted of mount pad 5 has the driving motor who is connected with the pivot.

In the embodiment, the connecting component 1, the driving component 2 and the pliers component 3 can be moved flexibly through the structure.

In a further preferred embodiment of the present invention, as shown in fig. 1, the bottom end of the mounting seat 5 is fixedly connected with a rotating seat 6, the bottom end of the rotating seat 6 is rotatably connected with a base 7, and the base 7 is internally provided with a rotating motor with an output end fixedly connected with the bottom end of the rotating seat 6.

In this embodiment, the robot can be moved in different directions by the rotary base 6, and the robot can be operated more flexibly.

In a further preferred embodiment of the present invention, as shown in fig. 4, the inner wall diameter of the sliding groove 203 matches with the outer wall diameter of one end of the slider 303.

In this embodiment, the rotation direction of the claw 302 can be limited up and down by this structure.

In a further preferred embodiment of the present invention, as shown in fig. 4, the bottom dimension of the spacing bar 205 matches the tooth space of the outer wall of the second gear 304.

In the embodiment, the limiting bar 205 can better limit the second gear 304 by the structure, and insufficient limiting caused by too small or too large limiting is avoided.

In a further preferred embodiment of the present invention, as shown in fig. 3, the outer wall of the housing 201 is provided with a movable groove matching with the moving track of the second rack 204, and the first gear 103 is rotatably connected with the inner wall of the housing 201 through a rotating shaft.

In this embodiment, the second rack 204 and the first gear 103 are more stable by the structure, so as to move up and down conveniently.

In a further preferred embodiment of the present invention, as shown in fig. 3, the top end of the housing 201 is located inside the sleeve 101 and is fixed with a limiting circular block, and the inside of the sleeve 101 is provided with a movable groove matched with the moving track of the limiting circular block and the electric push rod 202.

In this embodiment, the movement of the housing 201 in the sleeve 101 can be made smoother by this structure.

It should be noted that, for the sake of simplicity, the foregoing embodiments are described as a series of combinations of acts, but it should be understood by those skilled in the art that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that acts and modules referred to are not necessarily required by the invention.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or communication connection may be an indirect coupling or communication connection between devices or units through some interfaces, and may be in a telecommunication or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The above embodiments are only used to illustrate the technical solution of the present invention, and do not limit the protection scope of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from these embodiments without any inventive step, are within the scope of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still make no creative work on the condition of conflict, and make mutual combination, addition and deletion, or other adjustments according to the features in the embodiments of the present invention, thereby obtaining other technical solutions which are different and do not depart from the concept of the present invention, and these technical solutions also belong to the scope to be protected by the present invention.

Claims

1. The utility model provides a manipulator with anti-shake structure that drops, includes coupling assembling, drive assembly, pincers subassembly, coupling assembling is including the sleeve, drive assembly is including cup jointing in the inside shell of sleeve, the top of shell is provided with the electric putter who runs through to the shell bottom, a plurality of sliding tray has been seted up to electric putter's output outer wall, the pincers subassembly is including a plurality of axis of rotation of being connected with the shell rotation, and is a plurality of the outer wall fixedly connected with claw pincers of axis of rotation, the one end fixedly connected with slider of claw pincers, just slider and sliding tray sliding connection, its characterized in that, the first rack of the inside fixedly connected with of telescopic lower extreme, one side meshing of first rack is connected with first gear, the opposite side meshing of first gear is connected with the second rack, just one side of second rack and the inner wall sliding connection of shell, the bottom fixedly connected with spacing strip of second rack, the outer wall fixedly connected with second gear of axis of rotation.

2. The manipulator with the structure for preventing shaking and dropping as claimed in claim 1, wherein the top end of the sleeve is fixedly connected with a mechanical arm, the mechanical arm is composed of a plurality of connecting rods which are rotatably connected with each other, a driving motor is arranged at the rotating connection position of two adjacent connecting rods, the driving motor is mounted on the outer wall of one connecting rod through a bolt assembly, the output shaft of the driving motor penetrates through the inner side of the connecting rod and is fixedly connected with the other connecting rod, the inner wall of the bottom end of the mechanical arm is connected with a mounting seat through a rotating shaft, and the driving motor connected with the rotating shaft is mounted inside the mounting seat.

3. The manipulator with the shake-proof and drop-proof structure as claimed in claim 2, wherein the bottom end of the mounting base is fixedly connected with a rotating base, the bottom end of the rotating base is rotatably connected with a base, and a rotating motor with an output end fixedly connected with the bottom end of the rotating base is installed inside the base.

4. The robot hand with shaking and dropping prevention structure as set forth in claim 1, wherein the inner wall diameter of the sliding groove matches with the outer wall diameter of one end of the slider.

5. The manipulator of claim 1, wherein the bottom of the limiting bar is matched with the tooth grooves on the outer wall of the second gear in size.

6. The manipulator with the anti-shaking and anti-falling structure as claimed in claim 1, wherein the outer wall of the housing is provided with a movable groove matched with the moving track of the first rack, and the first gear is rotatably connected with the inner wall of the housing through a rotating shaft.

7. The manipulator with the anti-shaking and anti-falling structure as claimed in claim 1, wherein the top end of the housing is located inside the sleeve, a limiting round block is fixed on the top end of the housing, and a moving groove matched with the limiting round block and the moving track of the electric push rod is formed inside the sleeve.