Mechanical arm

Abstract

The manipulator comprises a fixing part, the upper end of the fixing part is connected with a mechanical arm, and the lower end of the fixing part is connected with a clamping assembly; the clamping assembly comprises a driving piece installed on the fixing piece, a left clamping piece and a right clamping piece, wherein the left clamping piece and the right clamping piece are connected with the fixing piece in a sliding mode. Wherein the left clamping piece comprises a cantilever rotationally connected with the fixed piece and a clamping part fixed on the cantilever, a plurality of clamping jaws are arranged at the end part of the clamping part, and every two adjacent clamping jaws can be close to or far away from each other in the axial direction; the adjusting assembly is arranged between the fixing piece and the clamping assembly, the adjusting assembly can drive the left clamping piece and the right clamping piece to move oppositely, the adjusting assembly can drive the left clamping piece and the right clamping piece to move oppositely, the distance between the left clamping piece and the right clamping piece can be changed, and the adjusting assembly can adapt to the object size with a wider range; besides, by adjusting the distance between the clamping jaws, objects in different forms can be grabbed, and the application scene of the manipulator is expanded to a certain extent.

Description

Technical Field

[0001] The utility model relates to the field of machinery, and particularly relates to a manipulator. Background Art

[0002] A manipulator is an automatic operating device used to grasp, transport objects or operate tools according to a fixed program, and has numerous usage scenarios. Existing manipulators can usually only grasp objects within a certain size range, and the grippers also need to be replaced according to the shape and size of the objects. Therefore, it is necessary to design a manipulator with a wider range of application scenarios. Summary of the Utility Model

[0003] The utility model aims to solve the problems mentioned in the above background art.

[0004] A manipulator of the present application includes:

[0005] A fixing member, the upper end of the fixing member is connected to a robotic arm, and the lower end of the fixing member is connected with a clamping assembly;

[0006] Wherein, the clamping assembly includes a driving member installed on the fixing member and a left clamping member and a right clamping member slidably connected to the fixing member;

[0007] Wherein, the left clamping member includes a cantilever rotatably connected to the fixing member and a clamping portion fixed on the cantilever, and several grippers are arranged at the end of the clamping portion, and two adjacent grippers can approach or move away from each other in the axial direction;

[0008] An adjusting assembly is arranged between the fixing member and the clamping assembly, and the adjusting assembly can drive the left clamping member and the right clamping member to move towards each other. The utility model can drive the left clamping member and the right clamping member to move towards or away from each other through the adjusting assembly, so that the distance between the left clamping member and the right clamping member can be changed, and objects with a wider range of sizes can be adapted; in addition, by adjusting the distance between the grippers, different-shaped objects can be grasped by setting grippers with different densities, which also expands the application scenarios of the manipulator to a certain extent.

[0009] In a specific embodiment, the fixing member includes a cross beam and a flange plate fixed to the upper end of the cross beam, a slide rail is fixed to the bottom of the cross beam, and the clamping assembly is slidably connected to the slide rail, with a simple structure and easy implementation.

[0010] In a specific embodiment, a slider is sleeved on the slide rail, an installation plate is fixed to the bottom of the slider, and the adjusting assembly is fixed on the installation plate, with convenient assembly and stable movement.

[0011] In a specific embodiment, the clamping portion includes a mounting block fixed to the cantilever. A U-shaped groove is formed in the mounting block, and several holes are provided on the side surface of the mounting block. The clamping jaws are located in the U-shaped groove. The distance between the clamping jaws can be adjusted through the design of the U-shaped groove so as to grasp objects of different shapes.

[0012] In a specific embodiment, the driving member includes a hydraulic cylinder fixed to the mounting plate and a bearing seat provided at the bottom of the mounting plate. A shaft rod is inserted through the bearing seat, and the cantilever is fixedly connected to the shaft rod. A connecting rod is pivotally connected between the hydraulic cylinder and the shaft rod. The clamping action is realized by driving the rotation of the cantilever through the hydraulic cylinder. The structure is simple and the movement is stable.

[0013] In a specific embodiment, the adjusting assembly includes two brackets fixed to the side surface of the cross beam. A bidirectional lead screw is rotatably connected between the two brackets. A motor is fixed to the end of the bidirectional lead screw. A threaded seat screwed to the bidirectional lead screw is fixed on the mounting plate. By driving the rotation of the bidirectional lead screw through the motor, the left clamping member and the right clamping member are driven to move towards each other to adjust the distance between them.

[0014] In a specific embodiment, it further includes a contact member fixed to the cross beam. The contact member is located between the left clamping member and the right clamping member. The contact member includes a cylinder and a contact plate provided at the output end of the cylinder. The contact member can squeeze the object from the top to improve the clamping stability.

[0015] Beneficial effects: The utility model can drive the left clamping member and the right clamping member to move towards each other through the adjusting assembly, so that the distance between the left clamping member and the right clamping member can be changed, making it possible to adapt to a wider range of object sizes. In addition, by adjusting the distance between the clamping jaws and setting clamping jaws with different densities, objects of different shapes can be grasped, which also expands the application scenarios of the manipulator to a certain extent. Description of the Drawings

[0016] Figure 1 is an overall structural schematic diagram of a manipulator in this embodiment;

[0017] Figure 2 is an assembly schematic diagram of the fixing member and the adjusting assembly;

[0018] Figure 3 is a structural schematic diagram of the left clamping member;

[0019] Figure 4 is Figure 3 an enlarged schematic diagram of part A in

[0020] Figure 5 is a structural schematic diagram of the contact member.

[0021] In the figure: 100, manipulator; 1, fixing member; 10, flange; 11, cross beam; 2, left clamping member; 20, hydraulic cylinder; 21, mounting plate; 22, shaft rod; 23, cantilever; 24, jaw; 25, U-shaped groove; 3, right clamping member; 4, adjusting assembly; 40, bidirectional lead screw; 41, threaded seat; 42, bracket; 43, motor; 5, abutting member; 50, air cylinder; 51, abutting plate. Detailed implementation manner

[0022] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation of the present utility model.

[0023] In the description of the present utility model, it should be understood that the terms "center", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "counterclockwise", "clockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0024] In the description of the present utility model, it should be noted that, unless otherwise clearly defined and limited, the terms "mounting", "connecting", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection, it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. Embodiment

[0025] See Figures 1-5, A manipulator 100 of this embodiment includes a fixing member 1. The upper end of the fixing member 1 is connected to a robotic arm, and the lower end of the fixing member 1 is connected to a clamping assembly. Among them, the clamping assembly includes a driving member installed on the fixing member 1, and a left clamping member 2 and a right clamping member 3 slidably connected to the fixing member 1. Among them, the left clamping member 2 includes a cantilever 23 rotatably connected to the fixing member 1 and a clamping portion fixed to the cantilever 23. The end of the clamping portion is provided with several clamping claws 24, and two adjacent clamping claws 24 can approach or move away along the axial direction; an adjusting assembly 4 is provided between the fixing member 1 and the clamping assembly. The adjusting assembly 4 can drive the left clamping member 2 and the right clamping member 3 to move towards each other. Through the adjusting assembly 4 of the present invention, the left clamping member 2 and the right clamping member 3 can be driven to move towards each other, so that the distance between the left clamping member 2 and the right clamping member 3 can be changed, making it possible to adapt to a wider range of object sizes. In addition, by adjusting the distance between the clamping claws 24, different-shaped objects can be grasped by setting different densities of clamping claws 24, which also expands the application scenarios of the manipulator to a certain extent.

[0026] See Figure 2 , The fixing member 1 includes a cross beam 11 and a flange 10 fixed to the upper end of the cross beam 11. A slide rail is fixed to the bottom of the cross beam 11, and the clamping assembly is slidably connected to the slide rail. The structure is simple and easy to implement. A slider is sleeved on the slide rail, and a mounting plate 21 is fixed to the bottom of the slider. The adjusting assembly 4 is fixed to the mounting plate 21, which is convenient for assembly and has stable movement.

[0027] See Figure 3 and Figure 4 , The clamping portion includes a mounting block fixed to the cantilever 23. A U-shaped groove 25 is formed in the mounting block, and several holes are provided on the side of the mounting block. The clamping claws 24 are located in the U-shaped groove 25. The distance between the clamping claws 24 can be adjusted through the design of the U-shaped groove 25 to grasp different-shaped objects.

[0028] See Figure 3 , The driving member includes a hydraulic cylinder 20 fixed to the mounting plate 21 and a bearing seat provided at the bottom of the mounting plate 21. A shaft rod 22 is passed through the bearing seat, and the cantilever 23 is fixedly connected to the shaft rod 22. A connecting rod is pivotally connected between the hydraulic cylinder 20 and the shaft rod 22. The rotation of the cantilever 23 is driven by the hydraulic cylinder 20 to realize the clamping action. The structure is simple and the movement is stable.

[0029] See Figure 2, the adjusting assembly 4 includes two brackets 42 fixed to the side surface of the cross beam 11. A bidirectional lead screw 40 is rotatably connected between the two brackets 42. An end of the bidirectional lead screw 40 is fixed with a motor 43. A threaded seat 41 screwed to the bidirectional lead screw 40 is fixed on the mounting plate 21. By driving the rotation of the bidirectional lead screw 40 by the motor 43, the left clamping member 2 and the right clamping member 3 are driven to move towards each other, so as to adjust the distance therebetween.

[0030] See Figure 5 , further includes a contact member 5 fixed to the cross beam 11. The contact member 5 is located between the left clamping member 2 and the right clamping member 3. The contact member 5 includes a cylinder 50 and a contact plate 51 arranged at the output end of the cylinder 50. The contact member 5 can squeeze an object from the top to improve the clamping stability.

[0031] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any change or replacement within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A robot, characterized in that: include: A fixing member, the upper end of which is connected to the mechanical arm, and the lower end of which is connected to a clamping assembly; Wherein, the clamping assembly comprises a driving member installed on the fixing member and a left clamping member and a right clamping member slidably connected to the fixing member; Wherein, the left clamping member comprises a cantilever rotatably connected to the fixing member and a clamping portion fixed on the cantilever, and a plurality of clamping claws are arranged at the end of the clamping portion, and two adjacent clamping claws can approach or move away from each other along the axial direction; An adjusting component is disposed between the fixing member and the clamping member, and the adjusting component can drive the left clamping member and the right clamping member to move toward each other.

2. A robot according to claim 1, characterized in that: The fixing member comprises a crossbeam and a flange fixed to the upper end of the crossbeam, a slide rail is fixed to the bottom of the crossbeam, and the clamping assembly is slidably connected to the slide rail.

3. A robot according to claim 2, characterized in that: A sliding block is sleeved on the slide rail, a mounting plate is fixed at the bottom of the sliding block, and the adjusting component is fixed on the mounting plate.

4. A robot according to claim 3, characterized in that: The clamping part comprises a mounting block fixed to the cantilever, a U-shaped groove is provided on the mounting block, a plurality of holes are provided on the side of the mounting block, and the clamping claw is located in the U-shaped groove.

5. A robot according to claim 3, characterized in that: The driving member includes a hydraulic cylinder fixed on the mounting plate and a bearing seat arranged at the bottom of the mounting plate, a shaft rod is passed through the bearing seat, the cantilever is fixedly connected to the shaft rod, and a connecting rod is pivotally connected between the hydraulic cylinder and the shaft rod.

6. A robot according to claim 3, characterized in that: The adjustment assembly includes two brackets fixed to the side surfaces of the crossbeam, a bidirectional lead screw is rotatably connected between the two brackets, a motor is fixed to the end of the bidirectional lead screw, and a threaded seat screwed to the bidirectional lead screw is fixed on the mounting plate.

7. A robot according to claim 2, characterized in that: It also includes an abutment member fixed to the crossbeam, the abutment member is located between the left clamping member and the right clamping member, and the abutment member includes a cylinder and an abutment plate arranged at the output end of the cylinder.

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