Automatic clamping manipulator and using method thereof

Abstract

The invention relates to the technical field of manipulators, and discloses an automatic clamping manipulator which comprises a body, the input end of the body is rotatably connected with a first outer cylinder, the side, away from the body, of the first outer cylinder is in threaded connection with a fixing disc, the interior of the first outer cylinder is open, and an inner cavity is formed in the fixing disc; the side, close to the first outer cylinder, of the fixing disc is fixedly connected with a motor, and the output end of the motor penetrates through the side wall of the fixing disc and extends into the inner cavity. When the binding belt is tightened, the tensioning shaft can be extruded and attached to the surface of an object, the object is wrapped, it can be ensured that the object is stably fixed to the needed position, the surface of the object cannot be damaged due to fixing pressure, and meanwhile compared with a traditional mechanical clamp, the design has the advantages of being simpler, more flexible, more convenient to use and the like. The clamp can adapt to the characteristics of clamped objects of various shapes, and therefore the situation that the clamp is frequently adjusted or replaced is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to an automated clamping manipulator and a use method thereof. Background Art

[0002] A manipulator is an automated device that can imitate certain movements of human hands and arms to grab, move objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming. Currently, manipulators have been widely used in production workshops, automated machine tools and other fields;

[0003] Generally, existing devices generally use rigid clamps to clamp parts. Since the rigid clamps are hard, pressure fixation between the rigid clamps and the parts occurs when clamping some parts, causing damage to the surface of the parts. In addition, due to the diversity of sizes and shapes of parts, existing devices need to frequently adjust the size of the clamps or even replace the clamps before clamping, which takes a lot of time and affects the clamping efficiency of the device. Summary of the invention

[0004] The object of the present invention is to provide an automated clamping robot and a method of using the same to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention is an automated clamping manipulator, comprising a main body, an input end of the main body is rotatably connected to an outer cylinder 1, a side of the outer cylinder 1 away from the main body is threadedly connected to a fixed disk, the interior of the outer cylinder 1 is open, an inner cavity is provided inside the fixed disk, a side of the fixed disk close to the outer cylinder 1 is fixedly connected to a motor, an output end of the motor penetrates the side wall of the fixed disk and extends to the interior of the inner cavity, and further comprises;

[0007] The rotating mechanism comprises a hollow box fixedly connected to a side of the sliding block away from the outer cylinder, the top of the hollow box is open, a special-shaped column is rotatably connected to the side wall of the hollow box, and a sliding sleeve is slidably connected to the outer surface of the special-shaped column;

[0008] The covering mechanism includes a working box fixedly connected to the side of the sliding sleeve away from the arc plate, the working box is slidably connected to the side wall of the sliding block, the inner wall of the working box close to the sliding sleeve is rotatably connected to a diamond-shaped shaft plate, and one end of the diamond-shaped shaft plate close to the sliding sleeve penetrates to the top outer wall of the working box and is fixedly connected to the special-shaped column.

[0009] Furthermore, the extended end of the motor is fixedly connected with a transmission disk, and three rectangular grooves are provided on a side of the fixed disk away from the outer cylinder. A sliding block is slidably connected inside the rectangular groove, and the sliding block is meshed with the transmission disk on a side close to the outer cylinder.

[0010] Furthermore, two elastic T-shaped plates are fixedly connected to the inner wall of the sliding sleeve, and the two elastic T-shaped plates are symmetrically distributed with the special-shaped column as the center. The elastic T-shaped plates are in contact with the surface of the special-shaped column. The left and right sides of the sliding sleeve are rotatably connected with the special-shaped plates. The two special-shaped plates are rotatably connected to the side of the hollow box close to the arc plate, and the side of the arc plate close to the hollow box is rotatably connected to the movable plate one. The movable plate one is slidably connected to the opening of the hollow box, and the middle part of the special-shaped plate is slidably connected to the side wall of the fixed disk.

[0011] Furthermore, two fixing rods are fixedly connected inside the working box, and two Z-shaped plates are slidably connected to the outer surfaces of the two fixing rods. A spring is fixedly connected to the outer surface of the Z-shaped plate between the Z-shaped plate and the working box, and the side of the Z-shaped plate away from the spring is in contact with the diamond shaft plate, and the side of the Z-shaped plate away from the sliding sleeve is fixedly connected to the fixing plate, and the side of the working box close to the outer cylinder is fixedly connected to a fixing bar, and two tensioning shafts are fixedly connected to the outer wall of the working box away from the fixing bar, and the side of the working box away from the sliding sleeve is open, and a camshaft is provided on the side wall of the Z-shaped plate.

[0012] Furthermore, the side of the camshaft close to the fixed bar penetrates through the side wall of the Z-shaped plate and extends to the outside, the extended end of the camshaft is fixedly connected to a roller, the roller is in contact with the fixed bar, the end of the camshaft away from the fixed bar penetrates through the outer wall of the working box and extends to the outside, the extended end of the working box is fixedly connected to a semicircular block, the side wall of the semicircular block is slidably connected to a movable plate 2, a binding belt is arranged between the two movable plates 2, the binding belt is slidably connected between the movable plate 2 and the semicircular block, and a sliding groove is opened inside the working box.

[0013] Furthermore, an auxiliary mechanism is provided inside the working box, and the auxiliary mechanism includes a swinging plate rotatably connected to the end of the fixed plate away from the Z-shaped plate, a return spring is fixedly connected between the swinging plate and the Z-shaped plate, the side of the swinging plate close to the return spring is in contact with the outer surface of the camshaft, and the side of the swinging plate away from the Z-shaped plate is rotatably connected to a connecting plate 1.

[0014] Furthermore, one end of the connecting plate away from the swinging plate is rotatably connected to a hollow plate, the two hollow plates are slidably connected inside the sliding groove, a connecting pipe is fixedly connected to one side of the hollow plate close to the swinging plate, the end of the connecting pipe away from the hollow plate penetrates to the outer wall of the working box and is connected to the hollow box, and a plurality of airbags are fixedly connected to one end of the hollow plate away from the connecting pipe.

[0015] Furthermore, a traction mechanism is provided inside the working box, and the traction mechanism includes a fixed shaft fixedly connected to the side of the Z-shaped plate away from the diamond-shaped axis plate, the fixed shaft is located between two fixed rods, and an insertion rod is fixedly connected to the side of the fixed shaft away from the Z-shaped plate.

[0016] Furthermore, the outer surface of the fixed shaft is slidably connected to the outer cylinder 2, the inner wall of the outer cylinder 2 is provided with a threaded groove, the inserted rod is slidably connected to the inside of the threaded groove, the end of the outer cylinder 2 away from the fixed shaft penetrates through the side wall of the working box and extends to the inside, the extended end of the outer cylinder 2 is fixedly connected to an elastic plastic rope, the outer surface of the elastic plastic rope is rotatably connected to a limit plate, the limit plate is fixedly connected to the side wall of the special-shaped plate, the side of the elastic plastic rope away from the outer cylinder 2 is fixedly connected to a pull disk, and a tension spring is fixedly connected between the two pull disks.

[0017] Furthermore, an adsorption mechanism is provided on the outer surface of the pull plate, which includes a T-tube slidably connected to the outer surfaces of the two pull plates, the side wall of the T-tube is fixedly connected to the side wall of the fixed plate, and the middle part of the T-tube is slidably connected to a sliding tube.

[0018] Furthermore, one side of the sliding tube close to the special-shaped plate is rotatably connected to connecting plate 2, one end of connecting plate 2 away from the sliding tube is fixedly connected to the side wall of the special-shaped plate, one end of the sliding tube away from the T-tube is fixedly connected to the adsorption plate, and the sliding tube and the adsorption plate are connected.

[0019] Furthermore, a method for using an automated clamping robot, the automated clamping robot, the method comprising the following steps:

[0020] S1: First, the device is installed in a suitable position, and then the staff controls the device to grab the object to be grabbed. When the staff controls the device to reach the top of the object, the motor is started;

[0021] S2: When the motor is working, it will drive the sliding block to move through the transmission disk. When the sliding block moves, it will drive the external structure to grab the object, then control the main body to turn, and then control the motor to reverse, so that the device is separated from the object.

[0022] The present invention has the following beneficial effects:

[0023] When the sliding block is driven by the driving disk, the sliding block is relatively moved, and the movement of the sliding block drives the hollow box to move. When the sliding block drives the hollow box to move, the hollow box will contact the elastic T-shaped plate through the special-shaped column, so that the elastic T-shaped plate drives the sliding sleeve to move. When the sliding sleeve moves, the moving sliding sleeve will carry the working box so that the working box fits the surface of the object. After that, when the sliding block continues to move, the reaction force generated by the object will push the sliding sleeve through the working box, so that the sliding sleeve will slide on the surface of the special-shaped column. When the special-shaped column slides, it will slide on the surface of the special-shaped column through the elastic T-shaped plate. Because the surface of the special-shaped column is curved, when the elastic T-shaped plate slides on the special-shaped column under the thrust of the working box, the sliding elastic T-shaped plate will push the special-shaped column, so that the special-shaped column rotates on the side wall of the hollow box. When the special-shaped column rotates, the rotating special-shaped column will push the two Z-shaped plates through the diamond shaft plate, so that the two Z-shaped plates are on the fixed rod When the Z-plate moves, the roller on the Z-plate contacts the fixed bar. At this time, when the Z-plate moves, the camshaft is rotated by the friction between the roller and the fixed bar. When the camshaft rotates, it drives the semicircular block and the movable plate 2 to rotate. At this time, the rotating semicircular block and the movable plate 2 drive the binding belt to be reeled. When the semicircular block and the movable plate 2 drive the binding belt to be reeled, the two sides of the binding belt will be entangled together. Therefore, the binding belt has a large amount of friction with itself, and the binding belt will be in a taut state when reeling. When the binding belt is taut, it will squeeze the tensioning shaft and fit on the surface of the object to form a coating on the object, which helps to ensure that the object is stably fixed in the desired position and will not damage the surface of the object due to the fixing pressure. At the same time, compared with traditional mechanical clamps, this design is simpler and more flexible, and can adapt to the characteristics of clamping objects of various shapes, thereby reducing the need for frequent adjustment or replacement of clamps.

[0024] 2. In the present invention, when the rotation of the special-shaped column drives the diamond-shaped shaft plate to rotate, the rotating diamond-shaped shaft plate will squeeze the Z-shaped plate. After being squeezed, the Z-shaped plate will move on the surface of the fixed rod. When the Z-shaped plate moves, the roller will drive the camshaft to rotate through the friction between the roller and the fixed bar. When the camshaft rotates, it will squeeze the swing plate. After being squeezed, the swing plate will rotate on the surface of the fixed plate. When the swing plate rotates, it will push the hollow plate through the connecting plate to make the hollow plate rotate in the sliding groove. At the same time, when the sliding sleeve is moved by the reaction force of the object, the moving sliding sleeve will push the special-shaped plate to rotate. When the special-shaped plate rotates, it will pull the arc plate to deform the arc plate. After the arc plate is deformed, , a depression will be generated in the middle part, and when the arc plate is deformed, it will push the movable plate to move, and when the movable plate moves, it will squeeze the gas inside the hollow box, and the gas will enter the hollow plate through the connecting pipe after being squeezed, and make several air bags at the bottom of the hollow plate expand, thereby increasing the contact area between the hollow plate and the material, and when the special-shaped plate rotates, the front end of the special-shaped plate will fit against the surface of the material to squeeze the material, and through the expansion of the air bag and the squeezing of the front end of the special-shaped plate, the binding belt can slip when clamping the object, thereby reducing the risk of falling when clamping.

[0025] 3. In the present invention, when the sliding sleeve pushes the special-shaped plate to rotate, the rotating special-shaped plate will pull the sliding tube to move inside the T-tube through the connecting plate 2, so that the adsorption plate fits the surface of the object. Then, when the rotation of the diamond-shaped shaft plate pushes the Z-shaped plate to move, the moving Z-shaped plate will drive the fixed shaft and the insertion rod to move. When the fixed shaft moves, it will squeeze the thread groove on the inner wall of the hollow plate through the insertion rod. After the thread groove is squeezed, it will be subjected to the shear force between the insertion rod and the thread groove to cause the outer tube 2 to rotate. When the outer tube 2 rotates, it will drive the elastic plastic rope to rotate. Since one end of the elastic plastic rope is connected to the pull plate, and the pull plate can only slide in the T-tube, when the elastic plastic rope rotates Twisting and bending will occur. When the elastic plastic rope is twisted, the length of the twisted elastic plastic rope will become shorter. At this time, the shortened elastic plastic rope will pull the special-shaped plate through the limiting plate rotating in the middle, so that the front end of the special-shaped plate is tightly fitted with the surface of the object. At the same time, when the elastic plastic rope becomes shorter, the shortened elastic plastic rope will pull the pull plate, causing it to move oppositely inside the T-tube. When the pull plate moves, a pressure difference will be generated between the two pull plates and the outside world. The pressure difference will form an adsorption force inside the adsorption plate through the sliding tube. Negative pressure adsorption can form a vacuum or low-pressure area on the surface of the object, so that the object can be more firmly fixed, thereby enhancing the clamping force and stability of the device.

[0026] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the overall cross-sectional structure of the present invention;

[0030] Figure 3 It is an exploded view of the main body of the present invention;

[0031] Figure 4 This is a schematic diagram of the binding belt structure of the present invention;

[0032] Figure 5 It is a schematic diagram of the structure of the rotating mechanism of the present invention;

[0033] Figure 6 It is a schematic diagram of the structure of the coating mechanism of the present invention;

[0034] Figure 7 for Figure 6 Enlarged view of point A in the middle;

[0035] Figure 8 It is a schematic diagram of the auxiliary mechanism structure of the present invention;

[0036] Fig. 9 It is a schematic diagram of the structure of the adsorption mechanism of the present invention;

[0037] Fig.10 The figure is a flow chart of the method for using the present invention.

[0038] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0039] In the figure: 1, main body; 101, outer cylinder 1; 102, fixed plate; 103, inner cavity; 104, motor; 105, sliding block; 2, rotating mechanism; 201, hollow box; 202, special-shaped column; 203, sliding sleeve; 204, special-shaped plate; 205, arc plate; 206, moving plate 1; 207, elastic T-shaped plate; 3, covering mechanism; 301, working box; 302, diamond-shaped shaft plate; 303, fixed rod; 304, Z-shaped plate; 305, fixed plate; 306, fixed strip; 307, Tensioning shaft; 308, camshaft; 309, semicircular block; 310, movable plate 2; 311, binding belt; 4, auxiliary mechanism; 401, swing plate; 402, connecting plate 1; 403, hollow plate; 404, connecting pipe; 5, traction mechanism; 501, fixed shaft; 502, insertion rod; 503, outer cylinder 2; 504, elastic plastic rope; 505, pull plate; 506, limit plate; 6, adsorption mechanism; 601, T-tube; 602, sliding tube; 603, connecting plate 2; 604, adsorption plate. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] See also Figure 1-Figure 8 As shown, the present invention is an automated clamping manipulator, comprising a main body 1, an input end of the main body 1 is rotatably connected to an outer cylinder 101, a side of the outer cylinder 101 away from the main body 1 is threadedly connected to a fixed disk 102, the interior of the outer cylinder 101 is open, an inner cavity 103 is provided inside the fixed disk 102, a side of the fixed disk 102 close to the outer cylinder 101 is fixedly connected to a motor 104, an output end of the motor 104 penetrates the side wall of the fixed disk 102 and extends to the interior of the inner cavity 103, and also includes;

[0042] The rotating mechanism 2 includes a hollow box 201 fixedly connected to the side of the sliding block 105 away from the outer cylinder 101, the top of the hollow box 201 is open, the side wall of the hollow box 201 is rotatably connected to a special-shaped column 202, and the outer surface of the special-shaped column 202 is slidably connected to a sliding sleeve 203;

[0043] The covering mechanism 3 includes a working box 301 fixedly connected to the side of the sliding sleeve 203 away from the arc plate 205, the working box 301 is slidably connected to the side wall of the sliding block 105, and the inner wall of the working box 301 close to the sliding sleeve 203 is rotatably connected with a diamond-shaped shaft plate 302, and one end of the diamond-shaped shaft plate 302 close to the sliding sleeve 203 penetrates to the top outer wall of the working box 301 and is fixedly connected to the special-shaped column 202. When the motor 104 rotates, the sliding plate 206 is driven by the transmission disk When the sliding block 105 moves relatively, the movement of the sliding block 105 will drive the hollow box 201 to move. When the sliding block 105 drives the hollow box 201 to move, the hollow box 201 will contact the elastic T-plate 207 through the special-shaped column 202, so that the elastic T-plate 207 drives the sliding sleeve 203 to move. When the sliding sleeve 203 moves, the moving sliding sleeve 203 will carry the working box 301, so that the working box 301 fits on the surface of the object.

[0044] The extended end of the motor 104 is fixedly connected to a transmission disk, and three rectangular grooves are provided on a side of the fixed disk 102 away from the outer cylinder 101. A sliding block 105 is slidably connected inside the rectangular groove. The sliding block 105 is meshed with the transmission disk on a side close to the outer cylinder 101. When the motor 104 is working, it drives the sliding block 105 to move through the transmission disk. When the sliding block 105 moves, it drives the external structure to grab the object, and then controls the main body 1 to turn, and then controls the motor 104 to reverse, so that the device is separated from the object.

[0045] Two elastic T-shaped plates 207 are fixedly connected to the inner wall of the sliding sleeve 203. The two elastic T-shaped plates 207 are symmetrically distributed with the special-shaped column 202 as the center. The elastic T-shaped plates 207 are in contact with the surface of the special-shaped column 202. The left and right sides of the sliding sleeve 203 are rotatably connected with special-shaped plates 204. The two special-shaped plates 204 are rotatably connected with the arc plate 205 on the side close to the hollow box 201. The arc plate 205 is rotatably connected with a movable plate 206 on the side close to the hollow box 201. The movable plate 206 is slidably connected to the opening of the hollow box 201. The middle part of the special-shaped plate 204 is slidably connected to the side wall of the fixed disk 102. When the arc plate 205 is deformed, it will push the movable plate 206 to move, and when the movable plate 206 moves, it will squeeze the gas inside the hollow box 201.

[0046] The working box 301 is fixedly connected to two fixing rods 303 inside, and the outer surfaces of the two fixing rods 303 are slidably connected to two Z-shaped plates 304. The outer surface of the Z-shaped plate 304 located between the Z-shaped plate 304 and the working box 301 is fixedly connected to a spring. The side of the Z-shaped plate 304 away from the spring is in contact with the diamond-shaped shaft plate 302. The side of the Z-shaped plate 304 away from the sliding sleeve 203 is fixedly connected to a fixing plate 305. The side of the working box 301 close to the outer cylinder 101 is fixedly connected to There is a fixing bar 306, and the outer wall of the working box 301 on one side away from the fixing bar 306 is fixedly connected to two tensioning shafts 307. The side of the working box 301 away from the sliding sleeve 203 is open, and a cam shaft 308 is provided on the side wall of the Z-type plate 304. When the Z-type plate 304 moves, the roller on the Z-type plate 304 contacts the fixing bar 306. At this time, when the Z-type plate 304 moves, the cam shaft 308 will be subjected to the friction between the roller and the fixing bar 306 and rotate.

[0047] The side of the camshaft 308 close to the fixed bar 306 penetrates through the side wall of the Z-shaped plate 304 and extends to the outside. The extended end of the camshaft 308 is fixedly connected to a roller, and the roller is in contact with the fixed bar 306. The end of the camshaft 308 away from the fixed bar 306 penetrates through the outer wall of the working box 301 and extends to the outside. The extended end of the working box 301 is fixedly connected to a semicircular block 309. The side wall of the semicircular block 309 is slidably connected to a movable plate 2 310. A binding belt 311 is arranged between the two movable plates 2 310. The binding belt 311 is slidably connected between the movable plate 2 310 and the semicircular block 309. A sliding groove is opened inside the working box 301.

[0048] An auxiliary mechanism 4 is provided inside the working box 301, and the auxiliary mechanism 4 includes a swinging plate 401 rotatably connected to the end of the fixed plate 305 away from the Z-shaped plate 304, a return spring is fixedly connected between the swinging plate 401 and the Z-shaped plate 304, and the side of the swinging plate 401 close to the return spring is in contact with the outer surface of the camshaft 308, and the side of the swinging plate 401 away from the Z-shaped plate 304 is rotatably connected to a connecting plate 402. When the camshaft 308 rotates, it will squeeze the swinging plate 401, and the swinging plate 401 will rotate on the surface of the fixed plate 305 after being squeezed.

[0049] One end of the connecting plate 402 away from the swing plate 401 is rotatably connected to the hollow plate 403, and the two hollow plates 403 are slidably connected inside the sliding groove. A connecting pipe 404 is fixedly connected to the side of the hollow plate 403 close to the swing plate 401. The end of the connecting pipe 404 away from the hollow plate 403 penetrates to the outer wall of the working box 301 and is connected to the hollow box 201. One end of the hollow plate 403 away from the connecting pipe 404 is fixedly connected to a plurality of airbags. When the swing plate 401 rotates, it pushes the hollow plate 403 through the connecting plate 402 to rotate the hollow plate 403 in the sliding groove. At the same time, when the sliding sleeve 203 is moved by the reaction force of the object, the moving sliding sleeve 203 pushes the special-shaped plate 204 to rotate.

[0050] A traction mechanism 5 is provided inside the working box 301, and the traction mechanism 5 includes a fixed shaft 501 fixedly connected to the side of the Z-shaped plate 304 away from the diamond axis plate 302, and the fixed shaft 501 is located between the two fixed rods 303. The side of the fixed shaft 501 away from the Z-shaped plate 304 is fixedly connected with an insertion rod 502. When the rotation of the diamond axis plate 302 drives the Z-shaped plate 304 to move, the moving Z-shaped plate 304 will drive the fixed shaft 501 and the insertion rod 502 to move. When the fixed shaft 501 moves, it will squeeze the threaded groove on the inner wall of the hollow plate 403 through the insertion rod 502.

[0051] The outer surface of the fixed shaft 501 is slidably connected with the outer cylinder 2 503, the inner wall of the outer cylinder 2 503 is provided with a threaded groove, the plug rod 502 is slidably connected inside the threaded groove, the end of the outer cylinder 2 503 away from the fixed shaft 501 penetrates the side wall of the working box 301 and extends to the inside, the extended end of the outer cylinder 2 503 is fixedly connected with an elastic plastic rope 504, the outer surface of the elastic plastic rope 504 is rotatably connected with the limit plate 506, the limit plate 506 is fixedly connected to the side wall of the special-shaped plate 204, and the elastic plastic rope 504 is away from the fixed shaft 501. A pull plate 505 is fixedly connected to one side of the outer cylinder 503, and a tension spring is fixedly connected between the two pull plates 505. When the thread groove is squeezed, the shear force between the insertion rod 502 and the thread groove will cause the outer cylinder 503 to rotate. When the outer cylinder 503 rotates, the elastic plastic rope 504 will be driven to rotate. Since one end of the elastic plastic rope 504 is connected to the pull plate 505, and the pull plate 505 can only slide in the T-tube, the elastic plastic rope 504 will be twisted and bent when it rotates.

[0052] The outer surface of the pull plate 505 is provided with an adsorption mechanism 6, which includes a T-tube 601 slidably connected to the outer surfaces of the two pull plates 505, the side wall of the T-tube 601 is fixedly connected to the side wall of the fixed plate 102, and the middle part of the T-tube 601 is slidably connected to a sliding tube 602.

[0053] The side of the sliding tube 602 close to the special-shaped plate 204 is rotatably connected to the connecting plate 2 603, and the end of the connecting plate 2 603 away from the sliding tube 602 is fixedly connected to the side wall of the special-shaped plate 204, and the end of the sliding tube 602 away from the T-tube 601 is fixedly connected to the adsorption plate 604. The sliding tube 602 and the adsorption plate 604 are connected. At the same time, when the elastic plastic rope 504 becomes shorter, the shortened elastic plastic rope 504 will pull the pull plate 505 to make it move in the opposite direction inside the T-tube 601. When the pull plate 505 moves, a pressure difference will be generated between the two pull plates 505 and the outside world, and the pressure difference will form an adsorption force inside the adsorption plate 604 through the sliding tube 602.

[0054] A method for using an automated clamping manipulator, the automated clamping manipulator comprising the following steps:

[0055] S1: First, the device is installed at a suitable position, and then the staff controls the device to grab the object to be grabbed. When the staff controls the device to reach the top of the object, the motor 104 is started;

[0056] S2: When the motor 104 is working, it will drive the sliding block 105 to move through the transmission disk. When the sliding block 105 moves, it will drive the external structure to grab the object, and then control the main body 1 to turn, and then control the motor 104 to reverse, so that the device is separated from the object.

[0057] When in use, first install the device to a suitable position, and then the staff controls the device to grab the object to be grabbed. When the staff controls the device to reach the top of the object, the motor 104 is started. When working, the motor 104 will drive the sliding block 105 to move through the transmission disk. When the sliding block 105 moves, it will drive the external structure to grab the object. Then the main body 1 is controlled to turn, and then the motor 104 is controlled to reverse, so that the device is separated from the object. When the rotation of the motor 104 drives the sliding block 105 through the transmission plate, so that the sliding block 105 moves relatively, the movement of the sliding block 105 will drive the hollow box 201 to move. When the sliding block 105 drives the hollow box 201 to move, the hollow box 201 will contact the elastic T-shaped plate 207 through the special-shaped column 202, so that the elastic T-shaped plate 207 drives the sliding sleeve 203 to move. When the sliding sleeve 203 moves, the moving sliding sleeve 203 will carry the working box 301, so that the working box 301 fits on the surface of the object. Then, when the sliding block 105 continues to move, the reaction force generated by the object The working box 301 will push the sliding sleeve 203, so that the sliding sleeve 203 slides on the surface of the special-shaped column 202. When the special-shaped column 202 slides, it will slide on the surface of the special-shaped column 202 through the elastic T-shaped plate 207. Since the surface of the special-shaped column 202 is curved, when the elastic T-shaped plate 207 slides on the special-shaped column 202 under the thrust of the working box 301, the sliding elastic T-shaped plate 207 will push the special-shaped column 202, so that the special-shaped column 202 rotates on the side wall of the hollow box 201. When the special-shaped column 202 rotates, the rotating special-shaped column 202 will push the two sides through the diamond shaft plate 302. The two Z-shaped plates 304 are moved toward each other on the surface of the fixed rod 303. When the Z-shaped plate 304 moves, the roller on the Z-shaped plate 304 contacts the fixed bar 306. At this time, when the Z-shaped plate 304 moves, the cam shaft 308 is subjected to the friction between the roller and the fixed bar 306 and rotates. When the cam shaft 308 rotates, it drives the semicircular block 309 and the second moving plate 310 to rotate. At this time, the rotating semicircular block 309 and the second moving plate 310 drive the binding belt 311 to reel up. When the binding belt 311 is rolled up, the two sides of the binding belt 311 will be entangled together, so there is a lot of friction between the binding belt 311 and itself, and the binding belt 311 will be in a taut state when rolled up. When the binding belt 311 is taut, it will squeeze the tensioning shaft 307 and fit on the surface of the object, forming a coating on the object, which helps to ensure that the object is stably fixed in the desired position, and the surface of the object will not be damaged due to the fixing pressure. At the same time, compared with the traditional mechanical clamp, this design is simpler and more flexible, and can adapt to the characteristics of clamping objects of various shapes, thereby reducing the situation of frequent adjustment or replacement of the clamp.When the rotation of the special-shaped column 202 drives the diamond-shaped shaft plate 302 to rotate, the rotating diamond-shaped shaft plate 302 will squeeze the Z-shaped plate 304. After being squeezed, the Z-shaped plate 304 will move on the surface of the fixed rod 303. When the Z-shaped plate 304 moves, the roller will drive the camshaft 308 to rotate through the friction between the roller and the fixed bar 306. When the camshaft 308 rotates, it will squeeze the swing plate 401. After being squeezed, the swing plate 401 will rotate on the surface of the fixed plate 305. When the swing plate 401 rotates, it will push the hollow plate 403 through the connecting plate 1 402, so that the hollow plate 403 rotates in the sliding groove. At the same time, when the sliding sleeve 203 is moved by the reaction force of the object, the moving sliding sleeve 203 will push the special-shaped plate 204 to rotate. When the special-shaped plate 204 rotates, it will pull the arc plate 205 to make the arc plate 205 When the curved plate 205 is deformed, a depression will occur in the middle thereof. When the curved plate 205 is deformed, it will push the movable plate 206 to move. When the movable plate 206 moves, it will squeeze the gas inside the hollow box 201. After being squeezed, the gas will enter the hollow plate 403 through the connecting pipe 404 and expand several air bags at the bottom of the hollow plate 403, thereby increasing the contact area between the hollow plate 403 and the material. When the special-shaped plate 204 rotates, the front end of the special-shaped plate 204 will fit against the surface of the material to squeeze the material. Through the expansion of the air bag and the squeezing of the front end of the special-shaped plate 204, the binding belt 311 can slip when clamping the object, thereby reducing the risk of falling when clamping.When the sliding sleeve 203 pushes the special-shaped plate 204 to rotate, the rotating special-shaped plate will pull the sliding tube 602 to move inside the T-tube 601 through the connecting plate 203, so that the adsorption plate 604 fits the surface of the object. Then, when the rotation of the diamond-shaped shaft plate 302 pushes the Z-shaped plate 304 to move, the moving Z-shaped plate 304 will drive the fixed shaft 501 and the insertion rod 502 to move. When the fixed shaft 501 moves, it will squeeze the thread groove on the inner wall of the hollow plate 403 through the insertion rod 502. After the thread groove is squeezed, it will be subjected to the shear force between the insertion rod 502 and the thread groove to cause the outer tube 203 to rotate. When the outer tube 203 rotates, it will drive the elastic plastic rope 504 to rotate. Since one end of the elastic plastic rope 504 is connected to the pull plate 505, and the pull plate 505 can only slide in the T-tube, then the elastic plastic rope 504 can be rotated. When the material rope 504 is rotated, it will twist and bend. When the elastic plastic rope 504 is twisted, the length of the twisted elastic plastic rope 504 will become shorter. At this time, the shortened elastic plastic rope 504 will pull the special-shaped plate 204 through the limiting plate 506 rotating in the middle, so that the front end of the special-shaped plate 204 is tightly fitted with the surface of the object. At the same time, when the elastic plastic rope 504 becomes shorter, the shortened elastic plastic rope 504 will pull the pull plate 505, causing it to move oppositely inside the T-tube 601. When the pull plate 505 moves, a pressure difference will be generated between the two pull plates 505 and the outside world. The pressure difference will form an adsorption force inside the adsorption plate 604 through the sliding tube 602. Negative pressure adsorption can form a vacuum or low-pressure area on the surface of the object, so that the object is more firmly fixed, thereby enhancing the clamping force and stability of the device.

[0058] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automated clamping robot, comprising a main body (1), wherein an input end of the main body (1) is rotatably connected to an outer cylinder (101), a side of the outer cylinder (101) away from the main body (1) is threadedly connected to a fixed disk (102), the interior of the outer cylinder (101) is open, an inner cavity (103) is provided inside the fixed disk (102), a side of the fixed disk (102) close to the outer cylinder (101) is fixedly connected to a motor (104), an output end of the motor (104) penetrates the side wall of the fixed disk (102) and extends to the interior of the inner cavity (103), characterized in that: Also includes; A rotating mechanism (2), the rotating mechanism (2) comprising a hollow box (201) fixedly connected to a side of the sliding block (105) away from the outer cylinder (101), the top of the hollow box (201) being open, a side wall of the hollow box (201) being rotatably connected to a special-shaped column (202), and an outer surface of the special-shaped column (202) being slidably connected to a sliding sleeve (203); The covering mechanism (3) comprises a working box (301) fixedly connected to the side of the sliding sleeve (203) away from the arc plate (205), the working box (301) is slidably connected to the side wall of the sliding block (105), and the inner wall of the working box (301) close to the sliding sleeve (203) is rotatably connected to a diamond-shaped shaft plate (302), and one end of the diamond-shaped shaft plate (302) close to the sliding sleeve (203) passes through the top outer wall of the working box (301) and is fixedly connected to the special-shaped column (202).

2. The automatic clamping robot according to claim 1, characterized in that: The extended end of the motor (104) is fixedly connected to a transmission disk, and three rectangular grooves are provided on a side of the fixed disk (102) away from the outer cylinder (101). A sliding block (105) is slidably connected inside the rectangular groove, and the sliding block (105) is meshedly connected to the transmission disk on a side close to the outer cylinder (101).

3. The automatic clamping robot according to claim 2, characterized in that: The inner wall of the sliding sleeve (203) is fixedly connected with two elastic T-shaped plates (207), the two elastic T-shaped plates (207) are symmetrically distributed with the special-shaped column (202) as the center, and the elastic T-shaped plates (207) are in contact with the surface of the special-shaped column (202). The left and right sides of the sliding sleeve (203) are both rotatably connected with special-shaped plates (204), and the two special-shaped plates (204) are rotatably connected with an arc plate (205) on one side close to the hollow box (201), and the arc plate (205) is rotatably connected with a movable plate 1 (206) on one side close to the hollow box (201), and the movable plate 1 (206) is slidably connected to the opening of the hollow box (201), and the middle part of the special-shaped plate (204) is slidably connected to the side wall of the fixed plate (102).

4. The automatic clamping manipulator according to claim 3, characterized in that: Two fixing rods (303) are fixedly connected inside the working box (301), and two Z-shaped plates (304) are slidably connected to the outer surfaces of the two fixing rods (303). A spring is fixedly connected to the outer surface of the Z-shaped plate (304) located between the Z-shaped plate (304) and the working box (301). The side of the Z-shaped plate (304) away from the spring is in contact with the rhombus shaft plate (302). The side of the Z-shaped plate (304) away from the sliding sleeve (203) is fixedly connected to a fixing plate (305). The side of the working box (301) close to the outer cylinder (101) is fixedly connected to a fixing strip (306). The outer wall of the working box (301) away from the fixing strip (306) is fixedly connected to two tensioning shafts (307). The side of the working box (301) away from the sliding sleeve (203) is open, and a cam shaft (308) is provided on the side wall of the Z-shaped plate (304).

5. The automatic clamping robot according to claim 4, characterized in that: The side of the camshaft (308) close to the fixed bar (306) penetrates through the side wall of the Z-shaped plate (304) and extends to the outside; the extended end of the camshaft (308) is fixedly connected to a roller, and the roller is in contact with the fixed bar (306); the end of the camshaft (308) away from the fixed bar (306) penetrates through the outer wall of the working box (301) and extends to the outside; the extended end of the working box (301) is fixedly connected to a semicircular block (309); the side wall of the semicircular block (309) is slidably connected to a movable plate 2 (310); a binding belt (311) is provided between the two movable plates 2 (310); the binding belt (311) is slidably connected between the movable plate 2 (310) and the semicircular block (309); a sliding groove is provided inside the working box (301).

6. The automatic clamping robot according to claim 5, characterized in that: An auxiliary mechanism (4) is arranged inside the working box (301), and the auxiliary mechanism (4) comprises a swing plate (401) rotatably connected to an end of a fixed plate (305) away from the Z-shaped plate (304), a return spring is fixedly connected between the swing plate (401) and the Z-shaped plate (304), a side of the swing plate (401) close to the return spring is in contact with an outer surface of the camshaft (308), and a side of the swing plate (401) away from the Z-shaped plate (304) is rotatably connected to a connecting plate 1 (402).

7. The automatic clamping robot according to claim 6, characterized in that: The end of the connecting plate 1 (402) away from the swing plate (401) is rotatably connected to the hollow plate (403), and the two hollow plates (403) are slidably connected inside the sliding groove. The side of the hollow plate (403) close to the swing plate (401) is fixedly connected to a connecting pipe (404), and the end of the connecting pipe (404) away from the hollow plate (403) penetrates the outer wall of the working box (301) and is connected to the hollow box (201), and the end of the hollow plate (403) away from the connecting pipe (404) is fixedly connected to a plurality of airbags.

8. The automatic clamping robot according to claim 7, characterized in that: A traction mechanism (5) is arranged inside the working box (301), and the traction mechanism (5) comprises a fixed shaft (501) fixedly connected to a side of the Z-shaped plate (304) away from the diamond-shaped shaft plate (302), the fixed shaft (501) being located between two fixed rods (303), and a plug rod (502) being fixedly connected to a side of the fixed shaft (501) away from the Z-shaped plate (304).

9. The automatic clamping robot according to claim 8, characterized in that: The outer surface of the fixed shaft (501) is slidably connected to the outer cylinder 2 (503), the inner wall of the outer cylinder 2 (503) is provided with a threaded groove, the insertion rod (502) is slidably connected to the inside of the threaded groove, the end of the outer cylinder 2 (503) away from the fixed shaft (501) penetrates the side wall of the working box (301) and extends to the inside, the extended end of the outer cylinder 2 (503) is fixedly connected to an elastic plastic rope (504), the outer surface of the elastic plastic rope (504) is rotatably connected to a limiting plate (506), the limiting plate (506) is fixedly connected to the side wall of the special-shaped plate (204), the side of the elastic plastic rope (504) away from the outer cylinder 2 (503) is fixedly connected to a pull plate (505), and a tension spring is fixedly connected between the two pull plates (505).

10. The automatic clamping manipulator according to claim 19, characterized in that: The outer surface of the pull plate (505) is provided with an adsorption mechanism (6), and the adsorption mechanism (6) comprises a T-tube (601) slidably connected to the outer surfaces of the two pull plates (505), the side wall of the T-tube (601) is fixedly connected to the side wall of the fixed plate (102), and the middle part of the T-tube (601) is slidably connected to a sliding tube (602).

11. The automatic clamping robot according to claim 10, characterized in that: The sliding tube (602) is rotatably connected to a second connecting plate (603) at one side close to the special-shaped plate (204); the second connecting plate (603) is fixedly connected to the side wall of the special-shaped plate (204) at one end away from the sliding tube (602); the sliding tube (602) is fixedly connected to an adsorption plate (604) at one end away from the T-shaped tube (601); and the sliding tube (602) and the adsorption plate (604) are connected.

12. A method for using an automated clamping manipulator, characterized in that: Using the automated clamping robot as claimed in claim 11, the method comprises the following steps: S1: First, the device is installed at a suitable position, and then the staff controls the device to grab the object to be grabbed. When the staff controls the device to reach the top of the object, the motor (104) is started; S2: When the motor (104) is working, it drives the sliding block (105) to move through the transmission disk. When the sliding block (105) moves, it drives the external structure to grab the object, and then controls the main body (1) to turn, and then controls the motor (104) to reverse, so that the device is separated from the object.

Images