Manipulator suitable for grabbing different gears

Abstract

The mechanical arm suitable for grabbing the different gears comprises a connecting block, a plurality of openings are formed in the connecting block, a transmission cavity is formed in the connecting block, transverse screw rods extending into the transmission cavity are rotationally arranged in the openings, an adjusting motor is installed on the inner wall of the transmission cavity, and the adjusting motor is connected with the connecting block. The transverse screw rod is connected with an adjusting motor through a rotating mechanism, a movable frame is installed on the transverse screw rod in a threaded mode, a clamping jaw is rotationally arranged on the movable frame, a rack is installed on the movable frame through a limiting mechanism, and the rack is connected with the clamping jaw through a transmission mechanism. Through the arrangement of the transverse screw rod, the adjusting motor, the driving gear, the transmission gear, the movable frame, the clamping jaws, the clamping gear, the rack, the vertical screw rod and the like, the distance between the clamping jaws of the mechanical arm designed in the scheme can be adjusted, the mechanical arm is suitable for grabbing gears of different sizes within a certain range, and the applicability of the device is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator suitable for grasping different gears. Background Art

[0002] Gears refer to mechanical components with gears on the wheel rim that continuously mesh to transmit motion and power. The application of gears in transmission has appeared very early. With the development of science and technology, when processing gears, robots are generally used for grasping. Robots are automatic operating devices that can imitate certain movements and functions of human hands and arms to grasp, move objects or operate tools according to fixed procedures. The characteristic is that it can complete various expected operations through programming, and has the advantages of both human and mechanical machines in structure and performance.

[0003] However, the existing gear grabbing manipulator can generally only grab gears of fixed size. When grabbing, the outer side is used for fixing. When the size of the gear changes and the change is large, the manipulator cannot grab it by force and needs to replace the corresponding manipulator for grabbing. The overall applicability is low. In order to change the current situation and improve it, a manipulator suitable for grabbing different gears is proposed. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a manipulator suitable for grasping different gears.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A manipulator suitable for grasping different gears comprises a connecting block, the connecting block is provided with a plurality of openings, a transmission cavity is provided inside the connecting block, a plurality of openings are rotatably provided with a horizontal screw extending into the transmission cavity, an adjusting motor is installed on the inner wall of the transmission cavity, the horizontal screw is connected to the adjusting motor through a rotating mechanism, a movable frame is threadedly installed on the horizontal screw, a clamp is rotatably provided on the movable frame, a rack is installed on the movable frame through a limiting mechanism, the rack is connected to the clamp through a transmission mechanism, a vertical screw is provided on the upper end surface of the connecting block through a fixed frame, a lifting frame is threadedly sleeved on the vertical screw, and a movable groove corresponding to the rack is provided on the lifting frame.

[0007] Preferably, the rotating mechanism comprises a driving gear mounted on the output shaft of the adjusting motor, a transmission gear is mounted on the end of the transverse screw, and the driving gear is meshed with the transmission gear.

[0008] Preferably, the limiting mechanism comprises a limiting rod installed on the movable frame, and the rack is provided with a limiting opening corresponding to the limiting rod.

[0009] Preferably, the transmission mechanism comprises a clamping gear mounted on the clamping jaw, and the clamping gear is meshed with the rack.

[0010] Preferably, the rack and the fixing frame are both L-shaped, and a lifting motor is provided on the fixing frame. The output shaft of the lifting motor rotates through the fixing frame and is fixedly connected to the end of the vertical screw.

[0011] Preferably, a vertical rod is provided between the connecting block and the fixing frame, the vertical rod is parallel to the vertical screw rod, and the vertical rod slides through the lifting frame.

[0012] Beneficial effects of the utility model:

[0013] 1. By setting a horizontal screw, an adjusting motor, a driving gear, a transmission gear, a movable frame, a clamping claw, a clamping gear and a rack, and a vertical screw, the spacing between multiple clamping claws of the manipulator designed in this scheme can be adjusted, and it can adapt to the grasping of gears of different sizes within a certain range, thereby ensuring the applicability of the device.

[0014] 2. By setting the lifting frame, limit rod and limit opening, the rack follows the movable frame and the clamping claw to move and adjust synchronously without affecting the connection relationship between it and the vertical screw. The structure of this scheme is simple and clear, ensuring the practicability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of a manipulator suitable for grasping different gears proposed by the utility model;

[0016] Figure 2 for Figure 1 Schematic diagram of the vertical section structure;

[0017] Figure 3 for Figure 2 A schematic diagram of the structure at A;

[0018] Figure 4 for Figure 2 Enlarged schematic diagram of the structure at B.

[0019] In the figure: 1 connecting block, 2 opening, 3 movable frame, 4 clamping claw, 5 clamping gear, 6 rack, 7 vertical screw, 8 lifting frame, 9 fixed frame, 10 lifting motor, 11 limit opening, 12 limit rod, 13 transmission cavity, 14 adjustment motor, 15 driving gear, 16 horizontal screw, 17 transmission gear. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0021] Reference Figure 1-4 A manipulator suitable for grasping different gears includes a connecting block 1, a plurality of openings 2 are provided on the connecting block 1, a transmission cavity 13 is provided inside the connecting block 1, a horizontal screw 16 extending into the transmission cavity 13 is rotatably provided in each of the plurality of openings 2, an adjusting motor 14 is installed on the inner wall of the transmission cavity 13, the horizontal screw 16 is connected to the adjusting motor 14 through a rotating mechanism, a movable frame 3 is threadedly installed on the horizontal screw 16, a clamping claw 4 is rotatably provided on the movable frame 3, a rack 6 is installed on the movable frame 3 through a limiting mechanism, the rack 6 is connected to the clamping claw 4 through a transmission mechanism, a vertical screw 7 is provided on the upper end surface of the connecting block 1 through a fixed frame 9, a lifting frame 8 is threadedly sleeved on the vertical screw 7, and a movable groove corresponding to the rack 6 is provided on the lifting frame 8.

[0022] The rotating mechanism includes a driving gear 15 installed on the output shaft of the adjusting motor 14, and a transmission gear 17 is installed at the end of the horizontal screw 16. The driving gear 15 is meshed with the transmission gear 17. As shown in the figure, the driving gear 15 and the transmission gear 17 are both bevel gears and are vertically meshed. They cooperate with each other to realize the power transmission of the adjusting motor 14.

[0023] The limiting mechanism includes a limiting rod 12 installed on the movable frame 3. The rack 6 is provided with a limiting opening 11 corresponding to the limiting rod 12. The limiting rod 12 is located in the limiting opening 11. Therefore, the movable frame 3 can drive the rack 6 to move synchronously when it is displaced horizontally.

[0024] The transmission mechanism includes a clamping gear 5 installed on the clamping jaw 4, the clamping gear 5 is meshed with the rack 6, and the rack 6 and the clamping gear 5 cooperate with each other. When the rack 6 is raised and lowered, the clamping gear 5 can drive the clamping jaw 4 to grasp.

[0025] The rack 6 and the fixed frame 9 are both L-shaped. A lifting motor 10 is provided on the fixed frame 9. The output shaft of the lifting motor 10 rotates through the fixed frame 9 and is fixedly connected to the end of the vertical screw 7. The lifting motor 10 is the power device of the vertical screw 7. After the lifting motor 10 is started, it can drive the vertical screw 7 to rotate.

[0026] A vertical rod is provided between the connecting block 1 and the fixing frame 9 . The vertical rod is parallel to the vertical screw 7 and slides through the lifting frame 8 . The vertical rod limits the lifting frame 8 , thereby preventing it from rotating together with the vertical screw 7 .

[0027] When the utility model is used, starting the lifting motor 10 can drive the vertical screw 7 to rotate. When the vertical screw 7 rotates, the lifting frame 8 threadedly mounted thereon can rise, and the lifting frame 8 drives the rack 6 to rise synchronously. Then the rack 6 rises relative to the clamping gear 5 and drives the clamping claw 4 to rotate through the clamping gear 5, and multiple clamping claws 4 realize the grabbing operation of the gear.

[0028] In this solution, starting the adjustment motor 14 can drive the active gear 15 to rotate, and the active gear 15 can drive the horizontal screw 16 to rotate with the help of the transmission gear 17. When the horizontal screw 16 rotates, the movable frame 3 threadedly connected to it will drive the clamping jaws 4 to move, and multiple clamping jaws 4 move away or closer synchronously, so that the manipulator in this solution can adapt to various sizes of gears for grasping within a certain range, wherein the thread directions of multiple horizontal screws 16 are set correspondingly to ensure that the movable frame 3 moves away or closer synchronously.

[0029] In this solution, when the movable frame 3 moves horizontally under the action of the horizontal screw 16, the limit rod 12 can be used to drive the rack 6 to move horizontally synchronously, ensuring that the rack 6 can be moderately engaged with the clamping gear 5, and the rack 6 is never separated from the lifting frame 8.

[0030] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A manipulator suitable for grasping different gears, comprising a connection block (1), characterized in that: The connecting block (1) is provided with a plurality of openings (2), a transmission chamber (13) is provided inside the connecting block (1), a transverse screw (16) extending into the transmission chamber (13) is rotatably provided in each of the plurality of openings (2), an adjusting motor (14) is installed on the inner wall of the transmission chamber (13), the transverse screw (16) is connected to the adjusting motor (14) through a rotating mechanism, a movable frame (3) is threadedly installed on the transverse screw (16), a clamping claw (4) is rotatably provided on the movable frame (3), a rack (6) is installed on the movable frame (3) through a limiting mechanism, the rack (6) is connected to the clamping claw (4) through a transmission mechanism, a vertical screw (7) is provided on the upper end surface of the connecting block (1) through a fixed frame (9), a lifting frame (8) is threadedly sleeved on the vertical screw (7), and a movable groove corresponding to the rack (6) is provided on the lifting frame (8).

2. A manipulator suitable for grasping different gears according to claim 1, characterized in that: The rotating mechanism comprises a driving gear (15) mounted on the output shaft of the regulating motor (14), a transmission gear (17) is mounted on the end of the transverse screw (16), and the driving gear (15) is meshed with the transmission gear (17).

3. A manipulator suitable for grasping different gears according to claim 2, characterized in that: The limiting mechanism comprises a limiting rod (12) mounted on the movable frame (3), and the rack (6) is provided with a limiting opening (11) corresponding to the limiting rod (12).

4. A manipulator suitable for grasping different gears according to claim 3, characterized in that: The transmission mechanism comprises a clamping gear (5) mounted on a clamping claw (4), and the clamping gear (5) is meshed with a rack (6).

5. A manipulator suitable for grasping different gears according to claim 4, characterized in that: The rack (6) and the fixing frame (9) are both L-shaped. A lifting motor (10) is provided on the fixing frame (9). The output shaft of the lifting motor (10) rotates through the fixing frame (9) and is fixedly connected to the end of the vertical screw rod (7).

6. A manipulator suitable for grasping different gears according to claim 5, characterized in that: A vertical rod is provided between the connecting block (1) and the fixing frame (9), the vertical rod is parallel to the vertical screw rod (7), and the vertical rod slides through the lifting frame (8).

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