Novel manipulator

Abstract

The utility model provides a novel manipulator, and belongs to the technical field of machinery. The problems that an existing mechanical arm is complex in structure, low in working efficiency and not reliable and stable enough in working are solved. The novel mechanical arm comprises a machine base, a mechanical claw is arranged on the machine base and comprises a frame body, a claw body is hinged to the lower end of the frame body, two connecting arms are arranged at the upper end of the frame body and penetrate through the machine base, a connecting plate is arranged at the upper ends of the two connecting arms, the two ends of the connecting plate are fixedly connected with the upper ends of the connecting arms, and a pull rod is arranged on the lower side of the machine base. A driving part is arranged on the machine base, steel wire ropes are arranged between the two ends of the pull rod and the claw bodies, a reset mechanism is arranged between the frame body and the claw bodies, a fixing plate is fixedly connected between the two connecting arms, the fixing plate is located at the upper end of the pull rod, and the pull rod can abut against the lower end face of the fixing plate. The elastic earpiece with the improved structure is simple in structure, high in use reliability and comfortable to wear.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mechanical technical field relates to a mechanical hand especially a new type of mechanical hand. BACKGROUND

[0002] A large number of granular, powdery goods, including cement, chemical fertilizer, grain, feed, chemical raw materials and the like are packaged by woven bags, which is the most common packaging method at present. The bagged goods are carried, transferred, loaded and unloaded by artificial stacking of bags one by one, and are hoisted, transferred and loaded and unloaded by matching certain mechanical equipment. This not only consumes a lot of manpower and material resources, has high working intensity and low working efficiency, but also easily causes damage to the packaging of goods and loss of goods.

[0003] Therefore, people invent automatic stacking mechanical hands, such as a feed automatic stacking mechanical hand disclosed in a Chinese patent (application number: 201920967154.6), which comprises a mechanical arm, a fixed disc connected to the mechanical arm, two horizontally arranged rotating shafts rotatably connected to the lower surface of the fixed disc, an L-shaped material fork connected to each rotating shaft and linked with the rotating shaft, each rotating shaft connected with an eccentric shaft driving device, the rotating shaft forced to swing the two L-shaped material forks inward to obtain a feed bag under the driving of the respective eccentric shaft driving device, and the rotating shaft forced to swing the two L-shaped material forks outward to release the feed bag under the driving of the respective eccentric shaft driving device, and a lifting type material pressing mechanism located between the two L-shaped material forks and arranged on the lower surface of the fixed disc. However, the automatic stacking mechanical hand realizes the grabbing and conveying of material bags by setting multiple driving devices, so its structure is complex, the working efficiency is low, and the work is not reliable and stable. SUMMARY

[0004] The utility model aims at the above-mentioned problems existing in the prior art and provides a new type of mechanical hand with compact structure, high working efficiency and stable and reliable work.

[0005] The utility model discloses a novel mechanical hand, including the base, be equipped with mechanical claw on the base, the mechanical claw include the frame body of gantry shape, the lower end of frame body is hinged with the claw body that can swing, the upper end of frame body is equipped with two vertical connection arms that set up, the connection arm passes the base, the upper end of two connection arms is equipped with the horizontal setting connecting plate, the both ends of connecting plate with the upper end of connection arm are fixedly connected, its characterized in that, the lower side of base is equipped with the pull rod, be equipped with the drive piece that can drive the pull rod reciprocating lift on the base, the both ends of pull rod with the claw body between all be equipped with the steel wire rope, the pull rod can swing the claw body to the inboard of frame body through the steel wire rope, be equipped with reset mechanism between frame body with the claw body, two connection arms between fixedly connected with the fixed plate, the fixed plate is located the upper end of pull rod and the pull rod can abut at the lower end surface of fixed plate.

[0006] The bagged goods to be clamped are stacked in the middle of the binding belt. When the novel mechanical hand works, the drive piece drives the pull rod to rise, the pull rod rises to pull the claw body to swing to the inboard of the frame body through the steel wire rope, the claw body hooks the two ends of the binding belt respectively, the drive piece drives the pull rod to continue to rise, when the pull rod abuts against the fixed plate, the drive piece drives the pull rod and makes the frame body rise through the fixed plate, so that the binding belt and the bagged goods are lifted. By arranging one drive piece to drive the pull rod to rise, the binding belt is hooked and the binding belt and the bagged goods are lifted, which has the advantages of compact structure, high working efficiency, stable and reliable work and convenient control. When the weight of the bagged goods on the binding belt is large enough, the drive piece drives the pull rod to rise, and the pull rod rises to directly lift the claw body and the frame body through the steel wire rope.

[0007] In the novel mechanical hand, the drive piece is an electric cylinder vertically fixed on the base, the output shaft of the electric cylinder is downwardly arranged, and the output shaft of the electric cylinder penetrates the limiting plate and is vertically fixed with the pull rod. The drive piece adopts the electric cylinder, has the advantages of convenient control, large pulling force and reliable work. The electric cylinder is disclosed in the electric cylinder (application number: 201520844202.4), the integrated assembled electric cylinder (application number: 202022816158.X), and the compact type large thrust high precision large stroke ratio low maintenance cost electric cylinder (application number: 202411122314.9). As another mode, the drive piece is a hydraulic cylinder with a cylinder body fixed on the base, and the piston rod of the hydraulic cylinder penetrates the fixed plate and is fixed with the pull rod.

[0008] In the novel mechanical hand, the upper end of the connection arm is fixedly connected with a screw rod, and the screw rod penetrates the connecting plate and is fixed with the nut. The upper end of the connection arm is fixedly connected with the connecting plate through the screw rod and the nut, which has the advantages of simple structure and convenient assembly.

[0009] In the above-mentioned novel manipulator, the two sides of the connecting arm are fixedly connected with vertically arranged guide rails, the base is fixedly connected with a plurality of roller frames, the roller frames are axially fixedly connected with rollers, the rollers correspond to the guide rails one by one, the outer side wall of the roller is annularly provided with an annular groove, and the guide rail is embedded in the corresponding annular groove. By arranging the above-mentioned rollers and guide rails, the lifting of the connecting arm has a good guiding effect, and the working stability is improved.

[0010] In the above-mentioned novel manipulator, the connecting arm is fixedly connected with a mounting bracket, the mounting bracket is fixedly connected with an elastic buffer, the buffer is located on the upper side of the roller frame, and the buffer can abut against the roller frame. By arranging the above-mentioned buffer, when the connecting arm is lowered to abut against the roller frame through the buffer, the buffer has a buffering effect. The buffer is an oil pressure buffer, and the detailed structure refers to the oil pressure buffer (application number: 201520334610.5) and the oil pressure buffer (application number: 2016208664823). As another way, the buffer is an elastic rubber column arranged between the mounting bracket and the roller frame.

[0011] In the above-mentioned novel manipulator, the lower end of the claw body is hingedly connected with a claw tip part, and a return spring is arranged between the claw body and the claw tip part. By means of the return spring, when the claw tip part is subjected to a large external force, the claw tip part can swing, thereby having a protection effect.

[0012] In the above-mentioned novel manipulator, the frame body is fixedly connected with a horizontally arranged limiting plate, the limiting plate is located on the lower side of the base, and the limiting plate can abut against the lower end face of the base. As another way, the driving member drives the pull rod to rise, the pull rope pulls the claw body to rotate relative to the frame body, the two claw bodies of the frame body hook the two ends of the binding belt respectively, the driving member continues to rise and drives the frame body to synchronously rise, when the limiting plate abuts against the lower end face of the base, the frame body cannot continue to move upward due to the limitation of the limiting plate and the base, at this time, the pull rod drives the claw body to continue to swing through the pull rope, so that the claw body hooks the binding belt tightly, avoids loosening, and makes the manipulator and the base form a rigid connection, thereby improving the stability of the structure and the working reliability of the manipulator assembly.

[0013] In the above-mentioned novel manipulator, the frame body is axially fixedly connected with a plurality of pulleys, and the pull rope passes through the pulleys and is fixedly connected with the middle part of the claw body. The pull rope passes through the pulleys and is connected with the claw body, thereby avoiding winding of the pull rope, and making the manipulator assembly work smoothly.

[0014] In the above-mentioned novel manipulator, the return mechanism is a tension spring fixedly connected at both ends of the frame body and the claw body, and the tension spring can drive the claw body to swing outward.

[0015] In the new mechanical hand, the left and right sides of the base are axially fixed with the rollers two.

[0016] Compared with the prior art, the new mechanical hand has the following advantages:

[0017] 1. By setting a driving member to drive the upward movement of the pull rod, the hooking and lifting of the binding belt and the bagged goods are completed, which has the advantages of compact structure, high work efficiency, stable and reliable work, and easy control;

[0018] 2. The driving member is an electric cylinder, which is easy to control and has large pulling force, and has the advantage of reliable work;

[0019] 3. By setting the buffer member, when the connecting arm is lowered to abut against the roller frame through the buffer member, the buffer member has a buffering effect;

[0020] 4. When the limiting plate abuts against the lower end surface of the base, the frame body cannot continue to move upward due to the limiting of the limiting plate and the base. At this time, the pull rod drives the claw body to continue to swing through the pull rope, so that the claw body hooks the binding belt tightly to avoid loosening, and the mechanical hand and the base form a rigid connection, improving the stability of the structure, thereby improving the working reliability of the mechanical hand assembly. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a perspective view of the new mechanical hand.

[0022] Figure 2 is a front view of the new mechanical hand.

[0023] Figure 3 is a perspective view of the new mechanical hand. Figure 2

[0024] Figure 4 is a perspective view of the new mechanical hand.

[0025] In the figure, 1 is a base; 2 is a mechanical claw; 2a is a frame body; 2b is a claw body; 2c is a claw tip; 2d is a connecting arm; 2e is a connecting plate; 2f is a screw; 2g is a nut; 3 is a pull rod; 4 is a driving member; 4a is an electric cylinder; 5 is a steel wire rope; 6 is a reset mechanism; 6a is a tension spring; 7 is a fixed plate; 8 is a guide rail; 9 is a roller frame; 10 is a roller; 10a is an annular groove; 11 is a mounting bracket; 12 is a buffer member; 13 is a reset spring; 14 is a limiting plate; 15 is a roller two; 16 is a pulley. DETAILED DESCRIPTION

[0026] ​The utility model discloses a specific embodiment as follows and further describes the technical scheme of the utility model in connection with the drawings, but the utility model is not limited to these embodiments.

[0027] As Figures 1 to 4 The utility model discloses a novel mechanical hand, including frame 1, be equipped with mechanical claw 2 on frame 1, and mechanical claw 2 includes the frame body 2a of portal frame, and the lower end of frame body 2a is hinged with the claw body 2b that can swing, and the upper end of frame body 2a is equipped with two vertical setting connecting arm 2d, and connecting arm 2d passes through frame 1, and the upper end of two connecting arm 2d is equipped with the horizontal setting connecting plate 2e, and the both ends of connecting plate 2e are fixedly connected with the upper end of connecting arm 2d, and the downside of frame 1 is equipped with pull rod 3, and frame 1 is equipped with the drive piece 4 that can drive pull rod 3 reciprocatingly lifts, and frame body 2a is fixedly connected with the horizontal setting limiting plate 14, and limiting plate 14 is located at the downside of frame 1 and limiting plate 14 can abut on the lower end surface of frame 1. Drive piece 4 is the electric cylinder 4a of shell vertical fixed connection on frame 1, and the output shaft of electric cylinder 4a sets down and the output shaft of electric cylinder 4a passes through limiting plate 14 and is fixedly connected with pull rod 3 vertically. Drive piece 4 adopts electric cylinder 4a, has the advantage that it is convenient to control and the pulling force is big, has reliable work. As another mode, drive piece 4 is the hydraulic cylinder of cylinder body fixed connection on frame 1, and the piston rod of hydraulic cylinder passes through fixed plate 7 and is fixedly connected with pull rod 3.

[0028] The both ends of pull rod 3 are equipped with steel wire rope 5 between claw body 2b, and pull rod 3 can drive claw body 2b swing to the inside relative to frame body 2a through steel wire rope 5, and frame body 2a and claw body 2b are equipped with reset mechanism 6, and reset mechanism 6 is the tension spring 6a of both ends fixed connection in frame body 2a and claw body 2b respectively and can drive claw body 2b swing to the outside tendency.

[0029] Two connecting arm 2d are fixedly connected with fixed plate 7, and fixed plate 7 is located at the upper end of pull rod 3 and pull rod 3 can abut on the lower end surface of fixed plate 7. The upper end of connecting arm 2d is fixedly connected with screw rod 2f, and screw rod 2f passes through connecting plate 2e and is fixedly connected through nut 2g, with the advantages of simple structure and convenient assembly.

[0030] The both sides of connecting arm 2d are fixedly connected with vertical setting guide rail 8, and frame 1 is fixedly connected with several roller racks 9, and roller rack 9 is axially fixedly connected with roller 10, and roller 10 corresponds to guide rail 8 one by one, and the outer side wall of roller 10 is annularly provided with annular groove 10a, and guide rail 8 is embedded in corresponding annular groove 10a, so that the lifting of connecting arm 2d has better guiding effect, and the working stability is improved.

[0031] The connecting arm 2d is fixedly connected with a mounting bracket 11, and the mounting bracket 11 is fixedly connected with an elastic buffer 12. The buffer 12 is located on the upper side of the roller frame 9 and can abut against the roller frame 9. When the connecting arm 2d is lowered to abut the buffer 12 against the roller frame 9, the buffer 12 has a buffering effect. The buffer 12 is an oil pressure buffer, and the detailed structure can refer to the oil pressure buffer (application number: 201520334610.5) and the oil pressure buffer (application number: 2016208664823). Alternatively, the buffer 12 can be an elastic rubber column arranged between the mounting bracket 11 and the roller frame 9.

[0032] The lower end of the claw body 2b is hingedly connected with a claw tip 2c. A reset spring 13 is arranged between the claw body 2b and the claw tip 2c. When the claw tip 2c is subjected to a relatively large external force, the claw tip 2c can swing, thereby having a protection effect.

[0033] The frame 2a is axially fixedly connected with a plurality of pulleys 16. The steel wire rope 5 passes through the pulleys 16 and the lower end of the steel wire rope 5 is fixedly connected with the middle part of the claw body 2b. The steel wire rope 5 passes through the pulleys 16 and is connected with the claw body 2b, thereby avoiding winding of the steel wire rope 5, so that the mechanical hand assembly can work smoothly.

[0034] Preferably, the left and right sides of the base 1 are axially fixedly connected with roller two 15. The roller two 15 is arranged to facilitate translation of the base 1.

[0035] The bagged goods to be clamped are stacked in the middle of the binding belt. When the mechanical hand works, the electric cylinder 4a drives the pull rod 3 to rise. The upward movement of the pull rod 3 drives the claw body 2b to swing inward relative to the frame 2a through the steel wire rope 5, so that the claw body 2b hooks the two ends of the binding belt, respectively. The electric cylinder 4a drives the pull rod 3 to continue to rise, and when the pull rod 3 abuts against the fixed plate 7, the electric cylinder 4a drives the pull rod 3 and the frame 2a to rise through the fixed plate 7, thereby lifting the binding belt and the bagged goods. The electric cylinder 4a continues to drive the pull rod 3 and the frame 2a to rise through the fixed plate 7, and when the limiting plate 14 abuts against the lower end surface of the base 1, the frame 2a cannot continue to move upward due to the limitation of the limiting plate 14 and the base 1. At this time, the pull rod 3 drives the claw body 2b to continue to swing through the steel wire rope 5, so that the claw body 2b tightly hooks the binding belt, thereby avoiding loosening of the binding belt, forming a rigid connection between the mechanical hand and the base 1, improving the stability of the structure, and thereby improving the working reliability of the mechanical hand assembly. The electric cylinder 4a drives the pull rod 3 to rise, hooks the binding belt, and lifts the binding belt and the bagged goods. The structure is compact, the working efficiency is high, the working is stable and reliable, and the control is convenient.

[0036] When the weight of the bagged goods on the binding belt is large enough, the pull rod 3 is lifted by the electric cylinder 4a, and the lifting of the pull rod 3 directly lifts the claw body 2b and the frame body 2a through the steel wire rope 5; when the limiting plate 14 abuts against the lower end surface of the base 1, at this time, the frame body 2a cannot continue to move up due to the limiting of the limiting plate 14 and the base 1, at this time, the pull rod 3 swings the claw body 2b through the steel wire rope 5, so that the claw body 2b hooks the binding belt, avoiding loosening of the binding belt.

[0037] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art to which the present application belongs can make various modifications or supplements to the described specific embodiments or replace them with similar ways, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

[0038] Although the terms such as base 1, mechanical claw 2, frame body 2a, claw body 2b, claw tip 2c, connecting arm 2d, connecting plate 2e, screw rod 2f, nut 2g, pull rod 3, driving part 4, electric cylinder 4a, steel wire rope 5, reset mechanism 6, tension spring 6a, fixed plate 7, guide rail 8, roller frame 9, roller 10, annular groove 10a, mounting bracket 11, buffer 12, reset spring 13, limiting plate 14, roller two 15, pulley 16 are used more frequently herein, but the possibility of using other terms is not excluded. The use of these terms is only for more convenient description and explanation of the essence of the present application; any kind of additional limitation is contrary to the spirit of the present application.

Claims

1. A novel mechanical hand, comprising a base (1), a mechanical claw (2) provided on the base (1), the mechanical claw (2) comprising a frame (2a) in a portal shape, a claw body (2b) capable of swinging being hinged to a lower end of the frame (2a), two vertically arranged connecting arms (2d) being provided at an upper end of the frame (2a), the connecting arms (2d) penetrating through the base (1), a horizontally arranged connecting plate (2e) being provided at upper ends of the two connecting arms (2d), both ends of the connecting plate (2e) being fixedly connected with the upper ends of the connecting arms (2d), characterized in that, The lower side of the base (1) is provided with a pull rod (3), the base (1) is provided with a driving piece (4) capable of driving the pull rod (3) to reciprocatingly lift and lower, both ends of the pull rod (3) and the claw body (2b) are provided with a steel wire rope (5), the pull rod (3) can drive the claw body (2b) to swing inward relative to the frame body (2a) through the steel wire rope (5), the frame body (2a) and the claw body (2b) are provided with a reset mechanism (6), two connecting arms (2d) are fixedly connected with a fixed plate (7), the fixed plate (7) is located at the upper end of the pull rod (3), and the pull rod (3) can abut against the lower end surface of the fixed plate (7).

2. The novel robot as claimed in claim 1, wherein, The driving piece (4) is an electric cylinder (4a) vertically fixedly connected to the base (1), the output shaft of the electric cylinder (4a) is downwardly arranged, and the output shaft of the electric cylinder (4a) penetrates through a limiting plate (14) and is fixedly connected with the pull rod (3) vertically.

3. The novel robot as claimed in claim 1, wherein, The upper end of the connecting arm (2d) is fixedly connected with a screw rod (2f), the screw rod (2f) penetrates through the connecting plate (2e) and is fixedly connected through a nut (2g).

4. The novel robot according to claim 1 or 2 or 3, characterized in that, Both sides of the connecting arm (2d) are fixedly connected with vertically arranged guide rails (8), the base (1) is fixedly connected with a plurality of roller frames (9), the roller frames (9) are all axially fixedly connected with rollers (10), the rollers (10) correspond to the guide rails (8) one by one, the outer side wall of the roller (10) is annularly provided with an annular groove (10a), and the guide rail (8) is embedded in the corresponding annular groove (10a).

5. The novel robot as claimed in claim 4, wherein, The connecting arm (2d) is fixedly connected with a mounting bracket (11), the mounting bracket (11) is fixedly connected with an elastic buffer piece (12), the buffer piece (12) is located on the upper side of the roller frame (9), and the buffer piece (12) can abut against the roller frame (9).

6. The novel robot as claimed in claim 1 or 2 or 3, wherein, The lower end of the claw body (2b) is hingedly connected with a claw tip portion (2c), and the claw body (2b) and the claw tip portion (2c) are provided with a reset spring (13).

7. The novel robot as claimed in claim 1 or 2 or 3, wherein, The frame body (2a) is fixedly connected with a horizontally arranged limiting plate (14), the limiting plate (14) is located on the lower side of the base (1), and the limiting plate (14) can abut against the lower end surface of the base (1).

8. The novel robot as claimed in claim 1 or 2 or 3, wherein, The frame body (2a) is axially fixedly connected with a plurality of pulleys (16), the steel wire rope (5) passes through the pulleys (16), and the lower end of the steel wire rope (5) is fixedly connected with the middle portion of the claw body (2b).

9. The novel robot as claimed in claim 1 or 2 or 3, wherein, The reset mechanism (6) is a tension spring (6a) fixedly connected at both ends of the frame body (2a) and the claw body (2b), and the tension spring (6a) can drive the claw body (2b) to swing outward.

10. The novel robot as claimed in claim 1 or 2 or 3, wherein, The left and right sides of the base (1) are axially fixedly connected with rollers (15).

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