Manipulator clamping structure for clamping stirrer

Abstract

The mechanical arm clamping structure comprises a mechanical arm, a clamping jaw assembly, a driving mechanism and a shell, the driving mechanism is used for driving the clamping jaw assembly to grab the stirrer, the shell is used for protecting the driving mechanism, the driving mechanism comprises a motor and an output shaft arranged on the motor, a gear is fixedly connected to the output shaft, and the clamping jaw assembly is arranged on the shell. The gear is connected with the clamping jaw assembly, the motor drives the gear to rotate so as to drive the clamping jaw assembly to clamp and loosen the stirrer, the clamping jaw assembly is provided with a limiting part used for abutting against the shell so as to limit the clamping jaw assembly to be separated from the gear, the clamping mechanism can be suitable for different types of stirrers, the clamping flexibility is high, and the clamping efficiency is high. And clamping is convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator clamping structures, in particular to a manipulator clamping structure for clamping a stirrer. Background Art

[0002] At present, in the field of robotic mixing equipment, the agitator and the robot body are mostly fixed with bolts or connected by snaps. When the agitator needs to be replaced, the operator needs to use tools to unscrew the bolts or open the snaps through complex operations. This process is not only time-consuming and cumbersome, but the clamping force of the existing robot clamping assembly is difficult to adapt to the grasping requirements of agitators of different specifications and materials. Excessive force can easily damage the surface of the agitator, while too little force will cause unstable clamping, causing the agitator to fall during transportation. The traditional clamping structure has poor flexibility, especially when clamping a variety of different agitators. The fixed clamping force and fixed clamping angle of the robot clamping mechanism cannot perform multi-angle and precise clamping and placement operations on different types of agitators in a complex environment, resulting in low work efficiency. In addition, the structure used to drive the claw arm movement in the existing clamping structure is relatively complex. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a robot clamping structure for clamping the agitator, so as to solve the problems of unstable robot clamping, asynchronous movement of the robot claw arm and complex structure proposed in the above background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator clamping structure for clamping an agitator, a manipulator clamping structure for clamping an agitator, comprising a manipulator, a jaw assembly, a driving mechanism for driving the jaw assembly to grasp the agitator, and a shell for protecting the driving mechanism, the driving mechanism comprising a motor and an output shaft arranged on the motor, a gear fixedly connected to the output shaft, the gear being connected to the jaw assembly, the motor driving the gear to rotate to drive the jaw assembly to clamp and release the agitator, the jaw assembly being provided with a limiting portion for abutting against the shell to limit the jaw assembly from disengaging from the gear.

[0005] As a further improvement of the present invention, the clamping jaw assembly includes a first claw arm, a second claw arm, and a third claw arm. The three claw arms are each provided with a tooth edge for engaging with the gear on one side corresponding to the gear. The first claw arm, the second claw arm, and the third claw arm are evenly distributed in the same direction along the outer peripheral wall of the gear.

[0006] As a further improvement of the present invention, two adjacent claw arms can offset each other after moving.

[0007] As a further improvement of the present invention, the side walls of the first claw arm, the second claw arm and the third claw arm facing the side of the agitator each have an inclined limiting wall, and the thickness of the inclined limiting wall is gradually thickened from top to bottom.

[0008] As a further improvement of the present invention, the side walls of the first claw arm, the second claw arm and the third claw arm facing the side of the agitator are each provided with an anti-slip rubber pad for preventing the agitator from shaking on the clamping claw assembly.

[0009] As a further improvement of the present invention, the anti-slip rubber pad has a plurality of transversely arranged ridges for limiting the upper and lower positions of the agitator in the clamping jaw assembly.

[0010] As a further improvement of the present invention, the first claw arm, the second claw arm, and the third claw arm are each provided with at least one pin extending toward the agitator from the side wall on one side of the upper end surface of the agitator, and the pin can be plugged into and fitted with the upper end surface of the agitator.

[0011] Compared with the prior art, the utility model provides a manipulator clamping structure for clamping a stirrer, which has the following beneficial effects: the motor in the driving mechanism drives the clamping claw assembly via the output shaft and gear transmission, the transmission is stable and efficient, and the clamping and loosening force of the clamping claw on the stirrer can be accurately controlled to avoid damage to the stirrer or loose clamping, and it can also be applied to stirrers of different sizes and types, with high clamping flexibility; the limit part of the clamping claw assembly is offset against the shell, which can effectively prevent the clamping claw assembly from detaching from the gear, ensuring the reliability and stability of the transmission structure operation, and reducing the risk of equipment failure due to component detachment. In addition, the shell protects the driving mechanism, reduces the intrusion of dust and impurities, extends the service life of core components such as motors and gears, and reduces maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a three-dimensional diagram of the utility model;

[0013] Figure 2 This is a diagram showing the internal structure of the driving mechanism when the clamping jaw assembly of the present invention is released;

[0014] Figure 3 This is a diagram showing the internal structure of the driving mechanism of the utility model when the clamping jaw assembly is retracted.

[0015] Figure numerals: 1. Manipulator; 2. Gripper assembly; 3. Driving mechanism; 4. Housing; 21. First claw arm; 22. Second claw arm; 23. Third claw arm; 24. Tooth edge; 25. Anti-slip rubber pad; 26. Raised ridge; 27. Pin; 31. Output shaft; 32. Gear; 33. Limiting portion. DETAILED DESCRIPTION

[0016] An embodiment of the present invention is shown in the figure. In order to achieve the above-mentioned purpose, the present invention provides a clamping structure of a manipulator 1 for clamping an agitator, including a manipulator 1, a clamping jaw assembly 2, a driving mechanism 3 for driving the clamping jaw assembly 2 to grasp the agitator, and a shell 4 for protecting the driving mechanism 3. The driving mechanism 3 includes a motor and an output shaft 31 provided on the motor. A gear 32 is fixedly connected to the output shaft 31. The gear 32 is connected to the clamping jaw assembly 2. The motor drives the gear 32 to rotate to drive the clamping jaw assembly 2 to clamp and release the agitator. The clamping jaw assembly 2 is provided with a limiting portion 33 for abutting against the shell 4 to limit the clamping jaw assembly 2 from disengaging from the gear 32.

[0017] When this solution is implemented, the manipulator 1 is fixed to the working equipment. When the agitator needs to be clamped, the motor is powered on and started, and the motor drives the output shaft 31 to rotate, thereby causing the gear 32 fixed on the output shaft 31 to rotate accordingly. The rotation of the gear 32 drives the jaw assembly 2 to move toward the agitator and gradually clamp the agitator through the connection relationship with the jaw assembly 2. The jaw assembly 2 and the gear 32 can be connected in an engaged manner to drive the jaw assembly 2 to move; when the agitator needs to be released, the motor rotates in the opposite direction, and the gear 32 drives the jaw assembly 2 to move in the opposite direction to achieve the release operation. During this process, when the jaw assembly 2 is released into place, the limit part 33 on the jaw assembly 2 can be aligned with the shell 4 offset each other, preventing the clamping jaw assembly 2 from disengaging from the gear 32 during movement, ensuring stable operation of the structure, and the shell 4 protects the internal driving mechanism 3 to prevent it from being interfered with and damaged by the outside world. The limiting portion 33 can be a limiting convex edge, etc., which is used to prevent the clamping jaw assembly 2 from disengaging from the gear 32 during movement. When this solution is implemented, when it is necessary to clamp agitators of different sizes and types, those skilled in the art can adjust the size of the space for clamping the agitator in the clamping jaw assembly 2 by increasing the rotation stroke of the gear 32. In this solution, the position where the clamping jaw assembly 2 contacts the side wall of the agitator can be swung to adapt to agitators of different shapes, so that the clamping jaw assembly 2 can clamp the agitator.

[0018] As an improved specific embodiment, the clamping jaw assembly 2 includes a first claw arm 21, a second claw arm 22, and a third claw arm 23. The three claw arms are each provided with a tooth edge 24 for engaging with the gear 32 on one side corresponding to the gear 32. The first claw arm 21, the second claw arm 22, and the third claw arm 23 are evenly distributed in the same direction along the outer peripheral wall of the gear 32.

[0019] When this solution is implemented, the clamping claw assembly 2 is composed of a first claw arm 21, a second claw arm 22, and a third claw arm 23. This solution preferably adopts a tooth edge 24 on one side of each claw arm corresponding to the gear 32. The tooth edge 24 is meshed with the gear 32, and the claw arm can be driven to move by rotating the gear 32. The connection mode of meshing the gear 32 can make the transmission more accurate and efficient, and the transmission stability is good. The three claw arms are evenly distributed in the same direction along the outer peripheral wall of the gear 32, so that when the gear 32 is driven, the claw arms are balanced and move synchronously. The unidirectional distribution setting means that the three claw arms are all set in the clockwise direction toward the outer wall of the gear 32 or are all set in the counterclockwise direction along the outer wall of the gear 32, that is, the three claw arms are driven to open away from the gear 32 or close together towards the gear 32 at the same time by the clockwise rotation / counterclockwise rotation of the gear 32. When the gear 32 rotates, the tooth edge 24 of the claw arm drives the claw arm to open and close under the action of meshing, thereby achieving the grasping and release of the target object. This structural design is compact and the transmission is stable, which effectively improves the working efficiency and reliability of the clamping assembly 2.

[0020] As an improved specific embodiment, two adjacent claw arms can offset each other after moving.

[0021] When this solution is implemented, the two adjacent claw arms can offset each other after moving, which means that in this solution, when the gear 32 rotates toward the tightening direction of the claw arm, the claw arm rotates into place. At this time, the end of the first claw arm 21 facing the second claw arm 22 can offset the second claw arm 22, the end of the second claw arm 22 facing the third claw arm 23 can offset the third claw arm 23, and the end of the third claw arm 23 facing the first claw arm 21 can offset the first claw arm 21. When the gear 32 rotates toward the loosening direction of the claw arm, the two adjacent claw arms will not offset each other after moving.

[0022] As an improved specific embodiment, the side walls of the first claw arm 21, the second claw arm 22, and the third claw arm 23 facing the side of the agitator all have an inclined limiting wall, and the thickness of the inclined limiting wall is gradually thickened from top to bottom.

[0023] When this scheme is implemented, this scheme adopts an inclined limiting wall set on the claw arm, and the thickness of the limiting wall is gradually thickened from top to bottom. When the first claw arm 21, the second claw arm 22, and the third claw arm 23 are tightened toward the side of the agitator, the side of the agitator can contact the limiting wall and can be in the upper position of the limiting wall. At this time, the lower and thicker position of the limiting wall can contact the lower end of the agitator and limit the agitator from escaping from the claw arm. The limiting wall set to gradually thicken from top to bottom can make the radial width of the upper position surrounded by the three claw arms greater than the radial width of the lower position, that is, the thicker position of the limiting wall, when the claw arm is retracted. The limiting effect is good and the structure is simple.

[0024] As an improved specific embodiment, the side walls of the first claw arm 21, the second claw arm 22, and the third claw arm 23 facing the side of the agitator are each provided with an anti-slip rubber pad 25 for preventing the agitator from shaking on the clamping assembly 2, and the anti-slip rubber pad 25 has several transversely arranged ridges 26 for limiting the upper and lower positions of the agitator in the clamping assembly 2.

[0025] When this solution is implemented, the anti-slip rubber pad 25 is fixed to the side wall of the claw arm through a hot pressing process. The viscoelastic properties of rubber are utilized to enable it to fit with the surface of the agitator when the claw arm is tightened. The structure of the transverse ridge 26 can offset the contact position between the agitator and the claw arm to form a mechanical limit to prevent the agitator from sliding up and down. When the claw arm is driven to close by the gear 32, the rough texture on the surface of the anti-slip rubber pad 25 increases the static friction, and the fit between the ridge 26 and the agitator contour provides a constraint. The two work together to ensure the stable clamping of the agitator in the clamping assembly 2.

[0026] As an improved specific embodiment, the first claw arm 21, the second claw arm 22, and the third claw arm 23 are each provided with at least one pin 27 extending toward the agitator from the side wall on one side of the upper end surface of the agitator, and the pin 27 can be plugged into and fit with the upper end surface of the agitator.

[0027] When implementing this solution, a latch 27 is provided for the claw arm to pass through the claw arm and insert into the upper end of the agitator when the claw arm clamps the agitator, so that the agitator is prevented from rotating in the clamping claw assembly 2 when the claw arm drives the agitator to rotate, thereby limiting its circumferential position.

[0028] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A manipulator clamping structure for clamping a stirrer, characterized in that: It includes a manipulator, a jaw assembly, a driving mechanism for driving the jaw assembly to grasp the agitator, and a shell for protecting the driving mechanism. The driving mechanism includes a motor and an output shaft arranged on the motor. A gear is fixedly connected to the output shaft. The gear is connected to the jaw assembly. The motor drives the gear to rotate to drive the jaw assembly to clamp and release the agitator. The jaw assembly is provided with a limiting portion for abutting against the shell to limit the jaw assembly from disengaging from the gear.

2. The manipulator clamping structure for clamping a stirrer according to claim 1, characterized in that: The clamping jaw assembly includes a first claw arm, a second claw arm, and a third claw arm. The three claw arms are each provided with a tooth edge for engaging with the gear on one side corresponding to the gear. The first claw arm, the second claw arm, and the third claw arm are evenly distributed in the same direction along the outer peripheral wall of the gear.

3. The manipulator clamping structure for clamping a stirrer according to claim 2, characterized in that: The two adjacent claw arms can offset each other after moving.

4. The manipulator clamping structure for clamping a stirrer according to claim 2, characterized in that: The side walls of the first claw arm, the second claw arm and the third claw arm facing the side of the agitator all have an inclined limiting wall, and the thickness of the inclined limiting wall is gradually increased from top to bottom.

5. The manipulator clamping structure for clamping an agitator according to claim 2, 3 or 4, characterized in that: The side walls of the first claw arm, the second claw arm, and the third claw arm facing the side of the stirrer are each provided with an anti-slip rubber pad for preventing the stirrer from shaking on the clamping claw assembly.

6. The manipulator clamping structure for clamping a stirrer according to claim 5, characterized in that: The anti-slip rubber pad has a plurality of ridges arranged transversely for limiting the upper and lower positions of the stirrer in the clamping jaw assembly.

7. The manipulator clamping structure for clamping an agitator according to claim 2 or 3, characterized in that: The side walls of the first claw arm, the second claw arm and the third claw arm facing the upper end surface of the agitator are each provided with at least one pin extending toward the agitator, and the pin can be plugged into and matched with the upper end surface of the agitator.

Images