Auxiliary design device for grabbing and clamping manipulator

Abstract

The utility model discloses an aided design device for a grabbing and clamping manipulator. The aided design device comprises a movable bearing plate, an openable motor clamping seat, a multi-output-speed-ratio gearbox, an XY-direction displacement adjusting assembly, a force measuring connecting sleeve, a torsiometer, a torsiometer mounting seat and an input motor, the openable and closable motor clamping seat and the multi-output-speed-ratio gear box are respectively mounted at the upper part of the movable bearing plate; the multi-output-speed-ratio gearbox comprises a gearbox gear and n transmission shafts sequentially meshed through the gearbox gear, the end, close to the openable motor clamping base, of one transmission shaft is an input connecting section, the end, away from the openable motor clamping base, of the transmission shaft is an output connecting section, and n is a natural number larger than or equal to 2. The openable and closable motor holder is used for fixing an input motor, and the input motor comprises a motor output shaft directly facing the input connecting section. Compared with the prior art, parameters required by the design of the manipulator can be quickly and accurately measured, the design difficulty of the manipulator is reduced, and the period is shortened.

Description

Technical Field

[0001] The utility model belongs to the technical field of grabbing and clamping manipulators, and in particular relates to an auxiliary design device for grabbing and clamping manipulators. Background Art

[0002] The existing grasping and clamping robot is also called "electric claw" or "robot end effector". The grasping and clamping robot includes: a motor, a gear train and a clamping head. The clamping head includes two jaws and an opening and closing drive unit for driving the two jaws to open and close. The input power is a rotational power. Under the action of the rotational power, the two jaws are finally opened and closed. The opening and closing drive unit can be a variety of structures. For example, the opening and closing drive unit includes a gear shaft, and a rack is provided on both sides of the gear shaft. Each rack is connected to a jaw. The rotation of the gear shaft drives the racks on both sides to slide, thereby driving the two jaws to open and close. In the grasping and clamping robot, the motor rotates to drive the gear train to rotate, and the output end of the gear train serves as the input power of the opening and closing drive unit, which finally realizes the opening and closing of the jaws.

[0003] When designing a gripping and clamping robot, the actual output torque of the motor, the transmission ratio of the gear train, the actual clamping force of the finished robot, etc. are all important parameters of the gripping and clamping robot. Conveniently and quickly obtaining these parameters can shorten the design cost and design cycle of the gripping and clamping robot.

[0004] In the prior art, there is no device specifically used for auxiliary design of electric grippers. The parameters of the electric gripper are mainly determined by theoretical calculation, specifically: the output torque provided by the motor manufacturer is used as the actual output torque of the motor. According to the clamping force required by the manipulator, the torque required to drive the manipulator is reversed by theoretical calculation, and then the output torque provided by the motor manufacturer is used as a quantitative value to reverse the speed ratio of the manipulator gear train, or the output torque of the motor is reversed using the speed ratio of the manipulator gear train as a quantitative value. Due to the existence of multiple variables, it is necessary to perform calculations repeatedly to obtain the final speed ratio and motor output torque, and then design the gear train based on the speed ratio, and select the motor model based on the motor output torque.

[0005] The shortcomings of the existing technology are that, on the one hand, since the output torque provided by the motor manufacturer may be inaccurate, using the output torque provided by the motor manufacturer as the basic design data may easily cause inaccurate design structure, and the final finished gripping and clamping manipulator may not be able to obtain the expected clamping force, and needs to be redesigned. On the other hand, in order to obtain the gear train speed ratio and the motor model required by the motor, it takes a long time to repeatedly calculate, which is difficult to calculate and requires a high level of professionalism from the designer. If the accuracy of the actual output torque of the motor is difficult to guarantee, the correctness of the output torque obtained by this method is also difficult to guarantee.

[0006] As can be seen from the above, the technical problems existing in the prior art are: lack of devices for electric claw-assisted design, and reliance on theoretical technology, resulting in poor design accuracy, great calculation difficulty and long design cycle.

[0007] Therefore, it is necessary to provide a new auxiliary design device for grasping and clamping manipulator to solve the above-mentioned technical problems. Summary of the invention

[0008] 1. Technical issues to be resolved

[0009] Based on this, the utility model provides an auxiliary design device for a grasping and clamping robot, aiming to solve the technical problems that the prior art lacks a device for electric claw auxiliary design and relies on theoretical technology, resulting in poor design accuracy and great calculation difficulty.

[0010] (II) Technical solution

[0011] In order to solve the above technical problems, the utility model proposes an auxiliary design device for a grasping and clamping manipulator, comprising: a movable bearing plate, an openable and closable motor clamp, a multi-output speed ratio gearbox, an XY displacement adjustment component, a force measuring connection sleeve, a torque meter, a torque meter mounting seat and an input motor; the openable and closable motor clamp and the multi-output speed ratio gearbox are respectively installed on the upper part of the movable bearing plate; the multi-output speed ratio gearbox comprises: a gearbox gear, n transmission shafts meshed in sequence through the gearbox gears, one end of the transmission shaft close to the openable and closable motor clamp is an input connection section, and the One end of the transmission shaft away from the openable and closable motor clamp is the output connecting section, and n is a natural number greater than or equal to 2; the openable and closable motor clamp is used to fix the input motor, and the input motor includes a motor output shaft facing the input connecting section, and the motor output shaft is connected to the input connecting section and is used to transmit the rotational torque of the input motor to the input connecting section; the torque meter is installed in the torque meter mounting seat, and the XY displacement adjustment component is installed under the movable bearing plate, and the XY displacement adjustment component is used to adjust the position of the movable bearing plate and the multi-output speed ratio gear box.

[0012] Preferably, the auxiliary design device for the grasping and clamping manipulator includes an output torque measuring state. When the auxiliary design device for the grasping and clamping manipulator is in the output torque measuring state, the torque meter mounting seat is fixed to the side of the multi-output speed ratio gearbox close to the output connecting section, and under the adjustment action of the XY displacement adjustment component, any one of the output connecting sections can be adjusted to align with the torque meter; the force measuring connecting sleeve is used to connect the torque meter and the output connecting section and to transmit the rotational torque of the output connecting section to the torque meter; the auxiliary design device for the grasping and clamping manipulator also includes: a jaw mounting seat, a jaw connecting sleeve, a force measuring sensor device and a clamping head; the auxiliary design device for the grasping and clamping robot also includes a state of measuring the clamping force of the clamping jaws. When the auxiliary design device for the grasping and clamping robot is in the state of measuring the clamping force of the clamping jaws, the clamping jaw mounting seat is fixed to a side of the multi-output speed ratio gearbox close to the output connecting section, and the clamping head is installed on the clamping jaw mounting seat. Under the adjustment action of the XY displacement adjustment component, any one of the output connecting sections can be adjusted to be aligned with the clamping head; the clamping jaw connecting sleeve connects the clamping head and the output connecting section, and is used to transmit the torque of the output connecting section to the clamping head; the force sensor is used to measure the clamping force of the clamping head.

[0013] Preferably, the auxiliary design device for the grasping and clamping manipulator also includes a workbench and a universal mounting seat, the XY displacement adjustment component and the universal mounting seat are respectively fixed on the workbench, and the universal mounting seat is fixed to a side of the multi-output speed ratio gearbox close to the output connecting section; the upper part of the universal mounting seat has a recessed mounting groove, and the lower part of the torque meter mounting seat and the lower part of the clamping jaw mounting seat both match the shape of the mounting groove; when the auxiliary design device for the grasping and clamping manipulator is in the output torque measuring state, the torque meter mounting seat is fixedly installed in the mounting groove; when the auxiliary design device for the grasping and clamping manipulator is in the clamping force measuring state of the clamping jaw, the clamping jaw mounting seat is fixedly installed in the mounting groove; multiple output connecting sections are located at the same height; when the auxiliary design device for the grasping and clamping manipulator is in the output torque measuring state, the torque meter and the output connecting section are located at the same height; when the auxiliary design device for the grasping and clamping manipulator is in the clamping force measuring state of the clamping jaw, the clamping head and the output connecting section are located at the same height.

[0014] Preferably, the auxiliary design device for the grasping and clamping robot also includes a torque digital display and a power supply respectively arranged on the workbench, and the torque digital display and the power supply are respectively arranged on both sides of the XY displacement adjustment component. The auxiliary design device for the grasping and clamping robot also includes a PCB board assembly, and the PCB board assembly is arranged on the side of the openable and closable motor clamp away from the multi-output speed ratio gear box; a supporting storage cabinet is provided at the lower part of the workbench, and the bottom plate of the supporting storage cabinet is provided with movable casters, and the motor output shaft is connected to the input connecting section by a coupling; the PCB board assembly includes a PCB board storage box and a PCB board body located in the PCB board storage box.

[0015] Preferably, the multi-output speed ratio gearbox also includes a housing, the transmission shaft and the gearbox gears are installed in the housing, the n output connecting sections are arranged side by side in a line, the transmission ratios of the input connecting sections and the n output connecting sections are distributed in a geometric progression, and the value of the first term of the geometric progression is 1, the common ratio is 2, and n=8.

[0016] Preferably, the XY displacement adjustment assembly comprises an adjustment base plate, an X displacement adjustment unit and a Y displacement adjustment unit which are arranged in sequence from bottom to top, and the movable bearing plate is located above the Y displacement adjustment unit; the X displacement adjustment unit comprises: an X movable plate, an X connection ring, an X knob, an X movable screw, an X fixed spiral transmission plate and an X sliding guide assembly; the X connection ring is fixed to one side of the X movable plate, the lower part of the X fixed spiral transmission plate is fixed to the adjustment base plate, and the upper part of the X fixed spiral transmission plate is fixed to the X movable plate. The X-direction knob is arranged at intervals, and the X-direction knob is arranged on the side of the X-direction connecting ring away from the X-direction fixed spiral transmission plate; the X-direction movable screw is connected with the X-direction knob, the X-direction connecting ring and the X-direction fixed spiral transmission plate in sequence, and the X-direction movable screw is fixedly connected to the X-direction knob, the X-direction movable screw is rotationally connected to the X-direction connecting ring, the X-direction connecting ring is threadedly connected to the X-direction fixed spiral transmission plate and the two form a spiral transmission structure; the outer wall of the X-direction movable screw is provided with a raised step push ring, and the step push ring is located on the side of the X-direction connecting ring away from the X-direction knob.

[0017] Preferably, the X-axis sliding guide assembly comprises: an X-guide block, an X-guide column, an X-column fixing block and an X-axis locking rotary rod; the X-guide block is fixed to the lower part of the X-axis movable plate, the X-guide column passes through the X-guide block and the two are slidably connected, one X-column fixing block is fixed to each end of the X-guide column, the X-column fixing block is fixed to the adjustment base plate, the X-axis locking rotary rod is located on one side of the X-guide block and can abut against the X-guide column to limit the relative sliding between the X-guide block and the X-guide column; the Y-axis displacement adjustment unit has the same structure as the X-axis displacement adjustment unit, and the Y-axis displacement adjustment unit is rotated 90° relative to the X-axis displacement adjustment unit as a whole.

[0018] Preferably, the openable and closable motor clamp seat comprises: a forward and reverse screw, a first clamping block unit and a second clamping block unit driven by the forward and reverse screw to move simultaneously relative to or away from each other, the first clamping block unit comprising: a first clamping bottom block, a first clamping head and a first threaded sleeve; the first clamping head is fixed to the upper part of the first clamping bottom block by a threaded connection piece, the first threaded sleeve is provided with a thread inside, the first clamping bottom block is provided with a first mounting hole passing through it, one end of the first threaded sleeve extends into the first clamping bottom block, the other end of the first threaded sleeve is fixed to a side of the first clamping bottom block away from the second clamping block unit by a threaded connection piece, the forward and reverse screws pass through the first threaded sleeve and the two are threadedly connected; the The second clamping block unit includes: a second clamping bottom block, a second clamping head and a second threaded sleeve; the second clamping head is fixed to the upper part of the second clamping bottom block through a threaded connecting piece, the second threaded sleeve is provided with a thread inside, the second clamping bottom block is provided with a second mounting hole passing through it, one end of the second threaded sleeve extends into the second clamping bottom block, and the other end of the second threaded sleeve is fixed to the side of the second clamping bottom block away from the first clamping block unit through a threaded connecting piece, the forward and reverse screws pass through the second threaded sleeve and the two are threadedly connected; a concave first V-shaped clamping groove is provided on the side of the first clamp close to the second clamp, and a concave second V-shaped clamping groove is provided on the side of the second clamp close to the first clamp.

[0019] Preferably, the second clamp block unit and the first clamp block unit are symmetrical structures; the openable and closable motor clamp seat also includes: a sliding guide unit for limiting the rotation of the first clamp block unit and the second clamp block unit, a knob ring for driving the forward and reverse screws to rotate, and a clamp seat base for supporting the forward and reverse screws, the clamp seat base includes a clamp seat bottom plate and two clamp seat vertical plates respectively fixed at both ends of the upper part of the clamp seat bottom plate, the first clamp block unit and the second clamp block unit are located between the two clamp seat vertical plates, the forward and reverse screws pass through the two clamp seat vertical plates at the same time, and a limit block for limiting the axial movement of the forward and reverse screws is respectively provided on the outer side of the two clamp seat vertical plates, the limit block is fixed to the forward and reverse screws by a pin, and the knob ring is fixed to one end of the forward and reverse screws.

[0020] Preferably, the sliding guide unit includes 2-4 guide columns arranged around the forward and reverse screws, the guide columns simultaneously pass through the first clamping bottom block and the second clamping bottom block, and the guide columns are slidingly connected to the first clamping bottom block and the second clamping bottom block respectively, the two ends of the guide columns are respectively connected to the two clamping seat vertical plates, and a waist-shaped mounting hole is provided on the clamping seat bottom plate.

[0021] (III) Beneficial effects

[0022] Compared with the prior art, the utility model can conveniently obtain the actual input torque of the purchased motor, and use the actual output torque as the basic data for the design of the manipulator, which is conducive to ensuring the accuracy of the design results. The utility model can also connect the torque meter to different output connection sections, and can quickly obtain the actual torque value driven by the same input motor and at different speed ratios, on the one hand, avoiding theoretical meter errors; and on this basis, the speed ratio of the multi-output speed ratio gearbox of the utility model covers the commonly used speed ratio range and is distributed in stages, converting the speed ratio variable into multiple optional quantitative values, so that the output torque under the commonly used speed ratio can be quickly obtained, and the torque can be compared with the jaw driving torque required by the manipulator, and the speed ratio corresponding to the output connection section that meets the requirements can be quickly found, and the speed ratio is used as the design speed ratio of the manipulator gear train, and then the manipulator gear train is designed based on the speed ratio. It can greatly reduce the design difficulty of the manipulator and shorten the shortening cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 1 It is a schematic diagram of the overall structure of the utility model (measuring output torque state);

[0025] Figure 2 This is a three-dimensional structural diagram of the XY displacement adjustment component in the utility model;

[0026] Figure 3 For along Figure 2 Schematic cross-sectional view of the AA line;

[0027] Figure 4 For along Figure 2 Schematic cross-sectional view of the middle BB line;

[0028] Figure 5 The utility model is a three-dimensional schematic diagram of an openable and closable motor clamping seat;

[0029] Figure 6 The utility model is a cross-sectional schematic diagram of an openable and closable motor clamping seat;

[0030] Figure 7 This is a top view of a multi-output speed ratio gearbox in the utility model (after removing the top cover of the box);

[0031] Figure 8 It is a schematic diagram of the utility model in the state of measuring the clamping force of the clamping jaws.

[0032] Description of reference numerals:

[0033] 1. Movable load-bearing plate; 2. Openable and closable motor clamp; 3. Multi-output speed ratio gearbox; 4. XY displacement adjustment assembly; 5. Force measuring connection sleeve; 6. Torque meter; 7. Torque meter mounting seat; 8. Input motor; 9. Clamping jaw mounting seat; 10. Clamping jaw connection sleeve; 11. Force sensor; 12. Clamping head; 13. Workbench; 14. Universal mounting seat; 15. Torque digital display; 16. Power supply; 17. PCB board assembly; 18. Support storage cabinet; 19. Mobile casters; 20. Coupling; 37. High torque connection sleeve;

[0034] 21. forward and reverse screws; 22. first clamping bottom block; 23. first clamping head; 24. first threaded sleeve; 25. second clamping bottom block; 26. second clamping head; 27. second threaded sleeve; 28. knob ring; 29. ​​clamping seat bottom plate; 30. clamping seat vertical plate; 34. limit block; 35. pin; 36. guide column;

[0035] 31. Gear box gear; 32. Transmission shaft; 33. Box body;

[0036] 41. Adjustment base plate; 42. X-direction displacement adjustment unit; 43. Y-direction displacement adjustment unit;

[0037] 81. Motor output shaft;

[0038] 141, mounting slot;

[0039] 231, first V-shaped clip groove;

[0040] 261, second V-shaped clip groove;

[0041] 291, waist-shaped mounting hole;

[0042] 321, input connection section; 322, output connection section;

[0043] 421, X-direction moving plate; 422, X-direction connecting ring; 423, X-direction knob; 424, X-direction movable screw; 425, X-direction fixed spiral transmission plate; 426, X-direction guide block; 427, X-direction guide column; 428, X-column fixed block; 429, X-direction locking rotary rod;

[0044] 4241. Step push ring. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation of the utility model is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific implementation disclosed below.

[0046] The following is combined with Figure 1-8 The auxiliary design device for the grabbing and clamping manipulator of the utility model is further described.

[0047] The utility model discloses an auxiliary design device for a grasping and clamping manipulator, comprising: a movable bearing plate 1, an openable and closable motor clamp seat 2, a multi-output speed ratio gearbox 3, an XY displacement adjustment component 4, a force measuring connection sleeve 5, a torque meter 6, a torque meter mounting seat 7 and an input motor 8; the openable and closable motor clamp seat 2 and the multi-output speed ratio gearbox 3 are respectively mounted on the upper part of the movable bearing plate 1; the multi-output speed ratio gearbox 3 comprises: a gearbox gear 31, n transmission shafts 32 meshed in sequence through the gearbox gears 31, one end of the transmission shaft 32 close to the openable and closable motor clamp seat 2 is an input connection section 321, and the end of the transmission shaft 32 away from the openable and closable motor clamp seat 2 is an output connection section 322, and n is a natural number greater than or equal to 2; the openable and closable motor clamp seat 2 is used to fix the input motor 8, and the input motor 8 comprises a motor output shaft 81 facing the input connection section 321, and the motor output shaft 81 is connected to the input connecting section 321 and is used to transmit the rotational torque of the input motor 8 to the input connecting section 321; the torque meter 6 is installed in the torque meter mounting seat 7, and the XY displacement adjustment component 4 is installed below the movable supporting plate 1, and the XY displacement adjustment component 4 is used to adjust the position of the movable supporting plate 1 and the multi-output speed ratio gearbox 3; the auxiliary design device for the grasping and clamping manipulator includes an output torque measuring state. When the auxiliary design device for the grasping and clamping manipulator is in the output torque measuring state, the torque meter mounting seat 7 is fixed to the side of the multi-output speed ratio gearbox 3 close to the output connecting section 322, and under the adjustment action of the XY displacement adjustment component 4, any output connecting section 322 can be adjusted to be aligned with the torque meter 6; the force measuring connecting sleeve 5 is used to connect the torque meter 6 and the output connecting section 322 and to transmit the rotational torque of the output connecting section 322 to the torque meter 6.

[0048] In this embodiment, the movable bearing plate 1 is used to install the openable and closable motor clamp 2 and the multi-output speed ratio gearbox 3. The openable and closable motor clamp 2 can be opened and closed, and is used to clamp and fix input motors 8 of different diameters.

[0049] The XY displacement adjustment component 4 can move in the X direction or the Y direction. Since the movable supporting plate 1 is fixed thereon, and the multi-output speed ratio gearbox 3 is fixed on the movable supporting plate 1, the position of the multi-output speed ratio gearbox 3 can be adjusted through the XY displacement adjustment component 4, so that any output connecting section 322 can be aligned with the torque meter 6, so as to measure the torque on different output connecting sections 322.

[0050] The torque meter 6 is used to measure the torque value, and the torque meter mounting seat 7 is used to mount the torque meter 6 .

[0051] The XY displacement adjustment component 4 can be a variety of structures, for example, the XY displacement adjustment component 4 is two upper and lower stacked spiral transmission structures arranged along the X direction and the Y direction respectively, which can be manually rotated as a driving power (the utility model discloses this structure in detail below). For example, the XY displacement adjustment component 4 is also an existing XY two-axis cross servo module that can be directly purchased from outside, and uses a servo motor as a driving power.

[0052] The input motor 8 is selected according to the needs. The input motor 8 can be a purchased motor to be tested or a manipulator motor of a selected model.

[0053] The force measuring connecting sleeve 5 is used to connect the torque meter 6 and an output connecting section 322 aligned with the torque meter 6. In specific implementation, the force measuring connecting sleeve 5 can adopt a coupling structure, or the output connecting section 322 and the torque meter 6 are both provided with a plane for transmitting torque, and the force measuring connecting sleeve 5 is provided with a connecting hole of matching shape, so as to realize the force measuring connecting sleeve 5 to quickly connect the torque meter 6 and the output connecting section 322.

[0054] The multi-output speed ratio gearbox 3 has an input connection section 321 and multiple output connection sections 322. The input connection section 321 is used to connect the rotational power of the input motor 8. In specific implementation, the speed ratio of each output connection section 322 to the input connection section 321 can be set to different values, and these speed ratios are within the range conventionally used in the design of the grabbing and clamping manipulator, and the speed ratios are distributed in steps, and the speed ratio also includes the case of being equal to 1. Connecting different output connection sections 322 can form different transmission ratio gears. Therefore, by selecting different output connection sections 322 to connect to the torque meter 6, the torque values ​​under different transmission ratios can be obtained, so as to quickly obtain the torque parameters required for the manipulator design. For example, in order to test the actual output torque of the purchased motor, the purchased motor is used as the input motor 8 and is clamped and fixed on the retractable motor clamp 2, the input connecting section 321 is connected to the motor output shaft 81, the gear ratio of the multi-output speed ratio gearbox 3 is selected to be 1, and the corresponding output connecting section 322 is connected to the torque meter 6, and the actual output torque of the purchased motor can be directly measured through the torque meter 6. During the design, the actual output torque is used as the basic data for the design of the manipulator, which is conducive to ensuring the accuracy of the design results.

[0055] By adopting the utility model, the torque meter 6 can also be connected to different output connection sections 322, and the actual torque value driven by the same input motor 8 and at different speed ratios can be quickly obtained, which can avoid theoretical meter errors on the one hand; and on this basis, the speed ratio of the multi-output speed ratio gearbox 3 of the utility model covers the commonly used transmission ratio range and is distributed in stages, converting the variable of the transmission ratio into multiple optional quantitative values, so that the output torque under the commonly used speed ratio can be quickly obtained, and the torque can be compared with the clamp driving torque required by the manipulator, and the speed ratio corresponding to the output connection section 322 that meets the requirements can be quickly found, and the speed ratio is used as the design speed ratio of the manipulator gear train, and then the manipulator gear train is designed according to the speed ratio. It can greatly reduce the design difficulty of the manipulator and shorten the shortening cycle.

[0056] According to the specific implementation mode of the utility model, the auxiliary design device for the grasping and clamping robot also includes: a clamping jaw mounting seat 9, a clamping jaw connecting sleeve 10, a force sensor 11 and a clamping head 12. The auxiliary design device for the grasping and clamping robot includes a clamping force measuring state of the clamping jaw. When the auxiliary design device for the grasping and clamping robot is in the clamping force measuring state of the clamping jaw, the clamping jaw mounting seat 9 is fixed to the side of the multi-output speed ratio gearbox 3 close to the output connecting section 322, and the clamping head 12 is installed on the clamping jaw mounting seat 9. Under the adjustment action of the XY displacement adjustment component 4, any output connecting section 322 can be adjusted to be aligned with the clamping head 12; the clamping jaw connecting sleeve 10 connects the clamping head 12 and the output connecting section 322, and is used to transmit the torque of the output connecting section 322 to the clamping head 12; the force sensor 11 is used to measure the clamping force of the clamping head 12.

[0057] In this embodiment, the clamping jaw mounting seat 9 is used to install the clamping head 12 (the structure of the clamping head 12 has been described in the background technology section of this utility model), and a corresponding threaded connection hole is provided between the two, which can be detachably connected through a threaded connector. The clamping jaw connecting sleeve 10 is used to connect the output connecting section 322 and the clamping head 12 (specifically, the gear shaft in the clamping head 12). When designing a grabbing and clamping manipulator, the clamping head 12 can be used as a known structure, and the required clamping force of the clamping head 12 can be obtained by adjusting the speed ratio and the input motor 8. In specific implementation, a variety of specifications of clamping heads 12 can be pre-designed according to the size of the clamping force to avoid requiring a small-volume clamping head 12 to output a large clamping force, which results in insufficient strength of the clamping head 12.

[0058] The force sensor 11 is used to obtain the clamping force of the jaws. When measuring the clamping force of the jaws, the force sensor 11 is located between the two jaws. The jaw connecting sleeve 10 is used to connect the output connecting section 322 and the gear shaft in the clamping head 12. In specific implementation, the jaw connecting sleeve 10 can adopt a coupling structure, or the output connecting section 322 and the gear shaft are both provided with a plane for transmitting torque, and the jaw connecting sleeve 10 is provided with a connecting hole of matching shape, so as to realize the jaw connecting sleeve 10 to quickly connect the gear shaft and the output connecting section 322.

[0059] It should be noted that in the present invention, the clamping force state of the clamping jaws and the output torque state will not exist at the same time. When the output connecting section 322 is connected to the torque meter 6, it is used to measure the output torque. When the output connecting section 322 is connected to the clamping head 12 and the force sensor 11 is installed, it is used to measure the clamping force of the clamping jaws.

[0060] The auxiliary design device for the grasping and clamping robot of the utility model can not only measure the torque, but also quickly measure the clamping force of the clamping head 12 under different speed ratios and input motor 8 conditions. During implementation, the designer can replace the commonly used motors and select output connecting sections 322 with different speed ratios to obtain the required clamping force data, and then select the conditions that meet the conditions and quickly screen out the required speed ratio and input motor 8 through other design requirements. The operation is simple and practical, which greatly reduces the difficulty of selecting the design parameters of the electric claw.

[0061] According to a specific embodiment of the present utility model, the auxiliary design device for the grasping and clamping manipulator also includes a workbench 13 and a universal mounting seat 14, the XY displacement adjustment component 4 and the universal mounting seat 14 are respectively fixed on the workbench 13, and the universal mounting seat 14 is fixed to one side of the multi-output speed ratio gearbox 3 close to the output connecting section 322; the upper portion of the universal mounting seat 14 has a recessed mounting groove 141, and the lower portion of the torque meter mounting seat 7 and the lower portion of the clamping claw mounting seat 9 are both matched with the shape of the mounting groove 141; the auxiliary design device for the grasping and clamping manipulator is in the measurement When in the output torque state, the torque meter mounting seat 7 is fixedly installed in the mounting groove 141; when the auxiliary design device for grasping and clamping manipulator is in the state of measuring the clamping force of the clamping jaws, the clamping jaw mounting seat 9 is fixedly installed in the mounting groove 141; multiple output connecting sections 322 are located at the same height; when the auxiliary design device for grasping and clamping manipulator is in the state of measuring the output torque, the torque meter 6 and the output connecting section 322 are located at the same height; when the auxiliary design device for grasping and clamping manipulator is in the state of measuring the clamping force of the clamping jaws, the clamping head 12 and the output connecting section 322 are located at the same height.

[0062] In this embodiment, the workbench 13 is used to realize the centralized installation of various components, which is conducive to improving the integrity of the utility model. The universal mounting seat 14 is used to install the torque meter mounting seat 7 or the clamping jaw mounting seat 9, which improves the convenience of switching between measuring the clamping force state of the clamping jaw and measuring the output torque state. Since all the output connecting sections 322, the torque meter 6 and the clamping head 12 are arranged at the same height, the XY displacement adjustment component 4 only needs to adjust the position in the same plane to realize the connection between the output connecting section 322 and the torque meter 6 or the clamping head 12, which improves the convenience of connection.

[0063] According to a specific implementation mode of the utility model, the auxiliary design device for the grasping and clamping robot also includes a torque digital display 15 and a power supply 16 respectively arranged on the workbench 13, and the torque digital display 15 and the power supply 16 are respectively arranged on both sides of the XY displacement adjustment component 4. The auxiliary design device for the grasping and clamping robot also includes a PCB board assembly 17, and the PCB board assembly 17 is arranged on the side of the openable and closable motor clamp 2 away from the multi-output speed ratio gear box 3; a supporting storage cabinet 18 is provided at the lower part of the workbench 13, and a bottom plate of the supporting storage cabinet 18 is provided with movable casters 19, and the motor output shaft 81 is connected to the input connecting section 321 by a coupling 20; the PCB board assembly 17 includes a PCB board storage box and a PCB board body located in the PCB board storage box.

[0064] In the present embodiment, the torque digital display 15 is connected to the torque meter 6 and is used to display the torque value of the torque meter 6; the PCB board body is connected to the motor via a wire and is used to control the action of the motor. The power supply 16 is used to provide electrical energy to the electrical equipment located on the workbench 13. The PCB board body is used to integrate the control circuit. The support and storage cabinet 18 is used to support the upper workbench 13, and the support and storage cabinet 18 is a cabinet-shaped structure as a whole, which can be used to accommodate components such as the clamping head 12, the torque meter 6 and the torque meter mounting seat 7. The movable caster 19 facilitates the overall transfer of the auxiliary design device for the grabbing and clamping manipulator of the utility model. In the present embodiment, the positions of the components are reasonably arranged to facilitate operation and intuitive display, and to improve the compactness of the structure.

[0065] According to a specific implementation of the utility model, the multi-output speed ratio gearbox 3 also includes a box body 33, the transmission shaft 32 and the gearbox gear 31 are both installed in the box body 33, the n output connecting sections 322 are arranged side by side in a line, and the transmission ratios of the input connecting section 321 and the n output connecting sections 322 are distributed in a geometric progression, and the value of the first term of the geometric progression is 1, the common ratio is 2, and n=8.

[0066] In this embodiment, the transmission ratios of the input connection section 321 and the n output connection sections 322 are all different. And the transmission ratios are arranged in a geometric series. This structure can be realized by meshing a plurality of similar gear sets in sequence, which has a simple structure and ensures that the transmission ratio includes 1 and includes a commonly used speed ratio range.

[0067] According to a specific embodiment of the present utility model, the XY displacement adjustment assembly 4 includes an adjustment base plate 41, an X displacement adjustment unit 42 and a Y displacement adjustment unit 43 which are arranged in sequence from bottom to top, and the movable carrier plate 1 is located above the Y displacement adjustment unit 43; the X displacement adjustment unit 42 includes: an X-direction movable plate 421, an X-direction connecting ring 422, an X-direction knob 423, an X-direction movable screw 424, an X-direction fixed spiral transmission plate 425 and an X-direction sliding guide assembly; the X-direction connecting ring 422 is fixed to one side of the X-direction movable plate 421, the lower part of the X-direction fixed spiral transmission plate 425 is fixed on the adjustment base plate 41, and the upper part of the X-direction fixed spiral transmission plate 425 is connected to the X-direction movable plate 4 21 are arranged at an interval, the X-direction knob 423 is arranged on the side of the X-direction connecting ring 422 away from the X-direction fixed spiral transmission plate 425; the X-direction movable screw 424 is connected with the X-direction knob 423, the X-direction connecting ring 422 and the X-direction fixed spiral transmission plate 425 in sequence, and the X-direction movable screw 424 is fixedly connected to the X-direction knob 423, the X-direction movable screw 424 is rotationally connected to the X-direction connecting ring 422, the X-direction connecting ring 422 is threadedly connected to the X-direction fixed spiral transmission plate 425 and the two form a spiral transmission structure; the outer wall of the X-direction movable screw 424 is provided with a raised step push ring 4241, and the step push ring 4241 is located on the side of the X-direction connecting ring 422 away from the X-direction knob 423.

[0068] In this embodiment, the specific structure of the XY displacement adjustment component 4 is disclosed. The adjustment base plate 41 is used to realize the XY displacement adjustment component 4 is installed on the workbench 13 as a whole. The X-direction displacement adjustment unit 42 is used to realize the X-direction displacement of the movable carrier plate 1, and the Y-direction displacement adjustment unit 43 is used to realize the Y-direction displacement of the movable carrier plate 1. The operation process of the X-direction displacement adjustment unit 42 is: manually rotate the X-direction knob 423 to drive the X-direction movable screw 424 to rotate. Since the lower part of the X-direction fixed spiral transmission plate 425 is fixed, the X-direction movable screw 424 moves outward along the X-axis, and the step push ring 4241 pushes the X-direction connecting ring 422 and the Y-direction displacement adjustment unit 43 to move outward as a whole. Reversely rotate the X-direction knob 423 to drive the X-direction movable screw 424 to rotate in the opposite direction. Since the lower part of the X-direction fixed spiral transmission plate 425 is fixed, the X-direction movable screw 424 moves inward along the X-axis, and the X-direction knob 423 pushes the X-direction connecting ring 422 and the Y-direction displacement adjustment unit 43 to move inward as a whole. Finally, the position adjustment of the movable carrying plate 1 in the X direction can be achieved.

[0069] According to a specific embodiment of the utility model, the X-axis sliding guide assembly includes: an X-guide block 426, an X-guide column 427, an X-column fixing block 428 and an X-axis locking rotary rod 429; the X-guide block 426 is fixed to the lower part of the X-axis movable plate 421, the X-guide column 427 passes through the X-guide block 426 and the two are slidably connected, an X-column fixing block 428 is fixed to each end of the X-guide column 427, the X-column fixing block 428 is fixed to the adjustment base plate 41, the X-axis locking rotary rod 429 is located on one side of the X-guide block 426 and can abut the X-guide column 427 to limit the relative sliding between the X-guide block 426 and the X-guide column 427; the Y-axis displacement adjustment unit 43 has the same structure as the X-axis displacement adjustment unit 42, and the Y-axis displacement adjustment unit 43 is rotated 90° relative to the X-axis displacement adjustment unit 42 as a whole.

[0070] More specifically, the adjustment base plate 41 is fixedly mounted on the workbench 13. The Y-direction displacement adjustment unit 43 includes: a Y-direction moving plate, a Y-direction connecting ring, a Y-direction knob, a Y-direction movable screw, a Y-direction fixed spiral transmission plate and a Y-direction sliding guide assembly; the Y-direction connecting ring is fixed to one side of the Y-direction moving plate, the lower part of the Y-direction fixed spiral transmission plate is fixed to the Y-direction moving plate, the upper part of the Y-direction fixed spiral transmission plate is spaced apart from the Y-direction moving plate, and the Y-direction knob is arranged on the side of the Y-direction connecting ring away from the Y-direction fixed spiral transmission plate; the Y-direction movable screw is sequentially connected to the Y-direction knob, the Y-direction connecting ring and the Y-direction fixed spiral transmission plate, and the Y-direction movable screw is fixedly connected to the Y-direction knob, the Y-direction movable screw is rotationally connected to the Y-direction connecting ring, and the Y-direction connecting ring is connected to the Y-direction The fixed spiral transmission plate is connected by threads and the two form a spiral transmission structure; the outer wall of the Y-axis movable screw is provided with a raised step push ring, and the step push ring is located on the side of the Y-axis connecting ring away from the Y-axis knob; the Y-axis sliding guide assembly includes: a Y-guide block, a Y-guide column, a Y-column fixing block and a Y-axis locking rotary rod; the Y-guide block is fixed to the lower part of the Y-axis movable plate, the Y-guide column passes through the Y-guide block and the two are slidably connected, a Y-column fixing block is respectively fixed at both ends of the Y-guide column, the Y-column fixing block is fixed on the x-axis movable plate, the Y-axis locking rotary rod is located on one side of the Y-guide block and can abut the Y-guide column to limit the relative sliding between the Y-guide block and the Y-guide column; the movable bearing plate 1 is fixed to the upper part of the Y-axis movable plate.

[0071] In this embodiment, the X-direction sliding guide assembly is used to provide a sliding guide for the X-direction displacement adjustment unit 42 to move along the X-axis as a whole. After loosening the X-direction locking rod 429, the position of the movable carrier plate 1 in the X-direction can be freely adjusted. When the position is adjusted, tightening the X-direction locking rod 429 can limit the relative sliding between the X-guide block 426 and the X-guide column 427, and finally fix the position of the movable carrier plate 1 in the X-direction. Since the Y-direction displacement adjustment unit 43 has the same structure as the X-direction displacement adjustment unit 42, its operation process is the same as the operation process of the X-direction displacement adjustment unit 42. Finally, the adjustment and locking of the position of the movable carrier plate 1 in the Y-direction can be achieved.

[0072] According to a specific embodiment of the utility model, the openable and closable motor clamp seat 2 includes: a forward and reverse screw 21, a first clamping block unit and a second clamping block unit that are driven by the forward and reverse screw 21 to move relative to or away from each other at the same time, and the first clamping block unit includes: a first clamping bottom block 22, a first clamping head 23 and a first threaded sleeve 24; the first clamping head 23 is fixed to the upper part of the first clamping bottom block 22 through a threaded connector, and the first threaded sleeve 24 is provided with a thread inside, and the first clamping bottom block 22 is provided with a first mounting hole passing through it, one end of the first threaded sleeve 24 extends into the first clamping bottom block 22, and the other end of the first threaded sleeve 24 is fixed to the side of the first clamping bottom block 22 away from the second clamping block unit through a threaded connector, and the forward and reverse screws 21 pass through the first threaded sleeve 24 and the two are threadedly connected. The second clamping block unit comprises: a second clamping bottom block 25, a second clamping head 26 and a second threaded sleeve 27; the second clamping head 26 is fixed to the upper part of the second clamping bottom block 25 by a threaded connector, the second threaded sleeve 27 is provided with a thread inside, the second clamping bottom block 25 is provided with a second mounting hole running through it, one end of the second threaded sleeve 27 extends into the second clamping bottom block 25, and the other end of the second threaded sleeve 27 is fixed to a side of the second clamping bottom block 25 away from the first clamping block unit by a threaded connector, the forward and reverse screws 21 pass through the second threaded sleeve 27 and the two are threadedly connected; a first V-shaped clamping groove 231 is provided on the side of the first clamping head 23 close to the second clamping head 26, and a second V-shaped clamping groove 261 is provided on the side of the second clamping head 26 close to the first clamping head 23.

[0073] In this embodiment, the sliding guide unit is used to provide sliding guides for the first clamping block unit and the second clamping block unit, and the limit blocks 34 at both ends of the forward and reverse screws 21 are used to limit the freedom of the forward and reverse screws 21 to move along the axis. Manually rotating the rotating ring can drive the forward and reverse screws 21 to rotate. The forward and reverse screws 21 rotate, driving the first clamping block unit and the second clamping block unit to open and close, so as to achieve the loosening and clamping of the input motor 8. In specific implementation, the clamped part of the input motor 8 is cylindrical. Since the first V-shaped clamping groove 231 and the second V-shaped clamping groove 261 are provided, the centering clamping of the input motor 8 can be achieved, and the coaxiality of the input motor 8 and the input connecting section 321 is further ensured.

[0074] The first clamping block unit is a structure composed of multiple components. The first threaded sleeve 24 and the second threaded sleeve 27 are respectively provided with threads matching the forward and reverse screws 21. The first threaded sleeve 24 and the second threaded sleeve 27 can be processed separately and disassembled and replaced separately, which is flexible and convenient to use. The first clamping bottom block 22 and the first clamping head 23 are detachably connected structures, and different clamping heads can be adapted according to the specifications of the input motor 8, further improving the flexibility of use. The first clamping block unit and the second clamping block unit are symmetrical structures with each other, and their structural advantages are the same as those of the first clamping block unit.

[0075] According to the specific implementation mode of the utility model, the second clamp block unit and the first clamp block unit are symmetrical structures to each other; the openable and closable motor clamp seat 2 also includes: a sliding guide unit for limiting the rotation of the first clamp block unit and the second clamp block unit, a knob ring 28 for driving the forward and reverse screw 21 to rotate, and a clamp seat base for supporting the forward and reverse screw 21. The clamp seat base includes a clamp seat bottom plate 29 and two clamp seat vertical plates 30 respectively fixed at the two ends of the upper part of the clamp seat bottom plate 29. The first clamp block unit and the second clamp block unit are located between the two clamp seat vertical plates 30. The forward and reverse screw 21 passes through the two clamp seat vertical plates 30 at the same time. The outer sides of the two clamp seat vertical plates 30 are respectively provided with a limit block 34 for limiting the axial movement of the forward and reverse screw 21. The limit block 34 is fixed to the forward and reverse screw 21 by a pin 35, and the knob ring 28 is fixed to one end of the forward and reverse screw 21.

[0076] In this embodiment, under the action of the two limit blocks 34, the forward and reverse screws 21 cannot move along the axis. When in use, the knob ring 28 is manually rotated, and the forward and reverse screws 21 rotate and drive the second clamping block unit and the first clamping block unit to open and close. The second clamping block unit and the first clamping block unit are symmetrical structures, which is conducive to further ensuring the centering clamping accuracy. The knob ring 28 is located at the end of the forward and reverse screws 21 for easy operation.

[0077] According to a specific embodiment of the utility model, the sliding guide unit includes 2-4 guide columns 36 arranged around the forward and reverse screws 21, and the guide columns 36 penetrate the first bottom clamping block 22 and the second bottom clamping block 25 at the same time, and the guide columns 36 are respectively slidably connected to the first bottom clamping block 22 and the second bottom clamping block 25, and the two ends of the guide columns 36 are respectively connected to the two clamping seat vertical plates 30, and a waist-shaped mounting hole 291 is provided on the clamping seat bottom plate 29.

[0078] In this embodiment, a plurality of guide posts 36 are arranged around the forward and reverse screws 21, and a uniform guide structure can be formed around the forward and reverse screws 21, which is conducive to ensuring the sliding accuracy of the first clamping block unit and the second clamping block unit. When in use, the clamp base plate 29 is installed on the workbench 13, and the waist-shaped mounting hole 291 is used to adjust the installation position. It should be noted that: the utility model also includes a large torque connection sleeve 37, and the structure of the large torque connection sleeve 37 is similar to that of the force measuring connection sleeve 5, except that its connection inner hole is larger and can be adapted to the output connection section 322 with the largest diameter.

[0079] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements, or it can be a "transmission connection", that is, a power connection through various appropriate methods such as belt drive, gear drive or sprocket drive. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

Claims

1. An auxiliary design device for a gripping and clamping manipulator, characterized in that: include: Movable bearing plate, retractable motor clamp, multi-output speed ratio gearbox, XY displacement adjustment assembly, force measuring connection sleeve, torque meter, torque meter mounting seat and input motor; The retractable motor clamp and the multi-output speed ratio gearbox are respectively mounted on the upper part of the movable bearing plate; The multi-output speed ratio gearbox comprises: gearbox gears, n transmission shafts meshed in sequence through the gearbox gears, wherein one end of the transmission shaft close to the retractable motor clamp is an input connection section, and the end of the transmission shaft away from the retractable motor clamp is an output connection section, and n is a natural number greater than or equal to 2; the retractable motor clamp is used to fix the input motor, and the input motor comprises a motor output shaft facing the input connection section, the motor output shaft is connected to the input connection section, and is used to transmit the rotational torque of the input motor to the input connection section; The torque meter is installed in the torque meter mounting seat, the XY displacement adjustment component is installed below the movable bearing plate, and the XY displacement adjustment component is used to adjust the position of the movable bearing plate and the multi-output speed ratio gearbox.

2. The auxiliary design device for a gripping and clamping manipulator according to claim 1, characterized in that: The auxiliary design device for the grasping and clamping manipulator includes an output torque measuring state. When the auxiliary design device for the grasping and clamping manipulator is in the output torque measuring state, the torque meter mounting seat is fixed to a side of the multi-output speed ratio gearbox close to the output connecting section, and under the adjustment action of the XY displacement adjustment component, any one of the output connecting sections can be adjusted to be aligned with the torque meter; the force measuring connecting sleeve is used to connect the torque meter and the output connecting section and to transmit the rotational torque of the output connecting section to the torque meter; The auxiliary design device for the grasping and clamping robot also includes: a jaw mounting seat, a jaw connecting sleeve, a force sensor and a clamping head; the auxiliary design device for the grasping and clamping robot also includes a jaw clamping force measuring state. When the auxiliary design device for the grasping and clamping robot is in the jaw clamping force measuring state, the jaw mounting seat is fixed to the side of the multi-output speed ratio gearbox close to the output connecting section, and the clamping head is installed on the jaw mounting seat. Under the adjustment action of the XY displacement adjustment component, any one of the output connecting sections can be adjusted to be aligned with the clamping head; the jaw connecting sleeve connects the clamping head and the output connecting section, and is used to transmit the torque of the output connecting section to the clamping head; the force sensor is used to measure the clamping force of the clamping head.

3. The auxiliary design device for a gripping and clamping manipulator according to claim 2, characterized in that: The auxiliary design device for the grasping and clamping manipulator also includes a workbench and a universal mounting seat, the XY displacement adjustment component and the universal mounting seat are respectively fixed on the workbench, and the universal mounting seat is fixed to a side of the multi-output speed ratio gearbox close to the output connecting section; the upper part of the universal mounting seat has a recessed mounting groove, and the lower part of the torque meter mounting seat and the lower part of the clamping jaw mounting seat both match the shape of the mounting groove; when the auxiliary design device for the grasping and clamping manipulator is in the output torque measuring state, the torque meter mounting seat is fixedly installed in the mounting groove; when the auxiliary design device for the grasping and clamping manipulator is in the clamping force measuring state of the clamping jaw, the clamping jaw mounting seat is fixedly installed in the mounting groove; multiple output connecting sections are located at the same height; when the auxiliary design device for the grasping and clamping manipulator is in the output torque measuring state, the torque meter and the output connecting section are located at the same height; when the auxiliary design device for the grasping and clamping manipulator is in the clamping force measuring state of the clamping jaw, the clamping head and the output connecting section are located at the same height.

4. The auxiliary design device for a gripping and clamping manipulator according to claim 3, characterized in that: The auxiliary design device for the grasping and clamping robot also includes a torque digital display and a power supply respectively arranged on the workbench, and the torque digital display and the power supply are respectively arranged on both sides of the XY displacement adjustment component. The auxiliary design device for the grasping and clamping robot also includes a PCB board assembly, and the PCB board assembly is arranged on the side of the openable and closable motor clamp away from the multi-output speed ratio gear box; a supporting storage cabinet is provided at the lower part of the workbench, and a bottom plate of the supporting storage cabinet is provided with movable casters, and the motor output shaft is connected to the input connecting section by a coupling; the PCB board assembly includes a PCB board storage box and a PCB board body located in the PCB board storage box.

5. The auxiliary design device for a gripping and clamping manipulator according to claim 4, characterized in that: The multi-output speed ratio gearbox also includes a housing, the transmission shaft and the gearbox gears are both installed in the housing, the n output connecting sections are arranged side by side in a line, the transmission ratios of the input connecting sections and the n output connecting sections are distributed in a geometric progression, and the value of the first term of the geometric progression is 1, the common ratio is 2, and n=8.

6. The auxiliary design device for a gripping and clamping manipulator according to any one of claims 1 to 5, characterized in that: The XY displacement adjustment assembly comprises an adjustment base plate, an X displacement adjustment unit and a Y displacement adjustment unit which are arranged in sequence from bottom to top, and the movable bearing plate is located above the Y displacement adjustment unit; The X-direction displacement adjustment unit comprises: an X-direction moving plate, an X-direction connecting ring, an X-direction knob, an X-direction movable screw, an X-direction fixed spiral transmission plate and an X-direction sliding guide assembly; the X-direction connecting ring is fixed to one side of the X-direction moving plate, the lower part of the X-direction fixed spiral transmission plate is fixed to the adjusting bottom plate, the upper part of the X-direction fixed spiral transmission plate is spaced apart from the X-direction moving plate, and the X-direction knob is arranged on the side of the X-direction connecting ring away from the X-direction fixed spiral transmission plate; the X-direction movable screw is connected to the X-direction knob, the X-direction connecting ring and the X-direction fixed spiral transmission plate in sequence, and the X-direction movable screw is fixedly connected to the X-direction knob, the X-direction movable screw is rotationally connected to the X-direction connecting ring, the X-direction connecting ring is threadedly connected to the X-direction fixed spiral transmission plate and the two form a spiral transmission structure; the outer wall of the X-direction movable screw is provided with a raised step push ring, and the step push ring is located on the side of the X-direction connecting ring away from the X-direction knob.

7. The auxiliary design device for a gripping and clamping manipulator according to claim 6, characterized in that: The X-axis sliding guide assembly comprises: an X-guide block, an X-guide column, an X-column fixing block and an X-axis locking rotary rod; the X-guide block is fixed to the lower part of the X-axis movable plate, the X-guide column passes through the X-guide block and the two are slidably connected, one X-column fixing block is fixed to each of the two ends of the X-guide column, the X-column fixing block is fixed to the adjustment base plate, the X-axis locking rotary rod is located on one side of the X-guide block and can abut against the X-guide column to limit the relative sliding between the X-guide block and the X-guide column; the Y-axis displacement adjustment unit has the same structure as the X-axis displacement adjustment unit, and the Y-axis displacement adjustment unit is rotated 90° relative to the X-axis displacement adjustment unit as a whole.

8. The auxiliary design device for a gripping and clamping manipulator according to any one of claims 1 to 5, characterized in that: The openable and closable motor clamp seat comprises: a forward and reverse screw, a first clamping block unit and a second clamping block unit driven by the forward and reverse screw to move relative to or away from each other at the same time, the first clamping block unit comprises: a first clamping bottom block, a first clamping head and a first threaded sleeve; the first clamping head is fixed to the upper part of the first clamping bottom block by a threaded connection piece, the first threaded sleeve is provided with a thread inside, the first clamping bottom block is provided with a first mounting hole passing through it, one end of the first threaded sleeve extends into the first clamping bottom block, the other end of the first threaded sleeve is fixed to the side of the first clamping bottom block away from the second clamping block unit by a threaded connection piece, the forward and reverse screws pass through the first threaded sleeve and the two are threadedly connected; the second The clamping block unit includes: a second clamping bottom block, a second clamping head and a second threaded sleeve; the second clamping head is fixed to the upper part of the second clamping bottom block through a threaded connecting piece, the second threaded sleeve is provided with a thread inside, the second clamping bottom block is provided with a second mounting hole passing through it, one end of the second threaded sleeve extends into the second clamping bottom block, and the other end of the second threaded sleeve is fixed to a side of the second clamping bottom block away from the first clamping block unit through a threaded connecting piece, the forward and reverse screws pass through the second threaded sleeve and the two are threadedly connected; a side of the first clamp close to the second clamp is provided with a recessed first V-shaped clamping groove, and a side of the second clamp close to the first clamp is provided with a recessed second V-shaped clamping groove.

9. The auxiliary design device for a gripping and clamping manipulator according to claim 8, characterized in that: The second clamp block unit and the first clamp block unit are symmetrical structures; the openable and closable motor clamp seat also includes: a sliding guide unit for limiting the rotation of the first clamp block unit and the second clamp block unit, a knob ring for driving the forward and reverse screws to rotate, and a clamp seat base for supporting the forward and reverse screws. The clamp seat base includes a clamp seat bottom plate and two clamp seat vertical plates respectively fixed at both ends of the upper part of the clamp seat bottom plate. The first clamp block unit and the second clamp block unit are located between the two clamp seat vertical plates. The forward and reverse screws pass through the two clamp seat vertical plates at the same time. A limit block is respectively provided on the outer side of the two clamp seat vertical plates for limiting the axial movement of the forward and reverse screws. The limit block is fixed to the forward and reverse screws by a pin, and the knob ring is fixed to one end of the forward and reverse screws.

10. The auxiliary design device for a gripping and clamping manipulator according to claim 9, characterized in that: The sliding guide unit includes 2-4 guide columns arranged around the forward and reverse screws, and the guide columns penetrate the first clamping bottom block and the second clamping bottom block at the same time, and the guide columns are slidingly connected to the first clamping bottom block and the second clamping bottom block respectively, and the two ends of the guide columns are respectively connected to the two clamping seat vertical plates, and a waist-shaped mounting hole is provided on the clamping seat bottom plate.

Images