Manipulator assembly

Abstract

The utility model discloses a manipulator subassembly relates to manipulator technical field, the utility model discloses a manipulator subassembly includes base, arm and transverse plate, said arm is connected with base, said transverse plate is connected with arm, the surface of said transverse plate is provided with clamping mechanism and two sets of adjusting mechanism, the clamping mechanism and the two sets of adjusting mechanism match each other, and the clamping mechanism is equipped with the clamping mechanism and the two sets of adjusting mechanism. Under the mutual cooperation of the four fixing plates, some square or blocky objects can be grabbed, under the action of the four arc-shaped plates, some cylindrical objects can be grabbed, by changing the grabbing positions and shapes of the grabbing plates, the mechanical arm assembly can adapt to grabbing of objects of various sizes or shapes, operation is easy, and the mechanical arm assembly is suitable for grabbing of objects of various sizes or shapes. According to the mechanical arm assembly, the assemblies do not need to be replaced frequently, the practicability of the mechanical arm assembly is enhanced, the overall working efficiency can be improved, when the mechanical arm assembly is not used, the unfolded arc-shaped plates can be folded, the grabbing plates are close to one another, and the storage occupied space of the mechanical arm assembly can be reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, in particular to a manipulator component. Background Art

[0002] A manipulator is an automatic operating device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. It is usually composed of a base, an arm, a transmission assembly, a gripping plate, etc. When in use, the arm is controlled to rotate by the transmission assembly, and then the object is clamped and fixed by the gripping plate, and then the arm is controlled by the transmission assembly to operate, thereby achieving the grabbing and moving of the object. However, the shape of the gripping plate is generally fixed (such as a block or arc shape). When grabbing, it can only grab objects of the same shape as it, and cannot adapt to objects of various shapes. If objects of other shapes need to be grabbed, the corresponding gripping plate needs to be replaced, which has low practicality. Therefore, a manipulator assembly is proposed to solve the above technical problems. Utility Model Content

[0003] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0004] The utility model is a manipulator component, comprising a base, an arm and a transverse plate, wherein the arm is connected to the base, the transverse plate is connected to the arm, a clamping mechanism and two groups of adjusting mechanisms are arranged on the surface of the transverse plate, and the clamping mechanism and the two groups of adjusting mechanisms are adapted to each other.

[0005] Preferably, the clamping mechanism includes two movable grooves, a bidirectional screw and a first motor. The two movable grooves are both opened on the surface of the horizontal plate. The bidirectional screw rotates in the two movable grooves. The first motor is fixedly mounted on the surface of one side of the horizontal plate. The output end of the first motor is fixedly connected to the bidirectional screw.

[0006] Preferably, the clamping mechanism also includes two connecting blocks and two grab plates, the two connecting blocks are threadedly sleeved on the surface of the bidirectional lead screw, and the two grab plates are respectively fixedly connected to one side of the corresponding connecting block extending outside the movable groove.

[0007] Preferably, the clamping mechanism also includes four fixed plates, two cylinders and four arc plates, the four fixed plates are fixedly connected to the surfaces of the corresponding grab plates in pairs, the two cylinders are connected to the surfaces of the corresponding grab plates in pairs, and the four arc plates are rotatably connected to the surfaces of the corresponding cylinders in pairs.

[0008] Preferably, the adjustment mechanism includes a second motor and a first bevel gear, the second motor is fixedly connected to the surface of one side of the grab plate, the first bevel gear is arranged in the grab plate, and the output end of the second motor extends into the grab plate and is fixedly connected to the first bevel gear.

[0009] Preferably, the adjustment mechanism also includes two screw rods and two second bevel teeth. The two screw rods are rotatably installed in the grab plate. The two second bevel teeth are respectively fixedly sleeved on the surface of one end of the corresponding screw rods, and the two second bevel teeth are meshed with the first bevel teeth.

[0010] Preferably, the adjustment mechanism also includes two adjustment blocks and two connecting rods, the two adjustment blocks are respectively threadedly sleeved on the surface of the corresponding screw rod, one end of the two connecting rods is respectively hinged to the surface of the corresponding arc plate, and the other end of the two connecting rods is respectively hinged to the surface of the corresponding adjustment block.

[0011] The utility model has the following beneficial effects:

[0012] 1. The utility model provides a manipulator assembly, which can grab some square or block-shaped objects with the cooperation of four fixed plates, and can grab some cylindrical objects with the action of four arc-shaped plates. By changing the grabbing position and shape of the grabbing plate, the manipulator assembly can adapt to the grabbing of objects of various sizes or shapes. The operation is relatively simple and there is no need to frequently replace components. This not only enhances the practicality of the manipulator assembly, but also helps to improve the overall work efficiency.

[0013] 2. The utility model provides a manipulator assembly. Starting the second motor drives the first bevel gear to rotate, the first bevel gear drives the two second bevel gears to rotate, the second bevel gear drives the corresponding screw rod to rotate, the screw rod drives the corresponding adjusting block to move, the adjusting block drives the corresponding connecting rod to move, the connecting rod can drive the corresponding arc plate to unfold, so that the arc plate can be used to grab and fix cylindrical objects. When the manipulator assembly is not in use, the unfolded arc plate can be folded and the grab plates can be brought close to each other, which can reduce the storage space occupied by the manipulator assembly.

[0014] 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

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 This is a three-dimensional structural schematic diagram of a manipulator assembly of the utility model;

[0017] Figure 2 It is a partial structural schematic diagram of the cross plate and the clamping mechanism in the utility model;

[0018] Figure 3It is a schematic diagram of the structural connection of the connecting block, the grab plate, the fixing plate, the cylinder and the arc plate in the utility model;

[0019] Figure 4 It is a schematic diagram of the internal structure connection of the grab plate in the utility model.

[0020] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0021] 1. Base; 2. Arm; 3. Horizontal plate; 401. Moving slot; 402. Bidirectional lead screw; 403. First motor; 404. Connecting block; 405. Grasping plate; 406. Fixing plate; 407. Cylinder; 408. Arc plate; 409. Second motor; 410. First bevel gear; 411. Lead screw; 412. Second bevel gear; 413. Adjusting block; 414. Connecting rod. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] See also Figure 1-4 As shown, the utility model is a manipulator assembly, including a base 1, an arm 2 and a cross plate 3, the arm 2 is connected to the base 1, the cross plate 3 is connected to the arm 2, and a clamping mechanism and two groups of adjusting mechanisms are arranged on the surface of the cross plate 3, and the clamping mechanism and the two groups of adjusting mechanisms are adapted to each other.

[0024] Furthermore, the clamping mechanism includes two movable grooves 401, a bidirectional lead screw 402 and a first motor 403. The two movable grooves 401 are both opened on the surface of the horizontal plate 3. The bidirectional lead screw 402 rotates in the two movable grooves 401. The first motor 403 is fixedly mounted on the surface of one side of the horizontal plate 3. The output end of the first motor 403 is fixedly connected to the bidirectional lead screw 402. The clamping mechanism also includes two connecting blocks 404 and two grab plates 405. The two connecting blocks 404 are both threadedly sleeved on the surface of the bidirectional lead screw 402. The two grab plates 405 are respectively fixedly connected to one side of the corresponding connecting blocks 404 extending outside the movable grooves 401. The clamping mechanism also includes four fixed plates 406, two cylinders 407 and four arc plates 408. The four fixed plates 406 are respectively fixedly connected to the surfaces of the corresponding grab plates 405 in pairs. The two cylinders 407 are respectively The four curved plates 408 are respectively connected to the surfaces of the corresponding gripping plates 405, and are rotatably connected to the surfaces of the corresponding cylinders 407 in pairs. More specifically, the surfaces of the fixed plate 406 and the curved plates 408 are provided with anti-slip pads, which are beneficial to enhancing the friction between the fixed plate 406 and the curved plates 408 and the clamped objects, and are convenient for improving the stability during the clamping process. The two gripping plates 405 can be controlled to move closer or farther away by rotating the bidirectional screw 402, so that the fixed plate 406 can be used to grab some square or block-shaped objects. The movable groove 401 can limit and guide the connecting block 404, so that the connecting block 404 can remain stable when driving the gripping plate 405 to move. The curved plate 408 is rotatably connected to the surface of the cylinder 407 through an annular sleeve, so that the adjustment mechanism can drive the curved plate 408 to unfold or fold, which is convenient for the use of the curved plate 408.

[0025] Furthermore, the adjustment mechanism includes a second motor 409 and a first bevel gear 410, the second motor 409 is fixedly connected to the surface of one side of the grab plate 405, the first bevel gear 410 is arranged in the grab plate 405, the output end of the second motor 409 extends into the grab plate 405 and is fixedly connected to the first bevel gear 410, the adjustment mechanism also includes two screw rods 411 and two second bevel gears 412, the two screw rods 411 are rotatably installed in the grab plate 405, the two second bevel gears 412 are respectively fixedly sleeved on the surface of one end of the corresponding screw rod 411, and the two second bevel gears 412 are meshed with the first bevel gear 410, and the adjustment mechanism also includes two adjustment blocks 413 and two A connecting rod 414 and two adjusting blocks 413 are respectively threadedly sleeved on the surfaces of the corresponding screw rod 411, one end of the two connecting rods 414 is respectively hinged to the surfaces of the corresponding arc plate 408, and the other ends of the two connecting rods 414 are respectively hinged to the surfaces of the corresponding adjusting blocks 413. More specifically, a through groove is provided on the side of the grab plate 405 close to the arc plate 408, and one end of the connecting rod 414 extends outside the through groove to be hinged to the surface of the arc plate 408, so that when the adjusting block 413 moves, the arc plate 408 can be driven to unfold, so that the arc plate 408 can be used to grab and fix some cylindrical objects, which is beneficial to improving the overall practicality of the device.

[0026] A specific application of this embodiment is: when the device needs to be used, the base 1 is fixed in a suitable position, the cross plate 3 can be moved to the vicinity of the required object to be grasped through the machine arm 2, the first motor 403 is started to drive the bidirectional screw 402 to rotate, the bidirectional screw 402 drives the connecting block 404 to move, the connecting block 404 drives the grab plate 405 to move, the grab plate 405 drives the fixed plate 406 to move, and with the mutual cooperation of the four fixed plates 406, some square or block-shaped objects can be grasped. When some cylindrical objects need to be grasped, the second motor 409 is started to drive the first bevel gear 410 to rotate, the first bevel gear 410 drives the two second bevel gears 412 to rotate, the second bevel gear 412 drives the corresponding screw rod 411 to rotate, the screw rod 411 drives the corresponding adjustment block 413 to move, the adjustment block 413 drives the corresponding connecting rod 414 to move, the connecting rod 414 can drive the corresponding arc plate 408 to unfold, and under the action of the four arc plates 408, some cylindrical objects can be grasped.

[0027] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0028] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model 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 utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A robot assembly, comprising a base (1), an arm (2) and a transverse plate (3), wherein the arm (2) is connected to the base (1), and the transverse plate (3) is connected to the arm (2), characterized in that: The surface of the transverse plate (3) is provided with a clamping mechanism and two groups of adjusting mechanisms, and the clamping mechanism and the two groups of adjusting mechanisms are adapted to each other; The clamping mechanism comprises two movable grooves (401), a bidirectional lead screw (402) and a first motor (403); the two movable grooves (401) are both provided on the surface of the horizontal plate (3); the bidirectional lead screw (402) rotates in the two movable grooves (401); the first motor (403) is fixedly mounted on the surface of one side of the horizontal plate (3); and the output end of the first motor (403) is fixedly connected to the bidirectional lead screw (402); The clamping mechanism also includes two connecting blocks (404) and two grab plates (405), the two connecting blocks (404) are both threadedly sleeved on the surface of the bidirectional lead screw (402), and the two grab plates (405) are respectively fixedly connected to one side of the corresponding connecting block (404) extending outside the movable groove (401); The clamping mechanism further comprises four fixed plates (406), two cylinders (407) and four arc-shaped plates (408); the four fixed plates (406) are respectively fixedly connected to the surfaces of the corresponding gripping plates (405) in pairs, the two cylinders (407) are respectively connected to the surfaces of the corresponding gripping plates (405), and the four arc-shaped plates (408) are respectively rotatably connected to the surfaces of the corresponding cylinders (407) in pairs; The adjustment mechanism comprises a second motor (409) and a first bevel gear (410); the second motor (409) is fixedly connected to the surface of one side of the grab plate (405); the first bevel gear (410) is arranged in the grab plate (405); and the output end of the second motor (409) extends into the grab plate (405) and is fixedly connected to the first bevel gear (410); The adjustment mechanism also includes two screw rods (411) and two second bevel teeth (412), the two screw rods (411) are rotatably mounted in the grab plate (405), the two second bevel teeth (412) are respectively fixedly sleeved on the surface of one end of the corresponding screw rod (411), and the two second bevel teeth (412) are meshed with the first bevel teeth (410); The adjustment mechanism also includes two adjustment blocks (413) and two connecting rods (414); the two adjustment blocks (413) are respectively threadedly sleeved on the surface of the corresponding screw rod (411); one end of the two connecting rods (414) is respectively hinged to the surface of the corresponding arc plate (408); and the other end of the two connecting rods (414) is respectively hinged to the surface of the corresponding adjustment block (413).

Images