CN220408753U - Overturning manipulator - Google Patents

Abstract

The utility model relates to the field of manipulators, in particular to a turnover manipulator which comprises a workbench, a manipulator arm, two clamping jaws and two expansion mechanisms, wherein the expansion mechanisms comprise a driving assembly, gears, two tooth blocks, connecting plates and two expansion plates, the workbench provides mounting conditions for the manipulator arm, the manipulator arm can drive the two clamping jaws to turn over and clamp, when the clamping areas of the two clamping jaws need to be expanded, the driving assembly is started to drive the gears to rotate, the gears drive the two tooth blocks to be mutually far away, the two tooth blocks respectively drive the two connecting plates to be mutually far away, the two connecting plates drive the two expansion plates to move to one side far away from the clamping jaws, and the clamping areas of the two clamping jaws can be adjusted until the two expansion plates move to a preset position, so that the problem that the clamping areas of clamping plates cannot be adjusted when the existing mechanical claws clamp different sizes is solved.

Description

Overturning manipulator

Technical Field

The utility model relates to the field of manipulators, in particular to a turnover manipulator.

Background

A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The method is characterized in that various expected operations can be completed through programming, and the method has the advantages of both human and manipulator machines in terms of construction and performance. However, the manipulator is affected by the overturning weight and gradually inclines downwards, so that the manipulator deviates from the product clamping position, and clamping failure is easy to occur when the product is clamped.

At present, prior art (CN 212193156U) discloses a turnover manipulator, including workstation and servo motor, support stop device, bare-handed grasp flexible post, with flexible post through stretching out the height of adjusting the backup pad from the sleeve, and rotate through adjusting bolt and screw up, when tilting mechanism drives the product of snatching the gripper and carry out three hundred sixty degrees upset homing, make tilting mechanism contact spacing through the backup pad, make its tilting mechanism can not drive and snatch the gripper and receive gravity downward sloping, directly fall into and get the position horizontal plane at the product, reduce vibrations when tilting mechanism and backup pad contact collision through the rubber pad, the beneficial effect is through installing support stop device on the workstation, height and the product of adjusting the backup pad snatch and be in same horizontal plane, when making tilting mechanism drive snatch manipulator upset return, carry out spacing support to tilting mechanism through the backup pad, make snatch the manipulator can receive the upset weight influence and can progressively downward sloping.

By adopting the mode, the clamping area of the mechanical claw is fixed, and the clamping area of the clamping plate cannot be adjusted when the clamping plates are clamped to different sizes, so that the practicability of the mechanical claw is reduced.

Disclosure of Invention

The utility model aims to provide a turnover manipulator which aims to solve the problem that the clamping area of a clamping plate cannot be adjusted when clamping different sizes of existing mechanical claws.

In order to achieve the above purpose, the utility model provides a turnover manipulator which comprises a workbench, a mechanical arm, two clamping jaws and two expansion mechanisms, wherein the expansion mechanisms comprise a driving assembly, a gear, two tooth blocks, a connecting plate and two expansion plates;

the mechanical arm is arranged on one side of the workbench, the two clamping jaws are arranged on the mechanical arm, the driving assembly is arranged in the clamping jaws, the gear is arranged on the driving assembly, the two tooth blocks are respectively meshed with the two gears and are respectively in sliding connection with the clamping jaws, the two connecting plates are respectively fixedly connected with the two tooth blocks and are respectively positioned on one side of the two tooth blocks, and the two expansion plates are respectively fixedly connected with the two connecting plates and are respectively positioned on one side of the two connecting plates.

The driving assembly comprises a motor and a rotating shaft, wherein the motor is fixedly connected with the clamping jaw and is positioned in the clamping jaw, and the rotating shaft is fixedly connected with the output end of the motor, is fixedly connected with the gear and is positioned between the motor and the gear.

The expansion mechanism further comprises two limiting blocks, wherein the two limiting blocks are fixedly connected with the two connecting plates respectively, are connected with the clamping jaws in a sliding mode respectively, and are located between the clamping jaws and the connecting plates respectively.

The expanding mechanism further comprises two reset springs, wherein the two reset springs are fixedly connected with the two limiting blocks, are fixedly connected with the clamping jaws respectively, and are located between the limiting blocks and the clamping jaws respectively.

The expansion mechanism further comprises two friction pads, wherein the two friction pads are fixedly connected with the two expansion plates respectively and are located on the outer side walls of the two expansion plates respectively.

According to the turnover manipulator disclosed by the utility model, the workbench provides mounting conditions for the manipulator, the manipulator can drive the two clamping jaws to turn over and clamp, when the clamping areas of the two clamping jaws need to be expanded, the driving assembly is started, the driving assembly works to drive the gear to rotate, the gear drives the two tooth blocks to be mutually far away, the two tooth blocks respectively drive the two connecting plates to be mutually far away, the two connecting plates drive the two expansion plates to move to the side far away from the clamping jaws, and the clamping area of the two clamping jaws can be adjusted until the two expansion plates move to the preset positions, so that the problem that the clamping areas of clamping plates cannot be adjusted when clamping the clamping jaws of different sizes of the existing mechanical claw is solved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.

Fig. 1 is a schematic structural view of a flipping robot according to a first embodiment of the present utility model.

Fig. 2 is a sectional view of a flipping robot in the motor direction according to the first embodiment of the utility model.

Fig. 3 is a sectional view of the flipping robot in the direction of the return spring according to the first embodiment of the utility model.

Fig. 4 is a schematic structural view of a flipping robot according to a second embodiment of the utility model.

101-workbench, 102-mechanical arm, 103-clamping jaw, 104-expansion mechanism, 105-driving component, 106-gear, 107-tooth block, 108-connecting plate, 109-expansion plate, 110-limiting block, 111-reset spring, 112-motor, 113-rotating shaft and 201-friction pad.

Detailed Description

The first embodiment of the application is as follows:

referring to fig. 1-3, fig. 1 is a schematic structural view of a turning manipulator, fig. 2 is a sectional view of the turning manipulator along a motor direction, and fig. 3 is a sectional view of the turning manipulator along a return spring direction.

The utility model provides a turnover manipulator, which comprises a workbench 101, a mechanical arm 102, two clamping jaws 103 and two expansion mechanisms 104, wherein the expansion mechanisms 104 comprise a driving assembly 105, a gear 106, two tooth blocks 107, a connecting plate 108, two expansion plates 109, two limiting blocks 110 and two return springs 111, and the driving assembly 105 comprises a motor 112 and a rotating shaft 113. The problem that the clamping area of the clamping plate cannot be adjusted when the clamping plates are clamped by the existing mechanical claws of different sizes is solved through the scheme, and it can be understood that the scheme can be used for adjusting the clamping area of the clamping jaw 103 and can also be used for solving the problem that the movement of the two connecting plates 108 is unstable.

For this embodiment, the mechanical arm 102 is disposed on one side of the workbench 101, the two clamping jaws 103 are disposed on the mechanical arm 102, the driving assembly 105 is disposed in the clamping jaws 103, the gear 106 is disposed on the driving assembly 105, the two tooth blocks 107 are meshed with the two gears 106 respectively and are slidably connected with the clamping jaws 103 respectively, the two connecting plates 108 are fixedly connected with the two tooth blocks 107 respectively and are located on one side of the two tooth blocks 107 respectively, and the two expansion plates 109 are fixedly connected with the two connecting plates 108 respectively and are located on one side of the two connecting plates 108 respectively. The workbench 101 provides mounting conditions for the mechanical arm 102, the mechanical arm 102 can drive two clamping jaws 103 to turn over and clamp, the driving assembly 105 can drive the gear 106 to rotate forward or reversely, the gear 106 can drive two tooth blocks 107 to slide in the clamping jaws 103, the two tooth blocks 107 can move to drive two connecting plates 108 to be close to or far away from each other, the two connecting plates 108 can be connected with the two expansion plates 109 and the two tooth blocks 107, and the two expansion plates 109 can adjust the clamping areas of the two clamping jaws 103.

The motor 112 is fixedly connected with the clamping jaw 103 and is located in the clamping jaw 103, and the rotating shaft 113 is fixedly connected with the output end of the motor 112, is fixedly connected with the gear 106 and is located between the motor 112 and the gear 106. The motor 112 can drive the rotating shaft 113 to rotate forward or drive the rotating shaft 113 to turn over, and the rotating shaft 113 can drive the gear 106 to rotate forward or reverse.

Secondly, the two limiting blocks 110 are respectively and fixedly connected with the two connecting plates 108, respectively and slidably connected with the clamping jaw 103, and respectively positioned between the clamping jaw 103 and the connecting plates 108. When the two connecting plates 108 move, the two limiting blocks 110 are driven to slide in the clamping jaw 103, the two limiting blocks 110 guide and limit the connecting plates 108, so that the stability of the connecting plates 108 when moving is improved

Meanwhile, the two return springs 111 are fixedly connected with the two limiting blocks 110, are respectively fixedly connected with the clamping jaws 103, and are respectively located between the limiting blocks 110 and the clamping jaws 103. When the two stoppers 110 move, the two return springs 111 are stretched, and the two stoppers 110 are guided by the resilience of the two return springs 111.

When the clamping area of the clamping jaw 103 needs to be expanded, the motor 112 is started, the motor 112 works to drive the rotating shaft 113 to rotate, the rotating shaft 113 drives the gear 106 to rotate, the gear 106 drives the two tooth blocks 107 to be away from each other, the two tooth blocks 107 respectively drive the two connecting plates 108 to be away from each other, the two connecting plates 108 drive the two expansion plates 109 to move towards one side away from the clamping jaw 103, and the clamping area of the two clamping jaws 103 can be adjusted until the two expansion plates 109 move to a preset position, so that the problem that the clamping area of the clamping plate cannot be adjusted when the existing mechanical claw clamps different sizes is solved.

The second embodiment of the present application is:

referring to fig. 4, fig. 4 is a schematic structural diagram of a flipping robot.

On the basis of the first embodiment, according to the overturning manipulator of the present utility model, the expanding mechanism 104 further includes two friction pads 201.

For the present embodiment, the two friction pads 201 are fixedly connected to the two expansion plates 109, and are located on the outer sidewalls of the two expansion plates 109, respectively. The friction force of the two expansion plates 109 can be increased by the two friction pads 201, and thus the stability of the two expansion plates 109 when clamped can be improved.

The friction force of the two expansion plates 109 can be increased by the two friction pads 201, and thus the stability of the two expansion plates 109 when clamped can be improved.

The foregoing disclosure is only illustrative of one or more preferred embodiments of the present application and is not intended to limit the scope of the claims hereof, as it is to be understood by those skilled in the art that all or part of the process of implementing the described embodiment may be practiced otherwise than as specifically described and illustrated by the appended claims.

Claims (5)

1. The turnover manipulator comprises a workbench, a manipulator and two clamping jaws, wherein the manipulator is arranged on one side of the workbench, the two clamping jaws are arranged on the manipulator,

the expansion mechanism comprises a driving assembly, a gear, two tooth blocks, a connecting plate and two expansion plates;

the driving assembly is arranged in the clamping jaw, the gears are arranged on the driving assembly, the two tooth blocks are respectively meshed with the two gears and are respectively in sliding connection with the clamping jaw, the two connecting plates are respectively fixedly connected with the two tooth blocks and are respectively positioned at one sides of the two tooth blocks, and the two expansion plates are respectively fixedly connected with the two connecting plates and are respectively positioned at one sides of the two connecting plates.

2. A flipping robot as claimed in claim 1, wherein,

the driving assembly comprises a motor and a rotating shaft, wherein the motor is fixedly connected with the clamping jaw and is positioned in the clamping jaw, and the rotating shaft is fixedly connected with the output end of the motor, is fixedly connected with the gear and is positioned between the motor and the gear.

3. A flipping robot as claimed in claim 2, wherein,

the expansion mechanism further comprises two limiting blocks, wherein the two limiting blocks are fixedly connected with the two connecting plates respectively, are connected with the clamping jaws in a sliding mode respectively, and are located between the clamping jaws and the connecting plates respectively.

4. A flipping robot as claimed in claim 3, wherein,

the expanding mechanism further comprises two reset springs, wherein the two reset springs are fixedly connected with the two limiting blocks, are fixedly connected with the clamping jaws respectively, and are located between the limiting blocks and the clamping jaws respectively.

5. A flipping robot as claimed in claim 4, wherein,

the expansion mechanism further comprises two friction pads, wherein the two friction pads are fixedly connected with the two expansion plates respectively and are positioned on the outer side walls of the two expansion plates respectively.