CN219563152U

CN219563152U - Clamping type manipulator

Info

Publication number: CN219563152U
Application number: CN202320674165.1U
Authority: CN
Inventors: 于付蒙; 黄丽霞
Original assignee: Shandong Wochuan Intelligent Technology Co ltd
Current assignee: Shandong Wochuan Intelligent Technology Co ltd
Priority date: 2023-03-30
Filing date: 2023-03-30
Publication date: 2023-08-22
Anticipated expiration: 2033-03-30

Abstract

The utility model discloses a clamping type mechanical arm which comprises a shell, a cavity groove, clamp bodies, arc-shaped rotating plates, partition columns, connecting plates, rotating shafts, limiting columns, limiting holes, pneumatic rods and a mechanical arm structure. Compared with the prior art, the utility model has the advantages that: the degree of freedom is higher; the applicable range of the articles is wider.

Description

Clamping type manipulator

Technical Field

The utility model relates to the technical field of automation equipment, in particular to a clamping type manipulator.

Background

The manipulator can simulate certain action functions of a human hand and an arm, and is used for grabbing and carrying objects or operating an automatic operating device of a tool according to a fixed program. The robot arm can replace heavy labor of people to realize mechanization and automation of production, can be operated under harmful environments to protect personal safety, is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like, is an automation mechanical device which is most widely and practically applied in the technical field of robots, and can see the figure of the robot arm in the fields of industrial manufacture, medical treatment, entertainment service, military, semiconductor manufacture, space exploration and the like. Although they differ in their morphology, they share a common feature of being able to receive instructions to accurately locate a point in three-dimensional (or two-dimensional) space for a job. The utility model discloses a CN211565944U a sucking disc formula manipulator set up the support column, the welding sets up the horizontal axle bed on support column top and be used for horizontal slip's slide, the top of horizontal axle bed is located terminal fixed mounting and has first cylinder, and the output of first cylinder and the one end fixed connection of cylinder pole, fixed connection between the other end and the fixing base, one side welding of horizontal axle bed has two third locating pieces, be connected with flexible pipe in the bottom of sucking disc seat, be provided with vacuum conduit in flexible pipe, and be connected between flexible pipe's one end and the vacuum chuck, still be provided with buffer spring on the flexible pipe moreover, buffer spring cooperatees with flexible pipe, make vacuum chuck have certain cushioning ability when pushing down, carry out fine guard action to vacuum chuck, improve the practical effect. However, the prior art still has the defects that:

1. the manipulator used in the prior art picks up the needed object by using the air pressure through the sucker, the method can pick up the object easily and is not easy to damage some fragile objects, but the picking method is only applicable to some objects with relatively smooth surfaces, some objects with rough surfaces or objects without suction parts, the picking method is not applicable, and the relative application range of the manipulator is limited.

2. The manipulator that prior art adopted has set up the degree of freedom that three direction upward movement structure realized six positions through these three movement structure, has improved the flexibility ratio of manipulator, but this kind of movement mode only is limited to the removal, can't satisfy some rotation demands of manipulator, and this kind of structure is relatively speaking, and the space that occupies can be bigger moreover.

Disclosure of Invention

The utility model aims to overcome the defects and provide a clamping type manipulator.

In order to solve the technical problems, the technical scheme provided by the utility model is as follows: the utility model provides a centre gripping formula manipulator, includes manipulator structure and arm structure, the manipulator structure is including setting up in the shell of arm structure upside front end, the cavity groove has been seted up to the shell inside, cavity inslot both sides are provided with the pincers body of mutually supporting use, the one end front side fixedly connected with silica gel pad that the pincers body is close to each other, the one end rear side that the pincers body is close to each other all fixedly connected with spacer column, rotate through the spacer column between the pincers body and the shell and be connected, the rear side of the upper and lower end of the pincers body all is provided with the arc and changes the piece, arc changes piece one end and the upper and lower end rear side rotation of the pincers body and is connected, one side that the arc changes the piece and is close to the shell is provided with two connection pieces, arc changes the piece rotation and is connected in the front and back both ends rotation of the other end and connection piece of the pincers body, be provided with limit structure between the shell and the connection piece, the shell rear side is provided with pneumatic rod, the front end rotation of pneumatic rod is connected in the pivot.

As an improvement, the mechanical arm structure comprises a base, the lower end of the base is fixedly connected with a fixing plate, the upper end of the base is rotationally connected with a rotary table, and the upper end of the rotary table is provided with a rotary groove.

As an improvement, the upper end of the turntable is provided with a big arm, the lower end of the big arm is rotationally connected inside the rotary groove, the rotary groove is formed in the upper end of the big arm, the front side of the upper end of the big arm is provided with a small arm, and the small arm is rotationally connected inside the rotary groove.

As an improvement, the limiting structure comprises a limiting column fixedly connected to one side, close to the shell, of the connecting sheet, and limiting holes matched with the limiting column are formed in the upper end and the lower end of the outer portion of the shell.

As an improvement, the front side of the inner part of the forearm is provided with a cavity, the rear end of the pneumatic rod is fixedly connected to the rear side wall of the inner part of the cavity, the cavity groove is in through connection with the cavity through a telescopic hole, and the rear end of the shell is in rotary connection with the front end of the forearm.

Compared with the prior art, the utility model has the advantages that: 1. compared with a sucker type manipulator, the clamping type manipulator has the advantages that the clamping type manipulator is less limited by the properties of the articles, can be used for picking up more types of articles, is quicker, and can control the opening and closing of the front manipulator in a push-pull mode through the inner pneumatic rod.

2. The utility model realizes the degree of freedom of the manipulator in all directions in a rotating way, the rotation of the lowest end realizes the purpose of reaching all points on a transverse plane, and the rotation between the large arm and the small arm is utilized to realize the purpose of reaching all points on a vertical plane.

Drawings

Fig. 1 is a perspective view of a gripper-type robot of the present utility model.

Fig. 2 is a schematic view of an internal structure of a clamping manipulator according to the present utility model.

Fig. 3 is a top view of a gripper robot of the present utility model.

Fig. 4 is a bottom cross-sectional view of a clamp-on robot of the present utility model.

As shown in the figure: 1. a manipulator structure; 2. a mechanical arm structure; 3. a housing; 4. a cavity groove; 5. a clamp body; 6. a silica gel pad; 7. a partition column; 8. arc-shaped rotating pieces; 9. a connecting sheet; 10. a rotating shaft; 11. a limit structure; 12. a pneumatic lever; 13. a base; 14. a fixing plate; 15. a turntable; 16. a rotating groove; 17. a large arm; 18. a rotary groove; 19. a forearm; 20. a limit column; 21. a limiting hole; 22. a cavity; 23. a telescopic hole.

Detailed Description

The present utility model will be described in further detail with reference to the accompanying drawings.

The utility model takes the mechanical arm structure 1 and the mechanical arm structure 2 as main bodies, the base 13 is arranged, the fixed plate 14 is arranged at the lower end of the base 13, the fixed plate 14 is firstly arranged on a plane needing to be operated, the turntable 15 and the base 13 are controlled by a computer to rotate, the large arm 17 rotates in the rotating groove 16 to face the transverse plane position of the object to be grasped, then the small arm 19 is controlled by the operating computer to rotate in the rotating groove 18 to face the vertical plane position of the object to be grasped, the operations of the two planes are not in conflict, and the operation of the two planes is more anthropomorphic, and the function of helping the positioning of the mechanical arm structure 1 is realized through the rotation of the two directions.

Because the position where the objects are placed is sometimes not completely suitable for the manipulator, the rotation of the manipulator is needed to help the manipulator structure 1 to grab the objects more conveniently, the utility model sets the rotation connection between the shell 3 and the small arm 19, controls the shell 3 to rotate with the small arm 19 in the cavity 22 through the computer, controls the shell 3 to rotate to a proper position, and plays a role in assisting the manipulator to grab the objects.

In order to enable the manipulator to finish grabbing actions, the arc-shaped rotating plates 8 and the connecting plates 9 are arranged between the clamp bodies 5, and because the clamp bodies 5 are limited in the cavity grooves 4 through the partition columns 7, rotation can only be realized, one ends of the arc-shaped rotating plates 8 are rotationally connected to the clamp bodies 5, the other ends of the arc-shaped rotating plates are connected to the connecting plates 9, one ends, far away from the clamp bodies, of the two arc-shaped rotating plates 8 at the upper ends of the clamp bodies 5 are respectively rotationally connected to two ends of the connecting plates 9, one ends, far away from the clamp bodies, of the two arc-shaped rotating plates 8 at the lower ends of the clamp bodies 5 are respectively rotationally connected to two ends of the connecting plates 9, the front ends of the pneumatic rods 12 are sleeved on the rotating shafts 10 between the connecting plates 9, and the connecting plates 9 are pushed and pulled through the pneumatic rods 12, so that the arc-shaped rotating plates 8 are driven, and the two clamp bodies 5 realize approaching and separating operations of one ends of the clamp bodies through the arc-shaped rotating plates 8 and the connecting plates 9 at the upper ends and the lower ends, so that grabbing and dropping of objects are realized.

In the concrete implementation of the utility model, as shown in fig. 1-4, when the utility model is specifically used, firstly, the whole manipulator is fixed on a working plane through a fixing plate 14, the manipulator structure 2 is controlled to rotate through a computer, so that the manipulator structure 1 reaches the position of an article, then, the computer controls a pneumatic rod 12 to push and pull a connecting sheet 9, a limit column 20 in a limit structure 11 limits the push and pull range of the pneumatic rod 12 through moving in a limit hole 21, then, the opening and closing angles of two clamp bodies are controlled, after the clamping position is reached, the computer controls the pneumatic rod 12 to pull back in a cavity 22 through a telescopic hole 23, so that the two clamp bodies are closed to clamp the article, and meanwhile, a silica gel pad 6 between the clamp bodies 5 plays a role in protecting the article, so that unnecessary damage to the article caused by clamping is avoided.

The utility model and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the utility model as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present utility model.

Claims

1. The utility model provides a centre gripping formula manipulator which characterized in that: including manipulator structure (1) and arm structure (2), manipulator structure (1) is including setting up in shell (3) of arm structure (2) upside front end, cavity groove (4) have been seted up to shell (3) inside, cavity groove (4) inside both sides are provided with pincers body (5) of mutually supporting and use, one end front side fixedly connected with silica gel pad (6) that pincers body (5) are close to each other, one end rear side that pincers body (5) are close to each other all fixedly connected with spacer column (7), be connected through spacer column (7) rotation between pincers body (5) and shell (3), the rear side of pincers body (5) upper and lower extreme all is provided with arc rotor (8), one side that arc rotor (8) are close to shell (3) is provided with two connection pieces (9) with the rear side rotation of pincers body (5), arc rotor (8) rotate and are connected in pincers body (5) one end front of connection piece (9) and are provided with between pneumatic connection piece (11) through pivot (12) and shell (3) rotation, be provided with between pneumatic connection piece (12), the front end of the pneumatic rod (12) is rotatably connected to the rotating shaft (10).

2. The clamp type manipulator of claim 1, wherein: the mechanical arm structure (2) comprises a base (13), a fixed plate (14) is fixedly connected to the lower end of the base (13), a rotary table (15) is rotatably connected to the upper end of the base (13), and a rotary groove (16) is formed in the upper end of the rotary table (15).

3. The clamp type manipulator of claim 2, wherein: the rotary table is characterized in that a large arm (17) is arranged at the upper end of the rotary table (15), the lower end of the large arm (17) is rotationally connected inside the rotary groove (16), a rotary groove (18) is formed in the upper end of the large arm (17), a small arm (19) is arranged at the front side of the upper end of the large arm (17), and the small arm (19) is rotationally connected inside the rotary groove (18).

4. The clamp type manipulator of claim 1, wherein: the limiting structure (11) comprises a limiting column (20) fixedly connected to one side, close to the shell (3), of the connecting sheet (9), and limiting holes (21) matched with the limiting column (20) are formed in the upper end and the lower end of the outer portion of the shell (3).

5. A gripping robot as claimed in claim 3, wherein: the front side of the inside of the forearm (19) is provided with a cavity (22), the rear end of the pneumatic rod (12) is fixedly connected to the rear side wall of the inside of the cavity (22), the cavity groove (4) is in through connection with the cavity (22) through a telescopic hole (23), and the rear end of the shell (3) is in rotary connection with the front end of the forearm (19).