CN219043883U

CN219043883U - Clamping jaw moving unit and manipulator unit

Info

Publication number: CN219043883U
Application number: CN202222543839.2U
Authority: CN
Inventors: 郭旭
Original assignee: Nanjing Yuanshi Intelligent Technology Co ltd
Current assignee: Nanjing Yuanshi Intelligent Technology Co ltd
Priority date: 2022-09-26
Filing date: 2022-09-26
Publication date: 2023-05-19
Anticipated expiration: 2032-09-26

Abstract

The utility model discloses a clamping jaw moving unit and a mechanical arm unit, comprising: the clamping jaw assembly comprises two clamping jaws which are respectively arranged at two sides of the mounting plate; the lower side of the mounting plate is provided with a driving servo motor which is movably connected with the clamping jaw assembly and is used for driving the clamping jaw assembly to move back and forth; an opening is formed in the middle of the mounting plate, and the driving servo motor is mounted at the opening. The utility model reduces the height of the clamping jaw moving unit, expands the moving range of the Z axis of the manipulator unit, avoids the complex structure and weight caused by the fact that the driving servo motor moves along with the clamping jaw, and ensures that the structure is more compact and the weight is lighter.

Description

Clamping jaw moving unit and manipulator unit

Technical Field

The utility model relates to the field of manipulators, in particular to a clamping jaw moving unit and a manipulator unit.

Background

The driving servo motor of the existing clamping jaw moving unit is arranged on the rear substrate, so that the occupied space of the whole manipulator is large.

At present, the clamping jaw moving unit in CN10773543B drives the U-shaped frame to drive the clamping jaw to move by using the driving servo motor, and the U-shaped frame is high in height, so that the volume occupied space of the manipulator unit is large, and meanwhile, the driving servo motor needs to move along with the clamping jaw.

Disclosure of Invention

The utility model provides the clamping jaw moving unit and the manipulator unit, which have the advantages of more compact structure, less occupied space, enlarged moving range of a Z axis and enlarged utilization rate of storage space.

A jaw moving unit comprising: the clamping jaw assembly comprises two clamping jaws which are respectively arranged at two sides of the mounting plate; the lower side of the mounting plate is provided with a driving servo motor which is movably connected with the clamping jaw assembly and is used for driving the clamping jaw assembly to move back and forth; an opening is formed in the middle of the mounting plate, and the driving servo motor is mounted at the opening.

Further, the method comprises the steps of: the clamping jaw comprises a belt drive assembly and a clamping arm, wherein the clamping arm is connected to the belt drive assembly, and the belt drive assembly is arranged on the upper side of the mounting plate through a belt seat bearing 114.

Further, the method comprises the steps of: the belt drive assembly includes a secondary driven pulley disposed on the belt seat bearing 114, a primary driven pulley disposed at the front end of the mounting plate, and a timing belt to which the clamp arm is connected.

Further, the method comprises the steps of: the opening part of mounting panel is provided with vertical board, and vertical board is connected in open-ended front side and rear side, drive servo motor and vertical board fixed connection.

Further, the method comprises the steps of: a transmission shaft is connected between the two secondary driven wheels, and a primary transmission wheel is arranged in the middle of the transmission shaft and drives a servo motor to drive the primary transmission wheel to move.

Further, the method comprises the steps of: still be provided with the propelling movement groove in the middle of the mounting panel, propelling movement groove and opening intercommunication are provided with push rod subassembly in the propelling movement groove, push rod drive servo motor drive push rod subassembly, push rod drive servo motor and vertical board fixed connection.

A manipulator unit comprises the clamping jaw moving unit.

The beneficial effects of the utility model are as follows: the driving servo motor is arranged at the middle opening of the mounting plate, so that the use of a rear substrate is reduced, the weight of the mounting plate is lightened, and the problem that the driving servo motor needs to move along with the clamping jaw in the moving process is solved; meanwhile, the height of the clamping jaw moving unit is reduced, the moving range of the manipulator unit in the Z-axis direction is enlarged, the Z-axis moving range of the manipulator unit is larger, and therefore the space utilization rate of medicine storage and taking is larger.

Drawings

FIG. 1 is a schematic view of a manipulator unit structure of the present utility model;

FIG. 2 is a top view of the present utility jaw moving unit;

FIG. 3 is a cross-sectional view of the present utility jaw moving unit at A-A;

FIG. 4 is a cross-sectional view of the present utility jaw moving unit at B-B;

reference numerals illustrate: 100. a jaw moving unit; 110. a mounting plate; 111. an opening; 112. a vertical plate; 113. a pushing groove; 114. a bearing with a seat; 115. a spline nut; 120. a jaw assembly; 121. a clamping jaw; 122. a belt drive assembly; 123. a secondary driven wheel; 124. a primary driven wheel; 125. a synchronous belt; 126. a transmission shaft; 127. a clamp arm; 130. driving a servo motor; 131. a primary driving wheel; 132. a driving wheel; 133. a transmission belt; 140. a push rod assembly; 141. the push rod drives the servo motor; 200. and a robot arm unit.

Detailed Description

In order to make the technical solution of the present utility model better understood by those skilled in the art, the technical solution of the present utility model will be further described by the following detailed description with reference to the accompanying drawings.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", "front", "rear", and the like are orientation or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

In this embodiment, in order to reduce the weight of the jaw moving unit and improve the compactness of the structure, as shown in fig. 1, this embodiment provides a jaw 121 moving unit 100, including: mounting plate 110, jaw 121 assembly 120, and drive servo motor 130.

The upper side of the mounting plate 110 is provided with a clamping jaw 121 assembly 120, the clamping jaw 121 assembly 120 comprises two clamping jaws 121, the two clamping jaws 121 are respectively arranged at two sides of the mounting plate 110, and a conveying space is formed between the two clamping jaws 121 and the mounting plate 110; the lower side of the mounting plate 110 is provided with a driving servo motor 130, and the driving servo motor 130 is used for driving the clamping jaw 121 assembly 120 to move back and forth, so that the actuating unit clamping jaw 121 assembly 120 of the mounting plate 110 and the driving unit driving servo motor 130 of the mounting plate 110 are respectively arranged on the upper side and the lower side of the mounting plate 110; the mounting plate 110 is provided with an opening 111 in the middle, the driving servo motor 130 is arranged at the opening 111, and the strength of the mounting plate 110 is ensured, and meanwhile, the opening 111 is arranged at the mounting position, so that the weight of the clamping jaw 121 moving unit 100 is reduced, and the height of the whole clamping jaw 121 moving unit 100 is reduced.

As shown in fig. 2, wherein the clamping jaw 121 includes a belt drive assembly 122 and a clamping arm 127, the clamping arm 127 is connected to the belt drive assembly 122, and the belt drive assembly 122 is mounted on the upper side of the mounting plate 110 through a belt seat bearing 114.

The belt transmission assembly 122 comprises a secondary driven wheel 123, a primary driven wheel 124 and a synchronous belt 125, wherein the left side of the secondary driven wheel 123 is connected with the belt seat bearing 114, the right side of the secondary driven wheel 123 is connected with the spline nut 115, the primary driven wheel 124 is arranged at the front end of the mounting plate 110, the clamping arm 127 is connected to the synchronous belt 125, and the driving servo motor 130 is driven.

The opening 111 of the mounting plate 110 is provided with a vertical plate 112, the vertical plate 112 is connected to the front side and the rear side of the opening 111, and the driving servo motor 130 is fixedly connected with the vertical plate 112.

As shown in fig. 3 and 4, a transmission shaft 126 is connected between the two secondary driven wheels 123, wherein the transmission shaft 126 is a spline-guided transmission shaft, and the transmission shaft 126 not only can drive the secondary driven wheels 123 to rotate around the center of the secondary driven wheels 123, but also can drive the secondary driven wheels 123 to move along the transmission shaft 126 in opposite directions or in opposite directions.

A primary driving wheel 131 is arranged in the middle of the driving shaft 126, a driving servo motor 130 is driven to drive a driving wheel 132 to move, the driving wheel 132 is connected with the primary driving wheel 131 in a winding way through a driving belt 133, the primary driving wheel 131 drives the driving shaft 126 to rotate around the center of the driving shaft 126, the driving shaft 126 drives a secondary driven wheel 123 to rotate, the secondary driven wheel 123 drives a synchronous belt 125 to move, and the synchronous belt 125 drives a clamping arm 127 to move forwards and backwards.

In order to enable medicines in the conveying space to withdraw from the conveying space, a pushing groove 113 is further formed in the middle of the mounting plate 110, the pushing groove 113 is communicated with the opening 111, a push rod assembly 140 is arranged in the pushing groove 113, a push rod driving servo motor 141 is fixedly connected with the vertical plate 112, and the push rod driving servo motor 141 drives the push rod assembly 140 to withdraw medicines from the conveying space.

A manipulator unit 200 comprises the jaw 121 moving unit 100 described above.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the utility model.

Claims

1. A jaw moving unit, comprising:

the clamping jaw assembly comprises two clamping jaws which are respectively arranged at two sides of the mounting plate;

a driving servo motor is arranged at the lower side of the mounting plate,

the driving servo motor is movably connected with the clamping jaw assembly and is used for driving the clamping jaw assembly to move forwards and backwards;

an opening is formed in the middle of the mounting plate, and the driving servo motor is mounted at the opening.

2. The jaw moving unit of claim 1, wherein the jaw includes a belt drive assembly and a clamp arm connected to the belt drive assembly, the belt drive assembly being mounted on an upper side of the mounting plate by a belt seat bearing.

3. The jaw moving unit of claim 2, wherein the belt transmission assembly includes a secondary driven wheel, a primary driven wheel, a timing belt, the secondary driven wheel being disposed on the belt seat bearing, the primary driven wheel being disposed at a front end of the mounting plate, the clamp arm being connected to the timing belt.

4. A jaw moving unit according to claim 3, wherein the opening of the mounting plate is provided with a vertical plate connected to the front and rear sides of the opening, and the driving servo motor is fixedly connected to the vertical plate.

5. The jaw moving unit according to claim 4, wherein a transmission shaft is connected between the two secondary driven wheels, and a primary transmission wheel is provided in the middle of the transmission shaft to drive the servo motor to drive the primary transmission wheel to move.

6. The jaw moving unit of claim 5, wherein a pushing slot is further provided in the middle of the mounting plate, the pushing slot is in communication with the opening, a push rod assembly is provided in the pushing slot, a push rod driving servo motor drives the push rod assembly, and the push rod driving servo motor is fixedly connected with the vertical plate.

7. A manipulator unit, comprising: a jaw moving unit as claimed in any one of claims 1-6.