A manipulator

Abstract

The present invention relates to the field of manipulators, and particularly to a manipulator. It includes a mounting base, a jaw mechanism, and two synchronous belt assemblies. The jaw mechanism is arranged on the mounting base, and the two synchronous belt assemblies are respectively arranged on the movable part of the jaw mechanism. A clamping space is provided between the two synchronous belt assemblies. The jaw mechanism drives the two synchronous belt assemblies to approach or move away from each other so as to adjust the width of the clamping space. By driving the two synchronous belt assemblies to approach or move away from each other through the jaw mechanism, the width of the clamping space can be flexibly adjusted. The synchronous belt assemblies make flexible contact with the object, adapt to objects of different sizes and shapes, improve the grasping adaptability of the manipulator to various objects, and effectively enhance the accuracy and stability of grasping.

Description

Technical Field

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

[0002] Traditional grasping devices mostly adopt rigid jaws, air suction or magnetic suction structures. Their performance is restricted by the shape of the object, surface characteristics and material hardness. During the grasping process, it is very easy to scratch the surface of fragile objects, and even damage the overall structure of the object, which greatly limits the scope of application and use effect of traditional grasping devices. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: to solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or create conditions.

[0004] The solution of the present invention to solve its technical problem is: a manipulator, which includes a mounting base, a jaw mechanism and two sets of synchronous belt assemblies. The jaw mechanism is arranged on the mounting base, and the two sets of synchronous belt assemblies are respectively arranged on the movable part of the jaw mechanism. There is a clamping space between the two sets of synchronous belt assemblies. The jaw mechanism drives the two sets of synchronous belt assemblies to approach or move away from each other to adjust the width of the clamping space; the two sets of synchronous belt assemblies rotate in the same direction and at the same speed to make the clamped article move linearly; the two sets of synchronous belt assemblies rotate in the opposite direction and at the same speed to make the clamped article rotate in place; the jaw mechanism includes a driving device, a connecting shaft and two sets of link groups. The driving device is arranged on the mounting base. One end of the connecting shaft is fixedly connected to the driving part of the driving device. Each link group includes a first link and a second link. The first link and the second link in the same link group are arranged in parallel. One end of the first link is hinged to the mounting base, and the other ends of the first link are respectively hinged to the synchronous belt assemblies. The middle of the second link is hinged to the mounting base, and one end of the second link is respectively hinged to the synchronous belt assemblies. A slot is provided at the other end of the second link. The connecting shaft is arranged inside the slot, and the connecting shaft is slidably connected to the slot.

[0005] The beneficial effects of the present invention are as follows: The mounting base supports and fixes other components; the jaw mechanism drives two synchronous belt assemblies to approach or move away from each other, thereby adjusting the width of the clamping space to meet the requirements of the spatial dimensions for grasping different objects and achieving effective clamping of the objects; the flexible characteristics of the synchronous belt assemblies themselves enable them to naturally deform and conform to the contour of the object when contacting the object, which can not only gently wrap the object, but also drive the object to move through the rotation of the synchronous belt assemblies themselves; by driving two synchronous belt assemblies to approach or move away from each other through the jaw mechanism, the width of the clamping space can be flexibly adjusted, and the synchronous belt assemblies make flexible contact with the object, adapting to objects of different sizes and shapes, improving the grasping adaptability of the manipulator to various objects, and effectively enhancing the accuracy and stability of grasping; by making the two synchronous belt assemblies rotate in the same direction and at the same speed, it can ensure that the clamped object moves stably along a straight line direction, achieving precise position adjustment of the object in the horizontal direction; when the two synchronous belt assemblies rotate in opposite directions and at the same speed, the clamped object can be rotated in place, facilitating flexible change of the object's attitude angle according to actual needs, meeting the requirements of the object's orientation in different processing, assembly and other links, improving the flexibility and adaptability of the entire operation process, and reducing the subsequent operation difficulties caused by the inconsistent object attitude; integrating the functions of grasping, linear movement and in-situ rotation of the object, without the need to additionally configure a large number of complex independent conveying structures and rotating mechanisms, effectively simplifying the structure of the entire system, thereby reducing the production cost and maintenance cost; the first connecting rod and the second connecting rod arranged in parallel can share the acting force generated during the movement process, avoiding deformation, damage, etc. due to excessive force on a single connecting rod, helping to more smoothly transmit the power output by the driving mechanism to the synchronous belt assemblies, and ensuring the precise and smooth movement of the synchronous belt assemblies; the driving device drives the connecting shaft to move, the connecting shaft slides in the slot hole of the second connecting rod and drives the second connecting rod to move, the second connecting rod swings around its hinge point with the mounting base, and the first connecting rod will swing synchronously with the second connecting rod, transmitting the force to the synchronous belt assemblies, so that the two synchronous belt assemblies approach or move away from each other.

[0006] As a further improvement of the above technical solution, the synchronous belt assembly includes a connecting frame, a flexible synchronous belt, a driving wheel, a driven wheel, a second motor and a first synchronous belt. The connecting frame is arranged on the movable part of the jaw mechanism. The driving wheel is arranged on the connecting frame and is relatively rotatable with the connecting frame. The driven wheel is arranged on the connecting frame and is relatively rotatable with the connecting frame. The second motor is arranged on the connecting frame. The second motor is in transmission connection with the driving wheel through the first synchronous belt. The driving wheel is in transmission connection with the driven wheel through the flexible synchronous belt.

[0007] As a further improvement of the above technical solution, the material of the flexible synchronous belt is one or more of rubber, thermoplastic polyurethane elastomer, silicone material, plastic material, and composite material.

[0008] As a further improvement of the above technical solution, the synchronous belt assembly further includes a first motor, a lead screw, and a connecting block. The connecting block is hinged to the movable part of the jaw mechanism. The first motor is arranged on the connecting block. The rotating part of the first motor is threadedly connected to the lead screw, and the lead screw is fixedly arranged on the connecting frame.

[0009] As a further improvement of the above technical solution, the synchronous belt assembly further includes a slider and a guide rail. The guide rail is fixedly arranged on the connecting frame. The guide rail is arranged in parallel with the lead screw. The slider is slidably connected to the guide rail, and the slider is fixedly connected to the first motor.

[0010] As a further improvement of the above technical solution, the mounting base includes a base body and two mounting parts arranged on the base body. The mounting parts are provided with first connection holes, and the jaw mechanism is hinged to the mounting parts through the first connection holes.

[0011] As a further improvement of the above technical solution, the manipulator further includes a robotic arm. The base body is provided with a first mounting surface and a second mounting surface perpendicular to the first mounting surface. Both the first mounting surface and the second mounting surface are provided with mounting holes, and the robotic arm is fixedly connected to the mounting base through the mounting holes.

[0012] As a further improvement of the above technical solution, the manipulator further includes a transmission channel. The synchronous belt assembly is provided with a second connection hole, and the input end of the transmission channel is connected to the output end of the synchronous belt assembly through the second connection hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic structural diagram of a manipulator according to an embodiment of the present invention;

[0014] Figure 2 is an exploded schematic diagram of a manipulator according to an embodiment of the present invention;

[0015] Figure 3 is a schematic structural diagram of a base body according to an embodiment of the present invention;

[0016] Figure 4 is a schematic structural diagram of a synchronous belt assembly according to an embodiment of the present invention;

[0017] Figure 5 is a schematic structural diagram of another embodiment of the present invention.

[0018] In the accompanying drawings: 100 - mounting base, 110 - base body, 111 - first mounting surface, 112 - second mounting surface, 113 - mounting hole, 120 - mounting portion, 121 - first connection hole, 300 - jaw mechanism, 310 - connecting shaft, 320 - connecting rod group, 321 - first connecting rod, 322 - second connecting rod, 323 - slot hole, 330 - driving device, 400 - synchronous belt assembly, 411 - connecting frame, 412 - flexible synchronous belt, 413 - driving pulley, 414 - driven pulley, 415 - second motor, 416 - first synchronous belt, 417 - second connection hole, 421 - first motor, 422 - lead screw, 423 - connecting block, 431 - slider, 432 - guide rail, 500 - robotic arm, 600 - transmission channel. Detailed implementation manners

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for the description of the embodiments above are briefly described. Obviously, the described drawings are only a part of the embodiments of the present invention, rather than all embodiments. Without creative efforts, those skilled in the art can also obtain other design solutions and drawings based on these drawings.

[0020] The following will clearly and completely describe the concept, specific structure and technical effects generated of the present invention in combination with the embodiments and the accompanying drawings to fully understand the purpose, features and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts all fall within the scope of protection of the present invention. In addition, all the connection / connection relationships mentioned in the text do not simply refer to the direct connection of components, but refer to the more optimal connection structure that can be formed by adding or reducing connection accessories according to the specific implementation situation. The various technical features of the present invention can be combined with each other without conflicting with each other.

[0021] Most traditional grasping devices adopt rigid jaws, air suction or magnetic suction structures, and their performance is restricted by the object shape, surface characteristics and material hardness. During the grasping process, it is very easy to cause scratches on the surface of fragile objects, and even damage the overall structure of the object, which greatly limits the applicable range and use effect of traditional grasping devices.

[0022] For this reason, the present invention proposes a robotic hand, referring to Figures 1 to 5, which includes an installation base 100, a jaw mechanism 300 and two sets of synchronous belt assemblies 400. The jaw mechanism 300 is arranged on the installation base 100, and the two sets of synchronous belt assemblies 400 are respectively arranged on the movable parts of the jaw mechanism 300. A clamping space is provided between the two sets of synchronous belt assemblies 400. The jaw mechanism 300 drives the two sets of synchronous belt assemblies 400 to approach or move away from each other, so as to adjust the width of the clamping space. The two sets of synchronous belt assemblies 400 rotate in the same direction and at the same speed, so that the clamped article moves linearly; the two sets of synchronous belt assemblies 400 rotate in the opposite direction and at the same speed, so that the clamped article rotates in place. The jaw mechanism 300 includes a driving device 330, a connecting shaft 310 and two sets of link groups 320. The driving device 330 is arranged on the installation base 100. One end of the connecting shaft 310 is fixedly connected to the driving part of the driving device 330. Each link group 320 includes a first link 321 and a second link 322. The first link 321 and the second link 322 in the same link group 320 are arranged in parallel. One end of the first link 321 is hinged to the installation base 100, and the other end of the first link 321 is correspondingly hinged to the synchronous belt assembly 400. The middle part of the second link 322 is hinged to the installation base 100, and one end of the second link 322 is correspondingly hinged to the synchronous belt assembly 400. A slot 323 is provided at the other end of the second link 322. The connecting shaft 310 is arranged inside the slot 323, and the connecting shaft 310 is slidably connected to the slot 323.

[0023] The mounting base 100 supports and fixes other components; the jaw mechanism 300 drives two sets of synchronous belt assemblies 400 to approach or move away from each other, thereby adjusting the width of the clamping space to meet the requirements for the space size when grasping different objects and realizing effective clamping of the objects; the flexible characteristics of the synchronous belt assembly 400 itself enable it to naturally deform and fit according to the outer contour of the object when contacting the object, which can not only gently wrap the object, but also drive the object to move through the rotation of the synchronous belt assembly 400 itself; by driving two sets of synchronous belt assemblies 400 to approach or move away from each other through the jaw mechanism 300, the width of the clamping space can be flexibly adjusted, and the synchronous belt assembly 400 makes flexible contact with the object, adapting to objects of different sizes and shapes, improving the grasping adaptability of the manipulator to various objects, and effectively enhancing the accuracy and stability of grasping; by making the two sets of synchronous belt assemblies 400 rotate in the same direction and at the same speed, it can ensure that the clamped object moves stably along a straight line direction, realizing precise position adjustment of the object in the horizontal direction; when the two sets of synchronous belt assemblies 400 rotate in opposite directions and at the same speed, the clamped object can be rotated in place, which is convenient for flexibly changing the attitude angle of the object according to actual needs, meeting the requirements for the orientation of the object in different processing, assembly and other links, improving the flexibility and adaptability of the entire operation process, and reducing the difficulties in subsequent operations caused by inconsistent object postures; integrating the functions of grasping, linear movement and in-situ rotation of the object, there is no need to additionally configure a large number of complex independent conveying structures and rotating mechanisms, effectively simplifying the structure of the entire system, and thus reducing the production cost and maintenance cost; the first connecting rod 321 and the second connecting rod 322 arranged in parallel can share the acting force generated during the movement, avoiding deformation, damage and other situations caused by excessive force on a single connecting rod, and helping to more smoothly transmit the power output by the driving mechanism to the synchronous belt assembly 400, ensuring the accurate and smooth movement of the synchronous belt assembly 400; the driving device 330 drives the connecting shaft 310 to move, the connecting shaft 310 slides in the slot hole 323 of the second connecting rod 322 and drives the second connecting rod 322 to move, the second connecting rod 322 swings around its hinge point with the mounting base 100, and the first connecting rod 321 will swing synchronously with the second connecting rod 322, transmitting the force to the synchronous belt assembly 400, so that the two sets of synchronous belt assemblies 400 approach or move away from each other. Specifically, the driving mechanism is one of a linear motor, a cylinder, and a rack and pinion mechanism.

[0024] During operation, the drive components inside the jaw mechanism 300 transmit power to the synchronous belt assembly 400 through connection with the synchronous belt assembly 400, enabling the two sets of synchronous belt assemblies 400 to approach or move away from each other synchronously, thereby changing the width of the clamping space between them; after the width of the clamping space is adjusted appropriately, relying on the flexible characteristics of the synchronous belt, the synchronous belt can contact the object surface in a flexible fitting manner, and utilize the functions of friction and wrapping force to achieve reliable grasping of the object, and then transfer the item relying on the transmission function of the synchronous belt assembly 400.

[0025] When contacting and driving the object, it is easy to cause damage such as scratches and extrusion deformation to the object surface due to rigid contact. Therefore, in one embodiment, the synchronous belt assembly 400 includes a connecting frame 411, a flexible synchronous belt 412, a driving wheel 413, a driven wheel 414, a second motor 415, and a first synchronous belt 416. The connecting frame 411 is arranged on the movable part of the jaw mechanism 300. The driving wheel 413 is arranged on the connecting frame 411, and the driving wheel 413 is relatively rotatable with the connecting frame 411. The driven wheel 414 is arranged on the connecting frame 411, and the driven wheel 414 is relatively rotatable with the connecting frame 411. The second motor 415 is arranged on the connecting frame 411. The second motor 415 is drivingly connected to the driving wheel 413 through the first synchronous belt 416, and the driving wheel 413 is drivingly connected to the driven wheel 414 through the flexible synchronous belt 412. The flexible synchronous belt 412 has good flexibility and can adaptively fit according to the shape of the object when contacting the object to be transmitted, improving the protection degree of the object to be transmitted; the second motor 415, the first synchronous belt 416, and the driving wheel 413 and the driven wheel 414 form a transmission link, and by controlling the rotation speed and forward and reverse rotation of the synchronous belt assembly 400 by adjusting the second motor 415, different transmission requirements in different links can be met.

[0026] The flexibility of the flexible synchronous belt 412 is insufficient, which is easy to cause damage to the object to be transmitted; the strength is not enough, and it is easy to deform and damage after bearing a certain load. Therefore, in one embodiment, the material of the flexible synchronous belt 412 is one or more of rubber, thermoplastic polyurethane elastomer, silicone material, plastic material, and composite material. By providing multiple material options or using multiple materials in combination, the flexible synchronous belt 412 can adapt to the object transmission and grasping tasks of different shapes, textures, weights, and working environments, improving the versatility and adaptability of the manipulator; selecting the appropriate material or composite material according to the specific working conditions can enable the flexible synchronous belt 412 to minimize premature wear and damage caused by material mismatch while meeting the performance requirements.

[0027] In scenarios such as assembly lines where the grasping position needs to be frequently adjusted, the adjustment methods of manual intervention or complex mechanical transmission have a slow response speed, which affects the smoothness of the entire production process. Therefore, in one embodiment, the synchronous belt assembly 400 further includes a first motor 421, a lead screw 422, and a connecting block 423. The connecting block 423 is hinged to the movable part of the jaw mechanism 300. The first motor 421 is disposed on the connecting block 423. The rotating part of the first motor 421 is threadedly connected to the lead screw 422, and the lead screw 422 is fixedly provided on the connecting frame 411. By converting the rotational motion of the motor into the linear motion of the lead screw 422 through screw drive, the precise control of the position of the connecting frame 411 is achieved; the compact structure design reduces the occupied space and also reduces the weight and complexity of the entire manipulator. Compared with traditional hydraulic or pneumatic adjustment systems, no additional equipment such as pipelines and pump stations is required, simplifying the system design and maintenance work.

[0028] During the transmission process, the lead screw 422 is only constrained by screw connection and may be affected by interference factors such as lateral forces, resulting in unstable motion, such as shaking and deviation, which in turn affects the accuracy of the position adjustment of the synchronous belt assembly 400. Therefore, in one embodiment, the synchronous belt assembly 400 further includes a slider 431 and a guide rail 432. The guide rail 432 is fixedly provided on the connecting frame 411. The guide rail 432 is arranged parallel to the lead screw 422. The slider 431 is slidably connected to the guide rail 432, and the slider 431 is fixedly connected to the first motor 421. The sliding connection structure between the slider 431 and the guide rail 432 provides lateral support for the first motor 421 and the lead screw 422 connected thereto, restricts the lateral displacement of the motor and the lead screw 422, reduces the phenomena of shaking and jitter, and thus ensures the stability of the position adjustment of the synchronous belt assembly 400; through the cooperation of the slider 431 and the guide rail 432, part of the lateral force borne by the lead screw 422 during the movement is shared, reducing the wear of the lead screw 422 caused by uneven force, helping to extend the service life of key components such as the lead screw 422 and the motor, and reducing the maintenance cost and replacement frequency of the equipment.

[0029] The movement range of the manipulator in the working environment may be limited, and it may not be able to well meet the requirements for the movement flexibility and angle adjustability of the linkage mechanism under different working conditions. Therefore, in one embodiment, the mounting base 100 includes a base body 110 and two mounting portions 120 provided on the base body 110. The mounting portion 120 is provided with a first connection hole 121, and the jaw mechanism 300 is hinged to the mounting portion 120 through the first connection hole 121. Adopting the hinge enables the linkage mechanism to rotate at a certain angle around the first connection hole 121, increasing the movement flexibility of the linkage mechanism, so as to better adapt to the grasping requirements of objects of different sizes and shapes; the two mounting portions 120 provide symmetric and stable connection points, which can better disperse the acting force generated during the movement of the linkage mechanism, avoiding problems such as the shaking of the mounting base 100 or the loosening of the connection of the linkage mechanism due to uneven force, and ensuring the structural stability of the entire manipulator during the operation process.

[0030] In some production lines with narrow space and complex layout, it may be difficult for a manipulator with a fixed posture and angle to achieve the best grasping and operating effects. Therefore, in one embodiment, the manipulator further includes a robotic arm 500. The base body 110 is provided with a first mounting surface 111 and a second mounting surface 112 perpendicular to the first mounting surface 111. The first mounting surface 111 and the second mounting surface 112 are both provided with mounting holes 113, and the robotic arm 500 is fixedly connected to the mounting base 100 through the mounting holes 113. By providing the mutually perpendicular first mounting surface 111 and second mounting surface 112 on the base body 110, and each surface is equipped with mounting holes 113, the robotic arm 500 can choose different mounting surfaces and corresponding mounting holes 113 for fixed connection, thus realizing the installation possibility of the manipulator at multiple angles, flexibly adjusting the posture, effectively avoiding surrounding obstacles, making full use of the limited space, improving the space utilization rate, and ensuring that tasks such as grasping and operating can be successfully completed under complex site conditions.

[0031] When performing subsequent transmission after an object is grasped, additional transfer operations or other independent transmission devices are required, which may cause interruptions during the connection process and situations such as the object needing to be repositioned, increasing the transmission time and the probability of errors. Thus, in one embodiment, the manipulator further includes a transmission channel 600. The synchronous belt assembly 400 is provided with a second connection hole 417, and the input end of the transmission channel 600 is connected to the output end of the synchronous belt assembly 400 through the second connection hole 417. After the synchronous belt assembly 400 completes operations such as grasping and possible rotation of the object, it can immediately send the object into the transmission channel 600, avoiding intermediate links such as pauses and repositioning of the object during the transfer process, achieving seamless connection between grasping and subsequent transmission, and improving the efficiency of material flow; when the object enters the transmission channel 600, it can be transmitted along a predetermined path and direction, reducing problems of object position deviation caused by external interference and position changes during the transfer process and enhancing transmission stability.

[0032] The above has specifically described the preferred embodiments of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art can also make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A manipulator, characterized in that, It includes an installation base, a jaw mechanism and two sets of synchronous belt assemblies. The jaw mechanism is arranged on the installation base, and the two sets of synchronous belt assemblies are respectively arranged on the movable part of the jaw mechanism. There is a clamping space between the two sets of synchronous belt assemblies. The jaw mechanism drives the two sets of synchronous belt assemblies to approach or move away from each other so as to adjust the width of the clamping space; The two sets of synchronous belt assemblies rotate in the same direction and at the same speed to make the clamped object move linearly; the two sets of synchronous belt assemblies rotate in the opposite direction and at the same speed to make the clamped object rotate in place; The jaw mechanism includes a driving device, a connecting shaft and two sets of connecting rod groups. The driving device is arranged on the installation base. One end of the connecting shaft is fixedly connected to the driving part of the driving device. Each set of connecting rod groups includes a first connecting rod and a second connecting rod. The first connecting rod and the second connecting rod in the same connecting rod group are arranged in parallel. One end of the first connecting rod is hinged to the installation base, and the other ends of the first connecting rods are respectively hinged to the synchronous belt assemblies. The middle of the second connecting rod is hinged to the installation base, and one ends of the second connecting rods are respectively hinged to the synchronous belt assemblies. A slot hole is provided at the other end of the second connecting rod. The connecting shaft is arranged inside the slot hole, and the connecting shaft is slidably connected to the slot hole; The synchronous belt assembly includes a connecting frame, a flexible synchronous belt, a driving wheel, a driven wheel, a second motor and a first synchronous belt. The connecting frame is arranged on the movable part of the jaw mechanism. The driving wheel is arranged on the connecting frame, and the driving wheel is relatively rotatable with the connecting frame. The driven wheel is arranged on the connecting frame, and the driven wheel is relatively rotatable with the connecting frame. The second motor is arranged on the connecting frame, and the second motor is drivingly connected to the driving wheel through the first synchronous belt. The driving wheel is drivingly connected to the driven wheel through the flexible synchronous belt; The synchronous belt assembly further includes a first motor, a lead screw and a connecting block. The connecting block is hinged to the movable part of the jaw mechanism. The first motor is arranged on the connecting block, and the rotating part of the first motor is threadedly connected to the lead screw. The lead screw is fixedly arranged on the connecting frame.

2. The manipulator according to claim 1, characterized in that, The material of the flexible synchronous belt is one or more of rubber, thermoplastic polyurethane elastomer, silicone material, plastic material.

3. A manipulator according to claim 1, characterized in that, The synchronous belt assembly further includes a slider and a guide rail. The guide rail is fixedly arranged on the connecting frame. The guide rail is arranged in parallel with the lead screw. The slider is slidably connected to the guide rail, and the slider is fixedly connected to the first motor.

4. A manipulator according to claim 1, characterized in that, The installation base includes a base body and two installation parts arranged on the base body. First connection holes are provided on the installation parts, and the jaw mechanism is hinged to the installation parts through the first connection holes.

5. A manipulator according to claim 4, characterized in that, The manipulator further includes a robotic arm. First installation surfaces and second installation surfaces perpendicular to the first installation surfaces are provided on the base body. Installation holes are provided on both the first installation surfaces and the second installation surfaces, and the robotic arm is fixedly connected to the installation base through the installation holes.

6. A manipulator according to claim 1, characterized in that, The manipulator further includes a transmission channel. A second connection hole is provided on the synchronous belt assembly. The input end of the transmission channel is connected to the output end of the synchronous belt assembly through the second connection hole.

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