Carrying manipulator with three degrees of freedom

Abstract

The utility model discloses a three-degree-of-freedom carrying manipulator, and relates to the related technical field of manipulators. The device comprises a circular plate, three strip-shaped plates which are annularly and evenly distributed are fixed to the circumferential side of the circular plate, clamping strips are arranged under the strip-shaped plates, rail openings penetrating through the ends of the strip-shaped plates are formed in the upper end faces of the strip-shaped plates, and I-shaped blocks which are arranged on the circumferential sides of the strip-shaped plates in a sliding and sleeving mode are arranged in the rail openings. Semicircular racks penetrating through the inner positions of the rail openings are fixed to the end faces, opposite to the circular plate, of the clamping strips, synchronous motors are fixed to the end faces, located above the strip-shaped plate, of the I-shaped blocks, and toothed plates connected with the semicircular racks in an engaged mode are fixed to the rotating shaft ends of the synchronous motors. The clamping strips can be driven to rotate through rotation of the semicircular racks, the clamping stability of the clamping strips is improved, meanwhile, the I-shaped blocks slide in the track opening along the strip-shaped plates, and the range between the multiple clamping strips can be adjusted.

Description

Technical Field

[0001] The utility model belongs to the technical field related to manipulators, in particular to a three-degree-of-freedom transport manipulator. Background Art

[0002] The robot is an automatic device that imitates the movements of human hands and realizes automatic grasping, handling and operation according to given procedures, trajectories and requirements. It replaces human operations in harsh environments such as high temperature, high pressure, dust, flammable, explosive, radioactive, and bulky, monotonous and frequent operations, so it is increasingly widely used. At the same time, in industrial automation production, whether it is a single machine or a combination machine tool, as well as an automatic production line, a robot is used to complete the pick-up and placement of workpieces.

[0003] However, in order to increase the degree of freedom of the existing handling manipulator, the manipulator will be too loose, which will reduce the clamping strength of the manipulator. When the manipulator is used to carry materials, the materials are easy to fall off between the manipulators, resulting in material damage. At the same time, the existing handling manipulator does not have the function of adjusting the clamping range when in use, so it cannot be adjusted according to the size of the material to be handled, which will reduce the practicality of the manipulator. To this end, we provide a 3-degree-of-freedom handling manipulator to solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to provide a three-degree-of-freedom handling manipulator, which can drive the rotation of the clamping strip through the rotation of the semicircular rack, thereby improving the clamping stability of the clamping strip, and at the same time, the I-shaped block slides along the inner position of the strip plate at the track mouth, so as to adjust the range between multiple clamping strips.

[0005] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0006] The utility model is a three-degree-of-freedom handling manipulator, comprising a circular plate; three strip plates evenly distributed in an annular shape are fixed on the circumferential side of the circular plate, clamping strips are arranged directly below the strip plates, the upper end faces of the strip plates are opened with track openings passing through the end positions thereof, the insides of the track openings are provided with I-shaped blocks slidably sleeved on the circumferential positions of the strip plates, and the I-shaped blocks are abutted against the strip plates through bolts arranged on the lower end faces, the upper end faces of the clamping strips opposite to the circular plate are fixed with semicircular racks passing through the inner positions of the track openings, the end faces of the I-shaped blocks located above the strip plates are fixed with mounting plates, the upper end faces of the mounting plates are synchronous motors, and the rotating shaft ends of the synchronous motors are fixed with toothed plates meshingly connected with the semicircular racks.

[0007] The utility model is further configured that a U-shaped block is fixed to the lower end surface of the I-shaped block, and rotation holes are penetrated through the front and rear end surfaces of the U-shaped block.

[0008] The utility model is further configured that a round block which is rotatably located inside the U-shaped block is fixed to the upper end of the clamping strip, and a rotating rod which is rotatably located inside the rotating hole is fixed to both end surfaces of the round block.

[0009] The utility model is further configured that the end faces of the I-shaped blocks are all fixed with linkage bars located inside the rail openings, and the upper end faces of the linkage bars are all penetrated with arc openings.

[0010] The utility model is further configured such that the distance between the arc opening and the axis of the rotating rod is consistent with the distance between the semicircular rack and the axis of the rotating rod, and the sliding path of the semicircular rack is consistent with the arc opening.

[0011] The utility model is further configured that a connecting rod is fixed at a middle position of the upper end surface of the circular plate, and a locking plate is fixed to the upper end surface of the connecting rod.

[0012] The utility model is further configured that a stopper is fixed on the upper end surface of the strip plate located at the rail opening, and the stopper is located close to the circular plate.

[0013] The utility model has the following beneficial effects:

[0014] 1. When the utility model is in use, the synchronous motor is controlled to work, thereby the synchronous motor drives the tooth plate to rotate, and then the synchronous motor directly controls the semicircular rack to rotate around the rotating rod, and then the semicircular rack drives multiple clamping bars connected thereto to rotate in relative or opposite directions, so that the clamping bars can increase the gripping force of the clamping and ensure the stability of the clamping and handling.

[0015] 2. When the utility model is in use, the bolts on the I-shaped block are unscrewed, and the I-shaped block is controlled to slide along the track opening, whereby the I-shaped block directly drives the clamping strip to slide along the strip plate, and then the range between the multiple clamping strips can be adjusted, thereby achieving that the clamping range of the clamping strip can be adjusted according to the size of the material to be clamped.

[0016] Of course, any product implementing the present invention does not necessarily need to achieve all of the above advantages at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 Schematic diagram of the structure of a three-degree-of-freedom handling robot.

[0019] Figure 2 It is an assembly diagram of the clamping strip and the I-shaped block in the utility model.

[0020] Figure 3 It is a structural diagram of the clamping strip in the utility model.

[0021] Figure 4 It is the structural diagram of the I-shaped block in the utility model.

[0022] Figure 5 It is the structural diagram of the circular plate in the utility model.

[0023] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0024] 1- round plate, 101- strip plate, 102- track mouth, 103- stopper, 104- connecting rod, 105- locking plate, 2- clamping strip, 201- round block, 202- rotating rod, 203- semicircular rack, 3- synchronous motor, 301- tooth plate, 4- I-shaped block, 401- mounting plate, 402- U-shaped block, 403- rotating hole, 404- linkage strip, 405- arc mouth. DETAILED DESCRIPTION

[0025] 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. Specific embodiment 1

[0027] See also Figure 1-5 The utility model is a three-degree-of-freedom handling manipulator. The rotation of the semicircular rack 203 can drive the rotation of the clamping bar 2 to improve the clamping stability of the clamping bar 2. At the same time, the I-shaped block 4 slides along the inner position of the strip plate 101 at the track opening 102 to adjust the range between multiple clamping bars 2.

[0028] Specifically, a circular plate 1; three strip plates 101 evenly distributed in an annular shape are fixed on the circumference of the circular plate 1, and a clamping strip 2 is arranged directly below the strip plates 101. The upper end faces of the strip plates 101 are provided with track openings 102 that pass through the end positions thereof, and the inside of the track openings 102 are provided with I-shaped blocks 4 that are slidably sleeved on the circumference of the strip plates 101, and the I-shaped blocks 4 are abutted against the strip plates 101 through bolts arranged on the lower end faces, and the end faces of the clamping strips 2 opposite to the circular plate 1 are fixed with semicircular racks 203 that pass through the inner positions of the track openings 102, and are located on the strip plates The end faces of the I-shaped blocks 4 above 101 are fixed with mounting plates 401, the upper end faces of the mounting plates 401 are all synchronous motors 3, the rotating shaft ends of the synchronous motors 3 are all fixed with toothed plates 301 meshingly connected with the semicircular racks 203, the end faces of the I-shaped blocks 4 are all fixed with linkage bars 404 located inside the track opening 102, the upper end faces of the linkage bars 404 are all penetrated with arc openings 405, the distance between the arc openings 405 and the axis of the rotating rod 202 is consistent with the distance between the semicircular racks 203 and the axis of the rotating rod 202, and the sliding path of the semicircular racks 203 is consistent with the arc openings 405.

[0029] The operation process of this embodiment is as follows: through the use of the above-mentioned structure, the synchronous motor 3 is controlled to work, so that the synchronous motor 3 will drive the tooth plate 301 to rotate, and then the synchronous motor 3 will directly control the semicircular rack 203 to rotate around the rotating rod 202, and then the semicircular rack 203 will drive the multiple clamping bars 2 connected thereto to rotate in relative or opposite directions, so that the clamping bars 2 can increase the gripping force of the clamping and ensure the stability of the clamping and handling. At the same time, if the position between the clamping bars 2 needs to be adjusted, the bolts on the I-shaped block 4 can be unscrewed. And control the I-shaped block 4 to slide along the track opening 102, so that the I-shaped block 4 will directly drive the clamping strip 2 to slide along the strip plate 101, and then the range between the multiple clamping strips 2 can be adjusted, and when the semicircular rack 203 is driven to rotate, the semicircular rack 203 will pass through the internal position of the arc opening 405, and the linkage bar 404 provided at the same time can limit the I-shaped block 4 to prevent the I-shaped block 4 from excessive movement inside the track opening 102, so that the semicircular rack 203 is blocked by the circular plate 1 when rotating. Specific embodiment 2

[0031] See also Figure 2 , 3 4. Based on the specific embodiment 1, the U-shaped block 402 and the round block 201 are used in combination to facilitate the angle adjustment of the clamping bar 2.

[0032] Specifically, a U-shaped block 402 is fixed to the lower end face of the I-shaped block 4, and a rotating hole 403 is penetrated through the front and rear end faces of the U-shaped block 402. A round block 201 that rotates inside the U-shaped block 402 is fixed to the upper end of the clamping bar 2, and a rotating rod 202 that rotates inside the rotating hole 403 is fixed to the two end faces of the round block 201.

[0033] The operation process of this embodiment is as follows: since the rotating rod 202 rotates to the internal position of the rotating hole 403, when the clamping bar 2 is driven to rotate by the semicircular rack 203, the clamping bar 2 will drive the round block 201 to rotate at the internal position of the U-shaped block 402, thereby the round block 201 will drive the rotating rod 202 to move at the internal position of the rotating hole 403. Specific embodiment three

[0035] See also Figure 5 On the basis of the specific embodiment 1, the secondary limiting of the I-shaped block 4 by the stopper 103 can avoid the single work of the linkage bar 404, and can reduce the collision rate of the linkage bar 404, thereby ensuring the integrity of the linkage bar 404.

[0036] Specifically, a connecting rod 104 is fixed to the middle of the upper end surface of the circular plate 1 , a locking plate 105 is fixed to the upper end surface of the connecting rod 104 , a stopper 103 is fixed to the upper end surface of the strip plate 101 located at the track opening 102 , and the stopper 103 is located close to the circular plate 1 .

[0037] The operation process of this embodiment is as follows: through the setting of the mounting plate 401, the locking plate 105 can be installed and connected with the external stroke device, so that when the external stroke device is working, the circular plate 1 can be driven to move through the locking plate 105, and thereby drive multiple clamping bars 2 to move. At the same time, through the use of the stop block 103, the I-shaped block 4 can be limited for a second time to avoid the single work of the linkage bar 404, and the collision rate of the linkage bar 404 can be reduced to ensure the integrity of the linkage bar 404.

[0038] 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.

[0039] 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 3-DOF handling manipulator, comprising a circular plate (1); characterized in that: Three strip plates (101) are fixed to the circumference of the circular plate (1), and clamping strips (2) are arranged directly below the strip plates (101). The upper end faces of the strip plates (101) are provided with rail openings (102) that pass through the end positions thereof. The insides of the rail openings (102) are provided with I-shaped blocks (4) that are slidably sleeved on the circumference of the strip plates (101). The I-shaped blocks (4) are connected to the strip plates (101) by bolts arranged on the lower end faces. 1), the clamping strip (2) is abutted against the circular plate (1), a semicircular rack (203) passing through the inner position of the track opening (102) is fixed on the end surface of the clamping strip (2) opposite to the circular plate (1), a mounting plate (401) is fixed on the end surface of the I-shaped block (4) located above the strip plate (101), the upper end surface of the mounting plate (401) is a synchronous motor (3), and a toothed plate (301) meshingly connected with the semicircular rack (203) is fixed on the rotating shaft end of the synchronous motor (3).

2. The three-degree-of-freedom handling robot according to claim 1, characterized in that: A U-shaped block (402) is fixed to the lower end surface of the I-shaped block (4), and rotation holes (403) are provided through the front and rear end surfaces of the U-shaped block (402).

3. The three-degree-of-freedom handling robot according to claim 2, characterized in that: The upper end of the clamping strip (2) is fixed with a round block (201) which is rotated inside the U-shaped block (402), and both end surfaces of the round block (201) are fixed with a rotating rod (202) which is rotated inside the rotating hole (403).

4. The three-degree-of-freedom handling robot according to claim 3, characterized in that: The end faces of the I-shaped blocks (4) are all fixed with linkage bars (404) located inside the track opening (102), and the upper end faces of the linkage bars (404) are all penetrated by arc openings (405).

5. The three-degree-of-freedom handling robot according to claim 4, characterized in that: The distance between the arc opening (405) and the axis of the rotating rod (202) is consistent with the distance between the semicircular rack (203) and the axis of the rotating rod (202), and the sliding path of the semicircular rack (203) is consistent with the arc opening (405).

6. The three-degree-of-freedom handling robot according to claim 1, characterized in that: A connecting rod (104) is fixed at the middle position of the upper end surface of the circular plate (1), and a locking plate (105) is fixed to the upper end surface of the connecting rod (104).

7. The three-degree-of-freedom handling robot according to claim 1, characterized in that: A stopper (103) is fixed to the upper end surface of each strip plate (101) located at the rail opening (102), and the stopper (103) is located close to the circular plate (1).

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