Manipulator mechanism

Abstract

The utility model discloses a manipulator mechanism which is characterized in that a driving motor drives a swing arm, the swing arm drives a connecting piece to slide in a guide sliding groove, and the connecting piece drives a lifting sliding rail, so that the lifting sliding rail slides in the vertical direction relative to a lifting sliding piece; the lifting sliding piece is arranged on the horizontal sliding rail, the lifting sliding piece drives the horizontal sliding piece to move in the horizontal direction relative to the horizontal sliding rail, and due to the fact that the clamping jaw assembly is installed on the lifting sliding rail, the clamping jaw assembly can move in the horizontal direction and the vertical direction under driving of the driving motor so that the clamping jaw assembly can clamp materials conveniently. According to the mechanism, the arrangement of the driving part is simplified, and the driving cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical feeding field, concretely relates to a mechanical hand mechanism. BACKGROUND

[0002] In order to improve the feeding efficiency of material, in actual production, the mechanical hand is often used for feeding. In the prior art, the horizontal and vertical movement of the mechanical hand is controlled by two driving members respectively, and the setting cost of the two driving members is higher, and how to control the mutual cooperation of the two driving members also needs to invest manpower and material resources. SUMMARY

[0003] In order to overcome the defects of the prior art, the utility model provides a mechanical hand mechanism, which can solve the problem of high driving cost of the existing mechanical hand.

[0004] The utility model discloses a kind of mechanical hand mechanisms, including vertical plate, jaw assembly, lifting assembly, horizontal component and driving component, the jaw assembly is used to clamp material, the lifting assembly includes lifting slide rail and lifting sliding member, the jaw assembly is installed on the lifting slide rail, the lifting slide rail is slidably connected with the lifting sliding member, the horizontal component includes horizontal sliding member and horizontal slide rail, the lifting sliding member is installed on the horizontal sliding member, the horizontal sliding member is slidably connected with the horizontal slide rail, the horizontal slide rail is installed on the vertical plate;The driving component includes driving motor, swing arm and connecting piece, the driving motor is installed on the vertical plate, the rotating shaft of the driving motor is connected with one end of the swing arm, the other end of the swing arm is movably connected with the connecting piece, the connecting piece is connected with the lifting slide rail, and the vertical plate is provided with guide slide groove, and the connecting piece is slidably connected in the guide slide groove.

[0005] As a further improvement of the above technical solution, the horizontal component is provided with two, two horizontal components are located at two ends close to the lifting slide rail respectively, the lifting sliding member includes two lifting sliding blocks slidably connected with the lifting slide rail, and two lifting sliding blocks are installed on two horizontal sliding members respectively.

[0006] As a further improvement of the above technical solution, the lifting slide rail is connected with a strip plate, and two ends of the strip plate are installed on two horizontal sliding members respectively.

[0007] As a further improvement of the above technical solution, the horizontal sliding member includes two horizontal sliding blocks slidably connected with the horizontal slide rail, two horizontal sliding blocks are connected by connecting plate, and the lifting sliding member is installed on the connecting plate.

[0008] As a further improvement of the above technical solution, the swing arm is provided with a through hole at one end away from the rotating shaft of the driving motor, and the connecting member is in clearance fit with the through hole.

[0009] As a further improvement of the above technical solution, the connecting member comprises a connecting shaft, a bearing and a roller, the connecting shaft is installed on the roller, the connecting shaft is in rotating connection with the bearing, and the connecting shaft is fixedly connected with the lifting slide rail, and the roller is in clearance fit with the through hole.

[0010] As a further improvement of the above technical solution, the guide sliding groove is U-shaped.

[0011] As a further improvement of the above technical solution, the clamp jaw assembly comprises a connecting frame, a clamp jaw driving member and a clamp jaw, the connecting frame is installed on the lifting slide rail, the clamp jaw driving member is installed on the connecting frame, and the output end of the clamp jaw driving member is connected with the clamp jaw.

[0012] As a further improvement of the above technical solution, the clamp jaw driving member and the clamp jaw are provided with a plurality of, the plurality of clamp jaw driving members are installed on the connecting frame, and the output ends of the plurality of clamp jaw driving members are respectively connected with the plurality of clamp jaws.

[0013] As a further improvement of the above technical solution, the clamp jaw assembly further comprises an auxiliary driving member installed on the connecting frame, the output end of the auxiliary driving member is connected with one of the clamp jaws, and the moving direction of the output end of the auxiliary driving member is equivalent to the moving direction of the clamp jaw connected therewith.

[0014] The beneficial effects of the present application are as follows: the driving motor drives the swing arm, the swing arm drives the connecting member to slide in the guide sliding groove, the connecting member drives the lifting slide rail to slide in the vertical direction relative to the lifting sliding member, and the lifting sliding member drives the horizontal sliding member to move in the horizontal direction relative to the horizontal slide rail, since the clamp jaw assembly is installed on the lifting slide rail, the clamp jaw assembly can move in the horizontal and vertical directions under the driving of the driving motor, so as to facilitate the clamp jaw assembly to clamp the material. The mechanism simplifies the setting of the driving member, and is conducive to reducing the driving cost. BRIEF DESCRIPTION OF DRAWINGS

[0015] The present application will be further described below in combination with the drawings and embodiments.

[0016] Figure 1 is a structural schematic diagram of a mechanical hand mechanism provided by the preferred embodiment of the present application;

[0017] Figure 2 is a partial structural schematic diagram of a mechanical hand mechanism provided by the preferred embodiment of the present application;

[0018] Figure 3 is Figure 2 is a schematic view of another part of the mechanical hand structure in

[0019] Figure 4 is a schematic view of another part of the mechanical hand structure provided by the preferred embodiment of the present application.

[0020] Reference signs: 1, vertical plate, 2, jaw assembly, 3, lifting assembly, 4, horizontal assembly, 5, driving assembly;

[0021] 11, guide chute, 21, connecting frame, 22, jaw driving part, 23, jaw, 24, auxiliary driving part, 31, lifting slide rail, 32, lifting sliding part, 41, horizontal sliding part, 42, horizontal slide rail, 51, driving motor, 52, swing arm, 53, connecting part;

[0022] 311, strip plate, 321, lifting slide block, 411, horizontal slide block, 412, connecting plate, 521, through hole, 531, connecting shaft, 532, bearing, 533, roller. DETAILED DESCRIPTION

[0023] The concept, specific structure and generated technical effects of the present application will be described clearly and completely in combination with embodiments and drawings, so as to fully understand the purpose, features and effects of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application. In addition, all the coupling / connection relations involved in the patent do not mean that the components are directly connected, but means that a better coupling structure can be composed by adding or reducing coupling auxiliary parts according to the specific implementation situation, such as fixed connection / fixed installation which can be selected according to the needs screw connection, bolt connection, pin connection, key connection, adhesion, mortise and tenon connection, welding, riveting and the like, such as detachable connection which can be selected according to the needs screw connection, bolt connection, threaded connection, buckle connection, mortise and tenon connection, magic tape connection and the like. The various technical features in the present application can be combined interactively without mutual contradiction and conflict.

[0024] Please see Figures 1-4 The preferred embodiment of the present application provides a mechanical hand structure, which comprises a vertical plate 1, a jaw assembly 2, a lifting assembly 3, a horizontal assembly 4 and a driving assembly 5. The jaw assembly 2 is used for clamping materials, the driving assembly 5 is used for providing power, the lifting assembly 3 is used for guiding in the vertical direction, and the horizontal assembly 4 is used for guiding in the horizontal direction.

[0025] Specifically, the lifting assembly 3 comprises a lifting slide rail 31 and a lifting sliding piece 32, the clamping jaw assembly 2 is installed on the lifting slide rail 31, the lifting slide rail 31 is in sliding connection with the lifting sliding piece 32, the horizontal assembly 4 comprises a horizontal sliding piece 41 and a horizontal slide rail 42, the lifting sliding piece 32 is installed on the horizontal sliding piece 41, the horizontal sliding piece 41 is in sliding connection with the horizontal slide rail 42, and the horizontal slide rail 42 is installed on the vertical plate 1; the driving assembly 5 comprises a driving motor 51, a swing arm 52 and a connecting piece 53, the driving motor 51 is installed on the vertical plate 1, a rotating shaft of the driving motor 51 is connected with one end of the swing arm 52, the other end of the swing arm 52 is movably connected with the connecting piece 53, the connecting piece 53 is connected with the lifting slide rail 31, and the vertical plate 1 is provided with a guide sliding groove 11, and the connecting piece 53 is in sliding connection in the guide sliding groove 11. The swing arm 52 is driven by the driving motor 51, the swing arm 52 drives the connecting piece 53 to slide in the guide sliding groove 11, the connecting piece 53 drives the lifting slide rail 31 to slide in the vertical direction relative to the lifting sliding piece 32, and the lifting sliding piece 32 drives the horizontal sliding piece 41 to move in the horizontal direction relative to the horizontal slide rail 42, since the clamping jaw assembly 2 is installed on the lifting slide rail 31, the clamping jaw assembly 2 can be driven to move in the horizontal and vertical directions by the driving motor 51, so that the clamping jaw assembly 2 clamps the material. The mechanism simplifies the setting of the driving part, and is favorable for reducing the driving cost.

[0026] Further, the horizontal assembly 4 is provided with two horizontal assemblies 4, the two horizontal assemblies 4 are located near two ends of the lifting slide rail 31 respectively, the lifting sliding piece 32 comprises two lifting sliding blocks 321 in sliding connection with the lifting slide rail 31, and the two lifting sliding blocks 321 are installed on the two horizontal sliding pieces 41 respectively. The setting of the two horizontal assemblies 4 can provide support for the two ends of the lifting slide rail 31, and is favorable for the stability of the movement of the lifting slide rail 31, thereby improving the stability of the horizontal movement of the clamping jaw assembly 2.

[0027] Further, the horizontal assembly 4 is provided with two horizontal assemblies 4, the two horizontal assemblies 4 are located near two ends of the lifting slide rail 31 respectively, the lifting sliding piece 32 comprises two lifting sliding blocks 321 in sliding connection with the lifting slide rail 31, and the two lifting sliding blocks 321 are installed on the two horizontal sliding pieces 41 respectively. The setting of the two horizontal assemblies 4 can provide support for the two ends of the lifting slide rail 31, and is favorable for the stability of the movement of the lifting slide rail 31, thereby improving the stability of the horizontal movement of the clamping jaw assembly 2.

[0028] In the embodiment, the strip plate 311 is provided with two strip plates 311, and the two strip plates 311 are connected to the two sides of the lifting slide rail 31 respectively, further ensuring that the two ends of the lifting slide rail 31 move horizontally synchronously.

[0029] The horizontal sliding piece 41 comprises two horizontal sliding blocks 411 in sliding connection with the horizontal slide rail 42, the two horizontal sliding blocks 411 are connected through a connecting plate 412, and the lifting sliding piece 32 is installed on the connecting plate 412. The contact area of the horizontal sliding piece 41 and the horizontal slide rail 42 is increased, and the stability of the sliding of the horizontal sliding piece 41 relative to the horizontal slide rail 42 is improved.

[0030] The swing arm 52 is provided with a through hole 521 at the end away from the rotating shaft of the driving motor 51, and the connecting piece 53 is in clearance fit with the through hole 521. During the driving of the driving motor 51 to drive the swing arm 52 to rotate, the connecting piece 53 abuts against the inner wall of the through hole 521, and the connecting piece 53 can move in the through hole 521 to adapt to the rotation of the swing arm 52.

[0031] Specifically, the connecting piece 53 comprises a connecting shaft 531, a bearing 532 and a roller 533, the connecting shaft 531 is installed on the roller 533, the connecting shaft 531 is in rotating connection with the bearing 532, and the connecting shaft 531 is fixedly connected with the lifting slide rail 31, the roller 533 is in sliding connection in the guide sliding groove 11, and the bearing 532 is in clearance fit with the through hole 521. The bearing 532 is driven to rotate by the swing arm 52, and the bearing 532 moves in the through hole 521, the roller 533 slides in the guide sliding groove 11, and the connecting shaft 531 drives the lifting slide rail 31 to move in the horizontal and vertical directions.

[0032] The guide sliding groove 11 is U-shaped, and during the sliding of the connecting piece 53 from one end of the guide sliding groove 11 to the other end, the swing arm 52 can realize a swing of 0-180°, which is beneficial to expand the moving range of the lifting slide rail 31, thereby expanding the moving range of the jaw assembly 2, so as to facilitate the jaw assembly 2 to take materials.

[0033] The jaw assembly 2 comprises a connecting frame 21, a jaw driving piece 22 and a jaw 23, the connecting frame 21 is installed on the lifting slide rail 31, the jaw driving piece 22 is installed on the connecting frame 21, and the output end of the jaw driving piece 22 is connected with the jaw 23. The jaw driving piece 22 is used to drive the jaw 23 to clamp materials, and specifically, the jaw driving piece 22 comprises a pneumatic cylinder, which has simple structure and is beneficial to simplify the structure.

[0034] The jaw driving piece 22 and the jaw 23 are both provided with a plurality of pieces, the plurality of jaw driving pieces 22 are all arranged on the connecting frame 21, and the output ends of the plurality of jaw driving pieces 22 are respectively connected with the plurality of jaws 23. The plurality of jaws 23 can clamp a plurality of materials at a time, or a plurality of jaws 23 can be used to clamp the same material, thereby improving the stability of material clamping.

[0035] In this embodiment, the jaw driving piece 22 and the jaw 23 are both provided with two pieces, the output ends of the two jaw driving pieces 22 are respectively connected with the two jaws 23, and the moving directions of the two jaws 23 are the same, which is beneficial to ensure the consistency of the two jaws 23 to clamp materials.

[0036] The clamping jaw assembly 2 further comprises an auxiliary driving element 24 mounted on the connecting frame 21, the output end of the auxiliary driving element 24 is connected with one of the clamping jaws 23, and the moving direction of the output end of the auxiliary driving element 24 is equivalent to the moving direction of the clamping jaw 23 connected therewith, the movement of the clamping jaw 23 is synchronously controlled by the auxiliary driving element 24 and the clamping jaw driving element 22, so as to avoid that the material clamped by the clamping jaw 23 is too heavy to be driven by a single clamping jaw driving element 22.

[0037] In the embodiment, the auxiliary driving element 24 comprises a slide table air cylinder, which has high precision and stable movement.

[0038] The above is a specific description of the preferred embodiment of the utility model, but the utility model is not limited to the described embodiment, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the utility model, and these equivalent modifications or replacements are all included in the range defined by the claims of the present application.

Claims

1. A mechanical handset structure, characterized by: The utility model provides a material clamping device, including vertical board, clamp jaw assembly, lifting assembly, horizontal assembly and drive assembly, the clamp jaw assembly is used for clamping material, the lifting assembly includes lifting slide rail and lifting slide, the clamp jaw assembly is installed on the lifting slide rail, the lifting slide rail is connected with the lifting slide slidingly, the horizontal assembly includes horizontal slide and horizontal slide rail, the lifting slide is installed on the horizontal slide, the horizontal slide is connected with the horizontal slide rail slidingly, and the horizontal slide rail is installed on the vertical board, the drive assembly includes drive motor, swing arm and connecting piece, the drive motor is installed on the vertical board, the drive motor's rotary shaft is connected with one end of swing arm, the other end of swing arm is movably connected with the connecting piece, the connecting piece is connected with the lifting slide rail, and the vertical board is provided with guide slide groove, and the connecting piece is connected in the guide slide groove slidingly.

2. The robotic hand mechanism of claim 1, wherein: The horizontal assembly is provided with two, and the two horizontal assemblies are located at two ends close to the lifting slide rail respectively, the lifting slide includes two lifting blocks connected with the lifting slide rail slidingly, and the two lifting blocks are installed on the two horizontal slides respectively.

3. The robotic hand mechanism of claim 2, wherein: The lifting slide rail is connected with a strip plate, and the two ends of the strip plate are installed on the two horizontal slides respectively.

4. The robotic hand mechanism of claim 1, wherein: The horizontal slide includes two horizontal blocks connected with the horizontal slide rail slidingly, and the two horizontal blocks are connected through a connecting plate, and the lifting slide is installed on the connecting plate.

5. The robotic hand mechanism of claim 1, wherein: The swing arm is provided with a through hole at the end away from the rotary shaft of the drive motor, and the connecting piece is matched with the through hole in gaps.

6. The robotic hand mechanism of claim 5, wherein: The connecting piece includes a connecting shaft, a bearing and a roller, the connecting shaft is installed on the roller, the connecting shaft is rotatably connected with the bearing, and the connecting shaft is fixedly connected with the lifting slide rail, and the roller is matched with the through hole in gaps.

7. The robotic hand mechanism of claim 1, wherein: The guide slide groove is U-shaped.

8. The robotic hand mechanism of claim 1, wherein: The clamp jaw assembly includes a connecting frame, a clamp jaw driving element and a clamp jaw, the connecting frame is installed on the lifting slide rail, the clamp jaw driving element is installed on the connecting frame, and the output end of the clamp jaw driving element is connected with the clamp jaw.

9. The robotic hand mechanism of claim 8, wherein: The clamp jaw driving element and the clamp jaw are provided with a plurality of, a plurality of clamp jaw driving elements are arranged on the connecting frame, and the output ends of the plurality of clamp jaw driving elements are connected with a plurality of clamp jaws respectively.

10. The robotic hand mechanism of claim 9, wherein: The clamp jaw assembly further includes an auxiliary driving element installed on the connecting frame, the output end of the auxiliary driving element is connected with one of the clamp jaws, and the moving direction of the output end of the auxiliary driving element is equivalent to the moving direction of the clamp jaw connected therewith.

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