Manipulator for clamping rod-shaped workpiece for industrial robot

Abstract

The invention discloses a manipulator for clamping a rod-shaped workpiece for an industrial robot, which relates to the technical field of manipulators and comprises a fixed plate, a linear transmission mechanism and a chuck mechanism, the linear transmission mechanism comprises a motor, an output shaft of the motor is fixedly connected with a trapezoidal lead screw, the trapezoidal lead screw is sleeved with a vertical nut block, rollers are fixed to the bottom of the vertical nut block, the linear transmission mechanism comprises a transmission rope, the transmission rope is reversed through a fourth roller and a fifth roller, and the transmission rope connects a clamping jaw and the nut block through a third roller. The clamping jaws are fixed on the fixing plate through central rotating shafts, and a first roller and a second roller are respectively fixed at the bottoms of the two clamping jaws. The device has the advantages of being light and simple in structure, high in flexibility, capable of adapting to asymmetric rod-shaped workpieces, capable of achieving a reverse self-locking function and convenient to install and maintain.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator for clamping rod-shaped workpieces used in industrial robots. Background Art

[0002] Industrial manipulators are key actuators in industrial automation, used to complete tasks such as grasping, handling, assembling, and precision operations. With the development of intelligent manufacturing and flexible production, the design of manipulators is evolving towards high precision, lightweight, high flexibility, and intelligence.

[0003] Traditional manipulators mainly use direct joint drive, gear and link transmission, hydraulic or pneumatic drive. Their mechanical structures are bulky, maintenance costs are high, dynamic responses are slow, and rigid transmission is prone to damaging equipment during collisions. For example, in a manipulator for intelligent manufacturing with the publication number CN119550368A, by rolling the rollers inside the jaws, it ensures that when the jaws grasp long materials, the center of gravity of the materials can be adjusted at one time, improving the intelligence of the jaws. However, the structure is relatively complex and the flexibility is poor, which is not conducive to grasping large-load materials. Summary of the Invention

[0004] The technical problem to be solved by the present invention: The purpose of the present invention is to solve the deficiencies in the prior art and propose a manipulator for clamping rod-shaped workpieces used in industrial robots, making the manipulator lightweight and improving its flexibility.

[0005] To achieve the above object, the present invention adopts the following technical solutions: A manipulator for clamping rod-shaped workpieces used in industrial robots, comprising a fixing plate, a wire transmission mechanism, and a chuck mechanism; a jaw center rotation hole is opened at the upper end of the fixing plate, and two symmetric fourth rollers and fifth rollers and two symmetric chute blocks are fixed at the center, wherein the fourth rollers and fifth rollers are placed above the two chute blocks; the wire transmission mechanism includes a motor and a transmission cable, the motor is fixed at the lower end of the fixing plate, its output shaft is fixedly connected with a trapezoidal lead screw, the trapezoidal lead screw is sleeved with a vertical nut block, and a third roller is fixed at the bottom of the vertical nut block; the chuck mechanism includes jaws and a spring, the jaws are composed of two cross-shaped jaw parts, and the bottoms of the two jaw part groups are respectively fixed with a first roller and a second roller, and the spring is fixed in the jaw center rotation hole.

[0006] Preferably, the vertical nut block is connected to the trapezoidal lead screw through trapezoidal thread fit.

[0007] Preferably, sliders are provided on both sides of the vertical nut block, and the sliders are in clearance fit with the two symmetric chute blocks.

[0008] Preferably, the transmission cable is connected to the jaw through the first roller and the second roller, and the direction is changed through the fourth roller and the fifth roller. The transmission cable is connected to the vertical nut block through the third roller.

[0009] Preferably, the spring is fixed in the jaw center rotation holes of the two jaw members, and both ends of the spring are fixedly connected to the two jaw members respectively.

[0010] Preferably, the shape trajectory of the teeth of the jaw adopts the curve y = -70*(10^(x / 70)), where x is the horizontal direction of the plane coordinate system where the tooth is located, and y is the vertical direction of the plane coordinate system where the tooth is located.

[0011] Preferably, the first roller, the second roller, the third roller, the fourth roller, and the fifth roller are all trapezoidal hourglass structures.

[0012] The beneficial effects of the present invention are as follows: 1. By using a transmission cable to drive and control the jaw to pick up the workpiece, compared with the rigid transmission (such as gears and linkages) of traditional manipulators, the mechanical structure of the present invention is more compact and lightweight, improving the dynamic performance, accelerating the response speed, facilitating the control of tension, and capable of clamping asymmetric rod-shaped workpieces, enhancing the adaptability of the jaw. 2. By connecting the motor to the trapezoidal lead screw and then controlling the transmission cable through the mutual cooperation of the trapezoidal lead screw and the nut block, the present invention has reverse self-locking property, preventing the workpiece from falling off and improving the working safety of the jaw. 3. By designing the shape trajectory of the chuck and using the curve y = -70*(10^(x / 70)) as the trajectory curve of the clamping teeth, the jaw of the present invention can better adapt to different workpiece shapes and is applicable to more working scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic top left perspective structure diagram of the present invention; Figure 2 It is a schematic bottom left perspective structure diagram of the present invention; Figure 3 It is a schematic front perspective structure diagram of the present invention; Figure 4 It is a schematic front perspective structure diagram of the nut block and the third roller in the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0015] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. These 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, and thus should not be construed as a limitation on the present invention.

[0016] Referring to Figures 1-4 , Embodiment 1: A manipulator for clamping rod-shaped workpieces used in an industrial robot, comprising a fixing plate 1, a wire transmission mechanism 2, and a chuck mechanism 3; a chuck center rotation hole 11 is opened at the upper end of the fixing plate 1, and two symmetric fourth rollers 27 and fifth rollers 28 and two symmetric chute blocks 12 are fixedly arranged at the center, wherein the fourth rollers 27 and fifth rollers 28 are located above the two chute blocks 12; the wire transmission mechanism 2 includes a motor 21 and a transmission cable 20, the motor 21 is fixed at the lower end of the fixing plate 1, and its output shaft is fixedly connected to a trapezoidal lead screw 22, a vertical nut block 23 is sleeved on the trapezoidal lead screw 22, and a third roller 26 is fixed at the bottom of the vertical nut block 23; the chuck mechanism 3 includes chucks 31 and springs 32, the chucks 31 are composed of two cross-set chuck members, and a first roller 24 and a second roller 25 are respectively fixed at the bottoms of the two chuck member groups, and the springs 32 are fixed in the chuck center rotation hole 11.

[0017] In this example, the vertical nut block 23 is connected to the trapezoidal lead screw 22 by trapezoidal thread fit.

[0018] In this example, sliders 29 are arranged on both sides of the vertical nut block 23, and the sliders 29 are in clearance fit in the two symmetric chute blocks 12.

[0019] In this example, the transmission cable 20 is connected to the chucks through the first roller 24 and the second roller 25, the transmission cable 20 is deflected through the fourth roller 27 and the fifth roller 28, and the transmission cable 20 is connected to the vertical nut block 23 through the third roller 26.

[0020] In this example, the spring 32 is fixed in the chuck center rotation hole 11 of the two chuck members, and the two ends of the spring 32 are respectively fixedly connected to the two chuck members.

[0021] In this example, the tooth shape trajectory of the chuck 31 uses the curve y = -70*(10^(x / 70)), where x is the horizontal direction of the plane coordinate system where the tooth is located, and y is the vertical direction of the plane coordinate system where the tooth is located.

[0022] In this example, the first roller 24, the second roller 25, the third roller 26, the fourth roller 27, and the fifth roller 28 are all trapezoidal hourglass structures.

[0023] Working principle of the present invention: When using this manipulator to grasp a rod-shaped workpiece, due to the tension of the spring 32, the jaws open. After powering on the motor 21, its output shaft drives the trapezoidal lead screw 22 to rotate. The nut block 23 engaged with the trapezoidal lead screw moves vertically backward under the rotation of the trapezoidal lead screw 22 and the restriction of the symmetric chute blocks 12 on both sides, driving the transmission cable 20 connected to the third roller 26 at the bottom of the nut block 23 to move backward. The transmission cable 20 changes direction through the fourth roller 27 and the fifth roller 28, overcomes the tension of the spring 32, and enables the jaws 31 to grip the workpiece through the first roller 24 and the second roller 25 at the bottoms of the two jaws 31. When it is necessary to release the workpiece, control the motor 21 to rotate in the reverse direction, and the workpiece can be released under the tension of the spring 32.

[0024] The electrical connection methods or structures not described in detail in this article are prior arts.

[0025] Although the specific embodiments of the present invention are described in detail above, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the gist of the present invention, and the modifications or deformations without creative labor are still within the protection scope of the present invention.

Claims

1. A manipulator for gripping rod-shaped workpieces of an industrial robot, characterized in that: It includes a fixed plate (1), a wire drive mechanism (2) and a chuck mechanism (3); a chuck center rotation hole (11) is provided at the upper end of the fixed plate (1), and two symmetric fourth rollers (27) and fifth rollers (28) and two symmetric chute blocks (12) are fixedly arranged at the center. Among them, the fourth rollers (27) and fifth rollers (28) are placed above the two chute blocks (12); the wire drive mechanism (2) includes a motor (21) and a transmission cable (20), the motor (21) is fixed at the lower end of the fixed plate (1), and its output shaft is fixedly connected with a trapezoidal lead screw (22), the trapezoidal lead screw (22) is sleeved with a vertical nut block (23), and a third roller (26) is fixed at the bottom of the vertical nut block (23); the chuck mechanism (3) includes a chuck (31) and a spring (32), the chuck (31) is composed of two cross - arranged chuck members, and a first roller (24) and a second roller (25) are respectively fixed at the bottoms of the two chuck member groups, and the spring (32) is fixed in the chuck center rotation hole (11).

2. The manipulator for gripping rod-shaped workpieces of an industrial robot according to claim 1, characterized in that: The vertical nut block (23) is connected to the trapezoidal lead screw (22) by trapezoidal thread fit.

3. The manipulator for clamping rod-shaped workpieces of an industrial robot according to claim 1, characterized in that: Sliders (29) are arranged on both sides of the vertical nut block (23), and the sliders (29) are in clearance fit in two symmetric chute blocks (12).

4. The manipulator for clamping rod-shaped workpieces used in an industrial robot according to claim 1, characterized in that: The transmission cable (20) is connected to the chuck through the first roller (24) and the second roller (25), and is deflected through the fourth roller (27) and the fifth roller (28), and the transmission cable (20) is connected to the vertical nut block (23) through the third roller (26).

5. The manipulator for gripping rod-shaped workpieces of an industrial robot according to claim 1, characterized in that: The spring (32) is fixed in the chuck center rotation hole (11) of the two chuck members, and both ends of the spring (32) are fixedly connected to the two chuck members respectively.

6. The manipulator for clamping rod-shaped workpieces of an industrial robot according to claim 1, characterized in that: The tooth shape trajectory of the chuck (31) adopts the curve y = - 70*(10^(x / 70)), where x is the horizontal direction of the plane coordinate system where the tooth is located, and y is the vertical direction of the plane coordinate system where the tooth is located.

7. The manipulator for clamping rod-shaped workpieces of an industrial robot according to claim 1, wherein: The first roller (24), the second roller (25), the third roller (26), the fourth roller (27), and the fifth roller (28) are all of trapezoidal hourglass structure.

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