Manipulator structure applied to intelligent robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a manipulator structure applied to an intelligent robot, which comprises a manipulator disc fixedly connected with a connecting frame; the fixed seat is fixedly connected to the center of the manipulator disc, a plurality of sliding frames capable of horizontally rotating are connected to the peripheral side of the fixed seat, sliding grooves are formed in the sliding frames in the length direction of the sliding frames, and sliding seats are slidably connected into the sliding grooves; a rotating disc is rotationally connected to the sliding base and fixedly connected with a rotating frame, and the two ends of the rotating frame are fixedly connected with a first clamping jaw and a second clamping jaw correspondingly. The end, connected with the fixed seat, of the sliding frame is coaxially and fixedly connected with a cylinder, the cylinder drives the sliding frame to rotate horizontally when rotating, and a driving ring is connected to the fixed seat and used for driving the cylinder to rotate; the driving ring drives all the sliding frames to rotate, the positions of the sliding frames are adjusted, then the grabbing modes of the mechanical arm are switched, and therefore the mechanical arm is suitable for grabbing objects in different shapes.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a manipulator structure applied to an intelligent robot. Background Art

[0002] In the process of automated machining, mechanical grippers are needed to automatically clamp the workpiece. Existing mechanical grippers usually use cylinder drive + lever mechanism to achieve automatic clamping of the workpiece, where the cylinder includes two-finger parallel cylinder, three-finger circular cylinder and four-finger circular cylinder, etc. Some also use electric clamping fixtures to clamp the workpiece. Of course, the greater the clamping force required, the larger the drive device such as the motor and cylinder that generates the power for clamping the workpiece needs to be.

[0003] There are usually two types of fingers in the known mechanical gripper. One is two relatively fixed grippers, which can only be used to clamp workpieces with regular shapes such as rectangles; the other is three evenly distributed and fixed grippers, which are mainly used to clamp workpieces with regular shapes such as circles. Therefore, in processing projects, when the shape and size of the workpiece changes, it is necessary to replace the mechanical gripper of different types or models, and there are many models, so the selection is more troublesome. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a manipulator structure applied to an intelligent robot, which can drive each slide to rotate through a drive ring, adjust the position of the slide, and switch the manipulator grasping mode, aiming to solve the problems in the background technology.

[0005] In order to achieve the above technical objectives, the specific technical scheme of the present invention is as follows: a manipulator structure applied to an intelligent robot proposed by the present invention comprises: a manipulator disk, a connecting frame is fixedly connected to the manipulator disk; a fixed seat is fixedly connected to the center of the manipulator disk, and a plurality of slides that can rotate horizontally are connected to the circumferential side of the fixed seat, and the slide is provided with a slide groove along its length direction, and the slide is slidably connected in the slide groove; a turntable is rotatably connected to the slide, and the turntable is fixedly connected to the rotating frame, and a first clamping claw and a second clamping claw are respectively fixedly connected at both ends of the rotating frame, which are respectively used to grasp objects of different shapes; a cylinder is coaxially fixedly connected to one end of the slide connected to the fixed seat, and when the cylinder rotates, the slide is driven to rotate horizontally, and a driving ring is connected to the fixed seat to drive the cylinder to rotate; when adjacent slides are parallel to each other, the manipulator structure is in a first grasping mode; when the slides are evenly distributed along the circumference of the manipulator disk, the manipulator structure is in a second grasping mode.

[0006] As a preferred technical solution of the present invention, a spiral groove is provided on the surface of the cylinder, and a plurality of sliding parts are provided on the circumferential surface of the driving ring which are slidably connected to the spiral groove. When the driving ring is lifted or lowered, each cylinder is driven to rotate at the same time. A second lifting cylinder is fixedly installed on the manipulator disk to drive the driving ring to lift or lower.

[0007] As a preferred technical solution of the present invention, one side of the slide is rotatably connected to a gear, the slide is slidably connected to a lifting frame, the lifting frame is fixedly connected to a rack meshing with the gear, and the gear is coaxially fixedly connected to a first bevel gear, and the turntable is coaxially fixedly connected to a second bevel gear meshing with the first bevel gear.

[0008] As a preferred technical solution of the present invention, the slide is connected to a pressure rod that can be raised and lowered, the pressure rod is arranged in a slide groove, the slide seat is provided with a through hole that cooperates with the pressure rod, and the lifting frame is provided with a limiting groove that cooperates with the pressure rod, and the lifting frame is driven to rise and fall when the pressure rod is raised or lowered.

[0009] As a preferred technical solution of the present invention, a U-shaped rod corresponding to the cylinder is fixedly connected to the drive ring, a through hole is provided in the center of the cylinder for the U-shaped rod to pass through, and one end of the U-shaped rod is fixedly connected to the pressure rod.

[0010] As a preferred technical solution of the present invention, the manipulator plate is fixedly installed with a first lifting cylinder, a lifting seat is fixedly connected to the first lifting cylinder, a hinge block corresponding to the slide seat is slidably connected to the circumference of the lifting seat, and a connecting rod is hinged between the hinge block and the slide seat; when the lifting seat is raised or lowered, it drives each slide seat to slide along the slide groove.

[0011] As a preferred technical solution of the present invention, the upper and lower surfaces of the hinge block are fixedly connected with sliding shafts, and the lifting seat is provided with an arc groove that slidably cooperates with the sliding shaft.

[0012] As a preferred technical solution of the present invention, the first clamping jaw is a straight plate structure, and the second clamping jaw is a curved plate structure.

[0013] The beneficial effects of the present invention are:

[0014] 1. The present invention has a plurality of rotatable sliding frames connected to the circumferential surface of the fixed seat. When the driving ring is raised or lowered, the sliding frames can be driven to rotate. When the adjacent sliding frames rotate to a state parallel to each other, the manipulator structure is in the first grasping mode, which is suitable for grasping rectangular and block-shaped objects; when the sliding frames are evenly distributed along the circumference of the manipulator disk, the manipulator structure is in the second grasping mode, which is suitable for grasping cylindrical and spherical objects; the grasping mode of the manipulator structure can be adjusted by the driving ring, thereby facilitating the grasping of objects of different shapes.

[0015] 2. The present invention has a first clamp and a second clamp of different shapes fixedly connected to the rotating frame. When the driving ring drives the sliding frame to rotate, it can simultaneously drive the rotating frame to flip, and exchange the positions of the first clamp and the second clamp, so as to cooperate with different grasping modes of the manipulator structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the first grasping mode of the manipulator structure of the present invention.

[0017] Figure 2 Schematic diagram of the second grasping mode of the manipulator structure of the present invention.

[0018] Figure 3 This is a schematic structural diagram of the robot disk and slide proposed in the present invention.

[0019] Figure 4 This is a schematic structural diagram of the lifting seat proposed by the present invention.

[0020] Figure 5 This is a schematic diagram of the structure of the drive ring proposed by the present invention.

[0021] Figure 6 This is a schematic structural diagram of the slide and the slide seat proposed in the present invention.

[0022] Figure 7 This is a schematic diagram of the slide, the slide seat, the first clamping jaw and the second clamping jaw proposed in the present invention.

[0023] Figure 8 This is a schematic structural diagram of the slide seat proposed by the present invention.

[0024] Fig. 9 This is a schematic cross-sectional view of the slide seat proposed by the present invention.

[0025] In the figure: 1. manipulator disk; 2. fixed seat; 3. slide; 31. slide; 311. turntable; 312. lifting frame; 313. rack; 314. limit groove; 315. gear; 316. first bevel gear; 317. second bevel gear; 318. through hole; 32. rotating frame; 33. first clamping jaw; 34. second clamping jaw; 35. cylinder; 36. spiral groove; 37. slide groove; 38. pressure rod; 39. through hole; 4. lifting seat; 41. hinge block; 42. sliding shaft; 43. arc groove; 44. first lifting cylinder; 5. driving ring; 51. sliding part; 52. U-shaped rod; 53. second lifting cylinder; 6. connecting frame; 7. connecting rod. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0027] Embodiment: This embodiment discloses a manipulator structure applied to an intelligent robot, which is suitable for grasping block-shaped, cylindrical, and spherical objects; Figure 1-Figure 9 As shown, it includes: a manipulator disk 1, to which a connecting frame 6 is fixedly connected, and the connecting frame 6 is used to be fixedly connected to the intelligent robot arm; a fixed base 2, fixedly connected to the center of the manipulator disk 1, and a plurality of slides 3 capable of horizontal rotation are connected to the peripheral side of the fixed base 2. In this embodiment, the number of slides 3 is four, which are respectively connected to the four corners of the fixed base 2, and the four corners of the fixed base 2 are provided with connecting grooves rotatably connected to the slides 3.

[0028] like Figure 3-Figure 7 As shown, the slide 3 is provided with a slide groove 37 along its length direction, and the slide groove 37 is in an inverted T shape, and a slide seat 31 is slidably connected in the slide groove 37; a turntable 311 is rotatably connected to the slide seat 31, and the turntable 311 is fixedly connected to the rotating frame 32, and the first clamping jaw 33 and the second clamping jaw 34 are respectively fixedly connected at both ends of the rotating frame 32, which are respectively used to grasp objects of different shapes, and the rotating frame 32 is driven to rotate by the rotation of the turntable 311, and the positions of the first clamping jaw 33 and the second clamping jaw 34 are exchanged, so as to adapt to grasping objects of different shapes; and a cylinder 35 is coaxially fixedly connected to one end of the slide 3 connected to the fixed seat 2, and when the cylinder 35 rotates, it can drive the slide 3 to rotate horizontally, thereby switching the grasping mode of the manipulator structure, and a driving ring 5 is connected to the fixed seat 2 to drive the cylinder 35 to rotate ; The driving ring 5 is arranged at the middle center position of the circle surrounded by the cylinders 35, and the circumference of the driving ring 5 is in contact with the circumference of the cylinders 35, and the driving ring 5 can slide up and down; the surface of the cylinder 35 is provided with a spiral groove 36, and the circumference of the driving ring 5 is provided with a plurality of sliding parts 51 which are slidably connected with the spiral groove 36. The sliding part 51 is a protruding cylindrical structure with a spherical end. When the driving ring 5 is lifted or lowered, the sliding part 51 slides in the spiral groove 36, and thus can simultaneously drive each cylinder 35 to rotate. When the cylinder 35 rotates, it drives the slide 3 to rotate. A second lifting cylinder 53 is fixedly installed on the manipulator disk 1 for driving the driving ring 5 to lift and lower, and the piston rod of the second lifting cylinder 53 is fixedly connected to the driving ring 5; the lifting and lowering of the driving ring 5 is controlled by the second lifting cylinder 53, thereby driving the slide 3 to rotate, and switching the grasping mode of the manipulator.

[0029] The manipulator disk 1 is fixedly installed with a first lifting cylinder 44, on which a lifting seat 4 is fixedly connected, and a hinge block 41 corresponding to the slide seat 31 is slidably connected to the circumference of the lifting seat 4, and a connecting rod 7 is hinged between the hinge block 41 and the slide seat 31. When the slide 3 rotates, the hinge block 41 is driven to slide on the circumference of the lifting seat 4; the upper and lower surfaces of the hinge block 41 are fixedly connected to a sliding shaft 42, and the lifting seat 4 is provided with an arc groove 43 that slidably cooperates with the sliding shaft 42, so that the hinge block 41 can both slide and rotate on the circumference of the lifting seat 4 to cooperate with the rotation of the slide 3; the lifting seat 4 is driven to rise and fall by the first lifting cylinder 44, and when the lifting seat 4 is raised and lowered, each slide seat 31 is driven to slide along the sliding groove 37, and the slide seat 31 is driven to move toward the center position of the manipulator disk 1, and the object is clamped and grasped by the first clamp 33 or the second clamp 34.

[0030] Preferably, the first clamping jaw 33 is a straight plate structure, which is convenient for grasping objects with straight surfaces, such as rectangular and block-shaped objects; the second clamping jaw 34 is a curved plate structure, which is convenient for grasping objects with curved surfaces, such as spherical and cylindrical objects. The curved surface structure increases the contact area with the curved surface object, and the clamping is more stable.

[0031] In specific implementation, the second lifting cylinder 53 drives the driving ring 5 to rise and fall, and the driving ring 5 drives the cylinder 35 to rotate when it rises and falls, and the cylinder 35 drives the slide 3 to rotate when it rotates, so as to adjust the relative position between the slides 3; when adjacent slides 3 are parallel to each other, adjacent first clamps 33 contact each other, such as Figure 1 As shown, the manipulator structure is in the first grasping mode at this time, and the lifting seat 4 is driven to rise and fall by the second lifting cylinder 53, thereby driving the slide 31 to slide along the slide groove 37. At this time, it is suitable for grasping rectangular and block objects; when the slide 3 is evenly distributed along the circumference of the manipulator disk 1, and the slide 3 is toward the center of the manipulator disk 1, the manipulator structure is in the second grasping mode. The lifting seat 4 is driven to rise and fall by the second lifting cylinder 53, thereby driving the slide 31 to slide along the slide groove 37, and each slide 31 moves toward the center of the manipulator disk 1 at the same time. At this time, it is suitable for grasping cylindrical and spherical objects; this embodiment drives each slide 3 to rotate by lifting the drive ring 5, changes the position of the slide 3, and switches the grasping mode of the manipulator structure, thereby adapting to grasping objects of different shapes.

[0032] like Figure 8-Figure 9As shown, the slide 31 is an internal hollow structure, one side of the slide 31 is rotatably connected to a gear 315, the slide 31 is slidably connected to a lifting frame 312, the lifting frame 312 and the gear 315 are arranged on the same side of the slide 31, and the slide 31 is provided with a groove slidably connected to the lifting frame 312, the lifting frame 312 is fixedly connected to a rack 313 meshing with the gear 315, the lifting frame 312 drives the gear 315 to rotate when it is lifted and lowered, and the gear 315 is coaxially fixedly connected to a first bevel gear 316, the turntable 311 is coaxially fixedly connected to a second bevel gear 317 meshing with the first bevel gear 316, the first bevel gear 316 and the second bevel gear 317 are both arranged inside the slide 31, and the gear 315 can drive the turntable 311 to rotate when it rotates; the slide 3 is connected to a pressure rod 38 that can be lifted and lowered, The pressure rod 38 is arranged in the slide groove 37, and one end of the pressure rod 38 extends to the position of the cylinder 35. The slide seat 31 is provided with a through hole 318 that cooperates with the pressure rod 38 to cooperate with the lifting and lowering of the pressure rod 38, and the pressure rod 38 does not affect the sliding of the slide seat 31 in the slide groove 37. At the same time, the lifting frame 312 is provided with a limiting groove 314 that cooperates with the pressure rod 38. The limiting groove 314 is C-shaped, so that when the pressure rod 38 is lifted or lowered, the lifting frame 312 is driven to lift or lower. When the slide seat 31 slides, the pressure rod 38 slides in the limiting groove 314. A U-shaped rod 52 corresponding to the cylinder 35 is fixedly connected to the driving ring 5. A through hole 39 that cooperates with the U-shaped rod 52 is provided in the center of the cylinder 35, and one end of the U-shaped rod 52 passes through the through hole 39 and is fixedly connected to the pressure rod 38. When the driving ring 5 is lifted or lowered, the pressure rod 38 is driven to lift or lower.

[0033] During specific implementation, the second lifting cylinder 53 is used to drive the driving ring 5 to rise and fall, and when the driving ring 5 is raised and lowered, the cylinder 35 is driven to rotate, and when the cylinder 35 rotates, the slide 3 is driven to rotate, and when the driving ring 5 is raised and lowered, the pressure rod 38 is driven to rise and fall, and when the pressure rod 38 is raised and lowered, the lifting frame 312 is driven to rise and fall, and when the lifting frame 312 is raised and lowered, the gear 315 is driven to rotate through the rack 313, and when the gear 315 rotates, the first bevel gear 316 is driven to rotate, and the first bevel gear 316 drives the second bevel gear 317 to rotate, and when the second bevel gear 317 rotates, the turntable 311 is driven to rotate, thereby driving the rotating frame 3 2 rotates to change the relative positions of the first clamping jaw 33 and the second clamping jaw 34, so that the slide 3 automatically drives the first clamping jaw 33 and the second clamping jaw 34 to exchange positions while rotating, and then different clamping jaws are used; when the manipulator structure is in the first grasping mode, the first clamping jaw 33 is at the inner position and the second clamping jaw 34 is at the outer position; when the manipulator structure is switched from the first grasping mode to the second grasping mode, the rotating frame 32 rotates 180°, and the positions of the first clamping jaw 33 and the second clamping jaw 34 are automatically exchanged, and the first clamping jaw 33 is at the outer position and the second clamping jaw 34 is at the inner position.

[0034] Finally, it should be noted that in the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0035] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A manipulator structure applied to an intelligent robot, characterized in that: include: A manipulator plate (1), to which a connecting frame (6) is fixedly connected; A fixed seat (2) is fixedly connected to the center of the manipulator disk (1), and a plurality of slides (3) capable of horizontal rotation are connected to the peripheral side of the fixed seat (2). The slides (3) are provided with slide grooves (37) along their length direction, and the slides (31) are slidably connected in the slide grooves (37); A rotating disk (311) is rotatably connected to the sliding seat (31), a rotating frame (32) is fixedly connected to the rotating disk (311), and a first clamping claw (33) and a second clamping claw (34) are respectively fixedly connected at both ends of the rotating frame (32), and are respectively used to grasp objects of different shapes; One end of the slide (3) connected to the fixed seat (2) is coaxially fixedly connected with a cylinder (35), and when the cylinder (35) rotates, the slide (3) is driven to rotate horizontally, and the fixed seat (2) is connected with a driving ring (5) for driving the cylinder (35) to rotate; When adjacent slides (3) are parallel to each other, the manipulator structure is in a first grasping mode; when the slides (3) are evenly distributed along the circumference of the manipulator plate (1), the manipulator structure is in a second grasping mode.

2. The manipulator structure applied to an intelligent robot according to claim 1, characterized in that: The surface of the cylinder (35) is provided with a spiral groove (36), and the peripheral surface of the drive ring (5) is provided with a plurality of sliding parts (51) slidably connected to the spiral groove (36). When the drive ring (5) is raised or lowered, each cylinder (35) is driven to rotate at the same time. A second lifting cylinder (53) is fixedly mounted on the manipulator plate (1) for driving the drive ring (5) to be raised or lowered.

3. The manipulator structure applied to an intelligent robot according to claim 2, characterized in that: The slide seat (31) is rotatably connected to a gear (315) on one side, the slide seat (31) is slidably connected to a lifting frame (312), the lifting frame (312) is fixedly connected to a rack (313) meshing with the gear (315), the gear (315) is coaxially fixedly connected to a first bevel gear (316), and the rotating disk (311) is coaxially fixedly connected to a second bevel gear (317) meshing with the first bevel gear (316).

4. The manipulator structure applied to an intelligent robot according to claim 3, characterized in that: The slide frame (3) is connected to a lifting and lowering pressure rod (38), the pressure rod (38) being arranged in a slide groove (37), the slide seat (31) being provided with a through hole (318) cooperating with the pressure rod (38), and the lifting frame (312) being provided with a limiting groove (314) cooperating with the pressure rod (38), and when the pressure rod (38) is lifted or lowered, the lifting frame (312) is driven to be lifted or lowered.

5. The manipulator structure applied to an intelligent robot according to claim 4, characterized in that: A U-shaped rod (52) corresponding one to one with the cylinder (35) is fixedly connected to the drive ring (5), a through hole (39) for the U-shaped rod (52) to pass through is provided at the center of the cylinder (35), and one end of the U-shaped rod (52) is fixedly connected to the pressure rod (38).

6. The manipulator structure applied to an intelligent robot according to claim 5, characterized in that: The manipulator plate (1) is fixedly mounted with a first lifting cylinder (44), the first lifting cylinder (44) is fixedly connected to a lifting seat (4), the lifting seat (4) is slidably connected to a hinge block (41) corresponding to the slide seat (31) on its circumference, and a connecting rod (7) is hingedly connected between the hinge block (41) and the slide seat (31); when the lifting seat (4) is raised or lowered, it drives each slide seat (31) to slide along the slide groove (37).

7. The manipulator structure applied to an intelligent robot according to claim 6, characterized in that: The hinge block (41) is fixedly connected to a sliding shaft (42) on its upper and lower surfaces, and the lifting seat (4) is provided with an arc groove (43) that is slidably matched with the sliding shaft (42).

8. The manipulator structure applied to an intelligent robot according to claim 7, characterized in that: The first clamping jaw (33) is a straight plate structure, and the second clamping jaw (34) is a curved plate structure.

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