Spider hand robot

Abstract

The utility model discloses a spider hand robot which comprises an installation frame, a servo driving mechanism, a rotation driving mechanism and a bag clamping mechanism. The bag clamping mechanism comprises a driven disc, a mounting plate, clamping hands and a clamping hand driving mechanism, the mounting plate is fixed to a rotary inner disc of the driven disc, the two clamping hands are arranged at the two ends of the mounting plate in a sliding mode, and the clamping hand driving mechanism is used for driving the two clamping hands to be relatively close to or away from each other; three sets of servo driving mechanisms are arranged on the mounting frame, each servo driving mechanism comprises a servo motor, a speed reducer, a large arm and a small arm, the servo motors are connected with the speed reducers, the output ends of the speed reducers are fixedly connected with one ends of the large arms, the other ends of the large arms are hinged to one ends of the small arms, and the other ends of the small arms are hinged to an outer disc of the driven disc; the rotary driving mechanism comprises a rotary servo motor, a rotary speed reducer and a telescopic rod, the rotary servo motor is connected with the rotary speed reducer, and the output end of the rotary speed reducer is connected with the rotary inner disc of the driven disc through the telescopic rod. The transmission device is high in transmission efficiency and accurate in position.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a spider-hand robot. Background Art

[0002] Competition in the packaging machinery industry is becoming increasingly fierce. In order to improve the efficiency and quality of equipment, the packaging machinery industry in various industries is moving towards automation. Faced with severe market conditions, more and more packaging equipment manufacturers have shifted their focus to industrial robots. However, the existing spider-arm robots have low transmission efficiency and poor accuracy. Utility Model Content

[0003] The utility model aims to provide a spider hand robot to solve the problems existing in the above-mentioned prior art, with high transmission efficiency and accurate positioning.

[0004] To achieve the above purpose, the utility model provides the following solutions:

[0005] The utility model provides a spider hand robot, comprising a mounting frame, a servo drive mechanism, a rotary drive mechanism and a clamping mechanism;

[0006] The clamping mechanism comprises a driven disk, a mounting plate, a clamping hand and a clamping hand driving mechanism, wherein the mounting plate is fixed on the rotating inner disk of the driven disk, the two clamping hands are slidably arranged at both ends of the mounting plate and arranged opposite to each other, and the clamping hand driving mechanism is used to drive the two clamping hands to move relatively closer or farther away;

[0007] The mounting frame is provided with three groups of servo drive mechanisms uniformly distributed along the circumferential direction, the servo drive mechanism comprises a servo motor, a reducer, a large arm and a small arm, the servo motor is connected to the reducer, the output end of the reducer is fixedly connected to one end of the large arm, the other end of the large arm is hinged to one end of the small arm, and the other end of the small arm is hinged to the outer disk of the driven disk;

[0008] The rotary drive mechanism is installed on the mounting frame and is located at the center of the three groups of servo drive mechanisms. The rotary drive mechanism includes a rotary servo motor, a rotary reducer and a telescopic rod. The rotary servo motor is installed on the mounting frame. The rotary servo motor is connected to the rotary reducer. The output end of the rotary reducer is connected to the rotary inner disk of the driven disk through the telescopic rod, so as to drive the rotary inner disk to rotate.

[0009] Preferably, the gripper drive mechanism includes a gripper servo motor, a gripper reducer, an active synchronous pulley, a driven synchronous pulley and a synchronous belt, the gripper servo motor is installed on the mounting plate, the gripper servo motor is connected to the gripper reducer, the output end of the gripper reducer is connected to the active synchronous pulley for driving the active synchronous pulley to rotate, the active synchronous pulley is connected to the driven synchronous pulley through the synchronous belt, the driven synchronous pulley is rotatably connected to the mounting plate, one side of the synchronous belt is connected to the gripper at one end through a connecting piece, and the other side of the synchronous belt is connected to the gripper at the other end through a connecting rod.

[0010] Preferably, the gripper drive mechanism further comprises a tensioning pulley, which is mounted on the mounting plate and is used to adjust the tension of the synchronous belt.

[0011] Preferably, it further comprises a frame, and the mounting frame is fixedly mounted on the frame.

[0012] Preferably, slide rails are provided on both sides of the mounting plate, and each of the grippers is slidably connected to the slide rails on both sides via two sliding blocks.

[0013] Compared with the prior art, the utility model has achieved the following technical effects:

[0014] The utility model can adjust the height of the driven disk through three groups of servo drive mechanisms evenly distributed along the circumference, and can drive the mounting plate and the clamping hands in the clamping mechanism to rotate through a rotary servo motor. The clamping hand driving mechanism drives the two clamping hands to move closer or farther away from each other to clamp or release the objects. The servo motor is used for driving, and the transmission efficiency is high and the position is precise, so that the objects can be clamped efficiently and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is a schematic diagram of the overall structure of the spider hand robot provided by the utility model;

[0017] Figure 2 It is a schematic diagram of the connection structure between the mounting frame and the clamping mechanism in the utility model;

[0018] Figure 3 This is a structural schematic diagram of the bag clamping mechanism in the utility model;

[0019] Figure 4 It is a bottom view structural schematic diagram of the bag clamping mechanism in the utility model.

[0020] In the figure: 1-mounting frame, 2-driven disk, 3-mounting plate, 4-gripper, 5-servo motor, 6-reducer, 7-big arm, 8-small arm, 9-rotation servo motor, 10-rotation reducer, 11-telescopic rod, 12-gripper servo motor, 13-gripper reducer, 14-driving synchronous pulley, 15-driven synchronous pulley, 16-synchronous belt, 17-frame. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] The utility model aims to provide a spider hand robot to solve the problems existing in the prior art, with high transmission efficiency and precise positioning.

[0023] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0024] like Figure 1-Figure 4 As shown, this embodiment provides a spider hand robot, including a mounting frame 1, a servo drive mechanism, a rotary drive mechanism and a clamping mechanism;

[0025] The clamping mechanism includes a driven disc 2, a mounting plate 3, a clamping hand 4 and a clamping hand driving mechanism. The mounting plate 3 is fixed on the rotating inner disc of the driven disc 2. Two clamping hands 4 are slidably arranged at both ends of the mounting plate 3 and arranged opposite to each other. The clamping hand driving mechanism is used to drive the two clamping hands 4 to move relatively closer or farther away.

[0026] The mounting frame 1 is provided with three groups of servo drive mechanisms uniformly distributed along the circumferential direction, the servo drive mechanisms include a servo motor 5, a reducer 6, a large arm 7 and a small arm 8, the servo motor 5 is connected to the reducer 6, the output end of the reducer 6 is fixedly connected to one end of the large arm 7, the other end of the large arm 7 is hinged to one end of the small arm 8, and the other end of the small arm 8 is hinged to the outer disk of the driven disk 2;

[0027] The rotary drive mechanism is installed on the mounting frame 1 and is located at the center of the three servo drive mechanisms. The rotary drive mechanism includes a rotary servo motor 9, a rotary reducer 10 and a telescopic rod 11. The rotary servo motor 9 is installed on the mounting frame 1. The rotary servo motor 9 is connected to the rotary reducer 10. The output end of the rotary reducer 10 is connected to the rotary inner disk of the driven disk 2 through the telescopic rod 11, which is used to drive the rotary inner disk to rotate.

[0028] When in use, the servo motor 5 drives the upper arm 7 and the lower arm 8 to adjust the height of the driven disk 2 and then adjust the gripping height. The rotary servo motor 9 drives the telescopic rod 11 to rotate, driving the rotary inner disk of the driven disk 2 to rotate and then adjust the gripping angle. The clamping hand driving mechanism drives the two clamping hands 4 to move closer or farther away from each other to achieve clamping or loosening of objects. It has a simple structure and is easy to control. It is driven by a servo motor with high transmission efficiency and precise positioning, so that objects can be clamped efficiently and accurately.

[0029] In this embodiment, the gripper drive mechanism includes a gripper servo motor 12, a gripper reducer 13, an active synchronous pulley 14, a driven synchronous pulley 15 and a synchronous belt 16. The gripper servo motor 12 is installed on the mounting plate 3. The gripper servo motor 12 is connected to the gripper reducer 13. The output end of the gripper reducer 13 is connected to the active synchronous pulley 14 for driving the active synchronous pulley 14 to rotate. The active synchronous pulley 14 is connected to the driven synchronous pulley 15 through the synchronous belt 16. The driven synchronous pulley 15 is rotatably connected to the mounting plate 3. One side of the synchronous belt 16 is connected to the gripper 4 at one end through a connecting piece, and the other side of the synchronous belt 16 is connected to the gripper 4 at the other end through a connecting rod. The active synchronous pulley 14 is driven to rotate by the gripper servo motor 12, which drives the driven synchronous pulley 15 and the synchronous belt 16 to run. Since the two sides of the synchronous belt 16 are connected to the grippers 4 at both ends through connecting parts and connecting rods respectively, when the synchronous belt 16 is running, the grippers 4 at both ends can move closer to or farther away from each other, thereby realizing the clamping or loosening action. The servo motor drive structure is simple in structure, high in transmission efficiency, precise in positioning, and easy to control.

[0030] In this embodiment, the gripper driving mechanism further includes a tensioning pulley mounted on the mounting plate 3 for adjusting the tension of the synchronous belt 16 .

[0031] In this embodiment, a frame 17 is further included, and the mounting frame 1 is fixedly mounted on the frame 17. The mounting frame 1 and the driving mechanism, the clamping mechanism, etc. thereon are integrally supported by the frame 17 to ensure the stability of operation.

[0032] In this embodiment, slide rails are provided on both sides of the mounting plate 3 , and each clamping hand 4 is slidably connected to the slide rails on both sides through two sliding blocks, thereby improving the running stability of the clamping hand 4 .

[0033] The present invention uses specific examples to illustrate the principle and implementation of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A spider hand robot, characterized in that: It includes a mounting frame, a servo drive mechanism, a rotary drive mechanism and a package clamping mechanism; The clamping mechanism comprises a driven disk, a mounting plate, a clamping hand and a clamping hand driving mechanism, wherein the mounting plate is fixed on the rotating inner disk of the driven disk, the two clamping hands are slidably arranged at both ends of the mounting plate and arranged opposite to each other, and the clamping hand driving mechanism is used to drive the two clamping hands to move relatively closer or farther away; The mounting frame is provided with three groups of servo drive mechanisms uniformly distributed along the circumferential direction, the servo drive mechanism comprises a servo motor, a reducer, a large arm and a small arm, the servo motor is connected to the reducer, the output end of the reducer is fixedly connected to one end of the large arm, the other end of the large arm is hinged to one end of the small arm, and the other end of the small arm is hinged to the outer disk of the driven disk; The rotary drive mechanism is installed on the mounting frame and is located at the center of the three groups of servo drive mechanisms. The rotary drive mechanism includes a rotary servo motor, a rotary reducer and a telescopic rod. The rotary servo motor is installed on the mounting frame. The rotary servo motor is connected to the rotary reducer. The output end of the rotary reducer is connected to the rotary inner disk of the driven disk through the telescopic rod, so as to drive the rotary inner disk to rotate.

2. The spider hand robot according to claim 1, characterized in that: The gripper driving mechanism includes a gripper servo motor, a gripper reducer, an active synchronous pulley, a driven synchronous pulley and a synchronous belt. The gripper servo motor is installed on the mounting plate, and the gripper servo motor is connected to the gripper reducer. The output end of the gripper reducer is connected to the active synchronous pulley for driving the active synchronous pulley to rotate. The active synchronous pulley is connected to the driven synchronous pulley through the synchronous belt, and the driven synchronous pulley is rotatably connected to the mounting plate. One side of the synchronous belt is connected to the gripper at one end through a connecting piece, and the other side of the synchronous belt is connected to the gripper at the other end through a connecting rod.

3. The spider hand robot according to claim 2, characterized in that: The gripper drive mechanism also includes a tensioning pulley, which is mounted on the mounting plate and is used to adjust the tension of the synchronous belt.

4. The spider hand robot according to claim 1, characterized in that: It also includes a frame, and the mounting frame is fixedly mounted on the frame.

5. The spider hand robot according to claim 1, characterized in that: Slide rails are arranged on both sides of the mounting plate, and each of the clamping hands is slidably connected to the slide rails on both sides through two sliding blocks.

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