Grabbing structure of manipulator

Abstract

The utility model provides a grabbing structure of a manipulator, and belongs to the technical field of manipulators. Comprising an assembling frame, a containing groove is formed in one side of the interior of the assembling frame, an adaptive convenient clamping mechanism is installed in the containing groove and on one side of the containing groove, the adaptive convenient clamping mechanism comprises a containing assembly, a first lead screw sliding sleeve and a guide sleeve, and grabbing frames are fixed to the lower portion of the first lead screw sliding sleeve and the lower portion of the guide sleeve and the interior of the assembling frame correspondingly. Through the arrangement of the adaptive convenient clamping mechanism, in a daily state, a worker can independently use a grabbing mechanism in a grabbing frame in the assembly frame to grab a workpiece, and when a long workpiece is involved, the worker can start a first motor to enable a second rotating rod and second gears fixed to the two sides of the second rotating rod to rotate; at the moment, the first gear meshed with the gear drives the first rotating rod and the fixing sleeve to rotate, and due to the fact that the installation frame is fixedly arranged on one side of the fixing sleeve, the installation frame moves as above till the installation frame can be stably carried on the carrying frame.

Description

Technical Field

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

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab and move objects or operate tools according to a fixed procedure. It can replace heavy human labor to achieve mechanization and automation of production and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other sectors.

[0003] For example, patent CN216543356U discloses a manipulator grasping structure that is convenient for protecting workpieces, including a support frame, a telescopic cylinder, a gripping plate and a buffer pad, wherein a bracket is provided under the support frame, the telescopic cylinder is arranged in the support frame, the output end of the telescopic cylinder passes through the bottom wall of the support frame and the top wall of the bracket, a control shaft is provided under the output end of the telescopic cylinder, a slip ring is provided on the sliding sleeve of the control shaft, two groups of the slip rings are arranged with the vertical center line of the control shaft as the symmetry axis, an articulated rod 1 is hinged on the slip ring, and the end of the articulated rod 1 away from the slip ring is hinged to the bracket.

[0004] During use of the above-mentioned robot gripping structure, when its gripping plate grips a workpiece with a longer length, the gripping setting of its single set of gripping plates may cause the workpiece to tilt or slip on one side, and safety cannot be guaranteed. Therefore, the present application provides a robot gripping structure to meet the needs. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a gripping structure of a robot to solve the problem that when the gripping plate of the existing robot grips a workpiece with a longer length, the gripping setting of a single set of gripping plates may cause one side of the workpiece to tilt or slip, and the safety cannot be guaranteed.

[0006] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0007] A gripping structure of a robot comprises an assembly frame, a receiving groove is provided on one side of the interior of the assembly frame, and an adaptor and clamping mechanism is installed inside and on one side of the receiving groove, the adaptor and clamping mechanism comprises a receiving assembly, a first screw sleeve and a guide sleeve, and gripping frames are respectively fixed below the first screw sleeve and the guide sleeve and inside the assembly frame, and gripping mechanisms are installed inside the two gripping frames, limiting assemblies are installed on both sides above one side of the assembly frame, and a carrying frame is fixed below one side of the assembly frame, the receiving assembly comprises a fixing sleeve, and a mounting frame is fixed on the inner side of the fixing sleeve, and an adaptor assembly is jointly installed in the middle of the mounting frame.

[0008] Optionally, the storage component includes a first rotating rod, and the first rotating rod is installed inside the storage slot, a fixing sleeve is fixed to the middle of the first rotating rod, and first gears are fixed on both sides of the middle of the first rotating rod, a first motor is installed on one side of the assembly frame, and the output end of the first motor is connected to the second rotating rod, and second gears are fixed on both sides of the middle of the second rotating rod.

[0009] Optionally, the second gear and the first gear are in meshing transmission connection.

[0010] Optionally, the adapter assembly includes a first fixed plate, and the first fixed plate is fixed to an inner side of the mounting frame, a transmission screw is installed on one inner side of the first fixed plate, and a first screw sleeve is screwed around one side of the transmission screw, a first guide rod is fixed on the other inner side of the first fixed plate, and a guide sleeve is movable around one side of the first guide rod, and a second motor is connected and installed on one end of the transmission screw.

[0011] Optionally, the transmission screw and the first guide rod are distributed opposite to each other along the inner transverse center axis of the mounting frame.

[0012] Optionally, the grabbing mechanism includes a second fixed plate, and the second fixed plate is symmetrically fixed on both sides of the interior of the grabbing frame, a forward and reverse screw rod is installed on one side of the inner side of the two second fixed plates, and one end of the forward and reverse screw rod is connected to a third motor, second screw rod sleeves are screwed on both sides of the middle part of the forward and reverse screw rods, and a connected slide is fixed below the two second screw rod sleeves, a second guide rod for the movement of the connected slide is fixed on the other side of the inner side of the two second fixed plates, and a grabbing plate is fixed below the two connected slides.

[0013] Optionally, the grabbing mechanisms are respectively installed inside two grabbing frames, and the two grabbing frames are respectively installed inside the assembly frame and below the first screw rod sliding sleeve and the guide sleeve.

[0014] Optionally, the grab plates are symmetrically distributed along the vertical center axis of the grab frame.

[0015] Optionally, the limiting assembly includes a fixed slide, and the fixed slide is symmetrically fixed to two sides of one side of the assembly frame, a guide groove is opened in the middle of one side of the fixed slide, and a guide frame is movably arranged in the middle of the guide groove.

[0016] Optionally, the guide frame is slidably connected to a guide groove opened in the middle of one side of the fixed slide.

[0017] Compared with the prior art, the utility model has at least the following beneficial effects:

[0018] In the above scheme, by setting an adaptive clamping mechanism, under normal conditions, personnel can use the grasping mechanism in the grasping frame inside the assembly frame alone to grasp the workpiece. When it comes to workpieces with longer lengths, personnel can start the first motor to rotate the second rotating rod and the second gears fixed on both sides of it. At this time, the first gear meshing with the gear will drive the first rotating rod and the fixed sleeve to rotate. Since a mounting frame is fixed on one side of the fixed sleeve, the mounting frame also moves as above until the mounting frame can be stably mounted on the mounting frame. Then, according to the approximate length of the workpiece, personnel start the second motor to make the transmission screw operate. At this time, the first screw sleeve acting on the screw will drive another grasping frame to cooperate with the guidance of the first guide rod and guide sleeve to adjust the distance with the grasping frame in the assembly frame. After adjusting to adapt to the workpiece, the grasping mechanism in the two grasping frames can be used to stably grasp the two relative points of the workpiece. By grasping one point relative to the other, stability is improved while avoiding the phenomenon of workpiece tilting and slipping.

[0019] By setting up a clamping mechanism, personnel can start the third motor to rotate the forward and reverse screws. At this time, the two relative second screw sleeves that act on the screws will carry the connected slide and the grabbing plate below it to cooperate with the movable guide of the second guide rod for relative displacement, so as to achieve adaptive grabbing of the workpiece.

[0020] By setting a limit assembly, when the mounting frame is not needed, personnel can use the driving assembly in the storage assembly to store the mounting frame into the storage slot, and then push the guide frames on both sides of the mounting frame to move inward through the guide slots on the fixed slide to form limits on both sides of the inner side of the mounting frame, thereby taking over the load of the first motor in a stationary state and improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments of the present invention and, together with the description, further serve to explain the principles of the present invention and enable those skilled in the relevant art to make and use the present invention.

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the grasping structure of the manipulator;

[0023] Figure 2 The schematic diagram of the internal structure of the gripping structure of the manipulator is viewed from above;

[0024] Figure 3 It is a schematic diagram of the local structure of the grasping structure and assembly components of the manipulator;

[0025] Figure 4 This is a schematic diagram of the internal structure of the gripping structure gripping frame of the manipulator from a top view;

[0026] Figure 5 The grasping structure of the robot Figure 1Schematic diagram of the structure at point A in the middle.

[0027] [reference numerals]

[0028] 1. Assembly frame; 2. Storage slot; 3. Adapter clip mechanism; 31. Storage assembly; 311. First rotating rod; 312. Fixed sleeve; 313. First gear; 314. First motor; 315. Second rotating rod; 316. Second gear; 32. Mounting frame; 33. Adapter assembly; 331. First fixed plate; 332. Transmission screw; 333. First screw sleeve; 334. First guide rod; 335. Guide sleeve; 336. Second motor; 4. Grabbing frame; 5. Grabbing mechanism; 51. Second fixed plate; 52. Forward and reverse screws; 53. Third motor; 54. Second screw sleeve; 55. Connected slide; 56. Second guide rod; 57. Grabbing plate; 6. Limit assembly; 61. Fixed slide; 62. Guide slot; 63. Guide frame; 7. Carrying frame.

[0029] As shown in the figure, in order to clearly implement the structure of the embodiment of the utility model, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the utility model to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0030] The following is a detailed description of a gripping structure of a manipulator provided by the utility model in combination with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternative methods to implement some known technologies; and the accompanying drawings are only for a more specific description of the embodiments, and are not intended to specifically limit the utility model.

[0031] It should be noted that the references to "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0032] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0033] It is to be understood that the meanings of “on,” “over,” and “above” in the present invention should be interpreted in the broadest manner, so that “on” not only means “directly on” something, but also includes the meaning of being “on” something with intervening features or layers, and “on” or “above” not only means “on” or “above” something, but also includes the meaning of being “on” or “above” something with no intervening features or layers.

[0034] Additionally, spatially relative terms such as "under," "beneath," "lower," "above," "upper," and the like may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as shown in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein may be similarly interpreted accordingly.

[0035] like Figures 1 to 4As shown, an embodiment of the utility model provides a gripping structure of a manipulator, including an assembly frame 1, a receiving groove 2 is opened on one side of the interior of the assembly frame 1, and an adapting and clamping mechanism 3 is installed inside and on one side of the receiving groove 2, the adapting and clamping mechanism 3 includes a receiving assembly 31, a first screw rod sleeve 333 and a guide sleeve 335, and a gripping frame 4 is fixed below the first screw rod sleeve 333 and the guide sleeve 335 and inside the assembly frame 1, and a gripping mechanism 5 is installed inside the two gripping frames 4, a limiting assembly 6 is installed on both sides above one side of the assembly frame 1, and a carrying frame 7 is fixed below one side of the assembly frame 1, the receiving assembly 31 includes a first rotating rod 311, and the first rotating rod 311 is installed inside the receiving groove 2, and the first rotating rod A fixing sleeve 312 is fixed in the middle of 311, and first gears 313 are fixed on both sides of the middle of the first rotating rod 311, a first motor 314 is installed on one side of the assembly frame 1, and the output end of the first motor 314 is connected to the second rotating rod 315, and second gears 316 are fixed on both sides of the middle of the second rotating rod 315, and the second gear 316 and the first gear 313 are meshingly connected, and a mounting frame 32 is fixed on the inner side of the fixing sleeve 312, and an adapter component 33 is jointly installed in the middle of the mounting frame 32, and the adapter component 33 includes a first fixing plate 331, and the first fixing plate 331 is fixed to one side of the inner part of the mounting frame 32, and a transmission screw 332 is installed on one side of the inner side of the first fixing plate 331, and the transmission screw A first screw sleeve 333 is screwed on the periphery of one side of the rod 332, a first guide rod 334 is fixed on the other side of the inner side of the first fixing plate 331, and a guide sleeve 335 is movable around one side of the first guide rod 334, one end of the transmission screw rod 332 is connected and installed with a second motor 336, the transmission screw rod 332 and the first guide rod 334 are oppositely distributed along the internal transverse central axis of the mounting frame 32, under normal conditions, personnel can use the grabbing mechanism 5 in the grabbing frame 4 inside the assembly frame 1 to grab the workpiece alone, and when it involves a longer workpiece, personnel can start the first motor 314 to rotate the second rotating rod 315 and the second gears 316 fixed on both sides thereof, at this time the first gear 313 meshing with the gears will drive the first rotating rod 315 to rotate. The movable rod 311 and the fixed sleeve 312 rotate. Since the mounting frame 32 is fixed on one side of the fixed sleeve 312, the mounting frame 32 also moves as above until the mounting frame 32 can be stably mounted on the mounting frame 7. Then, according to the approximate length of the workpiece, the personnel start the second motor 336 to make the transmission screw rod 332 work. At this time, the first screw rod sliding sleeve 333 acting with the screw rod will bring another grabbing frame 4 to cooperate with the guidance of the first guide rod 334 and the guide sleeve 335 to adjust the relative distance with the grabbing frame 4 in the assembly frame 1. After adjusting to adapt to the workpiece, the grabbing mechanism 5 in the two grabbing frames 4 can be used to stably grab the two relative points of the workpiece. By grabbing at one point relative to each other, the stability is improved while avoiding the phenomenon of tilting and slipping of the workpiece.

[0036] Furthermore, the grabbing mechanism 5 includes a second fixing plate 51, and the second fixing plate 51 is symmetrically fixed to the inner two sides of the grabbing frame 4, a positive and negative screw rod 52 is installed on one side of the inner side of the two second fixing plates 51, and one end of the positive and negative screw rod 52 is connected and installed with a third motor 53, a second screw rod sleeve 54 is screwed on both sides of the middle of the positive and negative screw rod 52, and a connecting slide 55 is fixed below the two second screw rod sleeves 54, a second guide rod 56 for the connecting slide 55 to move is fixed on the other side of the inner side of the two second fixing plates 51, and the lower part of the two connecting slides 55 is fixed There is a grab plate 57, and the grab mechanism 5 is respectively installed inside the two grab frames 4, and the two grab frames 4 are respectively installed inside the assembly frame 1 and below the first screw sleeve 333 and the guide sleeve 335. The grab plate 57 is symmetrically distributed along the vertical center axis of the grab frame 4. The personnel can start the third motor 53 to rotate the positive and negative screws 52. At this time, the two relative second screw sleeves 54 acting with the screw will carry the connected slide 55 and the grab plate 57 below it to cooperate with the movable guide of the second guide rod 56 for relative displacement, so as to achieve adaptive grabbing of the workpiece.

[0037] like Figure 1 and Figure 5 As shown, the limit assembly 6 includes a fixed slide 61, and the fixed slide 61 is symmetrically fixed on both sides of one side of the assembly frame 1, a guide groove 62 is opened in the middle of one side of the fixed slide 61, and a guide frame 63 is movable in the middle of the guide groove 62, and the guide frame 63 and the guide groove 62 opened in the middle of one side of the fixed slide 61 are slidably connected. When the mounting frame 32 is not needed, the personnel can use the driving assembly in the storage assembly 31 to store the mounting frame 32 into the storage groove 2, and then the personnel push the guide frames 63 on both sides of the assembly frame 1 to move inward through the guide groove 62 on the fixed slide 61 to form a limit on both sides of the inner side of the mounting frame 32, thereby replacing the load of the first motor 314 in a static state to improve safety.

[0038] The working principle provided by the utility model is that under normal conditions, personnel can use the grabbing mechanism 5 in the grabbing frame 4 inside the assembly frame 1 to grab the workpiece alone. When it comes to a workpiece with a longer length, personnel can start the first motor 314 to rotate the second rotating rod 315 and the second gears 316 fixed on both sides thereof. At this time, the first gear 313 meshed with the gears will drive the first rotating rod 311 and the fixed sleeve 312 to rotate. Since the mounting frame 32 is fixed on one side of the fixed sleeve 312, the mounting frame 32 also moves as above until the mounting frame 32 can be stably mounted on the mounting frame 7. Then, according to the approximate length of the workpiece, personnel start the second motor 336 to operate the transmission screw rod 332. At this time, the first screw rod sliding sleeve 333 acting on the screw rod will drive the first rotating rod 311 and the fixed sleeve 312 to rotate. The other grabbing frame 4 cooperates with the guidance of the first guide rod 334 and the guide sleeve 335 to adjust the distance between the grabbing frame 4 and the assembly frame 1. After adjusting to fit the workpiece, the grabbing mechanism 5 in the two grabbing frames 4 can be used to stably grab the two relative points of the workpiece. The relative one-point grabbing improves the stability and avoids the workpiece from tilting and slipping. Later, when the mounting frame 32 is no longer needed, the personnel can use the driving assembly in the storage assembly 31 to store the mounting frame 32 into the storage slot 2, and then push the guide frames 63 on both sides of the assembly frame 1 to move inward through the guide slots 62 on the fixed slide 61 to form a limit on both sides of the inner side of the mounting frame 32, thereby replacing the load of the first motor 314 in a static state to improve safety.

[0039] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, and those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0040] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A gripping structure of a manipulator, characterized in that: It includes an assembly frame, a receiving groove is opened on one side of the interior of the assembly frame, and an adaptor and clamping mechanism is installed inside and on one side of the receiving groove, the adaptor and clamping mechanism includes a receiving assembly, a first screw sleeve and a guide sleeve, and grabbing frames are fixed below the first screw sleeve and the guide sleeve and inside the assembly frame respectively, and grabbing mechanisms are installed inside the two grabbing frames, limiting assemblies are installed on both sides above one side of the assembly frame, and a carrying frame is fixed below one side of the assembly frame, the receiving assembly includes a fixing sleeve, and a mounting frame is fixed on the inner side of the fixing sleeve, and an adaptor assembly is jointly installed in the middle of the mounting frame.

2. The gripping structure of the manipulator according to claim 1, characterized in that: The storage component includes a first rotating rod, and the first rotating rod is installed inside the storage slot, a fixing sleeve is fixed in the middle of the first rotating rod, and first gears are fixed on both sides of the middle of the first rotating rod, a first motor is installed on one side of the assembly frame, and the output end of the first motor is connected to the second rotating rod, and second gears are fixed on both sides of the middle of the second rotating rod.

3. The gripping structure of the manipulator according to claim 2, characterized in that: The second gear and the first gear are connected in meshing transmission.

4. The gripping structure of the manipulator according to claim 1, characterized in that: The adapter assembly includes a first fixed plate, and the first fixed plate is fixed to one side of the inner side of the mounting frame. A transmission screw is installed on one side of the inner side of the first fixed plate, and a first screw sleeve is screwed around one side of the transmission screw. A first guide rod is fixed on the other side of the inner side of the first fixed plate, and a guide sleeve is movably provided around one side of the first guide rod. One end of the transmission screw is connected and installed with a second motor.

5. The gripping structure of the robot according to claim 4, characterized in that: The transmission screw rod and the first guide rod are oppositely distributed along the inner transverse center axis of the mounting frame.

6. The gripping structure of the manipulator according to claim 1, characterized in that: The grabbing mechanism includes a second fixed plate, and the second fixed plate is symmetrically fixed on both sides of the inner side of the grabbing frame, a positive and negative screw rod is installed on one side of the inner side of the two second fixed plates, and one end of the positive and negative screw rod is connected to a third motor, second screw rod sleeves are screwed on both sides of the middle part of the positive and negative screw rods, and a connected slide is fixed below the two second screw rod sleeves, a second guide rod for the connected slide to move is fixed on the other side of the inner side of the two second fixed plates, and a grabbing plate is fixed below the two connected slides.

7. The gripping structure of the manipulator according to claim 1, characterized in that: The grabbing mechanisms are respectively installed inside the two grabbing frames, and the two grabbing frames are respectively installed inside the assembly frame and below the first screw rod sliding sleeve and the guide sleeve.

8. The gripping structure of the robot according to claim 6, characterized in that: The grab plates are symmetrically distributed along the vertical center axis of the grab frame.

9. The gripping structure of the robot according to claim 1, characterized in that: The position limiting assembly comprises a fixed slide, and the fixed slide is symmetrically fixed on two sides of one side of the assembly frame, a guide groove is opened in the middle of one side of the fixed slide, and a guide frame is movable in the middle of the guide groove.

10. The gripping structure of the robot according to claim 9, characterized in that: The guide frame is slidably connected to a guide groove provided in the middle of one side of the fixed slide frame.

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