Grabbing and clamping manipulator with multiple degrees of freedom

Abstract

The utility model relates to the technical field of grabbing and clamping manipulators, in particular to a grabbing and clamping manipulator with multiple degrees of freedom, which comprises a mounting seat, upright posts are movably arranged at two ends of the mounting seat, a back plate is arranged on the front surface of the top end of each upright post, and a dismounting and mounting mechanism is arranged between the mounting seat and each upright post; a horizontal displacement mechanism is arranged on the front face of the back plate, an angle adjusting mechanism is arranged in front of the horizontal displacement mechanism, and an electric clamping jaw is arranged at the front end of the angle adjusting mechanism. The manipulator is provided with the horizontal displacement mechanism and the angle adjusting mechanism, through the synergistic effect of the horizontal displacement mechanism and the angle adjusting mechanism, the manipulator has multiple degrees of freedom, and clamping postures can be flexibly adjusted in multiple directions and angles, so that objects in various complex shapes can be accurately grabbed, and various different work task requirements are met.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of grabbing manipulator, concretely is a kind of grabbing manipulator with multiple degrees of freedom. BACKGROUND

[0002] In modern industrial production, logistics and warehousing and some special operating environments (such as hazardous material handling, sample collection in space exploration, etc.), the application of manipulator is more and more widely. Manipulator can replace human to complete some repetitive, dangerous or high-precision requirements of grabbing and carrying work.

[0003] Traditional manipulator has certain limitations in structure and function. For example, some existing manipulators may only have simple two or three degrees of freedom movement ability, such as only horizontal movement and simple clamping action in a single plane. Such manipulators often perform poorly when facing complex shape object grabbing or tasks that require flexible adjustment of clamping posture at multiple angles.

[0004] Moreover, some existing manipulators are not convenient to install and disassemble, and require the use of complex tools or go through cumbersome steps to complete the connection or separation of connecting parts, which will consume a lot of time and labor cost when the manipulator needs to be repaired, replaced parts or adjusted working position. SUMMARY

[0005] The utility model aims at providing a kind of grabbing manipulator with multiple degrees of freedom to solve the problems raised in the above background.

[0006] To achieve the above purpose, the utility model provides the following technical scheme:

[0007] A kind of grabbing manipulator with multiple degrees of freedom, comprising

[0008] mounting seat, both ends of the mounting seat are movably provided with stand, the top of the stand is provided with back plate in front, and dismounting mechanism is arranged between the mounting seat and the stand;

[0009] horizontal displacement mechanism is arranged on the front of the back plate, angle adjusting mechanism is arranged in front of the horizontal displacement mechanism, and electric clamping jaw is arranged at the front end of the angle adjusting mechanism.

[0010] Preferably, the dismounting mechanism includes a housing, the housing is fixedly installed at the middle top of the mounting seat, a spring is arranged in the middle of the housing, a tab is arranged at both ends of the spring, and a positioning rod is arranged at the end of the tab away from the spring;

[0011] Preferably, the dismounting mechanism further comprises a rod sleeve, rod sleeves are arranged at the top ends of the two sides of the mounting seat, a positioning hole is arranged at the bottom end of the stand, and a through hole matched with the positioning hole is arranged at the bottom end of the rod sleeve, and the end of the positioning hole penetrates through the through hole and is sleeved with the positioning hole;

[0012] Preferably, the horizontal displacement mechanism comprises a shaft support, shaft supports are arranged at the two ends of the front surface of the back plate, a screw rod is movably arranged in the middle of the shaft support, a movable sleeve is movably arranged outside the screw rod, a guide rail is horizontally arranged below the front surface of the back plate, a sliding seat matched with the guide rail is arranged at the bottom end of the movable sleeve, and a motor one is arranged outside the right shaft support and is in transmission connection with the screw rod;

[0013] Preferably, the angle adjusting mechanism comprises a fixing support, the fixing support is arranged on the front surface of the movable sleeve and the sliding seat, an electric push rod is fixedly arranged at the top end of the fixing support, and a movable support one is arranged at the output shaft end of the electric push rod;

[0014] Preferably, the angle adjusting mechanism further comprises a motor three, the motor three is arranged on the back surface of the movable support one, a movable support two is fixedly arranged at the output shaft end of the motor three, a motor two is arranged at one side of the movable support two, and the output shaft of the motor two is fixedly connected with the electric clamping jaw.

[0015] Compared with the prior art, the utility model has the advantages that:

[0016] 1. The grabbing manipulator with multiple degrees of freedom is provided with a horizontal displacement mechanism and an angle adjusting mechanism, the manipulator has multiple degrees of freedom through the cooperative action of the mechanisms, the grabbing posture can be flexibly adjusted in multiple directions and angles, various complex-shaped objects can be accurately grabbed, and multiple different work task requirements can be met.

[0017] 2. The grabbing manipulator with multiple degrees of freedom is installed by moving the push piece in the same direction to compress the spring, making the positioning rod exit from the through hole of the rod sleeve, sleeving the stand on the rod sleeve, then releasing the push piece, and inserting the positioning rod into the positioning hole at the bottom end of the stand through the through hole by spring rebounding, so that installation is completed, and the manipulator can be disassembled by reverse operation, the dismounting mechanism does not need to be assisted by complex tools, operation is simple and convenient, the time and labor cost of equipment installation, disassembly and maintenance are greatly reduced, and the use efficiency and flexibility of the equipment are improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a whole front view structural schematic diagram of the utility model;

[0019] Figure 2 It is a positioning hole installation structural schematic diagram of the utility model;

[0020] Figure 3 The utility model discloses a Figure 1 Amplification schematic diagram at A place in the middle.

[0021] Figure 4 The utility model discloses a Figure 1 Amplification schematic diagram at B place in the middle.

[0022] In the drawing: 1, mounting seat, 2, stand, 3, backboard, 4, electric clamping jaw, 5, shell, 6, spring, 7, push piece, 8, positioning rod, 9, rod sleeve, 10, positioning hole, 11, through hole, 12, axle support, 13, screw rod, 14, movable sleeve, 15, guide rail, 16, slide, 17, fixed frame, 18, electric push rod, 19, movable frame one, 20, motor three, 21, movable frame two, 22, motor two, 23, motor one. Specific embodiments

[0023] The technical scheme in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model and not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0024] As shown in Figures 1-4 The utility model provides a kind of technical scheme:

[0025] A kind of multi-degree-of-freedom grabbing manipulator, including mounting seat 1, stand 2 is movably arranged at both ends of mounting seat 1, backboard 3 is arranged at the top front of stand 2, dismounting mechanism is arranged between mounting seat 1 and stand 2, dismounting mechanism includes shell 5, shell 5 is fixedly installed at the middle top of mounting seat 1, spring 6 is arranged in the middle of shell 5, push piece 7 is arranged at both ends of spring 6, positioning rod 8 is arranged at the end of push piece 7 away from spring 6, dismounting mechanism further includes rod sleeve 9, rod sleeve 9 is arranged at the top of both sides of mounting seat 1, positioning hole 10 is arranged at the bottom of stand 2, through hole 11 matched with positioning hole 10 is arranged at the bottom of rod sleeve 9, the end of positioning hole 10 is connected with positioning hole 10 through through hole 11;

[0026] In the embodiment, the device is provided with horizontal displacement mechanism and angle adjusting mechanism, and the manipulator has multiple degrees of freedom through the cooperative action of these mechanisms, can flexibly adjust the clamping posture in multiple directions and angles, so as to accurately grab various complex-shaped objects and adapt to various different work task requirements.

[0027] As shown in Figure 1 And Figure 3As shown, the horizontal displacement mechanism is arranged on the front surface of the back plate 3, and comprises shaft supports 12 arranged at both ends of the front surface of the back plate 3, a screw rod 13 movably arranged at the middle of the shaft support 12, a movable sleeve 14 movably arranged outside the screw rod 13, guide rails 15 horizontally arranged below the front surface of the back plate 3, sliding seats 16 arranged at the bottom end of the movable sleeve 14 and matched with the guide rails 15, a motor one 23 arranged outside the right shaft support 12 and in transmission connection with the screw rod 13, and an angle adjustment mechanism arranged in front of the horizontal displacement mechanism, which comprises a fixed frame 17 arranged on the front surface of the movable sleeve 14 and the sliding seat 16, an electric push rod 18 fixedly arranged at the top end of the fixed frame 17, a movable frame one 19 arranged at the output shaft end of the electric push rod 18, a motor three 20 arranged at the back surface of the movable frame one 19, a movable frame two 21 fixedly arranged at the output shaft end of the motor three 20, a motor two 22 arranged at one side outside of the movable frame two 21, and the electric clamping jaw 4 arranged at the front end of the angle adjustment mechanism.

[0028] In the embodiment, the dismounting mechanism is arranged between the mounting seat 1 and the column 2, which is matched with the spring 6, the push piece 7, the positioning rod 8, the rod sleeve 9, the positioning hole 10 and the through hole 11 in the shell 5. During installation, the push pieces 7 are moved in the same direction to compress the spring 6, the positioning rod 8 is withdrawn from the through hole 11 of the rod sleeve 9, the column 2 is sleeved on the rod sleeve 9, the push pieces 7 are released, the spring 6 rebounds to make the positioning rod 8 pass through the through hole 11 and be inserted into the positioning hole 10 at the bottom end of the column 2, and the fixing is completed. During dismounting, the reverse operation is performed, which does not need to use complex tools, is simple and convenient to operate, greatly reduces the time and labor cost of equipment installation, dismounting and maintenance, and improves the use efficiency and flexibility of the equipment.

[0029] Working principle: the device is a multi-degree-of-freedom grabbing manipulator. During use, the motor one 23 drives the screw rod 13 to rotate, the screw rod 13 drives the movable sleeve 14 to move horizontally, the movable sleeve 14 drives the electric clamping jaw 4 to adjust the position in the horizontal angle, the electric push rod 18 is started to drive the movable frame one 19 to linearly descend, the electric clamping jaw 4 can adjust the position in the vertical angle, the motor three 20 controls the movable frame two 21 to adjust the angle in the radial direction, and the motor two 22 controls the electric clamping jaw 4 to adjust the angle in the radial direction. During installation, the mounting seat 1 is first fixed at a specified position, then the two push pieces 7 are moved in the same direction to compress the spring 6 until the positioning rod 8 is withdrawn from the through hole 11, the two columns 2 are sleeved in the two rod sleeves 9, respectively, the push pieces 7 are released, the spring 6 rebounds to control the positioning rod 8 to pass through the through hole 11 and be inserted into the positioning hole 10 at the bottom end of the column 2 for fixation.

[0030] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only preferred examples of the present application and are not intended to limit the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom gripping robot, characterized in that: include Mounting base (1), with columns (2) movably provided at both ends of the mounting base (1), a back plate (3) provided on the front of the top of the column (2), and a disassembly and assembly mechanism provided between the mounting base (1) and the column (2). A horizontal displacement mechanism is provided on the front of the back plate (3), an angle adjustment mechanism is provided in front of the horizontal displacement mechanism, and an electric gripper (4) is provided at the front end of the angle adjustment mechanism.

2. The multi-degree-of-freedom gripping robot according to claim 1, characterized in that: The disassembly and assembly mechanism includes a housing (5), which is fixedly installed at the top center of the mounting base (1). A spring (6) is provided in the middle of the housing (5), and paddles (7) are provided at both ends of the spring (6). A positioning rod (8) is provided at the end of the paddle (7) away from the spring (6).

3. A multi-degree-of-freedom gripping robot according to claim 2, characterized in that: The disassembly and assembly mechanism also includes a sleeve (9). The sleeve (9) is provided at the top of both sides of the mounting base (1). A positioning hole (10) is provided at the bottom of the column (2). A through hole (11) matching the positioning hole (10) is provided at the bottom of the sleeve (9). The end of the positioning hole (10) passes through the through hole (11) and is sleeved with the positioning hole (10).

4. A multi-degree-of-freedom gripping robot according to claim 1, characterized in that: The horizontal displacement mechanism includes a shaft frame (12), which is provided at both ends of the front side of the back plate (3). A screw (13) is movably provided in the middle of the shaft frame (12). A movable sleeve (14) is movably installed on the outside of the screw (13). A guide rail (15) is horizontally provided below the front side of the back plate (3). A slide (16) matching the guide rail (15) is provided at the bottom end of the movable sleeve (14). A motor (23) that is connected to the screw (13) is provided on the outside of the shaft frame (12) on the right side.

5. A multi-degree-of-freedom gripping robot according to claim 4, characterized in that: The angle adjustment mechanism includes a fixed frame (17), which is provided on the front of the movable sleeve (14) and the slide (16). An electric push rod (18) is fixedly installed at the top of the fixed frame (17), and a movable frame (19) is provided at the output shaft end of the electric push rod (18).

6. A multi-degree-of-freedom gripping robot according to claim 5, characterized in that: The angle adjustment mechanism also includes a motor three (20), which is installed on the back of the movable frame one (19). The output shaft of the motor three (20) is fixedly installed on the movable frame two (21). The external side of the movable frame two (21) is provided with a motor two (22), and the output shaft of the motor two (22) is fixedly connected to the electric gripper (4).

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