Stable grabbing type manipulator

Abstract

The utility model discloses a stable grabbing type manipulator, which belongs to the field of manipulators, and is characterized in that the stable grabbing type manipulator comprises a base, and further comprises a manipulator body mounted on the base; the grabbing and clamping assembly is mounted on the manipulator body; wherein the grabbing and clamping assembly comprises a grabbing and clamping seat, a driving assembly, a moving seat, a grabbing and clamping jaw, an adjusting cavity, an adjusting assembly and an abutting and clamping plate, the grabbing and clamping seat is installed on the mechanical arm body, the driving assembly is installed on the grabbing and clamping seat, the moving seat is installed on the driving assembly, the grabbing and clamping jaw is installed on the moving seat, the adjusting cavity is formed in the grabbing and clamping jaw, and the adjusting assembly is installed on the abutting and clamping plate. The adjusting assembly is installed in the adjusting cavity, the abutting clamping plate is installed on the adjusting assembly, metal objects with irregular shapes can be firmly grabbed, and the applicability of the mechanical arm for grabbing the objects is improved.

Description

Technical Field

[0001] The present application belongs to the field of manipulators, and in particular relates to a stable grasping manipulator. Background Art

[0002] The robotic arm is the most widely used automated mechanical device in the field of robotics. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Grasping devices are required in industrial manufacturing.

[0003] The existing authorization announcement number CN207465220U discloses a grasping manipulator, including a fixed seat, a drive device, an arm, a reduction device and a grasping mechanism. The arm seat is driven by a turbine mechanism on the drive device to perform horizontal rotational movement, the support arm is driven by a servo motor to perform inclination movement, and the grasping mechanism is driven by a reduction device to perform clamping and releasing actions. The motor drives the turbine worm, and the turbine drives the rotating boss and the arm seat to rotate 360°. The reduction motor controls the central shaft to drive the V-shaped grasping clamp to clamp or release.

[0004] Although the above-mentioned manipulator can realize fixed handling and loading and unloading by repeated grasping and transporting, which has low labor intensity, it is not firm when grasping some metal objects with irregular shapes, and its scope of use is limited. Utility Model Content

[0005] The purpose of this application is to address the above-mentioned technical problems and provide a stable grasping manipulator that can firmly grasp metal objects with irregular shapes, thereby improving the applicability of the manipulator in grasping objects.

[0006] The present application provides a stable grasping manipulator, comprising a base and:

[0007] A manipulator body, wherein the manipulator body is mounted on a base;

[0008] A gripping assembly, wherein the gripping assembly is mounted on the manipulator body;

[0009] Among them, the gripping assembly includes a gripping seat, a driving assembly, a movable seat, a gripping claw, an adjustment chamber, an adjustment assembly, and a clamping plate. The gripping seat is installed on the manipulator body, the driving assembly is installed on the gripping seat, the movable seat is installed on the driving assembly, the gripping claw is installed on the movable seat, the adjustment chamber is arranged on the gripping claw, the adjustment assembly is installed in the adjustment chamber, and the clamping plate is installed on the adjustment assembly.

[0010] When the robotic arm needs to grasp and transport objects, two movable seats are provided, and the two movable seats are arranged opposite to each other. After the grasping claws on the movable seat are aligned with the objects that need to be grasped and transported, the driving component drives the two movable seats to move toward the inside of the grasping seat at the same time until the objects are clamped. There are several abutment plates. At this time, the adjustment component adjusts the abutment plates to a position that fits the clamping object, so that metal objects with irregular shapes can be firmly grasped, thereby improving the applicability of the robotic arm to grasping objects.

[0011] Furthermore, the adjustment component includes:

[0012] a telescopic rod, the telescopic rod being installed in the adjustment cavity;

[0013] A limit seat, which is installed on the output end of the telescopic rod and is connected to the abutment plate;

[0014] A compression spring, one end of which is installed in the adjustment cavity, and the other end is installed on the limit seat.

[0015] When the adjustment component needs to adjust the position of the clamping plate until it fits the clamped object, the driving component is driven to move the movable seat until the clamping plate is against the clamped object and then continues to displace the inner side of the clamping seat. At this time, the compression springs on the several limit seats set on the clamping plate are compressed to different degrees. The compression springs are compressed to generate a rebound force which is applied to the clamping plate so that each clamping plate fits and clamps on the clamped object, making the robot grip the object more firmly and less likely to loosen.

[0016] Furthermore, the clamping seat is provided with:

[0017] The reinforcing ribs are installed on the movable seat.

[0018] The clamping seat is provided with reinforcing ribs, which are installed on the movable seat. The reinforcing ribs enable the clamping claws to provide support to the movable seat when clamping the clamped object, thereby preventing the movable seat from being deformed when the clamping claws clamp the object, causing the clamping claws to loosen the object, and making the clamping claws more stable in clamping the object.

[0019] Furthermore, the driving assembly includes:

[0020] A screw rod, the screw rod being mounted on the clamping seat;

[0021] A guide rod is mounted on the clamping seat.

[0022] The driving assembly includes a screw rod and a guide rod, the screw rod is installed on the gripping seat, and the guide rod is installed on the gripping seat. When the two movable seats need to move inward and outward at the same time, the screw rod is set to a bidirectional screw rod to drive the screw rod to work. The work of the screw rod drives the two movable seats on the screw rod to move under the guidance of the guide rod so that the gripping claws clamp the object. The driving assembly makes the robot arm grasping objects more automated and reduces the labor intensity of the user.

[0023] Furthermore, the gripping claw is provided with:

[0024] An anti-collision pad is installed on the abutment plate.

[0025] An anti-collision pad is provided on the clamping claw, and the anti-collision pad is installed on the abutment plate. The anti-collision pad is made of sponge material. When several abutment plates clamp the clamped object, it avoids wear and tear when the abutment plates clamp the clamped object. The anti-collision pad makes the clamped object less susceptible to wear and tear.

[0026] Furthermore, the crash pad is provided with:

[0027] Friction lines are provided on the anti-collision pad.

[0028] The anti-collision pad is provided with friction patterns, and the friction patterns are provided on the anti-collision pad. The friction patterns increase the friction between the anti-collision pad and the clamped object when the clamping plate clamps the clamped object, making it less likely for the clamped object to slip off in the clamped state, and making the clamping claw clamping the object more stable and safe.

[0029] The beneficial effects of this application are:

[0030] 1. The adjustment component adjusts the clamping plates to a position suitable for clamping objects, which can firmly grasp metal objects with irregular shapes, thereby improving the applicability of the manipulator in grasping objects;

[0031] 2. The compression spring is compressed to generate a rebound force that is applied to the clamping plates, so that each clamping plate fits and clamps the clamped object, making the manipulator grasp the object more firmly and less likely to loosen;

[0032] 3. The reinforcing ribs enable the gripping claws to provide support to the movable base when gripping the clamped object, thereby preventing the movable base from deforming when the gripping claws grip the object, causing the gripping claws to loosen the object, and making the gripping claws more stable in gripping the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of this application;

[0034] Figure 2This is a schematic structural diagram of the clamping seat of the present application;

[0035] Figure 3 This application Figure 1 A magnified view of part A;

[0036] Figure 4 This application Figure 2 A magnified view of part B;

[0037] The reference numerals in the figure are: 100, base; 200, manipulator body; 300, gripping assembly; 310, gripping seat; 311, reinforcing rib; 320, driving assembly; 321, screw rod; 322, guide rod; 330, moving seat; 340, gripping claw; 341, anti-collision pad; 342, friction pattern; 350, adjustment chamber; 360, adjustment assembly; 361, telescopic rod; 362, limit seat; 363, compression spring; 370, clamping plate. DETAILED DESCRIPTION

[0038] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0039] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0040] The embodiments of the present application are described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0041] Example 1:

[0042] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 As shown, the embodiment of the present application provides a stable grasping manipulator, including a base 100 and further comprising:

[0043] A manipulator body 200 , wherein the manipulator body 200 is mounted on the base 100 ;

[0044] A gripping assembly 300 , wherein the gripping assembly 300 is mounted on the manipulator body 200 ;

[0045] Among them, the gripping assembly 300 includes a gripping seat 310, a driving assembly 320, a movable seat 330, a gripping claw 340, an adjusting chamber 350, an adjusting assembly 360, and a clamping plate 370. The gripping seat 310 is installed on the manipulator body 200, the driving assembly 320 is installed on the gripping seat 310, the movable seat 330 is installed on the driving assembly 320, the gripping claw 340 is installed on the movable seat 330, the adjusting chamber 350 is set on the gripping claw 340, the adjusting assembly 360 is installed in the adjusting chamber 350, and the clamping plate 370 is installed on the adjusting assembly 360.

[0046] When the robotic arm needs to grasp and transport an object, two movable seats 330 are provided, and the two movable seats 330 are arranged opposite to each other. After the grasping claws 340 on the movable seat 330 are aligned with the object that needs to be grasped and transported, the driving component 320 works to drive the two movable seats 330 to move toward the inside of the grasping seat 310 at the same time until the object is clamped. There are several abutment plates 370. At this time, the adjustment component 360 adjusts the abutment plates 370 to a position that fits the clamping object, so that metal objects with irregular shapes can be firmly grasped, thereby improving the applicability of the robotic arm to grasping objects.

[0047] Example 2:

[0048] like Figure 4 As shown, the embodiment of the present application provides a stable grasping manipulator. In addition to the above technical features, the adjustment component 360 includes:

[0049] a telescopic rod 361 , the telescopic rod 361 being installed in the adjustment cavity 350 ;

[0050] A limit seat 362 is installed on the output end of the telescopic rod 361 and is connected to the clamping plate 370;

[0051] A compression spring 363 , one end of which is installed in the adjustment cavity 350 , and the other end of which is installed on the limiting seat 362 .

[0052] When it is necessary to adjust the position of the clamping plate 370 by adjusting the component 360 until it fits the clamped object, the driving component 320 is driven to move the movable seat 330 until the clamping plate 370 is against the clamped object and then continues to displace the inner side of the clamping seat 310. At this time, the compression springs 363 on the several limit seats 362 provided on the clamping plate 370 are compressed to different degrees. The compression springs 363 are compressed to generate a rebound force which is applied to the clamping plates 370 so that each clamping plate 370 fits and clamps the clamped object, making the robot grip the object more firmly and less likely to loosen.

[0053] Example 3:

[0054] like Figure 2 、 Figure 3 As shown, the embodiment of the present application provides a stable grasping manipulator. In addition to the above technical features, the gripping base 310 is provided with:

[0055] The reinforcing rib 311 is installed on the movable seat 330 .

[0056] The clamping seat 310 is provided with a reinforcing rib 311, and the reinforcing rib 311 is installed on the movable seat 330. The reinforcing rib 311 enables the clamping claw 340 to provide support to the movable seat 330 when clamping the clamped object, thereby preventing the movable seat 330 from being deformed when the clamping claw 340 clamps the object, causing the clamping claw 340 to loosen the object, and making the clamping claw 340 more stable in clamping the object.

[0057] Example 4:

[0058] like Figure 3 As shown, the embodiment of the present application provides a stable grasping manipulator. In addition to the above technical features, the drive assembly 320 includes:

[0059] A screw rod 321 , the screw rod 321 being mounted on the clamping base 310 ;

[0060] The guide rod 322 is mounted on the clamping base 310 .

[0061] The driving assembly 320 includes a screw rod 321 and a guide rod 322. The screw rod 321 is installed on the clamping seat 310, and the guide rod 322 is installed on the clamping seat 310. When the two movable seats 330 need to move inward and outward at the same time, the screw rod 321 is set as a bidirectional screw rod 321 to drive the screw rod 321 to work. The screw rod 321 works to drive the two movable seats 330 on the screw rod 321 to move under the guidance of the guide rod 322, so that the clamping claw 340 clamps the object. The driving assembly 320 makes the robot grasping objects more automated, reducing the labor intensity of the user.

[0062] Example 5:

[0063] like Figure 3 、 Figure 4 As shown, the embodiment of the present application provides a stable grasping manipulator. In addition to the above technical features, the grasping claw 340 is provided with:

[0064] The anti-collision pad 341 is installed on the abutment plate 370 .

[0065] The gripping claw 340 is provided with an anti-collision pad 341, which is installed on the abutment plate 370. The anti-collision pad 341 is made of sponge material. When several abutment plates 370 abut against the clamped object, wear is avoided when the abutment plates 370 abut against the clamped object. The anti-collision pad 341 makes the clamped object less susceptible to wear.

[0066] Example 6:

[0067] like Figure 3 、 Figure 4 As shown, the embodiment of the present application provides a stable grasping manipulator. In addition to the above technical features, the anti-collision pad 341 is provided with:

[0068] The friction pattern 342 is provided on the anti-collision pad 341 .

[0069] The anti-collision pad 341 is provided with friction lines 342. The friction lines 342 are provided on the anti-collision pad 341. The friction lines 342 make the friction between the anti-collision pad 341 and the clamped object greater when the clamping plate 370 clamps the clamped object, making it less likely for the clamped object to slip off in the clamped state, and making the clamping claw 340 clamp the object more stable and safe.

[0070] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0071] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A stable grasping manipulator, comprising a base (100), characterized in that , also includes: A manipulator body (200), wherein the manipulator body (200) is mounted on the base (100); A gripping assembly (300), wherein the gripping assembly (300) is mounted on the manipulator body (200); The gripping assembly (300) comprises a gripping seat (310), a driving assembly (320), a movable seat (330), a gripping claw (340), an adjusting chamber (350), an adjusting assembly (360), and a clamping plate (370). The gripping seat (310) is mounted on the manipulator body (200), the driving assembly (320) is mounted on the gripping seat (310), the movable seat (330) is mounted on the driving assembly (320), the gripping claw (340) is mounted on the movable seat (330), the adjusting chamber (350) is arranged on the gripping claw (340), the adjusting assembly (360) is mounted in the adjusting chamber (350), and the clamping plate (370) is mounted on the adjusting assembly (360).

2. A stable grasping manipulator according to claim 1, characterized in that: The adjustment assembly (360) includes: a telescopic rod (361), wherein the telescopic rod (361) is installed in the adjustment cavity (350); A limiting seat (362), the limiting seat (362) is installed on the output end of the telescopic rod (361), and the limiting seat (362) is connected to the clamping plate (370); A compression spring (363), one end of which is installed in the adjustment cavity (350) and the other end of which is installed on the limiting seat (362).

3. A stable grasping manipulator according to claim 2, characterized in that: The clamping seat (310) is provided with: A reinforcing rib (311), wherein the reinforcing rib (311) is installed on the movable seat (330).

4. A stable grasping manipulator according to claim 3, characterized in that: The drive assembly (320) includes: A screw rod (321), wherein the screw rod (321) is mounted on the clamping seat (310); A guide rod (322) is mounted on the clamping seat (310).

5. A stable grasping manipulator according to claim 4, characterized in that: The gripping claw (340) is provided with: An anti-collision pad (341) is installed on the abutment plate (370).

6. A stable grasping manipulator according to claim 5, characterized in that: The anti-collision pad (341) is provided with: Friction lines (342), the friction lines (342) are arranged on the anti-collision pad (341).

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