Manipulator structure facilitating grabbing

Abstract

The utility model relates to the technical field of mechanical arm equipment, in particular to a mechanical arm structure convenient to grab, which comprises a mechanical arm and a grabbing mechanism, the grabbing mechanism comprises a bottom plate, two mounting plates, a top plate, a supporting disc, a plurality of fixing rods, a first motor, a threaded rod, a lifting ring and a plurality of groups of clamping assemblies, and the mechanical arm is arranged on the upper surface of the bottom plate; the two mounting plates are rotationally connected with the mechanical arm, the top plate is fixedly connected with the two mounting plates, the supporting disc is arranged below the top plate, the first motor is fixedly connected with the top plate, the threaded rod penetrates through the lifting ring and is in threaded fit with the lifting ring, and one end of the threaded rod is rotationally connected with the supporting disc. And the other end of the threaded rod is fixedly connected with the output end of the first motor, the multiple sets of clamping assemblies are arranged on the outer side of the lifting ring, through the arrangement, objects can be conveniently grabbed, and the object grabbing stability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator equipment, in particular to a manipulator structure which is convenient for grasping. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. Its characteristic is that it can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both human and mechanical machines.

[0003] For example, the prior art patent (CN214238287U) discloses a manipulator, including a base, an upper arm, a first lower arm, a second lower arm, a wrist and a clamp, etc. A rotating shoulder joint and a pitching shoulder joint are arranged between the base and the upper arm, a pitching elbow joint is arranged between the upper arm and the second lower arm, a rotating elbow joint is arranged between the first lower arm and the second lower arm, a pitching wrist joint is arranged between the first lower arm and the wrist, a rotating wrist joint is arranged between the wrist and the clamp, and a clamp joint is arranged in the clamp for grasping target objects. This new type of use solves the problems of low energy efficiency and poor control performance of the manipulator.

[0004] However, in the above-mentioned prior art, the structure of the clamp is simple, which is not convenient for grasping objects, and the stability of grasping objects is poor. Utility Model Content

[0005] The utility model aims to provide a manipulator structure that is convenient for grasping, aiming to solve the technical problems in the prior art that the structure of the clamp is simple, it is not convenient to grasp objects, and the stability of grasping objects is poor.

[0006] To achieve the above-mentioned purpose, the utility model adopts a manipulator structure for convenient grasping, including a manipulator arm and a grasping mechanism, the grasping mechanism including a base plate, two mounting plates, a top plate, a support plate, a plurality of fixed rods, a first motor, a threaded rod, a lifting ring and a plurality of groups of clamping components, the manipulator arm is arranged on the upper surface of the base plate, the two mounting plates are rotatably connected to the manipulator arm respectively, the top plate is fixedly connected to the two mounting plates respectively, the support plate is arranged below the top plate, one ends of the plurality of fixed rods are fixedly connected to the top plate respectively, the other ends of the plurality of fixed rods are fixedly connected to the support plate respectively, the first motor is fixedly connected to the top plate and is located on the lower surface of the top plate, the threaded rod passes through the lifting ring and cooperates with the lifting ring thread, one end of the threaded rod is rotatably connected to the support plate, and the other end of the threaded rod is fixedly connected to the output end of the first motor.

[0007] Wherein, each group of the clamping components includes a clamping plate, an anti-slip pad and a connecting piece, the connecting piece is fixedly connected to the lifting ring, the clamping plate is fixedly connected to the connecting piece, the anti-slip pad is fixedly connected to the clamping plate and is located on one side of the clamping plate.

[0008] Among them, the connecting member includes a connecting rod, two rotating blocks and a moving member, the moving member is fixedly connected to the clamping plate, the two rotating blocks are fixedly connected to the lifting ring, one end of the connecting rod is hinged to the moving member, and the other end of the connecting rod is rotatably connected to the two rotating blocks respectively.

[0009] Among them, the moving part includes a moving plate and a round rod, the moving plate passes through the supporting plate, one end of the moving plate is fixedly connected to the clamping plate, the other end of the moving plate is hinged to the connecting rod, the round rod passes through the moving plate and is slidably connected to the moving plate, and the two ends of the round rod are respectively fixedly connected to the supporting plate.

[0010] Wherein, the supporting plate has a plurality of rectangular grooves adapted to the moving plate.

[0011] Among them, the manipulator structure that is convenient for grasping also includes a base, an adjustment plate, two support rods and a lifting assembly, the base has a cavity, the lifting assembly is arranged in the cavity, the adjustment plate is threadedly matched with the lifting assembly, the two support rods respectively pass through the base and are slidably connected to the base, one end of the two support rods are respectively fixedly connected to the adjustment plate, and the other end of the two support rods are respectively fixedly connected to the bottom plate.

[0012] Among them, the lifting assembly includes a second motor, a screw rod and two groups of guide parts. The second motor is fixedly connected to the base. The screw rod passes through the adjustment plate and is threadedly matched with the adjustment plate. One end of the screw rod is rotatably connected to the base, and the other end of the screw rod is fixedly connected to the output end of the second motor. The two groups of guide parts are symmetrically arranged on the outside of the adjustment plate.

[0013] Among them, each group of the guide members includes a slider and a guide rod, the slider is fixedly connected to the adjustment plate and is located on the outside of the adjustment plate, the guide rod passes through the slider and is slidably connected to the slider, and the two ends of the guide rod are respectively fixedly connected to the base.

[0014] The utility model discloses a manipulator structure for convenient grasping, wherein the threaded rod passes through the lifting ring and cooperates with the lifting ring thread, one end of the threaded rod is rotatably connected to the support disk, and the other end of the threaded rod is fixedly connected to the output end of the first motor. When it is used specifically, the support disk is moved to the top of the object by the mechanical arm, and then the first motor is started, and the output end of the first motor drives the threaded rod to rotate, so that the lifting ring moves upward, and the lifting ring drives multiple groups of the clamping components to move toward the axis of the support disk, thereby clamping and fixing the object, and then the mechanical arm moves along the X-axis, Y-axis, and Z-axis, thereby moving the object. When it moves to the specified position, the first motor drives the threaded rod to reverse, so that the lifting ring moves downward, and the lifting ring drives multiple groups of the clamping components to move in a direction away from the axis of the support disk, thereby releasing the clamping of the object. This method can effectively solve the problem that the structure of the clamp part is simple, it is not convenient to grasp the object, and the stability of grasping the object is poor in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be 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 paying creative work.

[0016] Figure 1 It is a structural schematic diagram of the first embodiment of the utility model.

[0017] Figure 2 It is a partial structural schematic diagram of the first embodiment of the utility model.

[0018] Figure 3 It is a partial structural schematic diagram of the first embodiment of the utility model.

[0019] Figure 4 It is a structural schematic diagram of the second embodiment of the utility model.

[0020] Figure 5 It is a partial structural sectional view of the second embodiment of the utility model.

[0021] 101-mechanical arm, 102-bottom plate, 103-mounting plate, 104-top plate, 105-support plate, 106-rectangular groove, 107-fixing rod, 108-first motor, 109-threaded rod, 110-lifting ring, 111-clamping plate, 112-anti-slip pad, 113-connecting rod, 114-rotating block, 115-moving plate, 116-round rod, 201-base, 202-cavity, 203-adjusting plate, 204-support rod, 205-second motor, 206-screw, 207-slider, 208-guide rod. DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0023] The first embodiment of the present application is:

[0024] See also Figure 1 to Figure 3 ,in Figure 1 It is a structural schematic diagram of the first embodiment of the utility model. Figure 2 It is a partial structural schematic diagram of the first embodiment of the utility model. Figure 3 It is a partial structural schematic diagram of the first embodiment of the utility model.

[0025] The utility model provides a manipulator structure for convenient grasping, including a manipulator arm 101 and a grasping mechanism, wherein the grasping mechanism includes a bottom plate 102, two mounting plates 103, a top plate 104, a support plate 105, a plurality of fixed rods 107, a first motor 108, a threaded rod 109, a lifting ring 110 and a plurality of groups of clamping components, each group of the clamping components includes a clamping plate 111, an anti-slip pad 112 and a connecting piece, the connecting piece includes a connecting rod 113, two rotating blocks 114 and a moving piece, and the moving piece includes a moving plate 115 and a round rod 116. The above-mentioned scheme solves the problem in the prior art that the structure of the clamp is simple, it is not convenient to grasp objects, and the stability of grasping objects is poor.

[0026] According to the present specific embodiment, the mechanical arm 101 is arranged on the upper surface of the bottom plate 102, the two mounting plates 103 are rotatably connected to the mechanical arm 101 respectively, the top plate 104 is fixedly connected to the two mounting plates 103 respectively, the support plate 105 is arranged below the top plate 104, one end of the plurality of fixing rods 107 is fixedly connected to the top plate 104 respectively, the other end of the plurality of fixing rods 107 is fixedly connected to the support plate 105 respectively, the first motor 108 is fixedly connected to the top plate 104 and is located on the lower surface of the top plate 104, the threaded rod 109 passes through the lifting ring 110 and is threadedly matched with the lifting ring 110, one end of the threaded rod 109 is rotatably connected to the support plate 105, and the other end of the threaded rod 109 is fixedly connected to the first motor The output end of 108 is fixedly connected. When it is used specifically, the support plate 105 is moved to the top of the object by the mechanical arm 101, and then the first motor 108 is started. The output end of the first motor 108 drives the threaded rod 109 to rotate, so that the lifting ring 110 moves upward, and the lifting ring 110 drives multiple groups of the clamping components to move toward the axis of the support plate 105, so as to clamp and fix the object, and then the mechanical arm 101 moves the X-axis, Y-axis, and Z-axis to move the object. When it moves to the specified position, the first motor 108 drives the threaded rod 109 to reverse, so that the lifting ring 110 moves downward, and the lifting ring 110 drives multiple groups of the clamping components to move away from the axis of the support plate 105, so as to release the clamping of the object.

[0027] Among them, the connecting piece is fixedly connected to the lifting ring 110, the clamping plate 111 is fixedly connected to the connecting piece, and the anti-slip pad 112 is fixedly connected to the clamping plate 111 and is located on one side of the clamping plate 111. When in use, the lifting ring 110 moves upward to drive the connecting piece to move, and the connecting piece drives the clamping plate 111 to move toward the axis of the supporting disk 105, thereby clamping the object. The friction between the clamping plate 111 and the object can be enhanced by the anti-slip pad 112, thereby improving the stability of clamping the object.

[0028] Secondly, the moving part is fixedly connected to the splint 111, the two rotating blocks 114 are fixedly connected to the lifting ring 110, one end of the connecting rod 113 is hinged to the moving part, and the other end of the connecting rod 113 is rotatably connected to the two rotating blocks 114 respectively. When in use, the lifting ring 110 drives the two rotating blocks 114 to move upward, the two rotating blocks 114 drive one end of the connecting rod 113 to move upward, and the other end of the connecting rod 113 drives the moving part to move.

[0029] At the same time, the movable plate 115 passes through the supporting plate 105, one end of the movable plate 115 is fixedly connected to the clamping plate 111, the other end of the movable plate 115 is hinged to the connecting rod 113, the round rod 116 passes through the movable plate 115 and is slidably connected to the movable plate 115, and the two ends of the round rod 116 are respectively fixedly connected to the supporting plate 105. When in use, the connecting rod 113 drives the movable plate 115 to slide horizontally on the round rod 116, and the movable plate 115 drives the clamping plate 111 to move.

[0030] In addition, the support plate 105 has a plurality of rectangular grooves 106 adapted to the movable plate 115 . When in use, the movable plate 115 slides in the rectangular grooves 106 , and the round rods 116 are disposed in the rectangular grooves 106 .

[0031] A manipulator structure convenient for grasping is used in this embodiment. When it is used, the support plate 105 is moved to the top of the object by the manipulator 101, and then the first motor 108 is started. The output end of the first motor 108 drives the threaded rod 109 to rotate, so that the lifting ring 110 moves upward, and the lifting ring 110 drives the two rotating blocks 114 to move upward. The two rotating blocks 114 drive one end of the connecting rod 113 to move upward, and the other end of the connecting rod 113 drives the moving plate 115 to slide on the round rod 116. The moving plate 115 drives the clamping plate 111 to move toward the axis of the support plate 105, so as to clamp and fix the object, and then the manipulator 101 is used to move the object upward. The object is moved along the X-axis, Y-axis and Z-axis. When it moves to the specified position, the first motor 108 drives the threaded rod 109 to reverse, so that the lifting ring 110 moves downward, and the lifting ring 110 drives the two rotating blocks 114 to move downward. The two rotating blocks 114 drive one end of the connecting rod 113 to move downward, and the other end of the connecting rod 113 drives the moving plate 115 to slide on the round rod 116. The moving plate 115 drives the clamping plate 111 to move away from the axis of the supporting disk 105, thereby releasing the clamping of the object. This method can effectively solve the problems in the prior art that the structure of the clamp is simple, it is not convenient to grasp the object, and the stability of grasping the object is poor.

[0032] The second embodiment of the present application is:

[0033] Based on the first embodiment, please refer to Figure 4 and Figure 5 ,in Figure 4 It is a structural schematic diagram of the second embodiment of the utility model. Figure 5It is a partial structural sectional view of the second embodiment of the utility model.

[0034] The utility model provides a manipulator structure that is convenient for grasping, and also includes a base 201, an adjustment plate 203, two support rods 204 and a lifting assembly, wherein the lifting assembly includes a second motor 205, a screw rod 206 and two groups of guide members, each group of the guide members includes a slider 207 and a guide rod 208.

[0035] With respect to this specific embodiment, the base 201 has a cavity 202, the lifting assembly is arranged in the cavity 202, the adjustment plate 203 is threadedly matched with the lifting assembly, the two support rods 204 respectively penetrate the base 201 and are slidably connected to the base 201, one end of the two support rods 204 is respectively fixedly connected to the adjustment plate 203, and the other ends of the two support rods 204 are respectively fixedly connected to the bottom plate 102. When in specific use, the adjustment plate 203 is driven to move upward by the lifting assembly, the adjustment plate 203 drives the two support rods 204 to move upward, and the two support rods 204 respectively drive the bottom plate 102 to move upward, thereby adjusting the installation height of the robotic arm 101.

[0036] Among them, the second motor 205 is fixedly connected to the base 201, the screw rod 206 passes through the adjustment plate 203 and is threadedly matched with the adjustment plate 203, one end of the screw rod 206 is rotatably connected to the base 201, and the other end of the screw rod 206 is fixedly connected to the output end of the second motor 205, and the two groups of guide members are symmetrically arranged on the outside of the adjustment plate 203. When in use, the second motor 205 is started, and the output end of the second motor 205 drives the screw rod 206 to rotate, so that the adjustment plate 203 moves upward.

[0037] Secondly, the slider 207 is fixedly connected to the adjustment plate 203 and is located on the outside of the adjustment plate 203. The guide rod 208 passes through the slider 207 and is slidably connected to the slider 207. Both ends of the guide rod 208 are respectively fixedly connected to the base 201. When in use, the adjustment plate 203 moves upward to drive the slider 207 to slide on the guide rod 208, thereby making the adjustment plate 203 move more smoothly.

[0038] A manipulator structure that is convenient for grasping is used in this embodiment. When it is used, the second motor 205 is started, and the output end of the second motor 205 drives the screw rod 206 to rotate, so that the adjustment plate 203 moves upward, and the adjustment plate 203 drives the two support rods 204 to move upward, and the two support rods 204 respectively drive the base plate 102 to move upward, thereby adjusting the installation height of the manipulator 101.

[0039] At the same time, before grasping the object, the simulation data of the object is obtained through mathematical modeling, and the object information and the robotic arm 101 are input into the pybullet simulation environment. In the simulation environment, all the information of the object can be obtained, and the working area pictures under multiple perspectives are obtained through the simulated camera perspective set on the robotic arm 101. Nerf is used to perform three-dimensional reconstruction to obtain point cloud information of the scene, and the point cloud information is input into the GraspNet network to obtain the grasping posture for the target object.

[0040] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope covered by the utility model.

Claims

1. A manipulator structure for convenient grasping, comprising a manipulator arm, characterized in that: The cam is provided with a plurality of fixing rods, the fixing rods being connected to the lifting ring and the fixing rods being connected to the lifting ring.

2. The convenient grasping manipulator structure according to claim 1, characterized in that: Each group of the clamping components includes a clamping plate, an anti-skid pad and a connecting piece, the connecting piece is fixedly connected to the lifting ring, the clamping plate is fixedly connected to the connecting piece, and the anti-skid pad is fixedly connected to the clamping plate and is located on one side of the clamping plate.

3. The convenient grasping manipulator structure as claimed in claim 2, characterized in that: The connecting member includes a connecting rod, two rotating blocks and a moving member, the moving member is fixedly connected to the clamping plate, the two rotating blocks are fixedly connected to the lifting ring, one end of the connecting rod is hinged to the moving member, and the other end of the connecting rod is rotatably connected to the two rotating blocks respectively.

4. The convenient grasping manipulator structure as claimed in claim 3, characterized in that: The movable member includes a movable plate and a round rod, the movable plate passes through the supporting plate, one end of the movable plate is fixedly connected to the clamping plate, the other end of the movable plate is hinged to the connecting rod, the round rod passes through the movable plate and is slidably connected to the movable plate, and both ends of the round rod are respectively fixedly connected to the supporting plate.

5. The convenient grasping manipulator structure as claimed in claim 4, characterized in that: The supporting plate has a plurality of rectangular grooves adapted to the moving plate.

6. The convenient grasping manipulator structure as claimed in claim 5, characterized in that: The manipulator structure that facilitates grasping also includes a base, an adjustment plate, two support rods and a lifting assembly. The base has a cavity, the lifting assembly is arranged in the cavity, the adjustment plate is threadedly matched with the lifting assembly, the two support rods respectively penetrate the base and are slidably connected to the base, one end of the two support rods is fixedly connected to the adjustment plate, and the other end of the two support rods is fixedly connected to the bottom plate.

7. The convenient grasping manipulator structure according to claim 6, characterized in that: The lifting assembly includes a second motor, a screw and two groups of guide members. The second motor is fixedly connected to the base. The screw passes through the adjustment plate and is threadedly engaged with the adjustment plate. One end of the screw is rotatably connected to the base, and the other end of the screw is fixedly connected to the output end of the second motor. The two groups of guide members are symmetrically arranged on the outside of the adjustment plate.

8. The convenient grasping manipulator structure according to claim 7, characterized in that: Each group of guide members includes a slider and a guide rod. The slider is fixedly connected to the adjustment plate and is located outside the adjustment plate. The guide rod passes through the slider and is slidably connected to the slider. Both ends of the guide rod are fixedly connected to the base respectively.

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