CN218557140U - Manipulator capable of stably clamping - Google Patents

Abstract

The utility model relates to a manipulator technical field specifically is a stabilize manipulator of centre gripping, include: the manipulator comprises a manipulator body, wherein one end of the manipulator body is provided with a connecting arm, and one end of the connecting arm, which is far away from the manipulator body, is provided with a manipulator claw; one end of the extension plate is inserted into the accommodating groove, and the accommodating groove is formed in the upper end face of the mechanical gripper; one end of the connecting rod is fixedly connected to one side of the extension plate; the beneficial effects are that: when needing the large-scale object of centre gripping, take the extension plate out from the inside of accomodating the groove, increase mechanical gripper and the area of contact by the centre gripping object reach the purpose of stabilizing the centre gripping, and at the centre gripping in-process, the reducible clamping-force to by the centre gripping object that sets up of rubber packing ring prevents object surface wear.

Description

Manipulator capable of stably clamping

Technical Field

The utility model relates to a manipulator technical field specifically is a stabilize manipulator of centre gripping.

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 some large-scale article, because the hand claw of manipulator is little with the area of contact who is snatched article, lead to snatching the in-process, article are emptyd to both sides easily, cause the manipulator centre gripping unstable, perhaps because area of contact is little, the lifting surface area of article is little, causes article to be damaged by the place of centre gripping.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a stabilize manipulator of centre gripping 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 stable clamping robot, comprising:

the manipulator comprises a manipulator body, wherein one end of the manipulator body is provided with a connecting arm, and one end of the connecting arm, which is far away from the manipulator body, is provided with a manipulator claw;

one end of the extension plate is inserted into the accommodating groove, and the accommodating groove is formed in the upper end face of the mechanical gripper;

the one end fixed connection of connecting rod is in one side of extension board.

Preferably, the tip of linking arm and the tip of manipulator body rotate to be connected, and the linking arm is provided with two sets ofly, and two sets of linking arms use the manipulator body to carry out the symmetric distribution as the center, and two sets of linking arms keep away from the one end tip of manipulator body and all rotate and be connected with mechanical gripper.

Preferably, two sets of mechanical gripper's upper and lower both sides lateral wall central symmetry puts and has all seted up and accomodate the groove, and the inside grafting of accomodating the groove has the extension board, and the size of extension board matches with the inside size of accomodating the groove, and the fixed slider that is provided with in lateral wall bottom of extension board, and the slider is provided with two sets ofly, and two sets of sliders use the extension board to carry out the symmetric distribution as the center.

Preferably, two sets of the slider slides respectively and sets up in the inside of two sets of spouts, the size of spout and the big or small phase-match of slider, and two sets of spouts set up respectively and accomodate the inside both sides lateral wall central symmetry position in groove, and the extension board is through the inside of two sets of sliders spacing slip accomodating the groove.

Preferably, the spacing groove has been seted up to the inboard lateral wall of accomodating the groove, and the spacing groove runs through the lateral wall of mechanical gripper, and the connecting rod is kept away from the one end tip of extending the board and is passed the spacing groove and extend to the outside of mechanical gripper, and the surface cover of connecting rod is equipped with the lantern ring, and the lantern ring slides and sets up in the outside of mechanical gripper.

Preferably, one side lateral wall fixedly connected with reset spring of the lantern ring, the one end tip fixed connection that reset spring kept away from the lantern ring is kept away from the one end tip of extension board at the connecting rod, and the lantern ring passes through reset spring elastic sliding.

Preferably, reset spring's one end terminal surface fixedly connected with inserted bar is kept away from to the lantern ring, and the inserted bar is provided with two sets ofly, and two sets of inserted bars use the lantern ring as central symmetric distribution, and two sets of inserted bars keep away from the one end tip of the lantern ring and peg graft in the inside of fixed orifices, the size of fixed orifices and the tip size phase-match of inserted bar, and the multiunit has been seted up to the fixed orifices, the even symmetric distribution of multiunit fixed orifices.

Preferably, the extension plate is kept away from the one end terminal surface fixedly connected with rubber packing ring of connecting rod, and the rubber packing ring is the cylinder type structure, and the rubber packing ring is provided with four groups, four groups of rubber packing ring evenly symmetric distribution.

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

the utility model provides a pair of stabilize manipulator of centre gripping, when needing the large-scale object of centre gripping, will extend the board and take out from the inside of accomodating the groove, increase mechanical gripper with by the area of contact of centre gripping object, reach the purpose of stabilizing the centre gripping, in the centre gripping in-process, the reducible clamping-force to by the centre gripping object that sets up of rubber packing ring prevents object surface wear.

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 structural view of the mechanical gripper of the present invention;

fig. 4 is a schematic view of the connection between the extension plate and the connection rod structure of the present invention.

In the figure: the mechanical hand comprises a mechanical hand body 1, a connecting arm 2, a mechanical hand claw 3, an extension plate 4, a rubber gasket 5, an accommodating groove 6, a limiting groove 7, a fixing hole 8, an inserted link 9, a lantern ring 10, a return spring 11, a connecting rod 12, a sliding groove 13 and a sliding block 14.

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 4, the present invention provides a technical solution: a stable gripping robot, the stable gripping robot comprising:

the manipulator comprises a manipulator body 1, wherein a connecting arm 2 is arranged at one end of the manipulator body 1, manipulator claws 3 are arranged at one end, away from the manipulator body 1, of the connecting arm 2, the end part of the connecting arm 2 is rotatably connected with the end part of the manipulator body 1, the connecting arm 2 is provided with two groups, the two groups of connecting arms 2 are symmetrically distributed by taking the manipulator body 1 as the center, the end parts, away from the manipulator body 1, of the two groups of connecting arms 2 are rotatably connected with the manipulator claws 3, the upper side wall and the lower side wall of the two groups of manipulator claws 3 are respectively provided with an accommodating groove 6, an extending plate 4 is inserted into the accommodating groove 6, the size of the extending plate 4 is matched with the size of the inside of the accommodating groove 6, the bottom of the side wall of the extending plate 4 is fixedly provided with a sliding block 14, the sliding blocks 14 are provided with two groups, the two groups of sliding blocks 14 are symmetrically distributed by taking the extending plate 4 as the center, the two groups of sliding blocks 14 are respectively arranged inside the two groups of sliding grooves 13 in a sliding mode, the sliding grooves 13 are respectively matched with the size of the sliding blocks, and the two groups of sliding grooves 13 are respectively arranged in the symmetrical positions of the side walls in the accommodating groove 6 in a limiting mode;

the mechanical gripper comprises an extension plate 4, one end of the extension plate 4 is inserted into a containing groove 6, the containing groove 6 is formed in the upper end face of a mechanical gripper 3, a limiting groove 7 is formed in the side wall of the inner side of the containing groove 6, the limiting groove 7 penetrates through the side wall of the mechanical gripper 3, one end, far away from the extension plate 4, of a connecting rod 12 penetrates through the limiting groove 7 and extends to the outer side of the mechanical gripper 3, a lantern ring 10 is sleeved on the outer surface of the connecting rod 12, the lantern ring 10 is arranged on the outer side of the mechanical gripper 3 in a sliding mode, a reset spring 11 is fixedly connected to the side wall of one side of the lantern ring 10, one end, far away from the lantern ring 10, of the reset spring 11 is fixedly connected to one end, far away from the extension plate 4, the lantern ring 10 elastically slides through the reset spring 11, one end face of the reset spring 11 is fixedly connected with inserting rods 9, the inserting rods 9 are provided with two groups, the two groups of inserting rods 9 are symmetrically distributed by taking the lantern ring 10 as a center, one end portions, the two groups of inserting rods 9, far away from the lantern ring 10 are inserted into fixing holes 8, the size of the fixing holes 8 is matched with the size of the fixing holes;

connecting rod 12, the one end fixed connection of connecting rod 12 is in one side of extension board 4, and the one end terminal surface fixedly connected with rubber packing ring 5 of connecting rod 12 is kept away from to extension board 4, and rubber packing ring 5 is cylinder type structure, and rubber packing ring 5 is provided with four groups, the even symmetric distribution of four group's rubber packing ring 5.

During the use, rotate through manipulator body 1 control linking arm 2 and gripper 3, thereby carry out the centre gripping to article, when needs centre gripping large-scale object, need earlier take extension board 4 out from the inside of accomodating groove 6, with this increase gripper 3 and the area of contact by the centre gripping object, reach the purpose of stable centre gripping, when taking extension board 4 out, outwards stimulate lantern ring 10 earlier, lantern ring 10 is at the removal in-process, drive inserted bar 9 and remove, when the tip of inserted bar 9 no longer pegs graft in the inside of fixed orifices 8, can upwards mention connecting rod 12, connecting rod 12 drives extension board 4 and removes when removing to suitable height, cancel the effort to lantern ring 10, under reset spring 11's effort, two sets of inserted bar 9 pegs graft into the inside of fixed orifices 8, accomplish the fixing to extension board 4, in the centre gripping in-process, the reducible clamping force to by the centre gripping object of setting up of rubber packing ring 5, prevent object surface wear.

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 (8)

1. The utility model provides a manipulator of stable centre gripping which characterized in that: the manipulator of stable centre gripping includes:

the manipulator comprises a manipulator body (1), wherein a connecting arm (2) is arranged at one end of the manipulator body (1), and a manipulator claw (3) is arranged at one end, far away from the manipulator body (1), of the connecting arm (2);

one end of the extension plate (4) is inserted into the accommodating groove (6), and the accommodating groove (6) is formed in the upper end face of the mechanical gripper (3);

one end of the connecting rod (12) is fixedly connected to one side of the extending plate (4).

2. A stable clamping robot as set forth in claim 1 wherein: the tip of linking arm (2) and the tip of manipulator body (1) rotate to be connected, and linking arm (2) are provided with two sets ofly, and two sets of linking arm (2) use manipulator body (1) to carry out the symmetric distribution as the center, and two sets of linking arm (2) keep away from the one end tip of manipulator body (1) and all rotate and be connected with mechanical gripper (3).

3. A stable clamping robot as set forth in claim 2 wherein: two sets of the upper and lower both sides lateral wall central symmetry position of mechanical gripper (3) has all been seted up and has been accomodate groove (6), and the inside of accomodating groove (6) is pegged graft and is had extension board (4), the size of extension board (4) and the inside size phase-match of accomodating groove (6), and the fixed slider (14) that are provided with in lateral wall bottom of extension board (4), slider (14) are provided with two sets ofly, and two sets of slider (14) use extension board (4) to carry out the symmetric distribution as the center.

4. A stable clamping robot as set forth in claim 3 wherein: two sets of slider (14) slide respectively and set up in the inside of two sets of spout (13), the size of spout (13) and the size phase-match of slider (14), and two sets of spout (13) are seted up respectively and are being accomodate the inside both sides lateral wall central symmetry position of groove (6), and extension board (4) are in the inside of accomodating groove (6) through two sets of slider (14) spacing slip.

5. The robot arm of claim 4, wherein: the limiting groove (7) is opened to the inboard lateral wall of accomodating groove (6), and the lateral wall of mechanical gripper (3) is run through in limiting groove (7), and connecting rod (12) keep away from the one end tip of extending board (4) and pass limiting groove (7) and extend to the outside of mechanical gripper (3), and the surface cover of connecting rod (12) is equipped with lantern ring (10), and lantern ring (10) slide and set up in the outside of mechanical gripper (3).

6. A stable clamping robot as set forth in claim 5 wherein: one side lateral wall fixedly connected with reset spring (11) of lantern ring (10), the one end tip fixed connection that the lantern ring (10) was kept away from in reset spring (11) is kept away from the one end tip of extension board (4) in connecting rod (12), and lantern ring (10) passes through reset spring (11) elastic sliding.

7. A stable clamping robot as set forth in claim 6 wherein: the utility model discloses a fixed knot of reset spring (11) is kept away from in lantern ring (10) one end terminal surface fixedly connected with inserted bar (9), inserted bar (9) are provided with two sets ofly, two sets of inserted bar (9) use lantern ring (10) as central symmetric distribution, and two sets of inserted bar (9) keep away from the one end tip grafting of lantern ring (10) in the inside of fixed orifices (8), the size of fixed orifices (8) and the tip size phase-match of inserted bar (9), the multiunit has been seted up in fixed orifices (8), multiunit fixed orifices (8) even symmetric distribution.

8. A stable clamping robot as set forth in claim 7 wherein: one end face of the extending plate (4) far away from the connecting rod (12) is fixedly connected with a rubber gasket (5), the rubber gasket (5) is of a cylindrical structure, the rubber gaskets (5) are provided with four groups, and the four groups of rubber gaskets (5) are distributed symmetrically and uniformly.

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