Robot clamping manipulator

Abstract

The utility model provides a robot clamping manipulator which mainly comprises a connecting arm, a circular groove of the connecting arm is connected with a connecting ring in an inserted mode, the right end of the connecting ring is fixedly connected with the left end of a connecting disc, and the right end of the connecting disc is fixedly connected with a connecting block. A second driving mechanism is installed in the connecting arm, a sliding groove is formed in the connecting block, two symmetrically-arranged clamping blocks are arranged in the sliding groove, a first driving mechanism is arranged in the sliding groove, a groove is formed in the right end of each clamping block, a limiting mechanism is arranged at the left end of each groove, and the right end of a limiting disc in each limiting mechanism is fixedly connected with an L-shaped clamping claw. Through the arrangement of the air cylinders, the clamping blocks, the L-shaped clamping jaws and other mechanisms, the clamping blocks or the L-shaped clamping jaws can be rapidly switched while clamping operation is conducted on objects, so that different clamping requirements are met, and applicability and convenience are improved.

Description

Technical Field

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

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] At present, the robot clamping manipulator generally performs clamping operations through clamping claws or clamping blocks, which is inconvenient to quickly switch the clamping blocks or clamping claws according to the scene or object requirements, so that the applicability and convenience of the manipulator need to be improved. The existing patent CN214110449U discloses an industrial robot clamping manipulator with high total clamping stability, which includes a driving seat, a moving sleeve is fixedly installed at the bottom of the driving seat, a moving seat is arranged inside the moving sleeve, an electric push rod is arranged inside the driving seat, the output end of the electric push rod is fixedly connected to the upper end face of the moving seat, and a rotating seat is rotatably installed on the lower end face of the moving seat. The robot clamping manipulator has clamping stability, good clamping effect, and convenient height and angle adjustment by setting a protective pad, an L-shaped plate and a rotating shaft, etc. However, the device is not applicable enough and cannot meet the needs of clamping different objects. Utility Model Content

[0004] The purpose of the utility model is to realize the rapid switching of clamping blocks or clamping claws according to different scenes or object requirements, so that the applicability and convenience of the manipulator are improved.

[0005] To achieve the above-mentioned purpose, the utility model provides a robot clamping manipulator, including a connecting arm, a circular groove of the connecting arm is plugged into a connecting ring, the right end of the connecting ring is fixedly connected to the left end of the connecting disk, and the right end of the connecting disk is fixedly connected to a connecting block; a second driving mechanism is installed inside the connecting arm, a slide groove is provided inside the connecting block, and there are two symmetrically arranged clamping blocks in the slide groove, and a first driving mechanism is provided in the slide groove, a groove is provided at the position of the right end of the clamping block, a limiting mechanism is provided at the left end of the groove, and the right end of the limiting disk in the limiting mechanism is fixedly connected with an L-shaped clamping claw; the second driving mechanism includes a connecting ring and a second servo motor; an annular rack is provided on the inner wall of the connecting ring, and a second servo motor is fixedly connected to the top end of the circular groove, the end of the output shaft of the second servo motor is fixedly connected to the gear, and the gear is connected to the annular rack on the connecting ring meshing; the first driving mechanism comprises a bidirectional screw, a first servo motor, a clamping block, and a support rod arranged in the slide groove; the first servo motor is fixedly connected to the outer wall of the connecting block, one end of the bidirectional screw is rotatably connected to the inner wall of the slide groove, and the other end of the bidirectional screw is fixedly connected to the first servo motor, the bidirectional screw and the clamping block are threadedly connected, the support rod is installed in the slide groove, and the support rod passes through the hole of the clamping block; the limiting mechanism comprises a cylinder, a movable block, a clamping block, and a limiting plate; the left end of the cylinder is fixedly connected to the right end of the groove of the clamping block, the cylinder is inserted into the left end of the movable block, the movable block is slidably connected to the inner wall of the groove, the right end of the movable block is fixedly connected with a clamping block, and a plurality of clamping grooves corresponding to the clamping blocks are distributed in an annular manner on the outer wall of the limiting plate, the right end of the clamping block is slidably inserted in the groove, and a fixed rod is rotatably connected in the limiting plate.

[0006] Furthermore, rubber pads are installed on one side opposite to the two clamping blocks and one side opposite to the two L-shaped clamping claws.

[0007] Beneficial effects:

[0008] 1. Through the setting of the first servo motor, the bidirectional screw and the support rod, the two clamping blocks and the two L-shaped clamping claws can move in opposite directions, thereby realizing the clamping and releasing operations of the object. Through the setting of the second servo motor, the gear, the annular rack, the connecting ring and the connecting plate, the connection block can be rotated, thereby realizing the adjustment of the orientation of the two clamping blocks and the two L-shaped clamping claws, which is highly practical.

[0009] 2. Through the arrangement of the cylinder, movable block, clamping block, clamping slot and limit plate, the position locking and unlocking operations of the L-shaped clamping claw are realized, which is convenient for users to switch the L-shaped clamping claw or clamping block for clamping operations, and has a wide applicability. The utility model realizes the clamping operation of the object while being able to quickly switch the clamping block or L-shaped clamping claw through the arrangement of mechanisms such as the cylinder, clamping block and L-shaped clamping claw, thereby meeting different clamping requirements, and improving applicability and convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a structural schematic diagram of the robot gripping manipulator of the utility model;

[0011] Figure 2 It is a schematic diagram of the internal structure of the robot gripping manipulator of the utility model;

[0012] Figure 3 This is a schematic diagram of the structure of the robot gripping manipulator at position A of the utility model;

[0013] Figure 4 It is a schematic diagram of the structure of position B of the robot gripping manipulator of the utility model.

[0014] Figure markings: 1-connecting arm, 2-connecting ring, 3-connecting disk, 4-first servo motor, 5-connecting block, 6-bidirectional screw, 7-support rod, 8-clamping block, 9-L-shaped clamping claw, 10-cylinder, 11-movable block, 12-clamping block, 13-limiting disk, 14-second servo motor, 15-gear. DETAILED DESCRIPTION

[0015] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings.

[0016] The structure of the utility model is described in detail below in conjunction with the accompanying drawings.

[0017] See also Figure 1-4 A robot clamping manipulator comprises a connecting arm 1, a circular groove of the connecting arm 1 is plugged into a connecting ring 2, the right end of the connecting ring 2 is fixedly connected to the left end of a connecting disk 3, the right end of the connecting disk 3 is fixedly connected to a connecting block 5, the connecting disk 3 is used to drive the connecting block 5 to rotate, a second driving mechanism is installed inside the connecting arm 1, a slide groove is provided inside the connecting block 5, a first driving mechanism is provided in the slide groove, the left ends of two symmetrically arranged clamping blocks 8 are located in the slide groove, the clamping blocks 8 are used to clamp objects, grooves are provided at the right ends of the two clamping blocks 8, a limiting mechanism is installed in the groove, and the right end of the limiting disk 13 in the limiting mechanism is fixedly connected to an L-shaped clamping claw 9.

[0018] The second driving mechanism includes a connecting ring 2 and a second servo motor 14. An annular rack is provided on the inner wall of the connecting ring 2; the second servo motor 14 is fixedly connected in the circular groove, and the output shaft end of the second servo motor 14 is fixedly connected to a gear 15 for driving the gear 15 to rotate. The gear 15 is meshed with the annular rack on the connecting ring 2, thereby driving the connecting ring to rotate.

[0019] The first driving mechanism includes a bidirectional screw 6, a first servo motor 4, a clamping block 8, and a support rod 7 arranged in the slide groove. The first driving mechanism is used to drive the two clamping blocks 8 to move; the first servo motor 4 is fixedly connected to the outer wall of the connecting block 5, one end of the bidirectional screw 6 is inserted in the slide groove, and the other end of the bidirectional screw 6 is fixedly connected to the end of the output shaft of the first servo motor 4. The first servo motor 4 is used to drive the bidirectional screw 6 to rotate. Two clamping blocks 8 are installed on the bidirectional screw 6, and the bidirectional screw 6 and the clamping block 8 are connected by threads; the support rod 7 is installed in the slide groove, the support rod 7 passes through the hole of the clamping block 8, and the support rod 7 is used to support the clamping block 8

[0020] The limiting mechanism shown includes a cylinder 10, a movable block 11, a clamping block 12, and a limiting plate 13. The left end of the cylinder 10 is fixedly connected to the right end of the groove of the clamping block 8, and the cylinder 10 is connected to the left end of the movable block 11. The cylinder 10 is used to drive the movable block 11 to move left and right. The movable block 11 is slidably connected to the inner wall of the groove. The right end of the movable block 11 is fixedly connected with the clamping block 12. The movable block 11 is used to drive the clamping block 12 to move. The limiting plate 13 is evenly distributed with a number of slots corresponding to the clamping block 12. The clamping block 12 is used to cooperate with the slot to lock or unlock the position of the limiting plate 13. The right end of the clamping block 12 is inserted into the slot. The limiting plate 13 is installed in a fixed rod to support the limiting plate 13.

[0021] The limiting plate 13 is used to prevent the L-shaped clamping claw 9 from loosening. The right end of the limiting plate 13 is fixedly connected to the L-shaped clamping claw 9, and the opposite side of the two clamping blocks 8 and the opposite side of the two L-shaped clamping claws are fixedly connected to rubber pads.

[0022] The working process of this utility model:

[0023] First, start the first servo motor 4 to drive the bidirectional screw 6 to rotate. The bidirectional screw 6 drives the two clamping blocks 8 to move to a suitable distance in opposite directions through the action of thread engagement. Then, the L-shaped clamping claw 9 is driven by the clamping block 8 to clamp the object. When the clamping block 8 is needed to clamp, start the cylinder 10 to drive the movable block 11 to move upward, and drive the clamping block 12 to move upward through the movable block 11, so that the clamping block 12 is disengaged from the slot. When the L-shaped clamping claw 9 is needed to clamp, the clamping block 12 is driven by the cylinder 10 to be inserted into the slot, so that the position of the limit plate 13 can be locked, thereby locking the L-shaped clamping claw 9, and the object can be clamped by the clamping block 8. At the same time, start the second servo motor 14 to drive the gear 15 to rotate, and the connecting ring 2 is driven to rotate through the action of the gear 15 meshing with the annular rack. The connecting ring 2 drives the connecting block 5 to rotate through the connecting plate 3, thereby realizing the position adjustment of the clamping block 8 or the L-shaped clamping claw 9.

[0024] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. A robot gripping manipulator, characterized in that: It comprises a connecting arm, a circular groove of the connecting arm is plugged into a connecting ring, the right end of the connecting ring is fixedly connected to the left end of the connecting disk, and the right end of the connecting disk is fixedly connected to a connecting block; a second driving mechanism is installed inside the connecting arm, a sliding groove is provided inside the connecting block, and two symmetrically arranged clamping blocks are arranged inside the sliding groove, a first driving mechanism is arranged inside the sliding groove, a groove is provided at the right end of the clamping block, a limiting mechanism is provided at the left end of the groove, and the right end of the limiting disk in the limiting mechanism is fixedly connected to an L-shaped clamping claw; The second driving mechanism includes a connecting ring and a second servo motor; an annular rack is provided on the inner wall of the connecting ring, the second servo motor is fixedly connected to the top of the circular groove, the output shaft end of the second servo motor is fixedly connected to the gear, and the gear is meshed with the annular rack on the connecting ring; The first driving mechanism comprises a bidirectional screw, a first servo motor, a clamping block and a support rod arranged in the slide slot; the first servo motor is fixedly connected to the outer wall of the connecting block, one end of the bidirectional screw is rotatably connected to the inner wall of the slide slot, the other end of the bidirectional screw is fixedly connected to the first servo motor, the bidirectional screw and the clamping block are threadedly connected, the support rod is installed in the slide slot, and the support rod passes through the hole of the clamping block; The limiting mechanism includes a cylinder, a movable block, a clamping block, and a limiting plate; the left end of the cylinder is fixedly connected to the right end of the groove of the clamping block, the cylinder is inserted into the left end of the movable block, the movable block is slidably connected to the inner wall of the groove, the right end of the movable block is fixedly connected to the clamping block, and a plurality of clamping grooves corresponding to the clamping block are distributed in an annular shape on the outer wall of the limiting plate, the right end of the clamping block is slidably inserted in the groove, and a fixed rod is rotatably connected in the limiting plate.

2. A robot gripping manipulator according to claim 1, characterized in that: Rubber pads are installed on one side opposite to the two clamping blocks and one side opposite to the two L-shaped clamping claws.

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