CN219599575U

CN219599575U - Feeding manipulator

Info

Publication number: CN219599575U
Application number: CN202320459932.7U
Authority: CN
Inventors: 邹伟; 徐先进; 汪卫华; 刘典; 金开焱; 段卓
Original assignee: Wuhan Lingxu Industrial Technology Co ltd
Current assignee: Wuhan Lingxu Industrial Technology Co ltd
Priority date: 2023-03-13
Filing date: 2023-03-13
Publication date: 2023-08-29
Anticipated expiration: 2033-03-13

Abstract

The utility model relates to the technical field of manipulators and discloses a feeding manipulator which comprises a main frame, wherein one end of the main frame is fixedly connected with a connector, the connector is used for installing a mechanical arm, the other end of the main frame is fixedly connected with two first fixing blocks, one side of each first fixing block is provided with three first knuckles, the other end of each first knuckle is rotatably connected with a second knuckle, and a rubber pad is arranged between the two opposite first knuckles or the second knuckle. According to the utility model, the finger joints are additionally arranged, so that the manipulator can simulate the multi-stage bending of the fingers by the human hand, the grabbing work is realized, meanwhile, the rubber pad can reduce the contact opportunity of materials and joints, and the material damage is prevented.

Description

Feeding manipulator

Technical Field

The utility model belongs to the technical field of manipulators, and particularly relates to a feeding manipulator.

Background

The manipulator can simulate some action functions of hands and arms, is an automatic operation device for grabbing and carrying objects or operating tools according to fixed procedures, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environments to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry and atomic energy departments.

But the finger joint of the existing manipulator mostly has only one section, can only carry out simple clamping work, is not flexible enough, needs larger force to clamp and prevent falling off when grabbing articles with smooth cambered surfaces, and is easy to damage the articles, and the joint of part of the manipulator is exposed and is easy to contact with the materials, so that the materials are damaged.

The present utility model has been made in view of this.

Disclosure of Invention

In order to solve the technical problems, the utility model adopts the basic conception of the technical scheme that:

the utility model provides a feeding manipulator, includes the body frame, body frame one end fixedly connected with connector, the connector is used for installing the arm, body frame other end fixedly connected with two first fixed blocks, and every first fixed block one side all is provided with three first knuckle, the other end rotation of first knuckle is connected with the second knuckle, is located and is provided with the rubber pad between two relative first knuckles or the second knuckle.

As a preferred embodiment of the utility model, one side of two ends of the rubber pad is fixedly connected with a second connecting block, the second connecting block is fixedly connected with one side surface of one end of the second knuckle, the middle part of the rubber pad is fixedly connected with a connecting column, the other end of the connecting column is fixedly connected with one end of the main frame, the side surface of one end, close to the second knuckle, of the first knuckle is fixedly connected with a first connecting block, and the other end of the first connecting block is fixedly connected with the side surface of the rubber pad.

As a preferable implementation mode of the utility model, the tail end of the first knuckle is fixedly connected with a gear, one side of the gear is connected with a worm gear in a meshed mode, the cross section diameter of the worm gear is smaller than that of the gear, two ends of the worm gear are rotatably connected with second fixing plates, and the tail end of the first knuckle is rotatably connected with one side between the two second fixing plates.

As a preferred embodiment of the utility model, one side of the second fixing plate is fixedly connected with two third fixing blocks which are distributed up and down, two ends of the two third fixing blocks are respectively and fixedly connected with the same first fixing plate, a worm is rotatably connected between the two first fixing plates, and the worm is meshed with the worm wheel.

As a preferable implementation mode of the utility model, a rotating shaft at one end of the worm penetrates through the first fixing plate and extends to the outer side, two second fixing blocks are fixedly connected to one side of the first fixing plate, a motor is fixedly connected between the two second fixing blocks, and the rotating shaft of the worm is fixedly connected to the shaft end of the motor.

As a preferred embodiment of the utility model, the middle part of the first knuckle is rotatably connected with a telescopic rod, and the other end of the telescopic rod is rotatably connected with one side of the middle part of a second knuckle connected with the first knuckle.

Compared with the prior art, the utility model has the following beneficial effects:

according to the utility model, the finger joints are additionally arranged, so that the manipulator can simulate the multi-stage bending of the fingers by the human hand, the grabbing work is realized, meanwhile, the rubber pad can reduce the contact opportunity of materials and joints, and the material damage is prevented.

The following describes the embodiments of the present utility model in further detail with reference to the accompanying drawings.

Drawings

In the drawings:

FIG. 1 is a schematic diagram of a feeding manipulator;

FIG. 2 is a schematic view of a part of a feeding manipulator;

FIG. 3 is a cross-sectional view of a first knuckle and a second knuckle of a feed manipulator.

In the figure: 1. a connector; 2. a main frame; 3. a first fixed block; 4. a first knuckle; 5. a second knuckle; 6. a rubber pad; 7. a connecting column; 8. a first connection block; 9. a second connection block; 10. a gear; 11. a worm wheel; 12. a worm; 13. a motor; 14. a second fixed block; 15. a third fixed block; 16. a first fixing plate; 17. a second fixing plate; 18. a telescopic rod.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and the following embodiments are used to illustrate the present utility model.

As shown in fig. 1 to 3, a feeding manipulator comprises a main frame 2, wherein one end of the main frame 2 is fixedly connected with a connector 1, the connector 1 is used for installing a mechanical arm, the other end of the main frame 2 is fixedly connected with two first fixed blocks 3, one side of each first fixed block 3 is provided with three first knuckles 4, the other end of each first knuckle 4 is rotationally connected with a second knuckle 5, and a rubber pad 6 is arranged between the two opposite first knuckles 4 or second knuckles 5.

As shown in fig. 1 to 3, in a specific embodiment, a second connecting block 9 is fixedly connected to one side of two ends of a rubber pad 6, the second connecting block 9 is fixedly connected to one side of one end of a second knuckle 5, a connecting column 7 is fixedly connected to the middle part of the rubber pad 6, the other end of the connecting column 7 is fixedly connected to one end of a main frame 2, a first connecting block 8 is fixedly connected to one side of one end of the first knuckle 4, which is close to the second knuckle 5, and the other end of the first connecting block 8 is fixedly connected to the side of the rubber pad 6. In this setting, rubber pad 6 is respectively through first connecting block 8 and second connecting block 9 and first knuckle 4 and second knuckle 5 for rubber pad 6 moves together with first knuckle 4 and second knuckle 5, thereby takes place the deformation, grabs the material work.

As shown in fig. 1 to 3, further, the end of the first knuckle 4 is fixedly connected with a gear 10, one side of the gear 10 is in meshed connection with a worm wheel 11, the cross-section diameter of the worm wheel 11 is smaller than that of the gear 10, two ends of the worm wheel 11 are rotatably connected with second fixing plates 17, the end of the first knuckle 4 is rotatably connected with one side between the two second fixing plates 17, one side of the second fixing plate 17 is fixedly connected with two third fixing blocks 15 which are distributed up and down, two ends of the two third fixing blocks 15 are respectively fixedly connected with the same first fixing plate 16, a worm 12 is rotatably connected between the two first fixing plates 16, the worm 12 is in meshed engagement with the worm wheel 11, one end rotating shaft of the worm 12 penetrates through the first fixing plates 16 and extends to the outer side, one side of the first fixing plate 16 is fixedly connected with two second fixing blocks 14, a motor 13 is fixedly connected between the two second fixing blocks 14, and the rotating shaft of the worm 12 is fixedly connected with the shaft end of the motor 13. In this arrangement, the motor 13 rotates to drive the worm 12 to rotate and the worm wheel 11 is driven to rotate by engagement, and the worm wheel 11 drives the gear 10 to rotate by engagement with the gear 10, thereby rotating the first knuckle 4.

As shown in fig. 1 to 3, further, the middle part of the first knuckle 4 is rotatably connected with a telescopic rod 18, and the other end of the telescopic rod 18 is rotatably connected to one side of the middle part of the second knuckle 5 connected with the first knuckle 4. In this setting, start telescopic link 18, because telescopic link 18 rotates with second knuckle 5 one end and is connected, and the position is fixed relatively for second knuckle 5 rotates around first knuckle 4 one end.

The implementation principle of the feeding manipulator of the embodiment is as follows: during use, the manipulator is arranged on the manipulator through the connector 1, the motor 13 is controlled to operate, the motor 13 rotates to drive the worm 12 to rotate, the worm wheel 11 is driven to rotate through meshing, the worm wheel 11 drives the gear 10 to rotate through meshing with the gear 10, so that the first knuckle 4 rotates, the telescopic rod 18 is started, the telescopic rod 18 is connected with one end of the second knuckle 5 in a rotating manner, the position of the telescopic rod is relatively fixed, the second knuckle 5 rotates around one end of the first knuckle 4, meanwhile, the rubber pad 6 moves together with the first knuckle 4 and the second knuckle 5 through the first connecting block 8 and the second connecting block 9 respectively, and the rubber pad 6 moves together with the first knuckle 4 and the second knuckle 5, so that deformation occurs, and the material grabbing work is performed.

Claims

1. The utility model provides a pay-off manipulator, its characterized in that, includes body frame (2), body frame (2) one end fixedly connected with connector (1), connector (1) are used for installing the arm, body frame (2) other end fixedly connected with two first fixed blocks (3), and every first fixed block (3) one side all is provided with three first knuckle (4), the other end rotation of first knuckle (4) is connected with second knuckle (5), is located and is provided with rubber pad (6) between two relative first knuckle (4) or second knuckle (5).

2. The feeding manipulator according to claim 1, wherein a second connecting block (9) is fixedly connected to one side of two ends of the rubber pad (6), the second connecting block (9) is fixedly connected to one side of one end of the second knuckle (5), a connecting column (7) is fixedly connected to the middle part of the rubber pad (6), the other end of the connecting column (7) is fixedly connected to one end of the main frame (2), a first connecting block (8) is fixedly connected to one side of one end of the first knuckle (4) close to the second knuckle (5), and the other end of the first connecting block (8) is fixedly connected to the side of the rubber pad (6).

3. The feeding manipulator according to claim 1, wherein the end of the first knuckle (4) is fixedly connected with a gear (10), one side of the gear (10) is connected with a worm wheel (11) in a meshed manner, the cross-sectional diameter of the worm wheel (11) is smaller than that of the gear (10), two ends of the worm wheel (11) are rotatably connected with second fixing plates (17), and the end of the first knuckle (4) is rotatably connected with one side between the two second fixing plates (17).

4. A feeding manipulator according to claim 3, wherein one side of the second fixing plate (17) is fixedly connected with two third fixing blocks (15) which are distributed up and down, two ends of each third fixing block (15) are respectively and fixedly connected with the same first fixing plate (16), a worm (12) is rotatably connected between the two first fixing plates (16), and the worm (12) is meshed with the worm wheel (11).

5. The feeding manipulator according to claim 4, wherein one end of the worm (12) is rotatably connected with the first fixing plate (16) and extends to the outside, two second fixing blocks (14) are fixedly connected to one side of the first fixing plate (16), a motor (13) is fixedly connected between the two second fixing blocks (14), and the rotating shaft of the worm (12) is fixedly connected to the shaft end of the motor (13).

6. A feeding manipulator according to claim 1, wherein the middle part of the first knuckle (4) is rotatably connected with a telescopic rod (18), and the other end of the telescopic rod (18) is rotatably connected to one side of the middle part of the second knuckle (5) connected with the first knuckle (4).