CN220331312U

CN220331312U - Semicircular ring grabbing device of manipulator

Info

Publication number: CN220331312U
Application number: CN202322252742.0U
Authority: CN
Inventors: 黄子铭; 吴嘉杰; 李小波
Original assignee: Panyu Jingmei Hardware Plastic Products Co ltd
Current assignee: Panyu Jingmei Hardware Plastic Products Co ltd
Priority date: 2023-08-22
Filing date: 2023-08-22
Publication date: 2024-01-12
Anticipated expiration: 2033-08-22

Abstract

The utility model discloses a manipulator semicircular grasping device, which relates to the technical field of grasping devices and aims to solve the technical problem of poor applicability to workpieces of different sizes in the prior art; the semicircular grabbing device of the manipulator comprises a manipulator, wherein one end of the manipulator is provided with a mounting base, a mounting groove is formed in the mounting base, a rotating shaft is arranged in the mounting groove, a rotating motor is arranged in the mounting groove, the output end of the rotating motor is connected with a driving gear, a driving gear is arranged on the rotating shaft and meshed with the driving gear, a magnetic connecting ring is arranged on the rotating shaft, an electromagnetic connecting ring is sleeved on the magnetic connecting ring, a connecting rod is arranged on the side wall of the electromagnetic connecting ring, and the other end of the connecting rod is connected with a grabbing assembly; this manipulator semicircle ring grabbing device is through setting up rotating electrical machines, rotating electrical machines and sliding block, realizes the diversified regulation to the tongs, is applicable to not unidimensional work piece.

Description

Semicircular ring grabbing device of manipulator

Technical Field

The utility model belongs to the technical field of grasping devices, and particularly relates to a semicircular grasping device of a manipulator.

Background

Today, sensory perception and force feedback have been a problem in the field of robotic grasping. Humans can quickly see, select and pick up objects, however, in order for robots to handle thousands of items per day in factories and warehouses, we need to assemble positioning and camera systems that enable the fast robots to pick up items more easily with simple jigs.

Currently, the utility model patent with the patent number of CN209922401U discloses a gripping device for a mechanical arm. The clamp can effectively adapt to the irregular shape of the scroll, has high clamping reliability, and simultaneously enables the mechanical arm to complete the clamping and transferring of a plurality of scroll at one time; however, the size is fixed, and the applicability to workpieces of different sizes is poor.

Disclosure of Invention

(1) Technical problem to be solved

Aiming at the defects of the prior art, the utility model aims to provide a manipulator semicircular grasping device which aims to solve the technical problem that the applicability of the manipulator semicircular grasping device to workpieces with different sizes is poor in the prior art.

(2) Technical proposal

In order to solve the technical problems, the utility model provides the manipulator semicircular grasping device, which comprises a mechanical arm, wherein one end of the mechanical arm is provided with a mounting base, a mounting groove is formed in the mounting base, a rotating shaft is arranged in the mounting groove, a rotating motor is arranged in the mounting groove, the output end of the rotating motor is connected with a driving gear, a driving gear is arranged on the rotating shaft, the driving gear is meshed with the driving gear, a magnetic connecting ring is arranged on the rotating shaft, an electromagnetic connecting ring is sleeved on the magnetic connecting ring, the manipulator semicircular grasping device further comprises a connecting rod, one end of the connecting rod is fixedly connected with the side wall of the electromagnetic connecting ring, and the other end of the connecting rod is connected with a grasping assembly.

When the manipulator semicircle ring grasping device of this technical scheme is used, utilize the rotation motor can drive the driving gear and rotate, driving gear and drive gear meshing, thereby the driving gear is rotatory to drive the rotation of drive shaft, thereby it is rotatory to drive the axis of rotation, be provided with the magnetism go-between in the axis of rotation, thereby it is rotatory to drive the magnetism go-between, thereby when the electromagnetism go-between circular telegram, the electromagnetism go-between is fixed with the magnetism go-between, the magnetism go-between drives the electromagnetism go-between and rotates, thereby it is rotatory to drive the grasping assembly through the connecting rod, when the electromagnetism go-between outage, the electromagnetism go-between is rotatory with the magnetism go-between wantonly, thereby realize grasping the arbitrary rotation of subassembly, when using, realize rotatory to the work piece of grasping when the circular telegram, realize adjusting the angle of tongs when the outage, conveniently snatch.

Further, the gripping subassembly includes the regulation seat, the regulation seat with the one end fixed connection of connecting rod, the regulation seat is kept away from the sliding tray has been seted up to one side of connecting rod, just the inside of sliding tray is provided with the sliding block, just the cross section of sliding tray is T type structure, the cross section of sliding block is T type structure, the sliding block sets up to two sets of, and two sets of the sliding block passes through connecting spring to be connected, and two sets of all be provided with the tongs on the sliding block, when using, utilize sliding tray and sliding block, can realize the regulation to the distance between two sets of sliding blocks, and utilize connecting spring and sliding tray to carry out spacingly to the sliding block.

Further, two sets of the rotary groove has all been seted up to a bottom of sliding block, two sets of the inside of rotary groove all is provided with the rotation axis, two sets of one side of sliding block all is provided with the rotating electrical machines, the output of rotating electrical machines runs through two sets of respectively the sliding block and respectively with two sets of rotation axis fixed connection, and two sets of tongs respectively with two sets of rotation axis fixed connection, when using, utilize the rotating electrical machines can drive the rotation axis and rotate, the rotating electrical machines drives the rotation axis and rotates to can drive the tongs and rotate, thereby cooperate rotating electrical machines and connecting spring to adjust angle, distance and the direction of two sets of tongs, realize carrying out the grasp to the work piece of different shapes, it is more convenient to use.

Further, two sets of tongs are arc structure, and two sets of tongs all are provided with the electro-magnet on being close to one side of another group, just the electro-magnet sets up to the multiunit, and the multiunit electro-magnet evenly distributed, just the bottom of adjusting the seat is provided with the camera, and the multiunit the surface of electro-magnet all is provided with the skid resistant course, when using, utilize multiunit electro-magnet can fix tongs and the work piece of waiting to snatch, and can utilize the camera to treat the work piece of grabbing and discern and fix a position.

Further, set up threaded hole on the regulation seat, just set up the screw thread on the connecting rod, the regulation seat with connecting rod threaded connection, just be provided with the fixed orifices on the connecting rod, be provided with the locating hole on the regulation seat, be provided with the dead lever in the locating hole, just the dead lever runs through the fixed orifices, when using, the regulation seat passes through threaded connection with the connecting rod to can realize adjusting simple installation and the simple dismantlement of seat, and pass locating hole and fixed orifices through the dead lever, can further fix the regulation seat, simple structure and not fragile.

Further, two sets of the tongs are kept away from the one end of sliding block is all offered the mounting hole, just the screw thread has been offered to the inside of mounting hole, still includes auxiliary block, just the one end of auxiliary block is provided with the threaded rod, just auxiliary block is the arc structure, just the threaded rod passes through the mounting hole with tongs fixed connection, just auxiliary block's depressed part is provided with the electromagnetism piece, when using, can install auxiliary block on the tongs to adjust the length of tongs, thereby realize utilizing the tongs to snatch the work piece of different shapes.

Further, still include the locating support, just locating support and bottom surface fixed connection, just the locating support set up in one side of arm, be provided with the location camera on the locating support, just the installation base with all be provided with the location auxiliary block on the sliding block, when using, utilize location camera and location auxiliary block can discern and fix a position the position and the degree of opening of tongs to the intelligent control to the tongs is convenient.

(3) Advantageous effects

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

1. the manipulator semicircle ring grasping device provided by the utility model has the advantages that the driving gear can be driven to rotate by utilizing the rotating motor, the driving gear is meshed with the driving gear, so that the driving gear is driven to rotate by rotating, the rotating shaft is driven to rotate by utilizing the rotating motor, the magnetic connecting ring is arranged on the rotating shaft, so that the magnetic connecting ring is driven to rotate by the magnetic connecting ring, when the electromagnetic connecting ring is electrified, the grasping assembly is driven to rotate by the connecting rod, when the electromagnetic connecting ring is powered off, the electromagnetic connecting ring and the magnetic connecting ring are randomly rotated, so that the arbitrary rotation of the grasping assembly is realized, when the electromagnetic connecting ring is powered off, the rotation of a workpiece to be grasped is realized, the angle of the grasper is regulated when the power is off, the grasping is convenient to grasp, and the rotating motor can be used for driving the rotating shaft to rotate, so that the grasper is driven to rotate by utilizing the rotating motor to regulate the angles, the distances and the directions of the two groups of graspers, and the connecting springs, so that the grasping of the workpieces with different shapes are realized, and the manipulator is more convenient to use;

2. the semicircular grabbing device of the manipulator disclosed by the utility model is connected with the connecting rod through the threads by utilizing the adjusting seat, so that the adjusting seat can be simply installed and simply disassembled, the adjusting seat can be further fixed by penetrating the fixing rod through the positioning hole and the fixing hole, the structure is simple and not easy to damage, the auxiliary block can be installed on the grab by utilizing the threaded rod, the length of the grab is adjusted, and workpieces with different shapes are grabbed by utilizing the grab.

Drawings

FIG. 1 is a schematic view of a three-dimensional structure of an embodiment of the present utility model;

FIG. 2 is a schematic view of the structure of the bottom of an embodiment of the present utility model;

FIG. 3 is a schematic view of a cross-section of an embodiment of the present utility model;

FIG. 4 is a schematic view of an adjusting seat according to an embodiment of the present utility model;

fig. 5 is a schematic structural view of a positioning camera according to an embodiment of the present utility model.

The marks in the drawings are: 1. a mechanical arm; 2. a mounting base; 3. a mounting groove; 4. a rotating shaft; 5. a rotating motor; 6. a drive gear; 7. a drive gear; 8. a magnetic connection ring; 9. an electromagnetic connecting ring; 10. a connecting rod; 11. a grip assembly; 12. an adjusting seat; 13. a sliding groove; 14. a sliding block; 15. a connecting spring; 16. a grip; 17. a rotary groove; 18. a rotation shaft; 19. a rotating electric machine; 20. an electromagnet; 21. a fixing hole; 22. positioning holes; 23. a fixed rod; 24. a mounting hole; 25. an auxiliary block; 26. a threaded rod; 27. a positioning bracket; 28. positioning a camera; 29. and positioning the auxiliary block.

Detailed Description

The embodiment is a semicircular grasping device for a manipulator, the schematic perspective structure of which is shown in fig. 1, the schematic bottom structure of which is shown in fig. 2, the semicircular grasping device for a manipulator comprises a manipulator 1, one end of the manipulator 1 is provided with a mounting base 2, the mounting base 2 is provided with a mounting groove 3, the inside of the mounting groove 3 is provided with a rotating shaft 4, the inside of the mounting groove 3 is provided with a rotating motor 5, the output end of the rotating motor 5 is connected with a driving gear 6, the rotating shaft 4 is provided with a driving gear 7, the driving gear 7 is meshed with the driving gear 6, the rotating shaft 4 is provided with a magnetic connecting ring 8, the magnetic connecting ring 8 is sleeved with an electromagnetic connecting ring 9, the semicircular grasping device further comprises a connecting rod 10, one end of the connecting rod 10 is fixedly connected with the side wall of the electromagnetic connecting ring 9, the other end of the connecting rod 10 is connected with a grasping assembly 11, the grasping assembly 11 comprises an adjusting seat 12, one end fixed connection of the adjusting seat 12 and a connecting rod 10 is arranged on one side, far away from the connecting rod 10, of the adjusting seat 12, a sliding groove 13 is formed in the sliding groove 13, sliding blocks are arranged in the sliding groove 13, the cross section of the sliding groove 13 is of a T-shaped structure, the cross section of the sliding blocks is of a T-shaped structure, the sliding blocks are arranged into two groups, the two groups of sliding blocks are connected through connecting springs, grippers are arranged on the two groups of sliding blocks, a rotary groove 17 is formed in one bottom end of the two groups of sliding blocks, rotary shafts 18 are arranged in the two groups of the rotary grooves 17, rotary motors 19 are arranged on one sides of the two groups of sliding blocks, the output ends of the rotary motors 19 penetrate through the two groups of sliding blocks respectively and are fixedly connected with the two groups of rotary shafts 18 respectively, and the two groups of grippers are fixedly connected with the two groups of rotary shafts 18 respectively.

Wherein, two sets of tongs are the arc structure, and all are provided with electro-magnet 20 on two sets of tongs are close to one side of another group, and electro-magnet 20 sets up to the multiunit, and multiunit electro-magnet 20 evenly distributed, and the bottom of adjusting seat 12 is provided with the camera, and multiunit electro-magnet 20's surface all is provided with the skid resistant course.

The cross-sectional structure of the device is shown in fig. 3, the structure of the adjusting seat is shown in fig. 4, the structure of the positioning camera is shown in fig. 5, the adjusting seat 12 is provided with a threaded hole, the connecting rod 10 is provided with threads, the adjusting seat 12 is in threaded connection with the connecting rod 10, the connecting rod 10 is provided with a fixing hole 21, the adjusting seat 12 is provided with a positioning hole 22, the positioning hole 22 is internally provided with a fixing rod 23, the fixing rod 23 penetrates through the fixing hole 21, one ends of the two groups of grippers far away from the sliding block are provided with mounting holes 24, the inside of the mounting holes 24 is provided with threads, the device further comprises an auxiliary block 25, one end of the auxiliary block 25 is provided with a threaded rod 26, the auxiliary block 25 is of an arc-shaped structure, the threaded rod 26 is fixedly connected with the grippers through the mounting holes 24, and the sunken parts of the auxiliary block 25 are provided with electromagnetic blocks.

Meanwhile, the positioning device further comprises a positioning support 27, the positioning support 27 is fixedly connected with the bottom surface, the positioning support 27 is arranged on one side of the mechanical arm 1, a positioning camera 28 is arranged on the positioning support 27, and positioning auxiliary blocks 29 are arranged on the mounting base 2 and the sliding blocks.

When the manipulator semicircular grasping device of the technical scheme is used, the manipulator semicircular grasping device of the utility model can drive the driving gear 6 to rotate by utilizing the rotating motor 5, the driving gear 6 is meshed with the driving gear 7, so that the driving gear 6 rotates to drive the driving gear 7 to rotate, thereby driving the rotating shaft 4 to rotate, the magnetic connecting ring 8 is arranged on the rotating shaft 4, thereby driving the magnetic connecting ring 8 to rotate, when the electromagnetic connecting ring 9 is electrified, the electromagnetic connecting ring 9 is fixed with the magnetic connecting ring 8, the magnetic connecting ring 8 drives the electromagnetic connecting ring 9 to rotate, thereby driving the grasping assembly 11 to rotate through the connecting rod 10, when the electromagnetic connecting ring 9 is powered off, the electromagnetic connecting ring 9 and the magnetic connecting ring 8 rotate randomly, thereby realizing any rotation of the grasping assembly 11, when the manipulator semicircular grasping device is used, the electromagnetic semicircular grasping device is electrified to realize rotation of a workpiece to be grasped, the angle of the grippers is adjusted when the power is off, the grippers are convenient to grasp, the rotating motor 19 is utilized to drive the rotating shaft 18 to rotate, the rotating motor 19 drives the rotating shaft 18 to rotate, the grippers can be driven to rotate, the angles, the distances and the directions of the two groups of grippers are adjusted by matching the rotating motor 5 and the connecting springs, the grippers of different shapes are realized, the use is more convenient, the adjustment of the distances between the two groups of sliders can be realized by utilizing the sliding grooves 13 and the sliding blocks, the sliding blocks can be limited by utilizing the connecting springs and the sliding grooves 13, the rotating shaft 18 can be driven to rotate by utilizing the rotating motor 19, the rotating shaft 18 is driven to rotate by utilizing the rotating motor 19, the grippers can be driven to rotate by matching the rotating motor 5 and the connecting springs, the utility model discloses a work piece that realizes grasping to different shapes, it is more convenient to use, utilize multiunit electro-magnet 20 can fix the tongs with the work piece that waits to snatch, and can utilize the camera to treat the work piece of grasping discernment and location, utilize adjusting seat 12 and connecting rod 10 to pass through threaded connection, thereby can realize adjusting seat 12's simple installation and simple dismantlement, and pass locating hole 22 and fixed orifices 21 through dead lever 23, can further fix adjusting seat 12, simple structure and not fragile, utilize threaded rod 26 can install auxiliary block 25 on the tongs, thereby adjust the length of tongs, thereby realize utilizing the tongs to snatch the work piece of different shapes, utilize location camera 28 and location auxiliary block 29 can discern and fix a position and the degree of opening of tongs, thereby the intelligent control to the tongs is convenient.

And all that is not described in detail in this specification is well known to those skilled in the art.

Claims

1. A manipulator semicircle grasping device comprises a manipulator (1); the mechanical arm is characterized in that one end of the mechanical arm (1) is provided with a mounting base (2), a mounting groove (3) is formed in the mounting base (2), a rotating shaft (4) is arranged in the mounting groove (3), a rotating motor (5) is arranged in the mounting groove (3), the output end of the rotating motor (5) is connected with a driving gear (6), a driving gear (7) is arranged on the rotating shaft (4), the driving gear (7) is meshed with the driving gear (6), a magnetic connecting ring (8) is arranged on the rotating shaft (4), an electromagnetic connecting ring (9) is sleeved on the magnetic connecting ring (8), the mechanical arm further comprises a connecting rod (10), one end of the connecting rod (10) is fixedly connected with the side wall of the electromagnetic connecting ring (9), and the other end of the connecting rod (10) is connected with a grabbing component (11).

2. The manipulator semicircular grasping device according to claim 1, wherein the grasping assembly (11) comprises an adjusting seat (12), the adjusting seat (12) is fixedly connected with one end of the connecting rod (10), a sliding groove (13) is formed in one side, far away from the connecting rod (10), of the adjusting seat (12), a sliding block is arranged in the sliding groove (13), the cross section of the sliding groove (13) is of a T-shaped structure, the cross section of the sliding block is of a T-shaped structure, the sliding blocks are arranged into two groups, the two groups of the sliding blocks are connected through connecting springs, and grippers are arranged on the two groups of the sliding blocks.

3. The manipulator semicircular grasping apparatus according to claim 2, wherein a rotary groove (17) is formed at a bottom end of each of the two sets of sliding blocks, a rotary shaft (18) is disposed inside each of the two sets of rotary grooves (17), a rotary motor (19) is disposed at one side of each of the two sets of sliding blocks, output ends of the rotary motors (19) penetrate through the two sets of sliding blocks respectively and are fixedly connected with the two sets of rotary shafts (18) respectively, and the two sets of grippers are fixedly connected with the two sets of rotary shafts (18) respectively.

4. The semicircular grabbing device of claim 3, wherein two groups of grippers are of arc structures, electromagnets (20) are arranged on one sides, close to the other group, of the grippers, the electromagnets (20) are arranged in multiple groups, the electromagnets (20) are uniformly distributed in multiple groups, a camera is arranged at the bottom end of the adjusting seat (12), and anti-slip layers are arranged on the surfaces of the electromagnets (20) in multiple groups.

5. The manipulator semicircular grasping apparatus according to claim 4, wherein the adjusting seat (12) is provided with a threaded hole, the connecting rod (10) is provided with threads, the adjusting seat (12) is in threaded connection with the connecting rod (10), the connecting rod (10) is provided with a fixing hole (21), the adjusting seat (12) is provided with a positioning hole (22), a fixing rod (23) is arranged in the positioning hole (22), and the fixing rod (23) penetrates through the fixing hole (21).

6. The manipulator semicircular grasping apparatus according to claim 5, wherein two sets of grippers are provided with a mounting hole (24) at one end far away from the sliding block, and the inside of the mounting hole (24) is provided with threads, and further comprising an auxiliary block (25), and one end of the auxiliary block (25) is provided with a threaded rod (26), and the auxiliary block (25) is of an arc structure, and the threaded rod (26) is fixedly connected with the grippers through the mounting hole (24), and the recess of the auxiliary block (25) is provided with an electromagnetic block.

7. The manipulator semicircular grasping apparatus according to claim 6, further comprising a positioning bracket (27), wherein the positioning bracket (27) is fixedly connected with the bottom surface, the positioning bracket (27) is disposed on one side of the mechanical arm (1), a positioning camera (28) is disposed on the positioning bracket (27), and positioning auxiliary blocks (29) are disposed on the mounting base (2) and the sliding block.