CN220051876U

CN220051876U - Mechanical arm

Info

Publication number: CN220051876U
Application number: CN202320594161.2U
Authority: CN
Inventors: 黄从宽; 张栋; 李�杰; 卢少鹏; 王开库; 高强; 唐旭东; 邱彪; 王婷乐; 潘俊锐; 邓科; 孟进; 张博; 于杨林; 刘运龙; 俞景建; 乔欠伟; 谷宇
Original assignee: Anhui Shun'an Power Grid Construction Co ltd
Current assignee: Anhui Shun'an Power Grid Construction Co ltd
Priority date: 2023-03-22
Filing date: 2023-03-22
Publication date: 2023-11-21
Anticipated expiration: 2033-03-22

Abstract

The embodiment of the utility model provides a manipulator, and belongs to the technical field of machinery. The manipulator includes: the first clamping jaws are symmetrically arranged and are arc-shaped and used for grabbing or fixing objects; the second clamping jaw is arranged at one end of the first clamping jaw and is oriented differently from the first clamping jaw; a bottom plate arranged at the bottom of the joint of the second clamping jaw and the first clamping jaw and used for supporting the second clamping jaw; the support circular frame is arranged on the bottom plate and is rotationally connected with the joint of the first clamping jaw and the second clamping jaw; and one ends of the two first transmission plates are respectively connected with the end parts of the two second clamping jaws in a rotating way so as to push the second clamping jaws to move, and the other ends of the two first transmission plates are connected in a rotating way. The manipulator can clamp the columnar object through simple operation.

Description

Mechanical arm

Technical Field

The utility model relates to the technical field of machinery, in particular to a manipulator.

Background

The manipulator is the earliest industrial robot and the earliest modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like. The existing manipulator is complex in structure, large in size, complex in operation and incapable of effectively clamping a columnar object.

Disclosure of Invention

An object of an embodiment of the present utility model is to provide a robot capable of holding a columnar object by a simple operation.

In order to achieve the above object, an embodiment of the present utility model provides a manipulator including:

the first clamping jaws are symmetrically arranged and are arc-shaped and used for grabbing or fixing objects;

the second clamping jaw is arranged at one end of the first clamping jaw and is oriented differently from the first clamping jaw;

a bottom plate arranged at the bottom of the joint of the second clamping jaw and the first clamping jaw and used for supporting the second clamping jaw;

the support circular frame is arranged on the bottom plate and is rotationally connected with the joint of the first clamping jaw and the second clamping jaw;

one end of each first transmission plate is rotationally connected with the end parts of the two second clamping jaws so as to push the second clamping jaws to move, and the other ends of the two first transmission plates are rotationally connected;

and one end of the second transmission plate is respectively connected with the other ends of the two first transmission plates in a rotating way so as to push the two first transmission plates to move, and the other ends of the second transmission plates are connected with an external transmission device so as to be driven by the external transmission device to move.

Optionally, the two sides of the supporting circular frame are respectively provided with a notch. The connection part of the first clamping jaw and the second clamping jaw is arranged in the notch.

Optionally, the manipulator includes:

the movable chute is arranged on the bottom plate corresponding to the second transmission plate;

the sliding block is arranged in the moving chute, and the top of the sliding block is connected with the second transmission plate.

Optionally, two opposite sides of the first clamping jaw are provided with limiting grooves, and the manipulator comprises rubber strips and is arranged in the limiting grooves.

Optionally, two opposite sides of the rubber strip are arc-shaped.

Optionally, the first clamping jaw with the rubber strip other end is equipped with spacing mouth, the manipulator includes the bolt, blocks into in the spacing mouth in order to restrict the removal of rubber strip.

Optionally, the manipulator includes a camera, and is disposed at the top of the supporting circular frame.

Optionally, a stress sensor is arranged between the rubber strip and the side wall of the limit groove.

According to the technical scheme, the two symmetrical first clamping jaws are arranged, and the two clamping jaws can be arc-shaped, so that objects can be conveniently grabbed or fixed. A second jaw may be provided at one end of the first jaw, which may be oriented differently from the first jaw. A bottom plate may be provided at the bottom of the junction of the first jaw and the second jaw. The bottom plate can be provided with a supporting circular frame which can be rotationally connected with the connecting part of the first clamping jaw and the second clamping jaw. The two first transmission plates can be respectively connected with the end parts of the two second clamping jaws in a rotating way, so that when the two first transmission plates move, the two second clamping jaws can be driven to rotate along the supporting circular frame, and the first clamping jaws can be driven to rotate along the supporting circular frame so as to be opened or closed. One end of the second transmission plate can be respectively connected with the other ends of the two first transmission plates in a rotating way, and the other ends of the second transmission plates can be connected with an external transmission device, so that the second transmission plates can be driven to move by the external transmission device, and further the second transmission plates are driven to move. Because this first clamping jaw can be driven to open or close, when this snatchs or fixed goods, can be through the removal of first drive plate and second drive plate fixed or snatch and obtain the goods, this manipulator easy operation can convenient and fast snatch the column object.

Additional features and advantages of embodiments of the utility model will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of embodiments of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain, without limitation, the embodiments of the utility model. In the drawings:

FIG. 1 is a three-dimensional view of a manipulator according to one embodiment of the utility model;

fig. 2 is a rear view of a robot according to an embodiment of the present utility model.

Description of the reference numerals

1. First clamping jaw 2, second clamping jaw

3. Bottom plate 4, support round rack

5. First and second drive plates 6, second drive plate

7. Notch 8, moving chute

9. Slide block 10 and limit groove

11. Rubber strip 12, limit opening

13. Bolt 14 and camera

Detailed Description

The following describes the detailed implementation of the embodiments of the present utility model with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the utility model, are not intended to limit the utility model.

Fig. 1 is a three-dimensional view of a manipulator according to one embodiment of the utility model. In the present utility model, the robot may include: the clamping jaw comprises a first clamping jaw 1, a second clamping jaw 2, a bottom plate 3, a supporting circular frame 4, a first transmission plate 5 and a second transmission plate 6. The number of the first clamping jaws 1 may be two, and may be symmetrically arranged, and the shape of the two first clamping jaws 1 may be circular arc-shaped, so that it may be convenient to grasp or fix a cylindrical object. The number of second clamping jaws 2 may correspond to the number of first clamping jaws 1 and may be provided at one end of the first clamping jaws 1, and the orientation of the second clamping jaws 2 may be different from the orientation of the first clamping jaws 1. A bottom plate 3 may be provided at the bottom of the junction of the first jaw 1 and the second jaw 2. The base plate 3 can support the second jaw 2. A support circular frame 4 can be arranged on the bottom plate 2. The support circular frame 4 can be respectively and rotatably connected with the connecting parts of the two first clamping jaws 1 and the second clamping jaws 2, and the first clamping jaws 1 and the second clamping jaws 2 can rotate around the support circular frame 4. The number of the first transmission plates 5 may be two, and one ends of the two first transmission plates 5 may be rotatably connected to the ends of the two second jaws 2, respectively, so that the second jaws 2 may be pushed to move. The other ends of the two first transmission plates 5 can be rotatably connected with each other. The number of the second transmission plates 6 may be one, and one end of the second transmission plate 6 may be connected to the other ends of the two first transmission plates 5, respectively, so that the two first transmission plates 5 may be pushed to move. The other end of the second drive plate 6 can be connected to an external drive, so that it can be moved by the external drive.

When the first clamping jaw 1 is required to grasp or release a column, an external transmission device can drive the second transmission plate 6 to move, the second transmission plate 6 can drive the first transmission plate 5 to move, then the two first transmission plates 5 are all mobilized to move, the second clamping jaw 2 connected with the two first transmission plates 5 is driven to move, because the first clamping jaw 1 and the second clamping jaw 2 are both rotationally connected with the support circular frame 4, when the second clamping jaw 2 is driven to move, the second clamping jaw 2 can rotate around the support circular frame 4, the first clamping jaw 1 connected with the second clamping jaw 2 can also be driven to rotate around the support circular frame 4, the orientations of the first clamping jaw 1 and the second clamping jaw 2 are different, and the two first clamping jaws 1 can be driven to be close to or far away from each other by the second clamping jaw 2 so as to grasp or release the column.

In one embodiment of the utility model, as shown in fig. 1, notches 7 may be provided on both sides of the support circular frame 4, respectively. The connection of the first jaw 1 and the second jaw 2 may be arranged in the slot 7. Because the connection parts of the first clamping jaw 1 and the second clamping jaw 2 are arranged in the notch 7, the first clamping jaw 1 and the second clamping jaw 2 cannot be blocked by the supporting circular frame 4 when moving, so that the first clamping jaw 1 and the second clamping jaw 2 can be smoothly opened and closed.

In one embodiment of the present utility model, as shown in fig. 2, the robot may include: the sliding chute 8 and the sliding block 9 are moved. The moving chute 8 may be provided on the bottom plate 3 corresponding to the second driving plate 6. The sliding block 9 can be arranged in the moving chute 8, and the top of the sliding block 9 can be connected with the second transmission plate 6, so that when the second transmission plate 6 moves, the second transmission plate can only move along the direction of the moving chute 8 without deviation, thereby better driving the first transmission plate 5 to move.

In one embodiment of the utility model, as shown in fig. 1, a limiting groove 10 may be provided on the opposite side of the two first clamping jaws 11. The manipulator may comprise a rubber strip 11. The shape of the rubber strip 11 can be consistent with the shape of the limit groove 10, so that the rubber strip can be clamped into the limit groove 10. After long-term use, the rubber strip 11 can be pulled out of the limit groove 10 to replace the rubber strip 11. The surface of the rubber strip 11 can be provided with a bulge, when the manipulator grabs a columnar object, the rubber strip 11 can be in contact with the columnar object, and the bulge of the rubber strip 1 can increase the friction force between the manipulator and the columnar object, so that the manipulator can grab the columnar object more stably.

In one embodiment of the present utility model, as shown in fig. 1, the opposite sides of the two rubber strips 11 may be arc-shaped. When the manipulator grabs the insulator, because the surface of the insulator is wavy, the unstable condition of a common manipulator during grabbing appears, and one side of the rubber strip 11, which is in contact with the insulator, is arc-shaped, so that the manipulator can be clamped into a gap on the outer surface of the insulator, and the insulator can be grabbed better.

In one embodiment of the present utility model, as shown in fig. 1, a limit opening 12 may be provided at the other end of the first jaw 1 and the rubber strip 11. When the rubber strip 11 is clamped into the limit groove 10, the limit opening 12 on the rubber strip 11 is consistent with the position on the first clamping jaw 1. The robot may include a latch 13. The latch 13 can be locked into the limiting opening 12, so that the movement of the rubber strip 11 can be limited, and the rubber strip 11 can be fixed in the limiting groove 10.

In one embodiment of the utility model, as shown in FIG. 1, the robot may include a camera 14. The camera 14 may be arranged on top of the support circular frame 4. Because the camera 14 is provided on the top of the support circular frame 4, the camera 14 can observe the gripping condition of the manipulator when the manipulator grips a columnar object.

In one embodiment of the present utility model, a stress sensor may be provided between the rubber strip 11 and the sidewall of the limit groove 10, and the stress sensor may sense the condition that the manipulator grips the cylindrical object, so that the gripping force of the manipulator may be controlled.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

The foregoing is merely exemplary of the present utility model and is not intended to limit the present utility model. Various modifications and variations of the present utility model will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are to be included in the scope of the claims of the present utility model.

Claims

1. A manipulator, the manipulator comprising:

the first clamping jaw (1) is symmetrically arranged, and the first clamping jaw (1) is arc-shaped and is used for grabbing or fixing objects;

the second clamping jaw (2) is arranged at one end of the first clamping jaw (1) and is oriented differently from the first clamping jaw (1);

a bottom plate (3) arranged at the bottom of the joint of the second clamping jaw (2) and the first clamping jaw (1) and used for supporting the second clamping jaw (2);

the supporting circular frame (4) is arranged on the bottom plate (3) and is rotationally connected with the joint of the first clamping jaw (1) and the second clamping jaw (2);

one end of each first transmission plate (5) is respectively and rotatably connected with the end parts of each second clamping jaw (2) so as to push the second clamping jaw (2) to move, and the other ends of the two first transmission plates (5) are mutually and rotatably connected;

and one end of the second transmission plate (6) is respectively and rotatably connected with the other ends of the two first transmission plates (5) so as to push the two first transmission plates (5) to move, and the other ends of the second transmission plates (6) are connected with an external transmission device so as to be driven by the external transmission device to move.

2. The manipulator according to claim 1, characterized in that the two sides of the support circular frame (4) are respectively provided with a notch (7), and the connection between the first clamping jaw (1) and the second clamping jaw (2) is arranged in the notch (7).

3. The manipulator of claim 1, wherein the manipulator comprises:

a moving chute (8) arranged on the bottom plate (3) corresponding to the second transmission plate (6);

the sliding block (9) is arranged in the moving chute (8), and the top of the sliding block (9) is connected with the second transmission plate (6).

4. The manipulator according to claim 1, characterized in that two of the first clamping jaws (1) are provided with a limit groove (10) on opposite sides, said manipulator comprising a rubber strip (11) arranged in said limit groove (10).

5. Manipulator according to claim 4, characterized in that the opposite sides of the two rubber strips (11) are arc-shaped.

6. The manipulator according to claim 4, characterized in that a limit opening (12) is provided at the other end of the first clamping jaw (1) and the rubber strip (11), and the manipulator comprises a plug pin (13) which is snapped into the limit opening (12) to limit the movement of the rubber strip (11).

7. The manipulator according to claim 1, characterized in that it comprises a camera (14) arranged on top of the support gantry (4).

8. Manipulator according to claim 4, characterized in that a stress sensor is provided between the rubber strip (11) and the side wall of the limit groove (10).