Clamping and overturning mechanism of manipulator

Abstract

The utility model provides a clamping and overturning mechanism of a manipulator, and relates to the technical field of manipulators. The clamping turnover mechanism comprises a turnover structure with a fixed end and a movable end, wherein the fixed end is used for being externally connected with a manipulator; the clamping assembly comprises a mounting plate, a power unit and two clamping pieces, the mounting plate is arranged at the movable end, the two clamping pieces are arranged on the mounting plate in a sliding mode, and the power unit is arranged on the mounting plate and used for driving the two clamping pieces to move face to face or away from each other; wherein any clamping piece comprises a bearing piece, a rotating piece, an elastic layer and a rigid layer, the bearing piece is arranged on the mounting plate in a sliding mode, the rotating piece is arranged on the bearing piece in a rotating mode, and the elastic layer and the rigid layer are arranged on the annular face of the rotating piece and are symmetrical about the middle of the rotating piece. The clamping and overturning mechanism is suitable for workpieces in specific shapes and workpieces in various shapes, the application range of the clamping and overturning mechanism is greatly widened, and powerful support is provided for application of the mechanical arm in different working scenes.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, specifically, a kind of clamping and overturning mechanism of manipulator. BACKGROUND

[0002] Manipulator is a kind of can imitate the action function of some of hand and arm, to grasp, carry object or operate tool according to fixed program, and automatic operation device is operated. It can replace manual operation in dangerous, repetitive, high-precision and other operating environments, improve production efficiency and quality, reduce labor intensity and risk.

[0003] Clamping and overturning structure occupies important position in manipulator. On the one hand, clamping structure can firmly grasp workpiece, ensure that workpiece does not fall or loosen during carrying and operating, and can be adjusted according to the shape, size and material of different workpieces, adapt to a variety of working scenes. On the other hand, overturning structure can adjust the angle of workpiece by manipulator, facilitate accurate operation in different processing links, such as adjusting workpiece to appropriate angle for installation in assembly process, or overturning workpiece for comprehensive inspection of each surface in detection process. The synergistic effect of clamping and overturning structure greatly improves the flexibility and multifunctionality of manipulator.

[0004] However, the surface shape of different workpieces is very different, and traditional clamping mechanism can only realize effective clamping for workpieces with specific shape, so when facing workpieces with various shapes, either the clamping device needs to be frequently replaced, resulting in low production efficiency and increased cost, or the clamping effect is poor, which is easy to cause workpiece loosening or even falling. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a kind of clamping and overturning mechanism of manipulator, to solve the technical problems in the above background.

[0006] The embodiment of the utility model is realized as follows:

[0007] The embodiment of the application provides a kind of clamping and overturning mechanism of manipulator, including: the overturning structure with fixed end and movable end, the fixed end is used to connect manipulator;Clamping assembly, including mounting plate, power unit and two clamping pieces, the mounting plate is set to the movable end, two clamping pieces are slidably arranged on the mounting plate, the power unit is arranged on the mounting plate, and is used to drive two clamping pieces to move towards or away from each other;Wherein, any clamping piece includes carrier, rotating member, elastic layer and rigid layer, the carrier is slidably arranged on the mounting plate, the rotating member is rotatably arranged on the carrier, the elastic layer and the rigid layer are arranged on the annular surface of the rotating member, and symmetric about the middle part of the rotating member.

[0008] Further, based on the foregoing scheme, the mounting plate is provided with a guide rod, and the bearing of each of the two clamping members is slidably arranged on the guide rod.

[0009] Further, based on the foregoing scheme, the number of the guide rods is two.

[0010] Further, based on the foregoing scheme, the power unit includes two electric telescopic rods and is configured to drive the bearings of the two clamping members to slide, respectively.

[0011] Further, based on the foregoing scheme, the elastic layer includes a connecting plate and a rubber layer, the connecting plate is detachably arranged on the rotating member, and the rubber layer is arranged on the side of the connecting plate away from the rotating member.

[0012] Further, based on the foregoing scheme, the rigid layer is detachably arranged on the rotating member.

[0013] Further, based on the foregoing scheme, the side of the rigid layer away from the rotating member is provided with anti-skid lines.

[0014] Further, based on the foregoing scheme, the top of the rotating member is symmetrically provided with a positioning pin about the rotating center thereof, and the bottom of the positioning pin penetrates into the bearing.

[0015] Compared with the prior art, the embodiments of the utility model have at least the following advantages or beneficial effects:

[0016] The clamping and overturning mechanism has remarkable advantages in actual use. On the one hand, the rigid layers of the two clamping members are adjusted to be opposite to each other, and the two rigid layers are clamped and matched by the power unit, so that the workpiece with a specific shape can be effectively clamped. On the other hand, when facing workpieces with various shapes, the elastic layers of the two clamping members are adjusted to be opposite to each other, and the two elastic layers are clamped and matched after being adjusted by the power unit. The local deformation of the elastic layer can better fit the workpiece, increase the contact area between the clamping member and the workpiece, improve the clamping effect, reduce the probability of loosening or even falling of the workpiece, and has strong practicability. In short, the clamping and overturning mechanism can adapt to workpieces with specific shapes and workpieces with various shapes, greatly increases the use range, and provides strong support for the application of the mechanical hand in different working scenes. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the utility model, and therefore should not be regarded as a limitation on the scope. Other related drawings can also be obtained by those skilled in the art without creative labor.

[0018] Figure 1 This is an axonometric view of a clamping and flipping mechanism of a manipulator according to an embodiment of the present invention. Figure One ;

[0019] Figure 2 This is an axonometric view of a clamping and flipping mechanism of a manipulator according to an embodiment of the present invention. Figure Two ;

[0020] Figure 3 This is a side view of a clamping and flipping mechanism of a manipulator according to an embodiment of the present utility model;

[0021] Figure 4 This is a full cross-sectional view of a clamping and flipping mechanism of a robot according to an embodiment of the present utility model.

[0022] Icon: 1-electric telescopic rod, 2-clamping part, 201-bearing part, 202-rotating part, 3-rigid layer, 4-positioning pin, 5-elastic layer, 501-connecting plate, 502-rubber layer, 6-guide rod, 7-mounting plate, 8-motor, 9-first gear, 10-base plate, 11-second gear, 12-first bevel gear, 13-support column, 14-second bevel gear, 15-connecting part. DETAILED DESCRIPTION

[0023] The embodiments of the present application are described in detail below in conjunction with the drawings in the embodiments of the present application.

[0024] Example

[0025] Please refer to Figures 1-4 , an embodiment of the present application provides a clamping and flipping mechanism of a manipulator, comprising: a flipping structure having a fixed end and a movable end, the fixed end being used to connect an external manipulator; a clamping assembly, comprising a mounting plate 7, a power unit and two clamping members 2, the mounting plate 7 being arranged on the movable end, the two clamping members 2 being slidably arranged on the mounting plate 7, the power unit being arranged on the mounting plate 7, and being used to drive the two clamping members 2 to move toward or away from each other; wherein, any of the clamping members 2 comprises a bearing member 201, a rotating member 202, an elastic layer 5 and a rigid layer 3, the bearing member 201 being slidably arranged on the mounting plate 7, the rotating member 202 being rotatably arranged on the bearing member 201, the elastic layer 5 and the rigid layer 3 being both arranged on the annular surface of the rotating member 202, and being symmetrical about the middle part of the rotating member 202.

[0026] The clamping and overturning mechanism of the present application has significant advantages in actual use. On the one hand, the adjustment of the relative positions of the rigid layers 3 of the two clamping pieces 2 is carried out through the power unit, so that the two rigid layers 3 are clamped and matched, and the specific-shaped workpiece can be effectively clamped. On the other hand, when facing workpieces of various shapes, the relative positions of the elastic layers 5 of the two clamping pieces 2 are adjusted, and after adjustment by the power unit, the two elastic layers 5 are clamped and matched. The local deformation of the elastic layer 5 can better fit the workpiece, increase the contact area between the clamping piece 2 and the workpiece, improve the clamping effect, reduce the probability of loosening or even falling of the workpiece, and has strong practicality. In short, the clamping and overturning mechanism of the present application can adapt to workpieces of specific shapes and workpieces of various shapes, greatly increasing its use range and providing strong support for the application of the mechanical hand in different working scenes.

[0027] It can be understood that the above-mentioned specific-shaped workpiece mainly refers to the side surface of the workpiece being a single shape, and the side surface of the clamping piece 2 is adapted to it, which can be a plane or an arc surface structure.

[0028] The overturning structure can be a cloud platform or a structure as shown in the figure. The overturning structure includes a bottom plate 10, a support column 13 is rotatably arranged on the upper side of the bottom plate 10, a first gear 9 and a second gear 11 are sleeved on the support column 13, the second gear 11 is located above the first gear 9, the first gear 9 is fixedly connected with the support column 13, the second gear 11 is rotatably arranged on the support column 13, a first bevel gear 12 is coaxially arranged on the upper side of the second gear 11, the first bevel gear 12 is engaged with a second bevel gear 14, the second bevel gear 14 is rotatably arranged on the support column 13, the second bevel gear 14 is connected with a connecting piece 15, and a mounting plate 7 is arranged on the connecting piece 15. The first gear 9 and the second gear 11 are independently engaged with a driving motor 8. When the motor 8 of the first gear 9 rotates, the first gear 9 drives the support column 13 to rotate, the support column 13 drives the connecting piece 15 to rotate through the second bevel gear 14, and then the horizontal rotation adjustment of the clamping assembly is realized. When the motor 8 of the second gear 11 rotates, the second gear 11 drives the first bevel gear 12 to rotate, the first bevel gear 12 drives the connecting piece 15 to swing through the second bevel gear 14, so as to realize the vertical rotation adjustment of the clamping assembly.

[0029] As a more preferred embodiment, the mounting plate 7 is provided with a guide rod 6, and the bearing 201 of the two clamping pieces 2 is slidably arranged on the guide rod 6.

[0030] In the above embodiment, the bearing 201 is arranged on the guide rod 6, so that the bearing 201 slides along the guide rod 6, improving the stability of the clamping piece 2 sliding on the mounting plate 7.

[0031] As a more preferred embodiment, the number of the guide rods 6 is two.

[0032] In the above embodiment, the two guide rods 6 are arranged in parallel and spaced apart, and the two guide rods 6 simultaneously serve as a guide structure, further improving the stability of the clamping piece 2 sliding on the mounting plate 7.

[0033] As a more preferred embodiment, the power unit includes two electric telescopic rods 1 and is used to drive the carriers 201 of the two clamping pieces 2 to slide, respectively.

[0034] In the above embodiment, the two electric telescopic rods 1 can accurately drive the carriers 201 of the two clamping pieces 2 to slide, respectively, thereby realizing the clamping and loosening operations of the workpiece. The electric telescopic rod 1 has the advantages of high control accuracy, fast response speed, and stable output force, and can ensure that the clamping force of the clamping piece 2 on the workpiece is uniform and reliable.

[0035] As a more preferred embodiment, the elastic layer 5 includes a connecting plate 501 and a rubber layer 502, the connecting plate 501 is detachably arranged on the rotating piece 202, and the rubber layer 502 is arranged on the side of the connecting plate 501 and located on the side of the connecting plate 501 away from the rotating piece 202.

[0036] In the above embodiment, the rubber layer 502 has elasticity and can well match workpieces of various shapes. The detachable cooperation of the connecting plate 501 and the rotating piece 202 can realize the replacement of the elastic layer 5. The connecting plate 501 and the rotating piece 202 are detachably cooperated through a plurality of screws to realize the quick connection or disconnection of the elastic layer 5 and the rotating piece 202.

[0037] As a more preferred embodiment, the rigid layer 3 is detachably arranged on the rotating piece 202.

[0038] In the above embodiment, the detachable design of the rigid layer 3 facilitates cleaning and maintenance, ensuring good working condition. The rigid layer 3 and the rotating piece 202 are detachably connected through a bolt, the bolt is arranged in a countersunk hole on the surface of the rigid layer 3, avoiding the influence of external convexity on use, making the structure more reasonable, and improving the practicality and reliability of the clamping and overturning mechanism.

[0039] As a more preferred embodiment, the side of the rigid layer 3 away from the rotating piece 202 is provided with anti-slip lines.

[0040] In the above embodiment, the anti-slip lines can increase the friction between the rigid layer 3 and the workpiece, making the clamping more firm and reliable, effectively preventing the workpiece from sliding or displacing during clamping, and improving the stability of clamping. In addition, the anti-slip lines can adapt to workpieces with different surface roughness, further enhancing the adaptability of the clamping and overturning mechanism to various workpieces.

[0041] As a preferred embodiment, the top of the rotating member 202 is symmetrically provided with a positioning pin 4 about the rotating center thereof, and the bottom of the positioning pin 4 penetrates into the bearing member 201.

[0042] In the above embodiment, the rotating member 202 rotates 180 degrees to realize the position interchanging of the rigid layer 3 and the elastic layer 5, and then the rotating member 202 is connected with the bearing member 201 through the positioning pin 4 to realize the positioning of the two, so that the rotating member 202 can not rotate again, and the stability of the clamping member 2 in use is greatly improved.

[0043] In addition, unless otherwise explicitly specified or limited, in the embodiments of the present application, if the terms "mounting", "connecting" appear, they should be understood in a broad sense. For example, "connecting" can be detachable connection, or can be non-detachable connection; can be direct connection, or can be indirect connection through an intermediate medium. If the terms "upper", "lower", "left", "right", "inner", "outer", "side" and other orientation terms appear, they are only the direction of the drawing or the orientation of the product in use, and are only for the purpose of clearly describing the present application, and do not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and cannot be understood as a limitation on the present application. The terms "first", "second" and the like are only used for differentiation and description, and cannot be understood as indicating or implying relative importance; "multiple" means at least two. In the embodiments of the present application, the relative positional relationship limitations such as parallel, perpendicular, aligned and the like are relative to the current process level, and are not strictly limited, and a small amount of deviation is allowed, and approximately parallel, approximately perpendicular, approximately aligned and the like are also allowed. For example, A is parallel to B, which means that A and B are parallel or approximately parallel, and the included angle between A and B can be between 0 degrees and 10 degrees.

[0044] The above is only some embodiments and implementations of the present application, and the protection scope of the present application is not limited thereto. In the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other, and any combination of the features in different embodiments is also within the protection scope of the present application. Any changes or replacements that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. A clamping and inverting mechanism for a robot hand, characterized in that The utility model relates to a kind of clamping assemblies, including: Turnover structure with fixed end and active end, the fixed end is used to circumscribe manipulator; Clamping assembly, including mounting plate (7), power unit and two clamping pieces (2), the mounting plate (7) is arranged in the active end, two The clamping piece (2) is slidably arranged in the mounting plate (7), the power unit is arranged in the mounting plate (7), and it is used to drive two The clamping piece (2) moves towards or moves away; Wherein, any one clamping piece (2) includes carrier (201), rotating member (202), elastic layer (5) and rigid layer (3), the carrier (201) is slidably arranged in the mounting plate (7), the rotating member (202) is rotatably arranged in the carrier (201), the elastic layer (5) and the rigid layer (3) are arranged in the annular surface of the rotating member (202), and about the middle part of the rotating member (202) symmetry.

2. A gripper roll-over mechanism for a robot according to claim 1, wherein The mounting plate (7) is provided with guide rod (6), and the carrier (201) of two clamping pieces (2) is slidably arranged in the guide rod (6).

3. A gripper roll-over mechanism for a robot according to claim 2, wherein, The number of the guide rod (6) is two.

4. The gripper roll-over mechanism of claim 1 wherein, The power unit includes two electric telescopic rods (1), and is used to drive the carrier (201) of two clamping pieces (2) to slide respectively.

5. The gripper roll-over mechanism of claim 1 wherein, The elastic layer (5) includes connecting plate (501) and rubber layer (502), the connecting plate (501) is detachably arranged in the rotating member (202), and the rubber layer (502) is arranged in the side of the connecting plate (501) and is located on the side of the connecting plate (501) away from the rotating member (202).

6. A gripper roll-over mechanism for a robot according to claim 5, wherein, The rigid layer (3) is detachably arranged in the rotating member (202).

7. A gripper roll-over mechanism for a robot hand according to claim 5, wherein The side of the rigid layer (3) away from the rotating member (202) is provided with anti-skid line.

8. The gripper roll-over mechanism of claim 1, wherein, The top of the rotating member (202) is symmetrically provided with positioning pin (4) about its rotating center, and the bottom of the positioning pin (4) penetrates into the carrier (201).

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