A multi-axis manipulator

Abstract

The present invention relates to the field of manipulator technology, and discloses a multi-axis manipulator, comprising a manipulator arm and a connecting sleeve mounted on the manipulator arm, wherein a pressure column is elastically slidably provided in the connecting sleeve, and the pressure column is engaged with the connecting sleeve via a clamping mechanism; the manipulator also comprises a plurality of clamping jaws arranged below the connecting sleeve and arranged circumferentially, wherein a rotating gear is fixedly mounted on the top of each clamping jaw, and the pressure column passes through the center of a circle formed by the plurality of clamping jaws and simultaneously engages with the plurality of rotating gears; the manipulator arm drives the bottom of the pressure column to continuously squeeze the grasped object and slide upward, and in the process of the upward sliding of the pressure column driving the pressure column to engage with the connecting sleeve via the clamping mechanism, the plurality of rotating gears rotate synchronously so that the bottom ends of the plurality of clamping jaws rotate toward the grasped object to clamp the grasped object. The present invention can realize the grasping of the grasped object by the clamping jaws by only utilizing the power provided by the manipulator arm, eliminating the provision of a cylinder or other driving mechanism, and can save the manufacturing cost of the equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a multi-axis manipulator. Background Art

[0002] The multi-axis robot is composed of multiple linear modules and is divided into 2-axis robots, 3-axis robots, 4-axis robots, etc. The robot can replace manual labor to automate operations in harsh environments such as high temperature, pollution and toxic gases. It has the characteristics of flexible movement, strong versatility and simple operation.

[0003] Among them, in the garbage disposal station, it is necessary to continuously move the garbage cans containing garbage. Because the garbage has a pungent smell and is polluting, it is usually replaced by multi-axis robotic arms instead of manual operation.

[0004] For example, the utility model patent application number CN201920281956.1, publication number CN209774704U, and titled "A Buffering Device for a Handling Manipulator" discloses a multi-axis robotic arm, a gripper, and a buffering mechanism. The multi-axis robotic arm is connected to the gripper via the buffering mechanism. The gripper includes a bracket, a cylinder, a push rod, and two clamping jaws. The cylinder is mounted on the bracket, and the middle of the two clamping jaws are hinged via a rotating shaft connected to the bracket. One end of the push rod is hinged to the cylinder piston rod, and the other end is hinged to the clamping jaws. The cylinder pushes the push rod on the bracket, thereby driving the two hinged clamping jaws to move relative to each other, thereby clamping the workpiece.

[0005] The robot arm provided by the above patent can use the cylinder to drive the two jaws to move relative to each other to clamp the workpiece, and use the buffer device to buffer the robot arm. However, its disadvantage is that: since the relative movement of the jaws needs to be driven by a separate cylinder, the use of the cylinder will increase the economic expenditure of the equipment, thereby increasing the manufacturing cost of the robot arm equipment. Summary of the Invention

[0006] The purpose of the present invention is to provide a multi-axis manipulator to solve the above-mentioned deficiencies in the prior art.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solution: a multi-axis manipulator, comprising a manipulator arm and a connecting sleeve mounted on the manipulator arm, wherein a pressure column is elastically and slidably provided in the connecting sleeve, and the pressure column is engaged with the connecting sleeve through a clamping mechanism;

[0008] It also includes a plurality of clamping jaws disposed below the connecting sleeve and arranged circumferentially, a rotating gear being fixedly mounted on the top of each clamping jaw, and the pressure column passing through the center of the circle formed by the plurality of clamping jaws and simultaneously meshing with the plurality of rotating gears;

[0009] The robotic arm drives the bottom of the pressure column to continuously squeeze the grasped object and slide upward. In the process of the pressure column sliding upward and driving the pressure column to engage with the connecting sleeve through the clamping mechanism, the multiple rotating gears rotate synchronously to make the bottom ends of the multiple clamps rotate toward the grasped object to clamp the grasped object.

[0010] In the above-mentioned multi-axis manipulator, a first spring is provided between the pressure column and the connecting sleeve, one end of the first spring is fixedly connected to the connecting sleeve, and the other end is fixedly connected to the top of the pressure column, and a guide rod is fixedly mounted on the connecting sleeve, and the guide rod is slidably plugged into the pressure column.

[0011] In the above-mentioned multi-axis manipulator, an inner sleeve is elastically and slidably provided in the connecting sleeve, the pressure column passes through the center of the inner sleeve, and each of the rotating gears is rotatably connected to the bottom of the inner sleeve through a rotating shaft.

[0012] In the above-mentioned multi-axis manipulator, a plurality of second springs are arranged between the inner sleeve and the connecting sleeve, one end of the second spring is fixedly connected to the connecting sleeve, and the other end is fixedly connected to the top of the inner sleeve, and the plurality of second springs are evenly arranged circumferentially around the axial center line of the inner sleeve.

[0013] In the above-mentioned multi-axis manipulator, the resistance of the inner sleeve sliding upward is greater than the sum of the rotational resistance of the multiple rotating gears, so that the pressure column first drives the multiple rotating gears to rotate during the sliding process. After the bottom ends of the multiple clamps abut against the grasped object, the pressure column drives the inner sleeve to slide upward synchronously to cause the multiple second springs to produce compression deformation, and then the pressure column is engaged with the connecting sleeve.

[0014] In the above-mentioned multi-axis manipulator, the number of the clamping claws and the number of the rotating gears are both four.

[0015] In the above-mentioned multi-axis manipulator, the clamping mechanism has a clamping station and a separation station, and the force for the clamping mechanism to enter the clamping station and the separation station is provided by the upward movement of the pressure column.

[0016] The above-mentioned multi-axis manipulator, the clamping mechanism includes a sliding block elastically slidably inserted on the pressure column and a clamping part fixed inside the connecting sleeve, one end of the sliding block protrudes from the pressure column, the insertion of the sliding block and the clamping part enables the clamping mechanism to enter the clamping position, and the separation of the sliding block and the clamping part enables the clamping mechanism to enter the separation position.

[0017] The above-mentioned multi-axis manipulator has a top of the sliding block protruding from the pressure column and tilted downward toward the outside, and the clamping part includes a fixed rod, on which a limit plate and a lower cone arranged from top to bottom are fixedly installed, and the cross-section of the lower cone is a trapezoid with a larger top and a smaller bottom. The sliding sleeve on the fixed rod is provided with an upper cone located between the limit plate and the lower cone, and the cross-section of the upper cone is a trapezoid with a smaller top and a larger bottom. The bottom diameter of the upper cone is larger than the top diameter of the lower cone, and the end of the sliding block is in sliding abutment with the outer surface of the lower cone.

[0018] In the above-mentioned multi-axis manipulator, the number of the clamping mechanisms is at least two.

[0019] Beneficial effect: In the above technical solution, the present invention provides a multi-axis manipulator, which fixes a rotating gear on the top of the clamping claw, and engages with each rotating gear through an elastically sliding pressure column, so that when the robotic arm applies a downward force to the pressure column, the bottom of the pressure column will squeeze the top of the grasped object, and under the action of the reaction force, the pressure column will elastically slide upward, thereby driving each rotating gear to rotate, and the rotation of each rotating gear will drive the corresponding clamping claws to rotate, so that multiple clamping claws clamp the grasped object. After the grasped object is clamped by the clamping claw, the pressure column is clamped and fixed by the clamping mechanism, so that multiple clamping claws maintain a clamping state on the grasped object. Compared with the prior art, the present invention only needs to use the power provided by the robotic arm to realize the clamping of the grasped object by the clamping claw, eliminating the setting of the cylinder or other driving mechanism, thereby effectively saving the manufacturing cost of the equipment and solving the shortcomings of the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0021] Figure 1 A schematic front view of the structure of a multi-axis manipulator provided by an embodiment of the present invention;

[0022] Figure 2 A partial cross-sectional schematic diagram of a multi-axis manipulator in an initial state provided by an embodiment of the present invention;

[0023] Figure 3 A partial cross-sectional schematic diagram of a multi-axis manipulator when the clamping mechanism provided by an embodiment of the present invention enters a clamping station;

[0024] Figure 4 A partial cross-sectional schematic diagram of a multi-axis manipulator when the clamping mechanism provided by an embodiment of the present invention is disengaged from the clamping station;

[0025] Figure 5 The embodiment of the present invention provides Figure 2 A schematic diagram of the enlarged structure of part A;

[0026] Figure 6 The embodiment of the present invention provides Figure 3 Schematic diagram of the enlarged structure of part B;

[0027] Figure 7 The embodiment of the present invention provides Figure 4 Schematic diagram of the enlarged structure of part C;

[0028] Figure 8 A schematic front view of the multi-axis manipulator without the manipulator arm and the connecting sleeve provided by an embodiment of the present invention;

[0029] Figure 9 The embodiment of the present invention provides Figure 8 A schematic diagram of the three-dimensional structure after removing the first spring and the second spring;

[0030] Figure 10 The embodiment of the present invention provides Figure 9 A structural diagram from another perspective;

[0031] Figure 11 A schematic diagram of the connection structure between the pressure column and the sliding block provided in an embodiment of the present invention.

[0032] Description of reference numerals:

[0033] 1. Robotic arm; 2. Connecting sleeve; 3. Gripper; 301. Rotating gear; 302. Rotating shaft; 4. Inner sliding sleeve; 401. Through hole; 5. Pressure column; 501. Sliding hole; 502. Exhaust hole; 503. Straight teeth; 504. Notch; 6. Guide rod; 7. First spring; 8. Fixed rod; 801. Limiting plate; 9. Lower cone; 10. Upper cone; 11. Second spring; 12. Sliding block; 13. Third spring. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0035] like Figure 1-11 As shown, a multi-axis manipulator provided by an embodiment of the present invention includes a manipulator arm 1 and a connecting sleeve 2 mounted on the manipulator arm 1, wherein a pressure column 5 is elastically and slidably provided in the connecting sleeve 2, and the pressure column 5 is engaged with the connecting sleeve 2 through a clamping mechanism;

[0036] The device further comprises a plurality of clamping jaws 3 disposed below the connecting sleeve 2 and arranged circumferentially. A rotating gear 301 is fixedly mounted on the top of each clamping jaw 3. A pressure column 5 passes through the center of a circle formed by the plurality of clamping jaws 3 and simultaneously engages with the plurality of rotating gears 301.

[0037] The robotic arm 1 drives the bottom of the pressure column 5 to continuously squeeze the grasped object and slide upward. In the process of the pressure column 5 sliding upward and driving the pressure column 5 to engage with the connecting sleeve 2 through the clamping mechanism, multiple rotating gears 301 rotate synchronously to make the bottom ends of multiple clamps 3 rotate toward the grasped object to clamp the grasped object.

[0038] The multi-axis manipulator provided in this embodiment is used to grip and secure an object for transport. In this embodiment, the object is a barrel, particularly an open-top barrel, such as an open-top trash can at a garbage disposal station. The open top of the trash can facilitates the dumping, transfer, or burial of the garbage. Terms related to direction and position in this embodiment are relative to the accompanying drawings. Specifically, the manipulator arm 1 is a multi-axis manipulator. The motion principle of the manipulator arm 1 is conventional and will not be described in detail. The connecting sleeve 2 is connected to the free end of the robotic arm 1 by bolts or welding. The connecting sleeve 2 is a cylinder with a closed top and an open bottom. The pressure column 5 slides from the bottom of the connecting sleeve 2 and is inserted into the connecting sleeve 2. The pressure column 5 can only slide up and down along the axial direction of the connecting sleeve 2. The clamping mechanism is arranged between the pressure column 5 and the connecting sleeve 2, which is used to limit the pressure column 5. When the pressure column 5 slides upward, it will be subjected to a downward elastic force. When the pressure column 5 slides upward to a specific height, the pressure column 5 can be limited by the action of the clamping mechanism, so that the pressure column 5 will not slide down at a specific height, but can continue to slide up.

[0039] Among them, the top of the clamping jaw 3 is welded to the rotating gear 301, and the bottom of the pressure column 5 is fixedly installed with a support plate, and the rotating gear 301 is rotatably set on the support plate. Multiple clamping jaws 3 and multiple rotating gears 301 correspond one to one. At the same time, multiple rotating gears 301 are engaged with the pressure column 5. When the pressure column 5 slides upward, it can drive the multiple rotating gears 301 to rotate, and the multiple rotating gears 301 respectively drive the multiple clamping jaws 3 to rotate in the direction of approaching each other to clamp the grasped object. When the pressure column 5 slides up to a specific height, it is limited by the clamping mechanism and will not slide down, so that the multiple clamping jaws 3 maintain the clamping state of the grasped object to transport the grasped object; on the contrary, when the pressure column 5 slides downward, it can drive the multiple clamping jaws 3 to rotate in the direction of moving away from each other, thereby releasing the clamped grasped object. Among them, the robot arm 1 provides power to the pressure column 5 to move the pressure column 5. When clamping the grasped object, the grasped object enters between the multiple clamping claws 3, and the bottom of the pressure column 5 abuts against the top of the grasped object. Under the support of the grasped object, the pressure column 5 slides upward. The upward sliding of the pressure column 5 drives the multiple clamping claws 3 to rotate toward the center to clamp and fix the grasped object. At the same time, after the grasped object is clamped and fixed, the pressure column 5 is limited by the clamping mechanism and will not move downward, so that the grasped object remains in a clamped and fixed state. The grasped object can be moved in the required direction by the movement of the robot arm 1. It can be seen that the clamping and fixing of the grasped object by the clamping claws 3 is powered by the robot arm 1, and there is no need to provide additional cylinders or other driving devices. When the grasped object needs to be released, the pressure column 5 can be released by the clamping mechanism. In the prior art, since the relative movement of the clamping claws needs to be driven by a separate cylinder, the use of a cylinder will increase the economic cost of the equipment, thereby increasing the manufacturing cost of the robot arm equipment.

[0040] In this embodiment, a plurality of straight teeth 503 corresponding to and meshing with each rotating gear 301 are fixedly provided on the pressure column 5. The meshing of the straight teeth 503 and the gear 301 is used to realize the meshing of the pressure column 5 and each rotating gear 301. By fixing the rotating gear 301 on the top of the clamping jaw 3 and engaging with each rotating gear 301 through the elastic sliding pressure column 5, when the robot arm 1 applies a downward force to the pressure column 5, the bottom of the pressure column 5 will squeeze the top of the grasped object. Under the action of the reaction force, the pressure column 5 will elastically slide upward, thereby driving each rotating gear 301 to rotate. The rotation of each rotating gear 301 then drives the corresponding clamping jaws 3 to rotate, so that multiple clamping jaws 3 clamp the grasped object. When the grasped object is clamped by the clamping jaw 3, the pressure column 5 is clamped and fixed by the clamping mechanism, so that multiple clamping jaws 3 maintain a clamping state on the grasped object. Compared with the existing technology, the present invention only needs to use the power provided by the robot arm 1 to achieve the gripping of the object by the gripper 3, eliminating the setting of the cylinder or other driving mechanism, thereby effectively saving the manufacturing cost of the equipment and solving the shortcomings of the existing technology.

[0041] At the same time, in this embodiment, the grasping object is a trash can with an open top filled with garbage. In the garbage disposal station, since the garbage is mostly in an expanded state and there is a lot of garbage in the trash can, it is easy for the robot to cause the garbage to overflow from the trash can when moving the trash can. Therefore, it is usually necessary to compact the garbage in the trash can separately before moving it, and then the robot can move it, which requires more operation time and reduces work efficiency.

[0042] In this embodiment, since the bottom of the pressure column 5 is required to squeeze the top of the grasped object when clamping the grasped object, and then when clamping the trash can, the bottom of the pressure column 5 is inserted into the trash can to squeeze the garbage in the trash can to compact the garbage. The compacted garbage provides support for the pressure column 5, causing the pressure column 5 to slide upward. It can be seen that the present invention uses the upward sliding of the pressure column 5 to drive the multiple clamping claws 3 to clamp and fix the trash can, and also produces an unexpected technical effect, that is, in the process of clamping the trash can, the pressure column 5 can also compact the garbage in the trash can, that is, the compaction operation of the garbage and the clamping action of the trash can are carried out simultaneously, which rationally utilizes the time overlap, reduces the overall operation time, and thus improves the working effect. In addition, there is no need to use other compacting devices separately for compaction, and only the existing pressure column 5 is required.

[0043] The shape of the pressure column 5 is adapted to the inner cavity of the trash can, or is slightly smaller than the inner cavity of the trash can, so that the bottom of the pressure column 5 can cover more garbage and more garbage can be squeezed by the pressure column 5.

[0044] In this embodiment, a first spring 7 is provided between the pressure column 5 and the connecting sleeve 2. One end of the first spring 7 is fixedly connected to the connecting sleeve 2, and the other end is fixedly connected to the top of the pressure column 5. Under the action of the first spring 7, the pressure column 5 and the connecting sleeve 2 will not be separated. At the same time, the elastic force of the first spring 7 is used to enable the pressure column 5 to slide elastically. A guide rod 6 is fixedly installed on the connecting sleeve 2. The guide rod 6 passes through the first spring 7. The guide rod 6 is slidably inserted into the pressure column 5. A sliding hole 501 is provided on the pressure column 5, which passes through the top. The guide rod 6 is slidably inserted in the sliding hole 501, so that the pressure column 5 can only slide up and down along the axial direction of the guide rod 6. The pressure column 5 is also provided with an exhaust hole 502 connected to the bottom of the slide 501, so that the guide rod 6 and the pressure column 5 can move smoothly up and down relative to each other.

[0045] Furthermore, an inner sleeve 4 is elastically and slidably provided in the connecting sleeve 2, and the outer surface of the inner sleeve 4 slides in contact with the inner wall of the connecting sleeve 2, so that the inner sleeve 4 can only slide up and down along the axial direction of the connecting sleeve 2, and the pressure column 5 passes through the center of the inner sleeve 4. A through hole 401 is provided on the inner sleeve 4 for the pressure column 5 to pass through, and the outer surface of the pressure column 5 does not contact the inner wall of the through hole 401, so that the pressure column 5 can move up and down smoothly. Each rotating gear 301 is rotatably connected to the bottom of the inner sleeve 4 through a rotating shaft 302. The rotating shaft 302 is fixedly connected to the rotating gear 301 and is coaxially arranged. The rotating shaft 302 is rotatably connected to the support plate at the bottom of the inner sleeve 4.

[0046] A plurality of second springs 11 are disposed between the inner sleeve 4 and the connecting sleeve 2. One end of each second spring 11 is fixedly connected to the connecting sleeve 2, and the other end is fixedly connected to the top of the inner sleeve 4. The plurality of second springs 11 are evenly arranged circumferentially around the axis of the inner sleeve 4. The plurality of second springs 11 prevent the inner sleeve 4 from separating from the connecting sleeve 2, and the elastic force of the plurality of second springs 11 enables the elastic sliding of the inner sleeve 4.

[0047] Furthermore, the resistance of the inner sleeve 4 sliding upward is greater than the sum of the rotational resistance of the multiple rotating gears 301, so that the pressure column 5 first drives the multiple rotating gears 301 to rotate during the sliding process. After the bottom ends of the multiple clamps 3 abut against the grasped object, the pressure column 5 drives the inner sleeve 4 to slide upward synchronously to cause the multiple second springs 11 to produce compression deformation, and then the pressure column 5 is clamped with the connecting sleeve 2.

[0048] By setting the elastically sliding inner sliding sleeve 4, it produces multiple positive effects. First, as the pressure column 5 slides upward, multiple claws 3 clamp the grasped object first. On the basis of the claws 3 clamping the grasped object, that is, when the grasped object remains clamped and fixed, the pressure column 5 slides upward for a distance before it is clamped with the connecting sleeve 2 through the clamping mechanism, thereby locking the grasped state. It can be seen that when the grasped objects are of different sizes, the pressure column 5 still has enough upward sliding space to enable the claws 3 to clamp and fix grasped objects of different sizes, thereby improving the practicality of the multi-axis manipulator; second, after the pressure column 5 is clamped with the connecting sleeve 2 through the clamping mechanism, Multiple second springs 11 produce compression deformation, so that the inner sleeve 4 has a downward force, and the inner sleeve 4 then pushes the multiple rotating shafts 302 downward to make the rotating shafts 302 produce a downward force. At this time, each rotating shaft 302 causes the corresponding rotating gear 301 to have a downward rotation stress, and then causes each clamping jaw 3 to have a rotation stress toward the grasped object, so that the clamping force of the multiple clamping jaws 3 on the grasped object is further increased, that is, after the pressure column 5 is limited, the elastic force of the second spring 11 can further generate a clamping force toward the grasped object for the multiple clamping jaws 3, thereby achieving the effect of tightening the grasped object, thereby ensuring that the grasped object is not easily separated from the clamping jaw 3 during the transportation process.

[0049] In this embodiment, the number of the clamping jaws 3 and the number of the rotating gears 301 are both four, so that the clamping jaws 3 can clamp and fix the grasped object from four different directions, thereby improving the firmness of the fixation.

[0050] In this embodiment, the engaging mechanism has an engaging position and a disengaging position. The force that causes the engaging mechanism to enter both the engaging and disengaging positions is provided by the upward movement of the pressure post 5. When the engaging mechanism is in the engaging position, the pressure post 5 is locked and limited. At this point, if the upward force is continued to be applied to the pressure post 5 to cause it to slide upward, the engaging mechanism disengages from the engaging position and moves to the disengaging position. At this point, the pressure post 5 is reset by the action of the first spring 7, and the inner sleeve 4 is reset by the action of the second spring 11, releasing the grasped object. The specific operation of continuing to apply an upward force to the pressure column 5 so that the pressure column 5 continues to slide upward is to drive the pressure column 5 downward by the robot arm 1 so that the grasped object contacts the ground. At this time, the grasped object provides support for the pressure column 5. As the robot arm 1 further applies upward pressure to the pressure column 5 so that the pressure column 5 slides upward, the first spring 7 is further contracted. At the same time, the pressure column 5 drives the inner sleeve 4 to move upward synchronously, so that the second spring 11 is also further contracted. During this process, the clamping mechanism enters the separation position. Finally, the robot arm 1 drives the pressure column 5 upward. As the pressure column 5 moves upward, the elastic action of the first spring 7 and the second spring 11 causes the pressure column 5, the inner sleeve 4 and the clamp 3 to reset, and the grasped object is released. It can be seen that releasing the grasped object still does not require a cylinder or other driving mechanism. It only requires the robot arm 1 to apply downward pressure again.

[0051] In this embodiment, the engaging mechanism includes a sliding block 12 that is elastically slidably engaged with the pressure post 5 and a engaging member fixedly mounted within the connecting sleeve 2. One end of the sliding block 12 protrudes from the pressure post 5. Engaging the sliding block 12 with the engaging member causes the engaging mechanism to enter the engaging position, while disengaging the sliding block 12 from the engaging member causes the engaging mechanism to enter the disengaging position. That is, the engaging and disengaging of the sliding block 12 from the engaging member respectively enable the engaging and disengaging of the engaging mechanism.

[0052] The top of the sliding block 12 protruding from the pressure column 5 is inclined downward toward the outside, and is located at the pressure column 5. The bottom of the sliding block 12 is flat. The clamping member includes a fixing rod 8, the top of the fixing rod 8 is fixedly connected to the connecting sleeve 2, and a limit plate 801 and a lower cone 9 arranged from top to bottom are fixedly installed on the fixing rod 8. The cross section (vertical cross section) of the lower cone 9 is a trapezoid with a larger upper portion and a smaller lower portion. The sliding sleeve on the fixing rod 8 is provided with an upper cone 10 located between the limit plate 801 and the lower cone 9. The cross section (vertical cross section) of the upper cone 10 is a trapezoid with a smaller upper portion and a larger lower portion. The bottom diameter of the upper cone 10 is larger than the top diameter of the lower cone 9 (as shown in FIG. Figure 5 As shown), in the initial state, under the action of gravity of the upper cone 10, the bottom of the upper cone 10 abuts against the top of the lower cone 9, and the end of the sliding block 12 slides and abuts against the outer surface of the lower cone 9.

[0053] Specifically, in the initial state, the sliding block 12 is located below the lower cone 9 (as shown in FIG. Figure 5 As shown in the figure), when it is necessary to clamp the grasped object, the robot arm 1 drives the pressure column 5 to move down and squeeze the grasped object, so that the pressure column 5 slides upward. At this time, the first spring 7 is compressed. During the upward sliding of the pressure column 5, it first drives the multiple clamping claws 3 to rotate toward the grasped object so that the bottom ends of the multiple clamping claws 3 abut against the grasped object and clamp and squeeze the grasped object. Then the clamping claws 3 are limited by the grasped object and stop rotating. Thereafter, as the pressure column 5 continues to slide upward, the inner sleeve 4 is driven to slide upward synchronously, so that the second spring 11 gradually becomes compressed. Then the end of the sliding block 12 abuts against the outer surface of the lower cone 9. Under the limiting action of the lower cone 9, the sliding block 12 slides toward the inside of the pressure column 5. At this time, the third spring 13 is compressed, and as the sliding block 12 continues to move upward, it can abut against the bottom of the upper cone 10 and push the upper cone 10 to slide upward. When the bottom of the sliding block 12 rises to the top of the lower cone 9, the elastic force of the third spring 13 is released, so that the end of the sliding block 12 is inserted between the lower cone 9 and the upper cone 10, and the sliding block 12 hits the fixed rod 8 and makes a sound. The fixed rod 8 and the sliding block 12 are both made of metal. When the sound of metal collision is heard, the robot arm 1 stops applying downward pressure to the pressure column 5. At this time, under the action of the lower cone 9, the bottom of the sliding block 12 abuts against the top of the lower cone 9, so that the sliding block 12 is limited and cannot slide down, and the clamping mechanism enters the clamping position (such as Figure 6When the object needs to be released, the pressure column 5 is mechanically pressed downward by the mechanical arm 1, so that the pressure column 5 continues to move upward, thereby driving the sliding block 12 to continue to move upward, and the sliding block 12 continues to push the upper cone 10 to slide upward. When the top of the upper cone 10 abuts against the limit plate 801, the upper cone 10 is limited and cannot move further upward. At this time, under the action of the inclined top surface of the sliding block 12, the sliding block 12 continues to slide toward the inside of the pressure column 5 until the end of the sliding block 12 is disengaged from between the upper cone 10 and the lower cone 9. At this time, the end of the sliding block 12 abuts against the outer surface of the upper cone 10 (as shown in FIG. Figure 7 As shown), the robot arm 1 can then stop applying downward pressure on the pressure column 5, and drive the pressure column 5 and the sliding block 12 to move downward under the elastic force of the first spring 7. The downward movement of the sliding block 12 drives the upper cone 10 to slide down synchronously. When the upper cone 10 abuts against the lower cone 9, the end of the sliding block 12 can easily pass over the top of the lower cone 9 so that the outer surface of the lower cone 9 abuts. As the sliding block 12 continues to slide down, it will be completely offset from the lower cone 9, so that the clamping mechanism enters the separation position. Thereafter, as the inner sleeve 4 and the pressure column 5 are successively reset, the multiple claws 3 can be rotated outward, thereby releasing the grasped object.

[0054] In this embodiment, there are at least two clamping mechanisms, which are evenly arranged circumferentially around the central axis of the connecting sleeve 2 to make the clamping between the pressure column 5 and the connecting sleeve 2 more stable.

[0055] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

Claims

1. A multi-axis manipulator, comprising a manipulator arm (1) and a connecting sleeve (2) mounted on the manipulator arm (1), characterized in that: A pressure column (5) is elastically slidably provided in the connecting sleeve (2), and the pressure column (5) is engaged with the connecting sleeve (2) via a clamping mechanism; It also includes a plurality of clamping jaws (3) disposed below the connecting sleeve (2) and arranged in a circumferential direction, a rotating gear (301) being fixedly mounted on the top of each of the clamping jaws (3), and the pressure column (5) passing through the center of a circle formed by the plurality of clamping jaws (3) and simultaneously meshing with the plurality of rotating gears (301); The mechanical arm (1) drives the bottom of the pressure column (5) to continuously squeeze the grasped object and slide upward. In the process of the upward sliding of the pressure column (5) driving the pressure column (5) to engage with the connecting sleeve (2) through the engaging mechanism, the plurality of rotating gears (301) rotate synchronously to enable the bottom ends of the plurality of clamping claws (3) to rotate toward the grasped object and clamp the grasped object; The clamping mechanism has a clamping station and a separation station, and the force for the clamping mechanism to enter the clamping station and the separation station is provided by the upward movement of the pressure column (5); The clamping mechanism comprises a sliding block (12) elastically slidably plugged into the pressure column (5) and a clamping member fixedly arranged inside the connecting sleeve (2), one end of the sliding block (12) protruding from the pressure column (5), the plugging of the sliding block (12) and the clamping member causes the clamping mechanism to enter the clamping position, and the separation of the sliding block (12) and the clamping member causes the clamping mechanism to enter the separation position; The top of the sliding block (12) protruding from the pressure column (5) is inclined downward toward the outside, and the clamping part includes a fixed rod (8), and a limit plate (801) and a lower cone (9) arranged from top to bottom are fixedly installed on the fixed rod (8), and the cross section of the lower cone (9) is a trapezoid with a larger upper part and a smaller lower part. The sliding sleeve on the fixed rod (8) is provided with an upper cone (10) located between the limit plate (801) and the lower cone (9), and the cross section of the upper cone (10) is a trapezoid with a smaller upper part and a larger lower part. The bottom diameter of the upper cone (10) is larger than the top diameter of the lower cone (9), and the end of the sliding block (12) is in sliding contact with the outer surface of the lower cone (9).

2. The multi-axis manipulator according to claim 1, characterized in that: A first spring (7) is provided between the pressure column (5) and the connecting sleeve (2), one end of the first spring (7) is fixedly connected to the connecting sleeve (2), and the other end is fixedly connected to the top of the pressure column (5). A guide rod (6) is fixedly mounted on the connecting sleeve (2), and the guide rod (6) is slidably plugged into the pressure column (5).

3. The multi-axis manipulator according to claim 1, wherein: An inner sleeve (4) is elastically and slidably provided in the connecting sleeve (2), the pressure column (5) passes through the center of the inner sleeve (4), and each of the rotating gears (301) is rotatably connected to the bottom of the inner sleeve (4) via a rotating shaft (302).

4. The multi-axis manipulator according to claim 3, characterized in that: A plurality of second springs (11) are provided between the inner sliding sleeve (4) and the connecting sleeve (2), one end of the second spring (11) is fixedly connected to the connecting sleeve (2), and the other end is fixedly connected to the top of the inner sliding sleeve (4), and the plurality of second springs (11) are evenly arranged circumferentially around the axis of the inner sliding sleeve (4).

5. The multi-axis manipulator according to claim 4, characterized in that: The resistance of the inner sliding sleeve (4) sliding upward is greater than the sum of the rotational resistances of the multiple rotating gears (301), so that the pressure column (5) first drives the multiple rotating gears (301) to rotate during the sliding process. After the bottom ends of the multiple clamping claws (3) abut against the grasped object, the pressure column (5) drives the inner sliding sleeve (4) to slide upward synchronously, so that the multiple second springs (11) are compressed and deformed, and then the pressure column (5) is engaged with the connecting sleeve (2).

6. The multi-axis manipulator according to claim 3, characterized in that: The number of the clamping jaws (3) and the number of the rotating gears (301) are both four.

7. The multi-axis manipulator according to claim 1, characterized in that: The number of the clamping mechanisms is at least two.

Images