Material grabbing manipulator with flexible anti-skid clamping mechanism

Abstract

The utility model belongs to the technical field of mechanical arm grabbing, and particularly relates to a grabbing mechanical arm with a flexible anti-skid clamping mechanism, which comprises a mounting base, a mounting hole is formed in the mounting base, a stand column is fixedly mounted at the top of the mounting base, and a base connecting plate is fixedly mounted on the outer side of the stand column. A first rotating shaft is movably mounted at the top of the base connecting plate, a first connecting shaft is movably mounted at the top of the first rotating shaft, and during use, the first rotating shaft, the first connecting shaft, a second connecting block, a third connecting block, a fourth connecting block, a fifth connecting block and a sixth connecting block are matched; a first connecting shaft, a second connecting shaft, a third connecting shaft, a fourth connecting shaft, a fifth connecting shaft, a sixth connecting shaft and a seventh connecting shaft can be connected through a first rotating shaft, a first connecting shaft, a second connecting block, a third connecting block, a fourth connecting block, a fifth connecting block and a sixth connecting block, so that flexible movement of the mechanical gripper is guaranteed; the practicability of the device is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of material grabbing by a manipulator, and in particular relates to a material grabbing manipulator with a flexible anti-slip clamping mechanism. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms to grab, move objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and has the advantages of both human and mechanical machines in terms of structure and performance. Flexible manipulators are widely used in automatic production lines to automatically transfer materials between processing equipment or between automatic conveyor belts and equipment. Sometimes, while transferring materials, it is also necessary to change the direction of the materials.

[0003] Some existing mechanical grippers have a simple structure and fewer movable mechanisms, resulting in a small range of motion for the mechanical grippers, which cannot meet some material grabbing requirements, resulting in reduced working efficiency of the device and reduced practicality of the mechanical grippers. Utility Model Content

[0004] In order to solve the problems raised in the above background technology, the utility model provides a material grabbing robot with a flexible anti-slip clamping mechanism, which solves the problem that the mechanical gripper has fewer movable mechanisms, resulting in a smaller range of movement of the mechanical gripper and unable to meet some material grabbing needs.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a material grabbing robot with a flexible anti-slip clamping mechanism, comprising a mounting base, a mounting hole is arranged inside the mounting base, a column is fixedly mounted on the top of the mounting base, a base connecting plate is fixedly mounted on the outer side of the column, a first rotating shaft is movably mounted on the top of the base connecting plate, a first connecting shaft is movably mounted on the top of the first rotating shaft, an eighth connecting shaft is movably mounted on the top of the first connecting shaft, a first driving motor is movably mounted on the inside of the eighth connecting shaft, a second connecting shaft is movably mounted on the output end of the first driving motor, a second connecting block is movably mounted on the side of the second connecting shaft, a second driving motor is movably mounted inside the second connecting block, a third connecting shaft is movably mounted on the top of the second connecting block, and the third A third connecting block is movably installed on the top of the connecting shaft, a third drive motor is movably installed inside the third connecting block, a fourth connecting shaft is movably installed on the side of the third drive motor, a fourth connecting shaft is movably installed on one side of the fourth connecting shaft, a fourth drive motor is movably installed inside the fourth connecting block, a fifth connecting shaft is movably installed on the side of the fourth connecting block, a fifth connecting block is movably installed on the side of the fifth connecting shaft, a fifth drive motor is movably installed inside the fifth connecting block, a sixth connecting shaft is movably installed on the output end of the fifth drive motor, a sixth connecting block is movably installed on the side of the sixth connecting shaft, a sixth drive motor is movably installed inside the sixth connecting block, a seventh connecting shaft is movably installed on the output end of the sixth drive motor, and a first connecting plate is fixedly installed on the bottom of the seventh connecting shaft.

[0006] Preferably, a fixing block is fixedly installed on the side surface of the first connecting plate, and a mounting block is fixedly installed on the bottom of the fixing block.

[0007] Preferably, a pull rod connecting shaft is movably installed inside the mounting block, and connecting shaft anti-dropping blocks are movably installed on both sides of the pull rod connecting shaft.

[0008] Preferably, pull rods are movably mounted on both sides of the pull rod connecting shaft, a gripper mounting block is movably mounted on one end of the pull rod, and a gripper connecting shaft is fixedly mounted on the bottom of the gripper mounting block.

[0009] Preferably, a flexible gripper is fixedly mounted on the side of the gripper connecting shaft, and a threaded rod driving motor is fixedly mounted inside the first connecting plate.

[0010] Preferably, a threaded rod is movably mounted on the output end of the threaded rod driving motor, an anti-slip block is fixedly mounted on the bottom of the threaded rod, and a connecting plate mounting block is threadedly connected to the outer periphery of the anti-slip block.

[0011] Preferably, a second connecting shaft of the connecting plate mounting block is movably mounted on the side surface of the connecting plate mounting block, a connecting plate is movably mounted on the periphery of the connecting shaft of the mounting block, and one end of the second connecting plate is movably connected to the gripper connecting shaft.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] When in use, in conjunction with the first rotating shaft, the eighth connecting shaft, the second connecting block, the third connecting block, the fourth connecting block, the fifth connecting block and the sixth connecting block, the first connecting shaft, the second connecting shaft, the third connecting block, the fourth connecting block, the fifth connecting block and the sixth connecting block can be connected through the first rotating shaft, the eighth connecting shaft, the second connecting block, the third connecting block, the fourth connecting block, the fifth connecting block and the sixth connecting block, thereby ensuring the flexible movement of the mechanical gripper and improving the practicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0015] Figure 1 This is the first three-dimensional structural diagram of the utility model;

[0016] Figure 2 This is a second three-dimensional structural diagram of the utility model;

[0017] Figure 3 This is a third three-dimensional structural diagram of the utility model;

[0018] Figure 4 This is a fourth three-dimensional structural diagram of the present utility model.

[0019] In the figure: 1, mounting base; 2, mounting hole; 3, base connecting plate; 4, column; 5, first rotating shaft; 6, first connecting shaft; 7, eighth connecting shaft; 8, first driving motor; 9, second connecting shaft; 10, second connecting block; 11, second driving motor; 12, third connecting shaft; 13, third connecting block; 14, third driving motor; 15, fourth connecting shaft; 16, fourth connecting block; 17, fifth connecting shaft; 18, fifth connecting block; 19, fifth driving motor; 20, sixth connecting shaft; Connecting shaft; 21. sixth connecting block; 22. sixth driving motor; 23. seventh connecting shaft; 24. first connecting plate; 25. fixing block; 26. threaded rod driving motor; 27. threaded rod; 28. anti-slip block; 29. ​​mounting block; 30. pull rod connecting shaft; 31. pull rod; 32. connecting shaft anti-slip block; 33. gripper mounting block; 34. gripper connecting shaft; 35. flexible gripper; 36. connecting plate mounting block; 37. mounting block connecting shaft; 38. second connecting plate; 39. fourth driving motor. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0021] See also Figure 1-4The utility model provides the following technical solutions: a material grabbing manipulator with a flexible anti-slip clamping mechanism, comprising a mounting base 1, a mounting hole 2 is arranged inside the mounting base 1, a column 4 is fixedly installed on the top of the mounting base 1, a base connecting plate 3 is fixedly installed on the outer side of the column 4, a first rotating shaft 5 is movably installed on the top of the base connecting plate 3, a first connecting shaft 6 is movably installed on the top of the first rotating shaft 5, an eighth connecting shaft 7 is movably installed on the top of the first connecting shaft 6, a first driving motor 8 is movably installed inside the eighth connecting shaft 7, a second connecting shaft 9 is movably installed on the output end of the first driving motor 8, a second connecting block 10 is movably installed on the side of the second connecting shaft 9, a second driving motor 11 is movably installed inside the second connecting block 10, a third connecting shaft 12 is movably installed on the top of the second connecting block 10, a third connecting block 13 is movably installed on the top of the third connecting shaft 12, a third driving motor 14 is movably installed inside the third connecting block 13, and the third connecting shaft 14 is movably installed on the inside of the third connecting block 13. A fourth connecting shaft 15 is movably installed on the side of the third driving motor 14, 16 is movably installed on one side of the fourth connecting shaft 15, a fourth driving motor 39 is movably installed inside the fourth connecting block 16, a fifth connecting shaft 17 is movably installed on the side of the fourth connecting block 16, a fifth connecting block 18 is movably installed on the side of the fifth connecting shaft 17, a fifth driving motor 19 is movably installed inside the fifth connecting block 18, a sixth connecting shaft 20 is movably installed on the output end of the fifth driving motor 19, a sixth connecting block 21 is movably installed on the side of the sixth connecting shaft 20, a sixth driving motor 22 is movably installed inside the sixth connecting block 21, a seventh connecting shaft 23 is movably installed on the output end of the sixth driving motor 22, the seventh connecting shaft 23 can drive the first connecting plate 24 to rotate, thereby driving the mechanical gripper to rotate through the rotation of the first connecting plate 24, thereby improving the practicality of the mechanical gripper, and the first connecting plate 24 is fixedly installed on the bottom of the seventh connecting shaft 23.

[0022] In this embodiment: by installing the base 1, the installation hole 2 and the base connecting plate 3, the installation base 1 can be matched with the installation hole 2 to provide an installation method for the device, and the base connecting plate 3 can be matched to improve the stability of the device.

[0023] In this embodiment: through the pull rod 31 and the gripper mounting block 33, the movement of the pull rod 31 can drive the gripper mounting block 33 to move, thereby cooperating with the gripper mounting block 33 to drive the gripper connecting shaft 34 to grip the material.

[0024] In this embodiment: the threaded rod driving motor 26 drives the threaded rod 27 movably installed at its output end to rotate, thereby driving the threaded rod driving motor 26 threadedly connected to its periphery to move, thereby driving the mechanical gripper to work.

[0025] The working principle and use process of the utility model: After the utility model is installed, the first drive motor 8, the second drive motor 11, the third drive motor 14, the fourth drive motor 39, the fifth drive motor 19 and the sixth drive motor 22 are driven to drive the second connecting shaft 9, the third connecting shaft 12, the fourth connecting shaft 15, the fifth connecting shaft 17, the sixth connecting shaft 20 and the seventh connecting shaft 23 to move, thereby providing sufficient activity space for the device, and then the threaded rod 27 movably installed at the output end of the threaded rod drive motor 26 is driven to rotate, so that the threaded rod drive motor 26 threadedly connected to its periphery is driven to move through the rotation of the threaded rod 27, so that the second connecting plate 38 is driven to move through the threaded rod drive motor 26, and then the pull rod 31 is driven to move through the second connecting plate 38, and the gripper mounting block 33 is driven to move through the pull rod 31, and then the gripper connecting shaft 34 is driven to move through the gripper mounting block 33, and the flexible gripper 35 is cooperated to carry out material grabbing work. All electrical equipment in this device is powered by an external power supply.

[0026] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A material gripping manipulator with a flexible anti-slip gripping mechanism, comprising a mounting base (1), characterized in that: The mounting base (1) is provided with a mounting hole (2) inside, a column (4) is fixedly mounted on the top of the mounting base (1), a base connecting plate (3) is fixedly mounted on the outer side of the column (4), a first rotating shaft (5) is movably mounted on the top of the base connecting plate (3), a first connecting shaft (6) is movably mounted on the top of the first rotating shaft (5), an eighth connecting shaft (7) is movably mounted on the top of the first connecting shaft (6), a first driving motor (8) is movably mounted inside the eighth connecting shaft (7), a second connecting shaft (9) is movably mounted on the output end of the first driving motor (8), a second connecting block (10) is movably mounted on the side of the second connecting shaft (9), a second driving motor (11) is movably mounted inside the second connecting block (10), a third connecting shaft (12) is movably mounted on the top of the second connecting block (10), a third connecting block (13) is movably mounted on the top of the third connecting shaft (12), and a first connecting block (13) is movably mounted inside the third connecting block (13). A third drive motor (14) is provided, a fourth connecting shaft (15) is movably mounted on the side of the third drive motor (14), a fourth connecting block (16) is movably mounted on one side of the fourth connecting shaft (15), a fourth drive motor (39) is movably mounted inside the fourth connecting block (16), a fifth connecting shaft (17) is movably mounted on the side of the fourth connecting block (16), a fifth connecting block (18) is movably mounted on the side of the fifth connecting shaft (17), a fifth drive motor (19) is movably mounted inside the fifth connecting block (18), a sixth connecting shaft (20) is movably mounted on the output end of the fifth drive motor (19), a sixth connecting block (21) is movably mounted on the side of the sixth connecting shaft (20), a sixth drive motor (22) is movably mounted inside the sixth connecting block (21), a seventh connecting shaft (23) is movably mounted on the output end of the sixth drive motor (22), and a first connecting plate (24) is fixedly mounted on the bottom of the seventh connecting shaft (23).

2. The material gripping manipulator with a flexible anti-slip clamping mechanism according to claim 1 is characterized in that: A fixing block (25) is fixedly mounted on the side of the first connecting plate (24), and a mounting block (29) is fixedly mounted on the bottom of the fixing block (25).

3. The material gripping manipulator with a flexible anti-slip clamping mechanism according to claim 2 is characterized in that: A pull rod connecting shaft (30) is movably mounted inside the mounting block (29), and connecting shaft anti-dropping blocks (32) are movably mounted on both sides of the pull rod connecting shaft (30).

4. The material gripping manipulator with a flexible anti-slip clamping mechanism according to claim 3 is characterized in that: Pull rods (31) are movably mounted on both sides of the pull rod connecting shaft (30), a gripper mounting block (33) is movably mounted on one end of the pull rod (31), and a gripper connecting shaft (34) is fixedly mounted on the bottom of the gripper mounting block (33).

5. The material gripping manipulator with a flexible anti-slip clamping mechanism according to claim 4 is characterized in that: A flexible gripper (35) is fixedly mounted on the side of the gripper connecting shaft (34), and a threaded rod driving motor (26) is fixedly mounted inside the first connecting plate (24).

6. The material gripping manipulator with a flexible anti-slip clamping mechanism according to claim 5, characterized in that: A threaded rod (27) is movably mounted on the output end of the threaded rod driving motor (26), an anti-slip block (28) is fixedly mounted on the bottom of the threaded rod (27), and a connecting plate mounting block (36) is threadedly connected to the outer periphery of the anti-slip block (28).

7. The material gripping manipulator with a flexible anti-slip clamping mechanism according to claim 6, characterized in that: A mounting block connecting shaft (37) is movably mounted on the side of the connecting plate mounting block (36), a second connecting plate (38) is movably mounted on the periphery of the mounting block connecting shaft (37), and one end of the second connecting plate (38) is movably connected to the gripper connecting shaft (34).

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