Clamping mechanism of manipulator

Abstract

The clamping mechanism comprises a base, a rib block and a clamping jaw, a supporting rod protruding from the front end of the base and an arm rod protruding from the rear end of the base are arranged, limiting plates are arranged on one side of the supporting rod, the clamping jaw is arranged between the symmetrical limiting plates, the clamping jaw is provided with a first rod and a second rod, the first rod penetrates through a hole part formed in the limiting plate, and the second rod penetrates through a hole part formed in the second rod. The second rod penetrates through a hole part formed in the adjusting block; a third rod is arranged on one side of the adjusting block and penetrates through a hole part formed in the driving block, and one end of the driving block is connected with one end of the adjusting block; the driving block is arranged at one end of the rib block, a sliding rail is arranged on one side of the rib block, a guide rail rod is arranged in the sliding rail, one end of the guide rail rod penetrates through the sliding rail, the other end of the guide rail rod penetrates through a hole part formed in the driving ring, and the driving ring is arranged on one side of the driving rod; the clamping jaw has the advantages that the structural design is simple and reasonable, the structure of the clamping jaw is further improved, and the clamping jaw can be conveniently driven to be in the clamping and loosening state.

Description

Technical Field

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

[0002] At present, a robot arm is an automatic operating device that imitates certain movement functions of human body and arms and is used to clamp and move objects according to a fixed procedure.

[0003] However, the robot in the prior art includes a gripping robot, and the gripping robot uses a structure with multiple grippers to grip objects. The present application aims at a synchronously driven structure of multiple grippers to further improve the structural problem. Utility Model Content

[0004] The utility model provides a clamping mechanism of a manipulator, which solves the problems raised by the background technology in the prior art.

[0005] The technical solution of the utility model is implemented in this way: it comprises a manipulator, and the manipulator comprises a base, a tendon block, a driving rod and a clamping claw.

[0006] The base is arranged on one side of the manipulator, a support rod protrudes from the front end of the base, and a protruding arm rod is arranged at the rear end. A limit plate is arranged on one side of the support rod, and the limit plate is a symmetrical structure.

[0007] The clamping claw is arranged between symmetrical limiting plates, and is respectively provided with a first rod and a second rod. The first rod is passed through a hole provided in the limiting plate, and the second rod is passed through a hole provided in the adjusting block. A third rod is provided on one side of the adjusting block, and the third rod is passed through a hole provided in the driving block, and one end of the driving block is connected to one end of the adjusting block.

[0008] The regulating block has a symmetrical structure.

[0009] The driving block is arranged at one end of the tendon-bone block, and the tendon-bone block is passed through a hole provided in the base to form a protruding structure.

[0010] A sliding track is provided on one side of the tendon block, and the sliding track is a concave structure, and the concave shape is T-shaped; a guide rail rod is provided in the sliding track, and protruding sliding rails are provided at both ends of the guide rail rod, and the guide rail rod adopts a sliding rail provided at one end to pass through the interior of the sliding track, and a sliding rail provided at the other end to pass through the hole provided in the driving ring.

[0011] The driving ring is arranged on one side of the driving rod, and the driving ring is a structure protruding from the outer periphery of the driving rod, and is convenient for combining the driving ring with the guide rail rod, so that the guide rail rod forms a structure that can be adjusted up and down.

[0012] One end of the driving rod is connected to a component provided on the driving device, so that the driving rod can move up and down, and the moving up and down movement of the driving rod helps the manipulator to form a clamping and loosening state.

[0013] As a preferred embodiment, one end of the arm is fixedly mounted on the rear end of the base, and the other end is mounted on the driving rod body of the manipulator, which is a fixed structure.

[0014] As a preferred embodiment, the interior of the arm is a hollow structure, and a driving rod and a tendon block are arranged inside the arm.

[0015] As a preferred embodiment, a protruding positioning rod is provided on the outer side of the arm, and the arm also includes a first block and a second block, the first block is fixed to the rear end of the base, and the second block is fixed to the driving rod body of the manipulator.

[0016] As a preferred embodiment, the first block and the second block are formed into an integrated structure by using a positioning rod.

[0017] After adopting the above technical scheme, the beneficial effects of the utility model are: its structural design is simple and reasonable, and it has the function of further improving the structure of the clamping jaws, which is convenient for driving the clamping jaws to clamp and relax; its manipulator includes a base, a tendon block, a driving rod and a clamping jaw, and the front end of the base is provided with a clamping jaw, which is connected to the driving rod through the tendon block, and one end of the driving rod is connected to the components of the driving device (motor, cylinder) to form a telescopic activity, and the driving rod adopts a guide rod to connect with the tendon block, and then drives the clamping jaw to form a clamping and relaxing state. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be 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 paying creative labor.

[0019] Figure 1 It is a schematic diagram of the overall structure of the robot arm of the utility model.

[0020] Figure 2 It is an exploded view of the overall structure of the drive ring and the drive rod combination of the utility model.

[0021] Figure 3 The figure is a schematic diagram of the overall structure of the tendon and bone block of the utility model. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] like Figure 1-Figure 3 As shown:

[0024] Embodiment 1:

[0025] The present invention comprises a manipulator, which comprises a base 2, a tendon block 3, a driving rod 4 and a clamp 5. The front end of the base 2 is provided with a clamp 5, the clamp 5 is connected to the driving rod 4 through the tendon block 3, one end of the driving rod 4 is connected to the components of the driving device (motor, cylinder) to form a telescopic movement, and the driving rod 4 is connected to the tendon block 3 by a guide rod 7, and then the clamp 5 is driven to form a clamped and relaxed state.

[0026] The tendon block 3 is inserted through a hole in the base 2 , forming a structure protruding from the inner hole of the base 2 , and is a vertical structure, which is convenient for assembling the tendon block 3 and the driving rod 4 .

[0027] A slide track 31 is provided on one side of the tendon block 3, and the slide track 31 is a concave structure, and the concave shape is T-shaped; a guide rail rod 7 is provided inside the slide track 31, and protruding slide rails 70 are provided at both ends of the guide rail rod 7, and the guide rail rod 7 adopts a slide rail 70 provided at one end to pass through the inside of the slide track 31, and the combination of the slide track 31 and the slide rail 70 forms a combination of limiting activities, which helps to stabilize the tendon block 3 and the guide rail rod 7.

[0028] The other end of the guide rod 7 is passed through the hole of the drive ring 40, and the drive ring 40 is provided on one side of the drive rod 4. One end of the drive rod 4 is connected to the components of the drive device (motor, cylinder), and the drive device is connected to the components of the drive rod 4. It can be the existing technology (the drawing does not show the structure of the drive device), but the drive device enables the drive rod 4 to form a lifting movement, and the lifting movement of the drive rod 4.

[0029] The clamping jaw 5 is respectively provided with a first rod 50 and a second rod 51, the first rod 50 is penetrated through the hole provided in the limit plate 200, and the second rod 51 is penetrated through the hole provided in the adjustment block 6; a third rod 60 is provided on one side of the adjustment block 6, and the third rod 60 is penetrated through the hole provided in the driving block 30, and the adjustment block 6 is a symmetrical structure, which improves the stability of the assembly of the clamping jaw 5 and the driving block 30; one end of the driving block 30 is connected to one end of the adjustment block 6, and the driving block 30 is provided at one end of the tendon block 3, and the driving block 30 and the tendon block 3 are a combination of Kamo transmission, but the tendon block 3 helps the manipulator to form a clamped and relaxed state.

[0030] The base 2 is arranged on one side of the manipulator, with a support rod 20 protruding from the front end of the base 2 and a protruding arm rod at the rear end. A limit plate 200 is provided on one side of the support rod 20, and the limit plate 200 is a symmetrical structure. The clamp 5 is arranged between the symmetrical limit plates 200, thereby improving the stability of the movement of the clamp 5.

[0031] Embodiment 2:

[0032] One end of the arm is fixed to the rear end of the base 2, and the other end is arranged on the driving rod 4 of the manipulator, which is a fixed structure; the arm includes a positioning rod 8, a first block 80 and a second block 81, the first block 80 is fixed to the rear end of the base 2, and the second block 81 is fixed to the driving rod 4 of the manipulator. The manipulator of the present application adopts a structure in which the arm provided at the rear end and the drive of the manipulator are integrated.

[0033] The arm is hollow inside, and a driving rod 4 and a tendon block 3 are arranged inside the arm.

[0034] Embodiment 3:

[0035] A protruding positioning rod 8 is provided on the outer side of the arm rod. The first block 80 and the second block 81 adopt the positioning rod 8 to form an integrated structure. However, the first block 80 and the second block 81 form a relative structure, and the first block 80 and the second block 81 can be provided with transparent materials to help observe the lifting and lowering activities of the driving rod 4.

[0036] Embodiment 4:

[0037] The driving ring 40 is a structure protruding from the outer periphery of the driving rod 4, which facilitates the combination of the driving ring 40 and the guide rod 7, so that the guide rod 7 forms a structure that can be adjusted up and down.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A gripping mechanism of a manipulator, comprising a base, a tendon block, and a clamping claw, wherein a support rod protrudes from the front end of the base, and a protruding arm rod is provided at the rear end, a limit plate is provided on one side of the support rod, and the clamping claw is provided between the symmetrical limit plates, and the clamping claw is provided with a first rod and a second rod respectively, the first rod is inserted through a hole provided in the limit plate, and the second rod is inserted through a hole provided in the adjustment block; a third rod is provided on one side of the adjustment block, and the third rod is inserted through a hole provided in the driving block, and one end of the driving block is connected to one end of the adjustment block, characterized in that: The driving block is arranged at one end of the tendon block, a sliding track is arranged on one side of the tendon block, and a guide rail rod is arranged in the sliding track; The guide rail rod has one end passing through the interior of the slide rail, and the other end passing through a hole provided in the driving ring; The driving ring is arranged on one side of the driving rod.

2. A gripping mechanism for a robot according to claim 1, characterized in that: The tendon and bone block is passed through a hole provided in the base to form a protruding structure.

3. A gripping mechanism for a robot according to claim 2, characterized in that: The driving ring is a structure protruding from the outer circumference of the driving rod.

4. A gripping mechanism for a robot as claimed in claim 3, characterized in that: One end of the arm rod is fixedly arranged at the rear end of the base.

5. A gripping mechanism for a robot as claimed in claim 4, characterized in that: The arm rod is a hollow structure inside which a driving rod and a tendon block are arranged.

6. A gripping mechanism for a robot as claimed in claim 5, characterized in that: A protruding positioning rod is arranged on the outer side of the arm rod, and the arm rod further comprises a first block and a second block, wherein the first block is fixedly arranged on the rear end of the base.

7. A gripping mechanism for a robot according to claim 6, characterized in that: The first block and the second block are formed into an integrated structure by using a positioning rod.

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