Manipulator capable of clamping inside and outside

Abstract

The utility model provides a manipulator capable of clamping inside and outside, which comprises a clamping mechanism, a finger driving mechanism and a sucker mechanism, the clamping mechanism comprises four clamping fingers, the inner side of each clamping finger is respectively connected with an inner side driving rope, and the outer side of each clamping finger is respectively connected with an outer side driving rope; the finger driving mechanism comprises a first stepping motor used for driving one pair of oppositely-arranged clamping fingers to conduct internal and external clamping and a second stepping motor used for driving the other pair of oppositely-arranged clamping fingers to conduct internal and external clamping. The suction cup mechanism comprises rubber sleeves arranged at the tail ends of the clamping fingers, ventilation pipes extending along the clamping fingers, a first negative pressure air cylinder and a second negative pressure air cylinder, and elastic suction cups are arranged on the inner side and the outer side of each rubber sleeve. According to the manipulator capable of clamping internally and externally, the problems that when an existing manipulator is used for clamping objects in different shapes, the clamping mode is single, and stability is poor can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator capable of clamping inside and outside. Background Art

[0002] At present, most of the domestic automated gripping machines and equipment use articulated or parallel structures, and most of them are rigid structures. This type of gripping robot is difficult to control the gripping force and is prone to damage the surface of the clamped object.

[0003] At present, most of the robot designs still have the following problems:

[0004] 1. Single working function: Most robots currently adopt an inward clamping design method, which means that the robot can only clamp the outer surface of the clamped object during operation. When facing a large curvature of the outer surface, it is difficult to ensure its clamping stability.

[0005] 2. Poor clamping stability: Traditional manipulators mostly use rigid structures at the end. When working, facing objects with different surfaces, the contact between the manipulator fingers and the clamped objects is not close enough, which can easily cause slippage and damage to the clamped objects. Utility Model Content

[0006] The purpose of the utility model is to provide a manipulator capable of internal and external clamping, which can solve the problems of the existing manipulators in that the clamping method is single and the stability is poor when clamping objects of different shapes.

[0007] The utility model provides a manipulator capable of internal and external clamping, comprising:

[0008] The clamping mechanism comprises four circumferentially arranged clamping fingers, wherein the inner side of each clamping finger is connected to an inner drive rope, and the outer side of each clamping finger is connected to an outer drive rope;

[0009] a finger drive mechanism, drivingly connected to the inner drive rope and the outer drive rope of the clamping fingers, comprising a first stepper motor for driving one pair of the clamping fingers arranged oppositely to perform inner and outer clamping, and a second stepper motor for driving the other pair of the clamping fingers arranged oppositely to perform inner and outer clamping;

[0010] The suction cup mechanism includes a rubber sleeve arranged at the end of each clamping finger, a ventilation tube extending along each clamping finger, a first negative pressure cylinder and a second negative pressure cylinder. The inner and outer sides of each rubber sleeve are provided with elastic suction cups, and the two elastic suction cups arranged on each clamping finger are respectively connected to the corresponding ventilation tubes; the first negative pressure cylinder is connected to the ventilation tubes arranged on two of the clamping fingers, and the second negative pressure cylinder is connected to the ventilation tubes arranged on the other two clamping fingers.

[0011] According to a robotic arm that can clamp inside and outside, the utility model provides, the clamping fingers include a first joint, a second joint and a third joint, the lower end of the first joint and the upper end of the second joint are rotatably connected via a pin, the lower end of the second joint and the upper end of the third joint are rotatably connected via a pin, and the rubber sleeve is mounted on the third joint.

[0012] According to a robot arm capable of inside and outside clamping provided by the utility model, inner drive rope channels are respectively provided on the inner sides of the first joint, the second joint and the third joint, and the lower end of the inner drive rope is sequentially passed through each of the inner drive rope channels and then connected and fixed to the inner side of the third joint; outer drive rope channels are respectively provided on the outer sides of the first joint, the second joint and the third joint, and the lower end of the outer drive rope is sequentially passed through each of the outer drive rope channels and then connected and fixed to the outer side of the third joint.

[0013] According to a manipulator capable of clamping inside and outside provided by the utility model, a ventilation tube chamber is provided in the third joint, the lower end of the ventilation tube extends into the ventilation tube chamber through the inlet of the ventilation tube chamber, and the lower end of the ventilation tube passes through the two outlets of the ventilation tube chamber and is correspondingly connected to the two elastic suction cups.

[0014] According to the utility model, a robot arm capable of clamping inside and outside also includes a center frame, which includes a cylindrical shell and a finger mounting base plate arranged at the bottom of the cylindrical shell, and the upper end of each first joint is rotatably connected to the finger mounting base plate.

[0015] According to a robot arm capable of clamping inside and outside provided by the utility model, four connecting ears corresponding to each of the clamping fingers are provided on the bottom surface of the finger mounting base, and the upper end of each of the first joints is rotatably connected to each of the connecting ears through a pin shaft.

[0016] According to a robot arm capable of clamping inside and outside provided by the utility model, four inner drive rope through-holes for each of the inner drive ropes to pass through respectively are provided on the finger mounting base plate, four outer drive rope through-holes for each of the outer drive ropes to pass through respectively are provided on the finger mounting base plate, and four ventilation pipe through-holes for each of the ventilation pipes to pass through respectively are provided on the mounting base plate.

[0017] According to the utility model, a manipulator capable of internal and external clamping is provided, which also includes a first motor mounting frame, which is fixed to the upper end of the center frame, and the first stepper motor is mounted on the first motor mounting frame.

[0018] According to the utility model, a robot arm capable of clamping inside and outside is provided, which also includes a second motor mounting bracket, which is installed and fixed to the upper end of the first motor mounting bracket, and the second stepper motor, the first negative pressure cylinder and the second negative pressure cylinder are respectively installed on the second motor mounting bracket.

[0019] According to a robot arm capable of clamping inside and outside provided by the utility model, winding wheels are respectively provided at the driving ends of the first stepper motor and the second stepper motor, and each winding wheel is respectively wound and connected with the corresponding inner driving rope and the outer driving rope, and the winding directions of the inner driving rope and the outer driving rope on the winding wheel are opposite.

[0020] The utility model provides a manipulator capable of internal and external clamping, which is provided with four circumferentially arranged clamping fingers, wherein the inner side of each clamping finger is respectively connected to an inner driving rope, and the outer side of each clamping finger is respectively connected to an outer driving rope, and the finger driving mechanism is connected to the inner driving rope and the outer driving rope of each clamping finger to realize rope drive control of the manipulator; a first stepper motor can drive one pair of relatively arranged clamping fingers to perform internal and external clamping, and a second stepper motor can drive another pair of relatively arranged clamping fingers to perform internal and external clamping, so that two stepper motors can respectively control the four inner driving ropes and the four outer driving ropes, thereby controlling the joints of the clamping fingers. By controlling the two stepper motors to rotate forward or reverse, the inward clamping or outward clamping operation of the manipulator is realized, thereby increasing the adaptability of the manipulator to different working conditions; by arranging a rubber sleeve at the end of each clamping finger, elastic suction cups are provided on the inner and outer sides of each rubber sleeve, and ventilation tubes are extended along each clamping finger, the two elastic suction cups provided on each clamping finger are respectively connected to the corresponding ventilation tubes, so that the first negative pressure cylinder and the second negative pressure cylinder are respectively used to control the adsorption action of each elastic suction cup, and the deformation of the elastic suction cup is used to achieve close contact with the clamped object, thereby improving the control of the clamping force and improving the clamping stability of the clamped object. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a schematic diagram of the inward clamping of the manipulator capable of internal and external clamping of the present invention;

[0023] Figure 2This is a schematic diagram of the outward clamping of the manipulator capable of internal and external clamping of the present invention;

[0024] Figure 3 This is a schematic diagram of the installation arrangement of the first stepper motor, the second stepper motor, the first negative pressure cylinder and the second negative pressure cylinder in the manipulator capable of internal and external clamping of the present invention;

[0025] Figure 4 This is a schematic diagram of the split structure of the clamping fingers in the robot hand capable of internal and external clamping of the present invention;

[0026] Figure 5 This is a schematic diagram of the bottom structure of the center frame of the manipulator capable of internal and external clamping of the present invention;

[0027] Figure 6 This is a schematic diagram of the overall structure of the clamping fingers in the robot hand that can clamp inside and outside the utility model.

[0028] Figure 7 for Figure 6 AA section view.

[0029] Description of reference numerals:

[0030] 1. Clamping finger; 101. First joint; 102. Second joint; 103. Third joint; 104. First pin; 105. Second pin; 106. Inner drive rope channel; 107. Outer drive rope channel; 108. Ventilation tube chamber;

[0031] 2. Inner drive rope; 3. Outer drive rope; 4. First stepper motor; 5. Second stepper motor; 6. Rubber sleeve; 7. Breather tube; 8. First negative pressure cylinder; 9. Second negative pressure cylinder; 10. Elastic suction cup; 11. Winding reel;

[0032] 12. Center frame; 121. Cylindrical housing; 122. Finger mounting base; 123. Connecting lugs; 124. Inner drive rope hole; 125. Outer drive rope hole; 126. Ventilation pipe hole;

[0033] 13. First motor mounting bracket; 14. Second motor mounting bracket. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only a part 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 without making creative efforts are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present utility model, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a communication between the 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 the specific circumstances.

[0037] like Figures 1 to 7 As shown, the robot arm capable of internal and external clamping according to an embodiment of the present invention includes a clamping mechanism, a finger drive mechanism and a suction cup mechanism.

[0038] The clamping mechanism includes four circumferentially arranged clamping fingers 1 , the inner side of each clamping finger 1 is connected to an inner driving rope 2 , and the outer side of each clamping finger 1 is connected to an outer driving rope 3 .

[0039] Among them, the finger driving mechanism is driven and connected to the inner driving rope 2 and the outer driving rope 3 of each clamping finger 1, and the finger driving mechanism includes a first stepper motor 4 for driving one pair of relatively arranged clamping fingers 1 to perform internal and external clamping and a second stepper motor 5 for driving another pair of relatively arranged clamping fingers 1 to perform internal and external clamping.

[0040] The suction cup mechanism includes a rubber sleeve 6 at the end of each gripping finger 1, a vent tube 7 extending along each gripping finger 1, a first negative pressure cylinder 8, and a second negative pressure cylinder 9. Each rubber sleeve 6 is provided with an elastic suction cup 10 on both the inside and outside. The two elastic suction cups 10 provided on each gripping finger 1 are connected to corresponding vent tubes 7. The first negative pressure cylinder 8 is connected to the vent tubes 7 provided on two adjacent gripping fingers 1, and the second negative pressure cylinder 9 is connected to the vent tubes 7 provided on the other two adjacent gripping fingers 1.

[0041] Therefore, the manipulator that can clamp inside and outside of the utility model embodiment adopts two stepping motors to control the four inner driving ropes 2 and the four outer driving ropes 3 respectively, so as to control the joints of each clamping finger 1, and control the two stepping motors to rotate forward or reverse to realize inward clamping or outward clamping operation, thereby increasing the adaptability of the manipulator to different working conditions; by arranging rubber sleeves 6 at the end of each clamping finger 1, and arranging elastic suction cups 10 on the inner and outer sides of the rubber sleeve 6, respectively, adopting the first negative pressure cylinder 8 and the second negative pressure cylinder 9 to control the adsorption action of the elastic suction cup 10 respectively, and realizing close contact with the clamped object by deformation of the elastic suction cup 10, thereby improving the control of the clamping force and improving the clamping stability of the clamped object.

[0042] Specifically, a winding wheel 11 is fixed at the driving end of the first stepper motor 4 and the second stepper motor 5, and each winding wheel 11 is respectively wound and connected with the corresponding inner driving rope 2 and outer driving rope 3, and the winding directions of the inner driving rope 2 and the outer driving rope 3 on the winding wheel 11 are opposite.

[0043] That is, the inner drive rope 2 and the outer drive rope 3 on a pair of oppositely arranged clamping fingers 1 are wound on the winding wheel 11 on the first stepper motor 4, and the two inner drive ropes 2 are respectively wound on the winding wheel 11 of the first stepper motor 4 in the forward direction, and the two outer drive ropes 3 are respectively wound on the winding wheel 11 of the first stepper motor 4 in the reverse direction.

[0044] Similarly, the inner drive rope 2 and the outer drive rope 3 on another pair of oppositely arranged clamping fingers 1 are wound on the winding wheel 11 of the second stepper motor 5. The two inner drive ropes 2 are respectively wound on the winding wheel 11 of the second stepper motor 5 in the forward direction, and the two outer drive ropes 3 are respectively wound on the winding wheel 11 of the second stepper motor 5 in the reverse direction.

[0045] When the first stepper motor 4 and the second stepper motor 5 are controlled to rotate in the forward direction, the four clamping fingers 1 perform an inward clamping operation; when the first stepper motor 4 and the second stepper motor 5 are controlled to rotate in the reverse direction, the four clamping fingers 1 perform an outward clamping operation.

[0046] In some embodiments of the present invention, the clamping finger 1 includes a first joint 101, a second joint 102 and a third joint 103, the lower end of the first joint 101 and the upper end of the second joint 102 are rotatably connected through a first pin 104, the lower end of the second joint 102 and the upper end of the third joint 103 are rotatably connected through a second pin 105, and the rubber sleeve 6 is mounted on the third joint 103.

[0047] The inner side surfaces of the first joint 101, the second joint 102, and the third joint 103 are each provided with an inner drive rope channel 106. The lower end of the inner drive rope 2 passes through each inner drive rope channel 106 in sequence before being connected and fixed to the inner side surface of the third joint 103, thereby ensuring that the inner drive rope 2 drives and controls each joint. The outer side surfaces of the first joint 101, the second joint 102, and the third joint 103 are each provided with an outer drive rope channel 107. The lower end of the outer drive rope 3 passes through each outer drive rope channel 107 in sequence before being connected and fixed to the outer side surface of the third joint 103, thereby ensuring that the outer drive rope 3 drives and controls each joint.

[0048] Among them, a ventilation tube chamber 108 is provided in the third joint 103, and the lower end of the ventilation tube 7 extends into the ventilation tube chamber 108 through the inlet of the ventilation tube chamber 108, and the lower end of the ventilation tube 7 passes through the two outlets of the ventilation tube chamber 108 and is respectively connected to the two elastic suction cups 10, and the upper end of the ventilation tube 7 is connected to the corresponding negative pressure cylinder, thereby realizing the adsorption control of the elastic suction cup 10.

[0049] In some embodiments of the present invention, the manipulator that can clamp inside and outside also includes a center frame 12, the center frame 12 includes a cylindrical shell 121 and a finger mounting base plate 122 arranged at the bottom of the cylindrical shell 121, and the upper end of each first joint 101 is rotatably connected to the finger mounting base plate 122 respectively.

[0050] Among them, four connecting ears 123 corresponding to the four clamping fingers 1 are provided on the bottom surface of the finger mounting base 122, and the upper end of each first joint 101 is rotatably connected to each connecting ear 123 through a third pin shaft.

[0051] Among them, four inner drive rope through holes 124 are provided on the finger mounting base plate 122 for each inner drive rope 2 to pass through respectively, four outer drive rope through holes 125 are provided on the finger mounting base plate 122 for each outer drive rope 3 to pass through respectively, and four ventilation pipe through holes 126 are provided on the mounting base plate 122 for each ventilation pipe 7 to pass through respectively.

[0052] Specifically, the manipulator that can clamp inside and outside also includes a first motor mounting frame 13, which is installed and fixed on the upper end of the center frame 12, and the first stepper motor 4 is installed on the first motor mounting frame 13 to achieve reliable installation and arrangement of the first stepper motor 4.

[0053] Specifically, the manipulator that can clamp inside and outside also includes a second motor mounting frame 14, which is installed and fixed to the upper end of the first motor mounting frame 13, and the second stepper motor 5, the first negative pressure cylinder 8 and the second negative pressure cylinder 9 are respectively installed on the second motor mounting frame 14, for realizing reliable installation and arrangement of the second stepper motor 5, the first negative pressure cylinder 8 and the second negative pressure cylinder 9.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A manipulator capable of internal and external clamping, characterized in that: include: The clamping mechanism comprises four circumferentially arranged clamping fingers, wherein the inner side of each clamping finger is connected to an inner drive rope, and the outer side of each clamping finger is connected to an outer drive rope; a finger drive mechanism, drivingly connected to the inner drive rope and the outer drive rope of the clamping fingers, comprising a first stepper motor for driving one pair of the clamping fingers arranged oppositely to perform inner and outer clamping, and a second stepper motor for driving the other pair of the clamping fingers arranged oppositely to perform inner and outer clamping; The suction cup mechanism includes a rubber sleeve arranged at the end of each clamping finger, a ventilation tube extending along each clamping finger, a first negative pressure cylinder and a second negative pressure cylinder. The inner and outer sides of each rubber sleeve are provided with elastic suction cups, and the two elastic suction cups arranged on each clamping finger are respectively connected to the corresponding ventilation tubes; the first negative pressure cylinder is connected to the ventilation tubes arranged on two of the clamping fingers, and the second negative pressure cylinder is connected to the ventilation tubes arranged on the other two clamping fingers.

2. The manipulator capable of internal and external clamping according to claim 1, characterized in that: The clamping finger includes a first joint, a second joint and a third joint. The lower end of the first joint is rotatably connected to the upper end of the second joint via a pin shaft, the lower end of the second joint is rotatably connected to the upper end of the third joint via a pin shaft, and the rubber sleeve is mounted on the third joint.

3. The manipulator capable of internal and external clamping according to claim 2, characterized in that: An inner drive rope channel is respectively provided on the inner side surfaces of the first joint, the second joint and the third joint, and the lower end of the inner drive rope passes through each of the inner drive rope channels in sequence and is connected and fixed to the inner side surface of the third joint; an outer drive rope channel is respectively provided on the outer side surfaces of the first joint, the second joint and the third joint, and the lower end of the outer drive rope passes through each of the outer drive rope channels in sequence and is connected and fixed to the outer side surface of the third joint.

4. The manipulator capable of internal and external clamping according to claim 2, characterized in that: A ventilation tube chamber is provided in the third joint, the lower end of the ventilation tube extends into the ventilation tube chamber through the inlet of the ventilation tube chamber, and the lower end of the ventilation tube passes through the two outlets of the ventilation tube chamber and is correspondingly connected to the two elastic suction cups.

5. The manipulator capable of internal and external clamping according to claim 2, characterized in that: It also includes a center frame, which includes a cylindrical shell and a finger mounting base plate arranged at the bottom of the cylindrical shell, and the upper end of each first joint is rotatably connected to the finger mounting base plate.

6. The manipulator capable of internal and external clamping according to claim 5, characterized in that: Four connecting ears corresponding to the clamping fingers are provided on the bottom surface of the finger mounting base plate, and the upper end of each first joint is rotatably connected to each connecting ear through a pin shaft.

7. The manipulator capable of internal and external clamping according to claim 5, characterized in that: Four inner drive rope through-holes are provided on the finger mounting base plate for the inner drive ropes to pass through respectively, four outer drive rope through-holes are provided on the finger mounting base plate for the outer drive ropes to pass through respectively, and four ventilation pipe through-holes are provided on the mounting base plate for the ventilation pipes to pass through respectively.

8. The manipulator capable of internal and external clamping according to claim 5, characterized in that: It also includes a first motor mounting frame, which is fixed to the upper end of the center frame, and the first stepper motor is mounted on the first motor mounting frame.

9. The manipulator capable of internal and external clamping according to claim 8, characterized in that: It also includes a second motor mounting frame, which is fixed to the upper end of the first motor mounting frame, and the second stepping motor, the first negative pressure cylinder and the second negative pressure cylinder are respectively mounted on the second motor mounting frame.

10. The manipulator capable of internal and external clamping according to any one of claims 1 to 9, characterized in that: Winding wheels are respectively provided at the driving ends of the first stepper motor and the second stepper motor, and each winding wheel is respectively wound and connected with the corresponding inner driving rope and the outer driving rope, and the winding directions of the inner driving rope and the outer driving rope on the winding wheels are opposite.

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