CN218520569U

CN218520569U - Transfer mechanism and manipulator

Info

Publication number: CN218520569U
Application number: CN202222627411.6U
Authority: CN
Inventors: 张留成
Original assignee: Individual
Current assignee: Tianjin Yingcai Mingtu Digital Technology Co ltd
Priority date: 2022-10-05
Filing date: 2022-10-05
Publication date: 2023-02-24
Anticipated expiration: 2032-10-05

Abstract

The utility model relates to a manipulator technical field specifically is a transport mechanism and manipulator, include: a fixed arc-shaped groove is formed in the side wall of one end of the transferring paw, and a fixed plate is clamped inside the fixed arc-shaped groove; the sliding block is inserted in the sliding groove in a sliding mode, and the sliding groove is formed in one side of the fixing plate; the contact plate is fixedly arranged on one side of the sliding block, and a fixed plate is arranged on the surface of the contact plate; the beneficial effects are that: can adjust the interval between the contact plate of three groups according to the diameter of pipe, when transporting the pipe, because the contact plate articulates in one side of sliding block, can the free rotation, so when the pipe diameter is too big or too small, the contact plate all can the autogiration, with the pipe centre gripping, the setting of rubber pad simultaneously can increase and the pipe between the frictional force.

Description

Transfer mechanism and manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is a transport mechanism and 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 and 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;

when current manipulator snatchs the transportation to circular pipe fitting, because circular pipe fitting outer wall is comparatively smooth, and the manipulator is the rigid fixture that does not have anti-skidding to handle, and the article is got and is got insecurely, when the manipulator is in the transport state, makes the pipe fitting of getting when very holding rock and drop even, appears damaging.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a transport mechanism and manipulator to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a transfer mechanism, the transfer mechanism comprising:

a fixed arc-shaped groove is formed in the side wall of one end of the transfer paw, and a fixed plate is clamped inside the fixed arc-shaped groove;

the sliding block is inserted in the sliding groove in a sliding mode, and the sliding groove is formed in one side of the fixing plate;

the contact plate, the fixed setting in one side of sliding block of contact plate, the surface of contact plate is provided with the fixed plate.

Preferably, the transportation hand claw is provided with two sets ofly, two sets of even symmetric distributions of transportation hand claw, and the one end of two sets of transportation hand claws all rotates the one end tip of connection at the linking arm, and the one end rotation setting that the transportation hand claw was kept away from to the linking arm is put at the up end central symmetry of manipulator base.

Preferably, it is two sets of fixed arc wall has all been seted up to one side lateral wall that the transportation hand claw is close to each other, and fixed arc wall is the arc structure, and fixed block is in the inside size phase-match of the size of fixed arc wall inside fixed plate and fixed arc wall, and the fixed plate is kept away from one side lateral wall central symmetry position of fixed arc wall and is seted up the sliding tray, and the transversal "T" type structure of personally submitting of sliding tray.

Preferably, the inside slip of sliding tray is provided with the sliding block, the size of sliding block and the inside size phase-match of sliding tray, and the up end central symmetry position of sliding block has seted up and has accomodate the groove, accomodate the inslot portion and peg graft and have supported and hold the piece, support and hold the piece and be the triangle-shaped structure, and accomodate the inslot portion and be provided with reset spring, reset spring is fixed to be set up and is accomodating between the inside of groove and the bottom that supports holding the piece, supports holding the piece and peg graft through reset spring elasticity and accomodating the inslot portion.

Preferably, the end, far away from the reset spring, of the supporting block is inserted into the sinking groove, the sinking groove is formed in the top end of the inner portion of the sliding groove, the size of the supporting block is matched with that of the sinking groove, the sinking grooves are formed in multiple groups, and the multiple groups of sinking grooves are distributed symmetrically and evenly.

Preferably, the sliding block is provided with three groups, the even symmetric distribution of three groups of sliding blocks, and the sliding block one end of keeping away from the sliding tray is provided with articulated seat, and the articulated seat other end is connected with the contact plate, and the sliding block articulates through articulated seat has the contact plate, and the sliding block was kept away from to the contact plate one side lateral wall is fixed and is provided with the rubber pad, and the rubber pad is provided with the multiunit, the even symmetric distribution of multiunit rubber pad.

A manipulator includes foretell transport mechanism.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model provides a pair of transport mechanism and manipulator can adjust the interval between the contact plate of three groups according to the diameter of pipe, when transporting the pipe, because the contact plate articulates in one side of sliding block, can the free rotation, so when the pipe diameter is too big or too small, the contact plate all can rotate automatically, with the pipe centre gripping, the setting of rubber pad simultaneously can increase and the pipe between the frictional force.

Drawings

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

FIG. 2 is an enlarged view of the structure at A in FIG. 1;

FIG. 3 is a schematic view of the structural connection between the transfer gripper and the contact plate according to the present invention;

FIG. 4 is an exploded view of the transfer paw structure of the present invention;

FIG. 5 is a schematic view of the connection between the contact plate and the slider structure of the present invention;

fig. 6 is a sectional view of the fixing plate structure of the present invention.

In the figure: the manipulator comprises a manipulator base 1, a connecting arm 2, a transfer paw 3, a fixed arc-shaped groove 5, a fixed plate 6, a contact plate 7, a rubber pad 8, a sliding groove 9, a sliding block 10, a butting block 11, a containing groove 12, a return spring 13, a hinged seat 14 and a sinking groove 15.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 6, the present invention provides a technical solution: a transfer mechanism, the transfer mechanism comprising:

the manipulator comprises a transferring paw 3, wherein a fixed arc-shaped groove 5 is formed in the side wall of one end of the transferring paw 3, a fixing plate 6 is clamped inside the fixed arc-shaped groove 5, the transferring paw 3 is provided with two groups, the two groups of transferring paws 3 are uniformly and symmetrically distributed, one ends of the two groups of transferring paws 3 are rotatably connected to the end part of one end of a connecting arm 2, one end, far away from the transferring paw 3, of the connecting arm 2 is rotatably arranged at the central symmetrical position of the upper end face of a manipulator base 1, the side walls, close to each other, of the two groups of transferring paws 3 are respectively provided with the fixed arc-shaped groove 5, the fixed arc-shaped grooves 5 are of an arc-shaped structure, the size of the fixing plate 6 fixedly clamped inside the fixed arc-shaped groove 5 is matched with the internal size of the fixed arc-shaped groove 5, a sliding groove 9 is formed in the central symmetrical position of the side wall, far away from the fixed arc-shaped groove 5, and the cross section of the sliding groove 9 is of a T-shaped structure;

the sliding block 10, the sliding block 10 is inserted into the sliding groove 9 in a sliding manner, the sliding groove 9 is formed in one side of the fixed plate 6, the sliding block 10 is arranged in the sliding groove 9 in a sliding manner, the size of the sliding block 10 is matched with the size of the sliding groove 9, the sliding groove 10 is provided with a containing groove 12 in a central symmetrical position of the upper end face, a supporting block 11 is inserted into the containing groove 12 and is of a triangular structure, a return spring 13 is arranged in the containing groove 12, the return spring 13 is fixedly arranged between the inside of the containing groove 12 and the bottom of the supporting block 11, the supporting block 11 is elastically inserted into the containing groove 12 through the return spring 13, one end, far away from the return spring 13, of the supporting block 11 is inserted into the containing groove 15, the sinking groove 15 is formed in the top end of the sliding groove 9, the size of the supporting block 11 is matched with the size of the sinking groove 15, the sinking groove 15 is provided with a plurality of groups, the plurality of sinking grooves 15 are uniformly and symmetrically distributed, the sliding blocks 10 are provided with three groups of rubber pads, the sliding blocks 10 are symmetrically distributed on one side wall of the sliding block 7, and are provided with rubber pads 14, and rubber pads 8 symmetrically distributed on one side wall of the sliding block 7;

the contact plate 7 is fixedly arranged on one side of the sliding block 10, and the surface of the contact plate 7 is provided with a fixed plate 6.

A manipulator includes foretell transport mechanism.

During the use, manipulator base 1 drives linking arm 2 and rotates, linking arm 2 drives two sets of transportation paws 3 and snatchs the transportation to the pipe, when two sets of transportation paws 3 snatch the pipe, can adjust the interval between three groups of contact plates 7 according to the diameter of pipe earlier, in accommodation process, promote contact plate 7, contact plate 7 drives sliding block 10 and slides, heavy groove 15 extrudes simultaneously and supports and hold piece 11, make and support and hold the inside that piece 11 contracts into accomodating groove 12, when supporting and holding piece 11 and contract into the inside of accomodating groove 12 completely, can slide, adjust the back, under reset spring 13's effect, support and hold piece 11 and peg graft into other a set of heavy groove 15 inside once more, when transporting the pipe, because contact plate 7 articulates one side at sliding block 10, can the free rotation, so when pipe diameter is too big or too little, contact plate 7 all can the autogiration, with the pipe centre gripping, the setting of rubber pad 8 simultaneously, can increase and the frictional force between the pipe.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A transfer mechanism, its characterized in that: the transfer mechanism includes:

a fixed arc-shaped groove (5) is formed in the side wall of one end of the transfer paw (3), and a fixed plate (6) is clamped inside the fixed arc-shaped groove (5);

the sliding block (10), the sliding block (10) is inserted in the sliding groove (9) in a sliding mode, and the sliding groove (9) is formed in one side of the fixing plate (6);

the contact plate (7) is fixedly arranged on one side of the sliding block (10), and the surface of the contact plate (7) is provided with the fixing plate (6).

2. A transfer mechanism according to claim 1, wherein: the transfer paw (3) is provided with two sets of, two sets of even symmetric distributions of transfer paw (3), and the one end of two sets of transfer paw (3) all rotates the one end tip of connection at linking arm (2), and the one end that transfer paw (3) were kept away from in linking arm (2) rotates the up end central symmetry position that sets up at manipulator base (1).

3. A transfer mechanism according to claim 2, wherein: two sets of fixed arc wall (5) have all been seted up to one side lateral wall that transportation hand claw (3) are close to each other, and fixed arc wall (5) are the arc structure, and the inside size phase-match of fixed arc wall (5) and the size of fixed arc wall (6) of fixed block in fixed arc wall (5) inside fixed plate (6), and sliding tray (9) have been seted up to one side lateral wall central symmetry position that fixed arc wall (5) were kept away from in fixed plate (6), and the transversal "T" type structure of personally submitting of sliding tray (9).

4. A transfer mechanism according to claim 3, wherein: the inside slip of sliding tray (9) is provided with sliding block (10), the inside size phase-match of the size of sliding block (10) and sliding tray (9), and the up end central symmetry position of sliding block (10) has seted up and has accomodate groove (12), accomodate inside the grafting of groove (12) and have supported piece (11), support and hold piece (11) and be the triangle-shaped structure, and accomodate the inside reset spring (13) that is provided with of groove (12), reset spring (13) are fixed to be set up and are being accomodate the inside of groove (12) and support between the bottom of holding piece (11), support and hold piece (11) and peg graft inside accomodating groove (12) through reset spring (13) elasticity.

5. A transfer mechanism according to claim 4, wherein: one end, far away from the reset spring (13), of the abutting block (11) is inserted into the sinking groove (15), the sinking groove (15) is formed in the top end of the inner portion of the sliding groove (9), the size of the abutting block (11) is matched with the size of the sinking groove (15), multiple groups of sinking grooves (15) are formed in the sinking groove (15), and the multiple groups of sinking grooves (15) are distributed uniformly and symmetrically.

6. A transfer mechanism according to claim 5, wherein: sliding block (10) are provided with three groups, three groups of sliding blocks (10) even symmetric distribution, and sliding block (10) keep away from the one end of sliding tray (9) and be provided with articulated seat (14), and articulated seat (14) other end is connected with contact plate (7), and sliding block (10) articulate through articulated seat (14) and have contact plate (7), and one side lateral wall that sliding block (10) were kept away from in contact plate (7) is fixed and is provided with rubber pad (8), and rubber pad (8) are provided with the multiunit, multiunit rubber pad (8) even symmetric distribution.

7. A manipulator, its characterized in that: comprising a transfer mechanism according to any of the preceding claims 1-6.