Manipulator capable of stably clamping

Abstract

The utility model discloses a manipulator capable of stably clamping, and relates to the technical field of operation. A manipulator stable in clamping comprises a mounting base, a supporting column and a connecting column, a clamping device is arranged on the connecting column and comprises a first threaded rod, a second motor, a sliding mounting base and two protective pads, and the first threaded rod is rotationally connected in a groove formed in the lower surface of the connecting column; a pull rod in the clamping device is pulled to move oppositely to drive a limiting block to move oppositely and drive a reset spring to contract at the same time, then the limiting block moves oppositely to enable the outer wall of the other end of the limiting block to be disengaged from the interior of a first limiting block groove, and then a protective pad can be taken down from a clamping jaw by pulling the protective pad, so that the protective pad is easy and rapid to disassemble; and the situation that a worker needs to disassemble the whole clamping jaw with the help of a special tool to replace the whole clamping jaw is avoided, the maintenance cost is effectively reduced, and meanwhile the working efficiency of the worker is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of operation, especially relates to a clamping stable mechanical hand. BACKGROUND

[0002] The mechanical hand is a kind of automation equipment simulating human hand function, usually by multiple joints and connecting rod is formed, can carry out a plurality of operations such as grabbing, placing, rotating, carrying.

[0003] Among them, the mechanical hand is mainly powered by drive system, so that the mechanical hand can move, common drive mode includes electric, hydraulic and pneumatic, control system is responsible for receiving and processing instruction, controls the motion trajectory, speed and force of mechanical hand, actuator includes arm, wrist and claw etc., is used to directly execute grabbing, placing etc., sensor is used to detect the position, speed, force etc. State information of mechanical hand, ensure the accuracy and safety of operation.

[0004] The existing mechanical hand when using, by drive system provides power, so that the mechanical hand can move, then control system is responsible for receiving and processing instruction, controls the motion trajectory, speed and force of mechanical hand, simultaneously, the clamping jaw on the mechanical hand is used to directly execute grabbing, the protective pad on the clamping jaw is directly contacted with the article, so as to increase the friction between the clamping jaw and the article, so that clamping is more stable, but when the protective pad is worn or damaged after long time use, the staff needs to use special tools to disassemble and replace the whole clamping jaw, which increases the maintenance cost and improves the workload of staff. UTILITY MODEL CONTENTS

[0005] The utility model aims at least to solve one of the technical problems existing in the prior art, provide a kind of clamping stable mechanical hand, can solve the problem that the staff needs to use special tools to disassemble and replace the whole clamping jaw when the protective pad is worn or damaged after long time use, which increases the maintenance cost and improves the workload of staff.

[0006] To achieve the above object, the utility model provides the following technical scheme: a kind of clamping stable mechanical hand, including mounting seat, support column and connecting column, the connecting column is provided with clamping device;

[0007] Clamping device includes first threaded rod, second motor, sliding mounting seat and two protective pads, first threaded rod is rotatably connected in the groove inside the lower surface of connecting column, the outer wall of first threaded rod is screw connected with the upper end lug of sliding mounting seat, second motor is installed in the lower surface of connecting column one side fixed plate, third motor is installed in the lower surface of the one side fixed plate of sliding mounting seat, the lower surface of sliding mounting seat is rotatably connected with bidirectional threaded rod in the groove inside, and the outer wall of bidirectional threaded rod is screw connected with two clamping jaws;

[0008] Two first limiting block grooves are formed in the outer walls of the two sides of the rear end of each protective pad, a protective pad groove is formed in the outer wall of one side of the opposite surface of each clamping jaw, the outer wall of the rear end of each protective pad is slidably connected to the interior of the corresponding protective pad groove, two T-shaped blocks are formed in the inner walls of the two sides of each protective pad groove, two second limiting block grooves are formed in the inner walls of the two sides of each protective pad groove, a pull rod is slidably connected to the outer wall of each protrusion on the two sides of each clamping jaw, a limiting block is slidably connected to the interior of each second limiting block groove, two sliding rods are slidably connected to the outer wall of each protrusion on the two sides of each clamping jaw, and the outer wall of each of the four pull rods is sleeved with a return spring.

[0009] Preferably, the tapered blocks on the protruding plates on the two sides of the sliding mounting base are slidably connected to the interiors of the tapered grooves on the two sides of the connecting column, and the output end of the second motor is rotatably extended into the groove formed in the lower surface of the connecting column and fixedly connected to one end of the first threaded rod.

[0010] Preferably, the output end of the third motor is rotatably extended into the groove formed in the lower surface of the sliding mounting base and fixedly connected to one end of the bidirectional threaded rod.

[0011] Preferably, the outer walls of the upper end protrusions on the two clamping jaws are slidably connected to the interiors of the grooves in the lower surface of the sliding mounting base, and the outer walls of the T-shaped blocks on the two sides of the rear end of each protective pad are slidably connected to the interiors of the corresponding T-shaped blocks.

[0012] Preferably, the interiors of the two second limiting block grooves are respectively communicated with the interiors of the protrusions on the two sides of the corresponding clamping jaws, and the limiting blocks are slidably extended into the interior of the protective pad groove from one end close to the first limiting block groove and respectively in contact with the inner walls of the corresponding first limiting block grooves.

[0013] Preferably, one end of each of the four pull rods close to the limiting block is slidably extended into the interior of the second limiting block groove and fixedly connected to one end of the corresponding limiting block, and one end of each of the eight sliding rods close to the limiting block is slidably extended into the interior of the second limiting block groove and fixedly connected to one end of the corresponding limiting block.

[0014] Preferably, the two ends of each of the four return springs are fixedly connected to the outer wall of one end of the corresponding limiting block and the inner wall of the upper protrusion of the clamping jaw.

[0015] Preferably, the support column is fixedly connected to the upper surface of the mounting base, and a sliding seat is fixedly connected to one end of the connecting column away from the second motor.

[0016] Preferably, a second threaded rod is rotatably connected to the groove formed in the outer wall of the first motor.

[0017] Preferably, the sliding seat is threadedly connected to the outer wall of the second threaded rod, and the first motor is mounted on the upper surface of the support column.

[0018] The output end of the first motor is extended to the inside of the groove of the outer wall of the supporting column and is fixedly connected with one end of the second threaded rod, and the outer wall of the conical block of the inner wall of the two sides of the sliding seat is slidably connected with the inside of the conical groove of the two sides of the supporting column.

[0019] Compared with the prior art, the utility model has the advantages of:

[0020] 1、The mechanical hand is stable in clamping, through opposite movement of pulling the pull rod in the clamping device, opposite movement of the limiting block is driven, and the return spring is retracted, then the other end of the limiting block is separated from the inside of the first limiting block groove through opposite movement of the limiting block, and then the protective pad can be taken off from the clamping jaw by pulling the protective pad, so that the protective pad is simple and fast to disassemble, the staff needs to use special tools to disassemble the whole clamping jaw for replacement, the maintenance cost is effectively reduced, and the work efficiency of the staff is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] The utility model is further illustrated below in combination with the drawings and embodiments:

[0022] Figure 1 It is a three-dimensional structure schematic view of the utility model;

[0023] Figure 2 It is a structure schematic view of the inside of the supporting column of the utility model;

[0024] Figure 3 It is a structure schematic view of the inside of the connecting column of the utility model;

[0025] Figure 4 It is a structure schematic view of the utility model Figure 3 It is a structure schematic view of the enlarged view of A in the utility model;

[0026] Figure 5 It is a structure schematic view of the inside of the sliding mounting seat of the utility model.

[0027] The drawings show that: 1, mounting seat; 2, supporting column; 3, sliding seat; 4, first motor; 5, connecting column; 6, sliding mounting seat; 7, second motor; 8, pull rod; 9, protective pad; 10, sliding rod; 11, clamping jaw; 12, third motor; 13, first threaded rod; 14, second threaded rod; 15, T-shaped block; 16, protective pad groove; 17, first limiting block groove; 18, limiting block; 19, return spring; 20, second limiting block groove; 21, bidirectional threaded rod. DETAILED DESCRIPTION

[0028] The detailed embodiments of the utility model will be described in this part, the preferred embodiment of the utility model is shown in the drawings, the role of the drawings is to supplement the description of the written part with graphics, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the utility model, but it cannot be understood as a limitation on the protection scope of the utility model.

[0029] In the description of the utility model, it is understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or position relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and is not indicative or implied that the indicated device or element must have a specific orientation, a specific orientation and operation, therefore, it cannot be understood as a limitation on the utility model.

[0030] In the description of the utility model, greater than, less than, more than, etc. are understood as not including the number, above, below, etc. are understood as including the number. If the first, second is described, it is only used for distinguishing technical features for the purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0031] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installing and connecting should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the utility model according to the specific content of the technical scheme.

[0032] Please refer to Figures 1-5 The utility model provides a kind of technical scheme: a clamping stable mechanical hand, including mounting seat 1, support column 2 and connecting column 5;

[0033] Connecting column 5 is provided with clamping device;

[0034] The clamping device comprises a first threaded rod 13, a second motor 7, a sliding mounting seat 6 and two protective pads 9, the first threaded rod 13 is rotatably connected inside the groove opened in the lower surface of the connecting column 5, the upper end protrusions of the sliding mounting seat 6 are threadedly connected with the outer wall of the first threaded rod 13, the second motor 7 is installed on the lower surface of the fixed plate on one side of the connecting column 5, the tapered blocks on the two side protrusions of the sliding mounting seat 6 are slidably connected with the tapered grooves inside the connecting column 5, the output end of the second motor 7 is rotatably extended to the inside of the groove opened in the lower surface of the connecting column 5 and is fixedly connected with one end of the first threaded rod 13, a third motor 12 is installed on the lower surface of the one side fixed plate of the sliding mounting seat 6, a bidirectional threaded rod 21 is rotatably connected inside the groove opened in the lower surface of the sliding mounting seat 6, the output end of the third motor 12 is rotatably extended to the inside of the groove opened in the lower surface of the sliding mounting seat 6 and is fixedly connected with one end of the bidirectional threaded rod 21, two clamping jaws 11 are threadedly connected with the outer wall of the bidirectional threaded rod 21, the upper end protrusions of the two clamping jaws 11 are slidably connected with the grooves inside the two sides of the lower surface of the sliding mounting seat 6, first limiting block grooves 17 are opened in the outer walls of the rear ends of the two protective pads 9, protective pad grooves 16 are opened in the outer walls of the one sides of the opposite surfaces of the two clamping jaws 11, the outer walls of the rear ends of the two protective pads 9 are slidably connected with the interiors of the corresponding protective pad grooves 16, two T-shaped blocks 15 are opened in the inner walls of the two sides of the protective pad grooves 16, the outer walls of the rear end T-shaped blocks of the two protective pads 9 are slidably connected with the interiors of the corresponding T-shaped blocks 15, second limiting block grooves 20 are opened in the inner walls of the two sides of the protective pad grooves 16, the interiors of the two second limiting block grooves 20 are respectively communicated with the interiors of the corresponding clamping jaw protrusions, pull rods 8 are slidably connected with the outer walls of the two clamping jaw protrusions, limiting blocks 18 are slidably connected in the interiors of the two second limiting block grooves 20, the one ends of the two limiting blocks 18 close to the first limiting block grooves 17 are slidably extended to the interiors of the protective pad grooves 16 and are respectively in contact with the inner walls of the corresponding first limiting block grooves 17, the one ends of the four pull rods 8 close to the limiting blocks 18 are slidably extended to the interiors of the second limiting block grooves 20 and are respectively fixedly connected with the one ends of the corresponding limiting blocks 18, two sliding rods 10 are slidably connected with the outer walls of the two clamping jaw protrusions, the one ends of the eight sliding rods 10 close to the limiting blocks 18 are slidably extended to the interiors of the second limiting block grooves 20 and are respectively fixedly connected with the one ends of the corresponding limiting blocks 18, return springs 19 are sleeved with the outer walls of the four pull rods 8, the two ends of the four return springs 19 are respectively fixedly connected with the outer walls of the one ends of the corresponding limiting blocks 18 and the inner walls of the upper protrusions of the clamping jaws 11.

[0035] The support column 2 is fixedly connected to the upper surface of the mounting seat 1, the connecting column 5 is fixedly connected with the sliding seat 3 away from one end of the second motor 7, the second threaded rod 14 is rotatably connected in the groove on the outer wall of the first motor 4, the sliding seat 3 is threadedly connected with the outer wall of the second threaded rod 14, the first motor 4 is installed on the upper surface of the support column 2, the output end of the first motor 4 is rotatably extended to the inside of the groove on the outer wall of the support column 2 and is fixedly connected with one end of the second threaded rod 14, and the conical blocks on the inner walls of the two sides of the sliding seat 3 are slidably connected with the conical grooves on the two sides of the support column 2.

[0036] Further, in use of the device, the external power supply is connected to start, first, the device is installed at a specified position through the mounting seat 1, then the output end of the first motor 4 is rotated to drive the second threaded rod 14 to rotate and drive the sliding seat 3 to move up and down, then the sliding seat 3 moves up and down to drive the sliding mounting seat 6 and the clamping jaw 11 to move up and down through the connecting column 5, at the same time, the output end of the second motor 7 is rotated to drive the first threaded rod 13 to rotate and drive the sliding mounting seat 6 to move back and forth and control the clamping jaw 11 to move back and forth, so that the position of the clamping jaw 11 is adjusted through cooperation, then the output end of the third motor 12 is rotated to drive the bidirectional threaded rod 21 to rotate and drive the clamping jaw 11 to move in the opposite direction, then the clamping jaw 11 moves in the opposite direction to drive the protective pad 9 to move in the opposite direction and clamp the article, then the protective pad 9 is in direct contact with the article, so that the friction force of clamping is effectively increased through the teeth on one side of the protective pad 9, then when the protective pad 9 needs to be removed, the limit block 18 is moved in the opposite direction to drive the return spring 19 to contract through the pulling rod 8 being pulled in the opposite direction, then the other end of the limit block 18 is moved in the opposite direction to make the outer wall of the other end to be out of contact with the inside of the first limit block groove 17, then the protective pad 9 can be removed from the clamping jaw 11 by pulling.

[0037] The limit block 18 is moved in the opposite direction to drive the return spring 19 to contract through the pulling rod 8 being pulled in the opposite direction in the clamping device, then the other end of the limit block 18 is moved in the opposite direction to make the outer wall of the other end to be out of contact with the inside of the first limit block groove 17, then the protective pad 9 can be removed from the clamping jaw 11 by pulling, so that the protective pad 9 is removed simply and quickly, and the staff does not need to use special tools to remove and replace the entire clamping jaw 11, which effectively reduces the maintenance cost and improves the work efficiency of the staff.

[0038] Structure description: The mounting seat 1 is used to fix the entire device at a specified position to ensure the stability of the device during operation, and the device can be conveniently installed and removed to adapt to different working environments.

[0039] The first motor 4, the second threaded rod 14 and the sliding seat 3: the first motor 4 provides power, rotates through the output end to drive the second threaded rod 14 to rotate, the connection between the motor and the threaded rod realizes power transmission, so that the sliding seat 3 can move up and down, so that the sliding seat 3 moves up and down under the drive of the first motor 4, drives the sliding mounting seat 6 and the clamping jaw 11 to move up and down through the connecting column 5, and the movement of the sliding seat 3 makes the up-down adjustment of the clamping jaw 11 possible, thereby increasing the flexibility of the equipment.

[0040] The connecting column 5, the sliding mounting seat 6, the second motor 7 and the first threaded rod 13: the connecting column 5 connects the sliding seat 3 and the sliding mounting seat 6, transmits the movement of the sliding seat 3, ensures that the sliding mounting seat 6 and the clamping jaw 11 can move up and down synchronously, maintains the consistency of the position, the sliding mounting seat 6 moves up and down under the drive of the connecting column 5, and moves forward and backward under the drive of the second motor 7, the design of the sliding mounting seat 6 enables the clamping jaw 11 to be adjusted in multiple dimensions, the second motor 7 rotates through the output end to drive the first threaded rod 13 to rotate, thereby driving the sliding mounting seat 6 to move forward and backward, provides power for the forward and backward movement of the clamping jaw 11, realizes more accurate position control, the first threaded rod 13 rotates under the drive of the second motor 7, drives the sliding mounting seat 6 to move forward and backward, the rotation of the threaded rod is converted into linear movement, and accurate control of the sliding mounting seat 6 is realized.

[0041] The clamping jaw 11 and the protective pad 9: the clamping jaw 11 moves up and down and forward and backward under the drive of the sliding mounting seat 6, moves in the opposite direction through the drive of the third motor 12, realizes clamping of the object, and the multi-dimensional movement and opposite movement design enables the clamping jaw 11 to adapt to objects of different shapes and sizes, the protective pad 9 is in direct contact with the object, one side is toothed to increase the clamping friction, moves in the opposite direction through the movement of the clamping jaw 11, and the design of the protective pad 9 protects the surface of the object and increases the stability of clamping.

[0042] The third motor 12 and the bidirectional threaded rod 21: the third motor 12 rotates through the output end to drive the bidirectional threaded rod 21 to rotate, thereby driving the clamping jaw 11 to move in the opposite direction, provides power for the opposite movement of the clamping jaw 11, realizes more flexible clamping operation, the bidirectional threaded rod 21 rotates under the drive of the third motor 12, drives the clamping jaw 11 to move in the opposite direction, and the design of the bidirectional threaded rod realizes the opposite movement of the clamping jaw 11, thereby increasing the flexibility of operation.

[0043] The pull rod 8 is used for pulling the opposite movement of the limiting block 18, and drives the contraction of the reset spring 19. The design of the pull rod 8 makes the disassembly of the protective pad 9 convenient and fast. The opposite movement of the limiting block 18 under the driving of the pull rod 8 makes the other end outer wall of the limiting block 18 contact with the inside of the first limiting block groove 17. The design of the limiting block 18 ensures the stability of the protective pad 9 in normal use, and can be conveniently separated when disassembly is needed. The reset spring 19 is contracted under the driving of the pull rod 8, and provides power for the movement of the limiting block 18. The design of the reset spring 19 makes the limiting block 18 quickly reset, and ensures the repeated use performance of the equipment.

[0044] The first limiting block groove 17 is in contact with the outer wall of the limiting block 18, and is used for fixing the protective pad 9. The design of the first limiting block groove 17 ensures the stability of the protective pad 9 in normal use.

[0045] The above describes the embodiments of the utility model in combination with the drawings, but the utility model is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge range possessed by ordinary skilled in the art without departing from the purpose of the utility model.

Claims

1. A manipulator with stable clamping capability, comprising a mounting base (1), a support column (2), and a connecting column (5), characterized in that: A clamping device is provided on the connecting column (5); The clamping device includes a first threaded rod (13), a second motor (7), a sliding mounting base (6), and two protective pads (9). The first threaded rod (13) is rotatably connected to the groove on the lower surface of the connecting column (5). The upper end protrusion of the sliding mounting base (6) is threadedly connected to the outer wall of the first threaded rod (13). The second motor (7) is installed on the lower surface of the fixing plate on one side of the connecting column (5). A third motor (12) is installed on the lower surface of the fixing plate on one side of the sliding mounting base (6). A bidirectional threaded rod (21) is rotatably connected to the groove on the lower surface of the sliding mounting base (6). The outer wall of the bidirectional threaded rod (21) is threadedly connected to two jaws (11). Among them, the outer walls of the two rear ends of the two protective pads (9) are provided with first limiting block grooves (17), the outer walls of the opposite sides of the two grippers (11) are provided with protective pad grooves (16), the outer walls of the rear ends of the two protective pads (9) are slidably connected to the interior of the corresponding protective pad grooves (16), the inner walls of the two protective pad grooves (16) are provided with two T-shaped blocks (15), the inner walls of the two protective pad grooves (16) are provided with second limiting block grooves (20), the outer walls of the protrusions on both sides of the two grippers (11) are slidably connected with pull rods (8), the interior of the two second limiting block grooves (20) is slidably connected with limiting blocks (18), the outer walls of the protrusions on both sides of the two grippers (11) are slidably connected with two sliding rods (10), and the outer walls of the four pull rods (8) are all sleeved with return springs (19).

2. The manipulator with stable clamping as described in claim 1, characterized in that: The outer wall of the conical block on the two sides of the sliding mounting base (6) is slidably connected to the inner wall of the conical groove on both sides of the connecting column (5). The output end of the second motor (7) rotates and extends to the groove on the lower surface of the connecting column (5) and is fixedly connected to one end of the first threaded rod (13). The output end of the third motor (12) extends to the groove on the lower surface of the sliding mounting base (6) and is fixedly connected to one end of the bidirectional threaded rod (21).

3. The manipulator with stable clamping as described in claim 1, characterized in that: The outer walls of the upper protrusions of the two grippers (11) are slidably connected to the inner grooves on both sides of the lower surface of the sliding mounting base (6), and the outer walls of the T-shaped blocks on both sides of the rear end of the two protective pads (9) are slidably connected to the inner grooves of the corresponding T-shaped blocks (15); The interiors of the two second limiting block grooves (20) are connected to the interiors of the protrusions on both sides of the corresponding gripper (11). The ends of the two limiting blocks (18) near the first limiting block groove (17) slide into the interior of the protective pad groove (16) and contact the inner wall of the corresponding first limiting block groove (17).

4. The gripping robotic arm according to claim 1, characterized in that: The ends of the four pull rods (8) near the limiting block (18) all slide into the interior of the second limiting block groove (20) and are fixedly connected to one end of the corresponding limiting block (18); the ends of the eight slide rods (10) near the limiting block (18) all slide into the interior of the second limiting block groove (20) and are fixedly connected to one end of the corresponding limiting block (18). Among them, the two ends of the four reset springs (19) are fixedly connected to the outer wall of one end of the corresponding limit block (18) and the inner wall of the protrusion on the gripper (11), respectively.

5. A gripping robotic arm according to claim 1, characterized in that: The support column (2) is fixedly connected to the upper surface of the mounting base (1), and the end of the connecting column (5) away from the second motor (7) is fixedly connected to the sliding seat (3); The first motor (4) has a groove on its outer wall and a second threaded rod (14) is rotatably connected inside.

6. A gripping robotic arm according to claim 5, characterized in that: The sliding seat (3) is threaded to the outer wall of the second threaded rod (14), and the first motor (4) is installed on the upper surface of the support column (2); The output end of the first motor (4) extends to the groove on the outer wall of the support column (2) and is fixedly connected to one end of the second threaded rod (14). The outer wall of the tapered block on both sides of the sliding seat (3) is slidably connected to the tapered groove on both sides of the support column (2).

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