Grabbing mechanism based on multi-axis manipulator

Abstract

The utility model discloses a grabbing mechanism based on a multi-axis manipulator, and relates to the technical field of material grabbing. Comprising a supporting seat; the outer wall of the manipulator device is in sliding connection with the inner wall of the supporting seat; the top of the rotating device is fixedly connected with the bottom of the manipulator device; the grabbing devices are symmetrically arranged at the bottom of the rotating device, each grabbing device comprises an air cylinder, a supporting rod and a clamping rod, the clamping rods can achieve opening and closing actions, two objects can be clamped at the same time, the grabbing efficiency is greatly improved, and the requirement for high efficiency of operation such as material carrying and transferring in modern industrial production is met; the time cost in the production process is reduced, the bottom of the clamping rod is of a circular-truncated-cone-shaped structure, object contact and stable clamping are better facilitated, and the grabbing process is more stable and reliable in cooperation with power output of an air cylinder.

Description

Technical Field

[0001] The utility model relates to the technical field of material grabbing, in particular to a grabbing mechanism based on a multi-axis manipulator. Background Art

[0002] In modern industrial production and automation, the efficiency and precision of operations such as material handling and transfer are increasingly demanding. To ensure operability, stability, and safety during grasping, higher requirements are placed on grippers. However, existing grippers are far from satisfactory. Existing equipment struggles to stably grasp multiple items simultaneously to accommodate diverse work scenarios. To address these challenges, the present invention was developed. Utility Model Content

[0003] In view of the deficiencies of the prior art, the technical solution adopted by the present invention to solve its technical problems is: a grasping mechanism based on a multi-axis manipulator, comprising: a support seat; a manipulator device, the outer wall of the manipulator device is slidably connected to the inner wall of the support seat; a rotating device, the top of the rotating device is fixedly connected to the bottom of the manipulator device; a grasping device, the grasping device is symmetrically arranged at the bottom of the rotating device, and the outer wall of the grasping device is fixedly connected to the outer wall of the rotating device; the grasping device comprises a second cylinder and a third cylinder, the tops of the second cylinder and the third cylinder are fixedly connected to the bottom of the rotating device, the piston rods of the second cylinder and the third cylinder are fixedly connected to the support rod, and the bottoms of the support rods are symmetrically fixedly connected to the clamping rods.

[0004] Preferably, the manipulator device includes a first connecting rod, the outer wall of the first connecting rod is slidably connected to the outer wall of the support seat, the inner wall of the first connecting rod is slidably connected to a first drag chain, the first drag chain is fixedly connected to a second connecting rod at one end away from the first connecting rod, the outer wall of the second connecting rod is fixedly connected to a second drag chain, and the second drag chain is fixedly connected to a third connecting rod at one end of the second connecting rod.

[0005] Preferably, the outer wall of the second connecting rod is slidably connected to the inner wall of the first connecting rod, and the outer wall of the third connecting rod is slidably connected to the inner wall of the second connecting rod.

[0006] Preferably, the rotating device includes a first cylinder, a piston rod of the first cylinder is fixedly connected to a rack, and an outer wall of the first cylinder is rotatably connected to an intermittent gear.

[0007] Preferably, the top of the first cylinder is fixedly connected to the bottom of the third connecting rod, and the bottom of the intermittent gear is fixedly connected to a support plate.

[0008] Preferably, the rack is meshed with the intermittent gear, and the bottom of the clamping rod adopts a truncated cone structure, which is more conducive to contacting the object and stably clamping. The intermittent gear has only one-quarter of the teeth, so under the action of the rack, the intermittent gear can achieve a ninety-degree flip action.

[0009] The beneficial effects of the utility model are as follows:

[0010] 1. The utility model symmetrically arranges grabbing devices at the bottom of the support plate. Each grabbing device includes a cylinder, a support rod and a clamping rod, so that the clamping rod can open and close and can clamp two items at the same time, which greatly improves the grabbing efficiency, meets the demand for high efficiency of material handling, transfer and other operations in modern industrial production, and reduces the time cost in the production process. The bottom of the clamping rod adopts a frustum-shaped structure, which is more conducive to contacting and stably clamping the items. Combined with the power output of the cylinder, the grabbing process is more stable and reliable.

[0011] 2. The utility model is provided with a rotating device, which uses the first cylinder to drive the rack to move, and engages with the intermittent gear to realize a 90-degree flip of the support plate, thereby adjusting the angle of the grasping device to better align with the object. In a complex working environment, the grasping angle can be flexibly adjusted according to the placement posture and spatial position of the object, thereby improving the operability and flexibility of the grasping, and also providing a guarantee for adapting to different working scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is the main view of the utility model;

[0013] Figure 2 It is a structural diagram of the utility model robot device;

[0014] Figure 3 It is a structural diagram of the rotating device of the utility model;

[0015] Figure 4 It is a structural diagram of the grabbing device of the utility model.

[0016] In the figure: 1. Support seat; 2. Manipulator device; 3. Rotating device; 4. Grasping device; 21. First connecting rod; 22. First drag chain; 23. Second connecting rod; 24. Second drag chain; 25. Third connecting rod; 31. First cylinder; 32. Rack; 33. Intermittent gear; 34. Support plate; 41. Second cylinder; 42. Third cylinder; 43. Support rod; 44. Clamping rod. DETAILED DESCRIPTION

[0017] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for purposes of illustration and description and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention and to enable those skilled in the art to understand the present invention and design various embodiments with various modifications suitable for specific applications.

[0018] Example:

[0019] See also Figure 1 - Figure 4 The utility model provides a technical solution: a grasping mechanism based on a multi-axis manipulator, comprising: a support base 1; a manipulator device 2, the outer wall of the manipulator device 2 is slidably connected to the inner wall of the support base 1; a rotating device 3, the top of the rotating device 3 is fixedly connected to the bottom of the manipulator device 2; a grasping device 4, the grasping device 4 is symmetrically arranged at the bottom of the rotating device 3, and the outer wall of the grasping device 4 is fixedly connected to the outer wall of the rotating device 3; the grasping device 4 includes a second cylinder 41 and a third cylinder 42, the tops of the second cylinder 41 and the third cylinder 42 are fixedly connected to the bottom of the rotating device 3, the piston rods of the second cylinder 41 and the third cylinder 42 are fixedly connected to the support rod 43, and the support rod 43 The bottom is symmetrically fixed with a clamping rod 44. When in use, the second cylinder 41 and the third cylinder 42 in the grasping device 4 are started, and the gas enters the cylinder to push the piston rod to move, and the piston rod drives the support rod 43 to move. Since the bottom of the support rod 43 is symmetrically connected to the clamping rod 44, when the support rod 43 moves, the clamping rod 44 will move accordingly. The bottom of the clamping rod 44 adopts a frustum-shaped structure, which is more conducive to contact and stable clamping of objects. Through the action of the cylinder, the clamping rod 44 can realize opening and closing actions. Since the grasping device 4 is symmetrically arranged on the bottom of the support plate 34, when the clamping rod 44 is closed, two objects can be clamped at the same time, completing the grasping operation and improving work efficiency.

[0020] The manipulator device 2 includes a first connecting rod 21, the outer wall of the first connecting rod 21 is slidably connected to the outer wall of the support seat 1, the inner wall of the first connecting rod 21 is slidably connected to the first drag chain 22, the end of the first drag chain 22 away from the first connecting rod 21 is fixedly connected to the second connecting rod 23, the outer wall of the second connecting rod 23 is fixedly connected to the second drag chain 24, and the second drag chain 24 is fixedly connected to the third connecting rod 25 on one end of the second connecting rod 23.

[0021] The outer wall of the second connecting rod 23 is slidably connected to the inner wall of the first connecting rod 21, and the outer wall of the third connecting rod 25 is slidably connected to the inner wall of the second connecting rod 23. When in use, the support seat 1 is used to support the entire equipment. In terms of the movement of the manipulator device 2, the first connecting rod 21 slides on the inner wall of the support seat 1 to achieve initial position movement, and the second connecting rod 23 is driven by the first drag chain 22 to slide on the inner wall of the first connecting rod 21, and the third connecting rod 25 is driven by the second drag chain 24 to slide on the inner wall of the second connecting rod 23. This series of sliding connection combinations enables the manipulator to flexibly adjust its position in multiple directions, thereby moving the grasping device 4 to a suitable position above the target object.

[0022] The rotating device 3 includes a first cylinder 31 , a piston rod of the first cylinder 31 is fixedly connected to a rack 32 , and an outer wall of the first cylinder 31 is rotatably connected to an intermittent gear 33 .

[0023] The top of the first cylinder 31 is fixedly connected to the bottom of the third connecting rod 25 , and the bottom of the intermittent gear 33 is fixedly connected to a support plate 34 .

[0024] The rack 32 is meshed with the intermittent gear 33, and the bottom of the clamping rod 44 adopts a truncated cone structure. When in use, the first cylinder 31 in the rotating device 3 works, and the piston rod pushes the rack 32 to move. Since the rack 32 is meshed with the intermittent gear 33, when the rack 32 moves, it will drive the intermittent gear 33 to rotate. Because the intermittent gear 33 has only a quarter of the teeth, under the action of the rack 32, the intermittent gear 33 can achieve a ninety-degree flip, thereby driving the bottom support plate 34 to rotate, adjusting the angle of the grasping device 4 to better align with the object.

[0025] Working principle:

[0026] When in use, the support base 1 is used to support the entire device. In terms of the movement of the manipulator device 2, the first connecting rod 21 slides on the inner wall of the support base 1 to achieve preliminary position movement. The first drag chain 22 drives the second connecting rod 23 to slide on the inner wall of the first connecting rod 21. The second drag chain 24 drives the third connecting rod 25 to slide on the inner wall of the second connecting rod 23. This series of sliding connection combinations enables the manipulator to flexibly adjust its position in multiple directions, thereby moving the grasping device 4 to a suitable position above the target object;

[0027] When in use, the first cylinder 31 in the rotating device 3 works, and the piston rod pushes the rack 32 to move. Since the rack 32 is engaged with the intermittent gear 33, when the rack 32 moves, it drives the intermittent gear 33 to rotate. Because the intermittent gear 33 has only a quarter of a tooth, the intermittent gear 33 can achieve a 90-degree flip under the action of the rack 32, thereby driving the bottom support plate 34 to rotate, adjusting the angle of the grasping device 4 to better align with the object;

[0028] During use, the second cylinder 41 and the third cylinder 42 in the grasping device 4 are started, and the gas enters the cylinder to push the piston rod to move, and the piston rod drives the support rod 43 to move. Since the bottom of the support rod 43 is symmetrically connected to the clamping rod 44, when the support rod 43 moves, the clamping rod 44 will move accordingly. The bottom of the clamping rod 44 adopts a truncated cone structure, which is more conducive to contact and stable clamping of objects. Through the action of the cylinder, the clamping rod 44 can realize opening and closing actions. Since the grasping device 4 is symmetrically arranged on the bottom of the support plate 34, when the clamping rod 44 is closed, two objects can be clamped at the same time, completing the grasping operation and improving work efficiency.

[0029] Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without making any creative efforts should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in this utility model shall be implemented in accordance with conventional means in the field unless otherwise specified or limited.

Claims

1. A gripping mechanism based on a multi-axis manipulator, characterized in that: include: Support seat (1); A manipulator device (2), wherein the outer wall of the manipulator device (2) is slidably connected to the inner wall of the support base (1); A rotating device (3), the top of the rotating device (3) is fixedly connected to the bottom of the manipulator device (2); A gripping device (4), the gripping device (4) being symmetrically arranged at the bottom of the rotating device (3), and the outer wall of the gripping device (4) being fixedly connected to the outer wall of the rotating device (3); The gripping device (4) comprises a second cylinder (41) and a third cylinder (42), the tops of the second cylinder (41) and the third cylinder (42) are fixedly connected to the bottom of the rotating device (3), the piston rods of the second cylinder (41) and the third cylinder (42) are fixedly connected to a support rod (43), and the bottom of the support rod (43) is symmetrically fixedly connected to a clamping rod (44).

2. The gripping mechanism based on a multi-axis manipulator according to claim 1, characterized in that: The manipulator device (2) includes a first connecting rod (21), the outer wall of the first connecting rod (21) is slidably connected to the outer wall of the support seat (1), the inner wall of the first connecting rod (21) is slidably connected to a first drag chain (22), one end of the first drag chain (22) away from the first connecting rod (21) is fixedly connected to a second connecting rod (23), the outer wall of the second connecting rod (23) is fixedly connected to a second drag chain (24), and the second drag chain (24) is fixedly connected to a third connecting rod (25) on one end of the second connecting rod (23).

3. The multi-axis manipulator gripping mechanism according to claim 2, characterized in that: The outer wall of the second connecting rod (23) is slidably connected to the inner wall of the first connecting rod (21), and the outer wall of the third connecting rod (25) is slidably connected to the inner wall of the second connecting rod (23).

4. The gripping mechanism based on a multi-axis manipulator according to claim 1, characterized in that: The rotating device (3) comprises a first cylinder (31), a piston rod of the first cylinder (31) is fixedly connected to a rack (32), and an outer wall of the first cylinder (31) is rotatably connected to an intermittent gear (33).

5. The gripping mechanism based on a multi-axis manipulator according to claim 4, characterized in that: The top of the first cylinder (31) is fixedly connected to the bottom of the third connecting rod (25), and the bottom of the intermittent gear (33) is fixedly connected to a support plate (34).

6. The multi-axis manipulator-based grasping mechanism according to claim 4, characterized in that: The rack (32) is meshed with the intermittent gear (33), and the bottom of the clamping rod (44) adopts a truncated cone structure.

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