Single-shaft manipulator capable of realizing multifunctional clamping

Abstract

The utility model discloses a single-shaft manipulator capable of realizing multifunctional clamping, which belongs to the technical field of multifunctional clamping manipulators and comprises an adjusting monorail, a multifunctional manipulator is mounted at the bottom of the adjusting monorail and comprises a supporting arm plate, a first clamping component is mounted at one end of the supporting arm plate, and a second clamping component is mounted at the other end of the supporting arm plate. Second clamping assemblies are arranged on the two sides of the end, close to the first clamping assembly, of the supporting arm plate, the first clamping assembly comprises two transmission bases, a shear fork frame is slidably connected between the two transmission bases, small clamps are installed at one ends of the two transmission bases correspondingly, and transmission arm rods are connected to the outer sides of the two transmission bases correspondingly. When the single-shaft mechanical arm designed in the scheme is used, large-specification objects can be grabbed and carried according to requirements, the operation requirements of small-specification objects can be flexibly met, and therefore the practicability and functionality of the single-shaft mechanical arm in the technical field of multifunctional clamping mechanical arms can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to multifunctional clamping mechanical hand technical field especially a kind of single-shaft mechanical hand that can realize multifunctional clamping. BACKGROUND

[0002] Single-shaft mechanical hand is a kind of industrial automation equipment, it usually refers to the mechanical arm that moves along single axis in a plane. The characteristics of this mechanical hand are simple structure, lower cost, and it is suitable for simple operation with high repeatability and not particularly high precision. Single-shaft mechanical hand can move linearly, such as in automated assembly line, packaging line or material handling, for grabbing, placing or moving objects. They are usually driven by motor, and precise position control is achieved through screw rod, sliding rail or other transmission mechanism. Since it only moves in one dimension, the control of single-shaft mechanical hand is relatively simple, but it also limits its application range, mainly suitable for those scenes that do not need complex multi-dimensional operation.

[0003] With the continuous development of automation technology, single-shaft mechanical hand is more and more widely used in industrial production. At present, the existing single-shaft mechanical hand has certain limitations in use because it adopts single clamp structure design. In the process of use, it can usually only perform single clamping task, and the clamping device often has fixed structure and function, so it is difficult to adapt to the demand of grabbing and carrying objects of large and small specifications.

[0004] Based on this, we propose a single-shaft mechanical hand that can realize multifunctional clamping to solve the above-mentioned problems. SUMMARY

[0005] The purpose of this section is to outline some aspects of the embodiments of the present utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the utility model name to avoid obscuring the purpose of this section, the abstract of the specification and the utility model name, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0006] Therefore, the purpose of the present utility model is to provide a single-shaft mechanical hand that can realize multifunctional clamping, which can solve the problem that the existing single-shaft mechanical hand cannot flexibly adapt to the demand of grabbing and carrying objects of large and small specifications due to the adoption of single clamp structure.

[0007] To solve the above technical problems, the utility model provides a single-shaft mechanical hand that can realize multifunctional clamping, adopts the following technical scheme: including adjusting single track, the bottom of adjusting single track is installed multifunctional mechanical hand, multifunctional mechanical hand includes support arm plate, the one end of support arm plate is installed first clamping assembly, the both sides of the one end of support arm plate close to first clamping assembly is provided with second clamping assembly.

[0008] The first clamping assembly comprises two groups of transmission bases, a scissor frame is slidably connected between the two groups of transmission bases, a small clamp is installed at one end of each of the two groups of transmission bases, a transmission arm rod is connected to the outer side of each of the two groups of transmission bases, and a clamping groove is formed at one end of each of the two groups of transmission arm rods.

[0009] The second clamping assembly comprises an L-shaped arm plate, a large clamp is installed on the inner side of the L-shaped arm plate, a transmission gear plate is installed at one end of the L-shaped arm plate, and a first guide rail is connected to the side of the L-shaped arm plate close to the transmission gear plate.

[0010] Optionally, the first guide rail is matched with the clamping groove structure, and the first guide rail and the clamping groove are in clamping cooperation.

[0011] Optionally, a first guide groove is formed at one side of each of the two groups of transmission bases, and two groups of sliding grooves are formed on the inner side of each of the two groups of transmission bases, the sliding grooves are matched with the scissor frame structure, and the sliding grooves and the scissor frame are in sliding cooperation.

[0012] Optionally, a reversible motor is installed on the back of the support arm plate, a transmission shaft is in transmission connection with the output end of the reversible motor, first gears are installed at both ends of the transmission shaft, a second guide rail is arranged at one end of the support arm plate close to the reversible motor, the second guide rail is matched with the first guide groove structure, and the second guide rail and the first guide groove are in sliding cooperation.

[0013] Optionally, a sliding plate groove is formed in the inner part of one end of the support arm plate, the sliding plate groove is matched with the L-shaped arm plate structure, the sliding plate groove and the L-shaped arm plate are in sliding cooperation, second guide grooves are formed on the inner walls of both sides of the sliding plate groove, the second guide grooves are matched with the first guide rail structure, and the second guide grooves and the first guide rail are in sliding cooperation.

[0014] Optionally, gear grooves are formed on both sides of the support arm plate close to the sliding plate groove, second gears are in rotation connection with the interiors of the gear grooves, the second gears are matched with the first gears, the second gears and the first gears are in meshing connection, a gear rod is installed between the two groups of second gears, the gear rod is matched with the transmission gear plate structure, and the gear rod and the transmission gear plate are in meshing connection.

[0015] In summary, the utility model has at least one of the following beneficial effects:

[0016] 1. The scheme is adjusted by the multifunctional manipulator installed at the bottom of the single rail, which mainly consists of a support arm plate, a first clamping assembly and a second clamping assembly. The support arm plate comprises a reversible motor, a transmission shaft, a first gear and a second guide rail. When the reversible motor is running, it can drive the transmission shaft and the first gear installed at the output end to rotate forward or reverse. Since the second gear is meshed with the first gear, and the gear rod is meshed with the transmission gear plate, the second clamping assembly connected in the slide groove can be expanded or contracted to adjust, and large objects can be grabbed and carried.

[0017] 2. The scheme is connected between the two transmission bases by a scissor frame, and the transmission arm rod is connected between the transmission base and the first guide rail. When the second clamping assembly is expanded or contracted in the slide groove of the support arm plate, the first clamping assembly connected to one end of the support arm plate can also be expanded or contracted synchronously, so that the single shaft manipulator can also grab and carry objects of different sizes according to the use. Through the above structure design, the single shaft manipulator designed in this scheme can not only grab and carry large objects according to the needs, but also can flexibly adapt to the operation requirements of small objects, so as to improve the practicability and functionality of the equipment in the field of multifunctional clamping manipulator technology. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed for the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0019] Figure 1 It is the overall structure diagram of the present application;

[0020] Figure 2 It is the structure diagram of the multifunctional manipulator of the present application;

[0021] Figure 3 It is the structure diagram of the first clamping assembly of the present application;

[0022] Figure 4 It is the structure diagram of the second clamping assembly of the present application;

[0023] Figure 5 It is the structure diagram of the support arm plate of the present application;

[0024] Figure 6 It is the sectional view of the support arm plate of the present application.

[0025] Explanation of reference signs: 1, adjusting monorail; 2, multifunctional mechanical hand; 3, support arm plate; 4, first clamping assembly; 5, second clamping assembly; 6, transmission base; 7, scissor frame; 8, small clamp; 9, transmission arm rod; 10, clamping groove; 11, L-shaped arm plate; 12, large clamp; 13, transmission gear plate; 14, first guide rail; 15, first guide groove; 16, sliding groove; 17, forward and reverse motor; 18, transmission shaft; 19, first gear; 20, second guide rail; 21, sliding plate groove; 22, second guide groove; 23, gear groove; 24, second gear; 25, gear rod. DETAILED DESCRIPTION

[0026] The technical solutions 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, rather than 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 protection of the utility model.

[0027] Embodiment: refer to Figures 1 to 6 The utility model provides an embodiment, a single axle mechanical hand can realize multifunctional clamping, including adjusting monorail 1, the bottom of adjusting monorail 1 is installed multifunctional mechanical hand 2, multifunctional mechanical hand 2 includes support arm plate 3, one end of support arm plate 3 is installed first clamping assembly 4, and the both sides of one end of support arm plate 3 close to first clamping assembly 4 are provided with second clamping assembly 5, and first clamping assembly 4 includes two sets of transmission base 6, and the sliding connection of two sets of transmission base 6 has scissor frame 7, and one end of two sets of transmission base 6 is installed small clamp 8, and the outside of two sets of transmission base 6 is connected with transmission arm rod 9, and one end of two sets of transmission arm rod 9 is also provided with clamping groove 10 respectively, and second clamping assembly 5 includes L-shaped arm plate 11, and the inside of L-shaped arm plate 11 is installed large clamp 12, and one end of L-shaped arm plate 11 is installed transmission gear plate 13, and the side close to transmission gear plate 13 of L-shaped arm plate 11 is also connected with first guide rail 14, and this single axle mechanical hand not only can grasp and transport large specification object according to demand, but also can flexibly adapt to the operation demand of small specification object, so as to can improve the practicability and functionality of the equipment in multifunctional clamping mechanical hand technical field.

[0028] The first guide rail 14 is matched with the structure of the clamping groove 10, and the first guide rail 14 is clamped and matched with the clamping groove 10. Through the structure design of the clamped and matched structure between the first guide rail 14 and the clamping groove 10, one end of the transmission arm rod 9 can be fixedly connected to the middle part of the first guide rail 14. The first guide groove 15 is formed in one side of the two groups of transmission bases 6. The two groups of sliding grooves 16 are respectively formed in the inner sides of the two groups of transmission bases 6. The sliding groove 16 is matched with the structure of the scissor frame 7, and the sliding groove 16 is slidably matched with the scissor frame 7. Through the structure design of the slidingly matched structure between the sliding groove 16 and the scissor frame 7, the scissor frame 7 can be movably connected between the two sides of the two groups of transmission bases 6. The back of the supporting arm plate 3 is provided with a reversible motor 17. The output end of the reversible motor 17 is drivingly connected with a transmission shaft 18. The two ends of the transmission shaft 18 are respectively provided with a first gear 19. The end of the supporting arm plate 3 close to the reversible motor 17 is provided with a second guide rail 20. The second guide rail 20 is matched with the structure of the first guide groove 15, and the second guide rail 20 is slidably matched with the first guide groove 15. Through the structure design of the slidably matched structure between the second guide rail 20 and the first guide groove 15, the first clamping assembly 4 on one side of the unfolded or folded adjustment can be limited and guided.

[0029] The sliding plate groove 21 is formed in the inner side of one end of the supporting arm plate 3. The sliding plate groove 21 is matched with the structure of the L-shaped arm plate 11, and the sliding plate groove 21 is slidably matched with the L-shaped arm plate 11. The second guide groove 22 is formed in the inner wall of the sliding plate groove 21. The second guide groove 22 is matched with the structure of the first guide rail 14, and the second guide groove 22 is slidably matched with the first guide rail 14. Through the structure design of the slidably matched structure between the second guide groove 22 and the first guide rail 14, the first clamping assembly 4 on one side of the unfolded or folded adjustment can be limited and guided. The gear groove 23 is respectively formed in the two sides of the supporting arm plate 3 close to the sliding plate groove 21. The second gear 24 is rotatably connected in the inner side of the gear groove 23. The second gear 24 is matched with the structure of the first gear 19, and the second gear 24 is meshingly connected with the first gear 19. The gear rod 25 is installed between the two groups of second gears 24. The gear rod 25 is matched with the structure of the transmission gear plate 13, and the gear rod 25 is meshingly connected with the transmission gear plate 13. Through the meshing connection between the second gear 24 and the first gear 19 and the meshing connection between the gear rod 25 and the transmission gear plate 13, when the reversible motor 17 is operated, the transmission shaft 18 and the first gear 19 added to the output end can be driven to rotate forward or reversely, and the second clamping assembly 5 connected in the sliding plate groove 21 can be unfolded or folded for adjustment, so that the objects of large specifications can be gripped and carried.

[0030] Working principle: the scheme is through the multifunctional manipulator 2 installed at the bottom of the adjusting single rail 1, the multifunctional manipulator 2 is mainly composed of the support arm plate 3, the first clamping assembly 4 and the second clamping assembly 5, wherein the support arm plate 3 comprises the positive and negative motor 17, the transmission shaft 18, the first gear 19 and the second guide rail 20, when the positive and negative motor 17 is running, the transmission shaft 18 and the first gear 19 installed at the output end can be driven to rotate forward or reversely, because the second gear 24 and the first gear 19 are in meshing connection, and the gear rod 25 and the transmission toothed plate 13 are in meshing connection, the second clamping assembly 5 connected in the slide plate groove 21 can be expanded or contracted to adjust, and large-sized objects can be grabbed and carried.

[0031] The scheme is through the scissor frame 7 movably connected between the two groups of transmission bases 6, and the transmission arm rod 9 connected between the transmission base 6 and the first guide rail 14, when the second clamping assembly 5 is expanded or contracted to adjust in the slide plate groove 21 of the support arm plate 3, the first clamping assembly 4 movably connected at one end of the support arm plate 3 can also be synchronously expanded or contracted to adjust, so that the single-axis manipulator can also grab and carry objects according to the use condition.

[0032] Finally, it should be noted that: the above only for the preferred embodiments of the utility model, and does not limit the utility model, although the utility model is described in detail with reference to the foregoing embodiments, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement to part of technical features, any modification, equivalent replacement, improvement etc. made within the spirit and principles of the utility model, should be contained in the protection scope of the utility model.

Claims

1. A single-axis robot capable of multi-functional clamping, comprising an adjusting monorail (1), characterized in that: The bottom of the adjusting single rail (1) is provided with a multifunctional manipulator (2), the multifunctional manipulator (2) comprises a supporting arm plate (3), one end of the supporting arm plate (3) is provided with a first clamping assembly (4), and both sides of the end of the supporting arm plate (3) close to the first clamping assembly (4) are provided with second clamping assemblies (5); The first clamping assembly (4) comprises two groups of transmission bases (6), a scissor frame (7) is slidably connected between the two groups of transmission bases (6), one end of each of the two groups of transmission bases (6) is provided with a small clamp (8), the outer sides of the two groups of transmission bases (6) are connected with transmission arm rods (9), and one end of each of the two groups of transmission arm rods (9) is also provided with a clamping groove (10). The second clamping assembly (5) comprises an L-shaped arm plate (11), the inner side of the L-shaped arm plate (11) is provided with a large clamp (12), one end of the L-shaped arm plate (11) is provided with a transmission gear plate (13), and the side of the L-shaped arm plate (11) close to the transmission gear plate (13) is also connected with a first guide rail (14).

2. The single-axis robot capable of multi-functional clamping according to claim 1, characterized in that: The first guide rail (14) is matched with the clamping groove (10) in structure, and the first guide rail (14) and the clamping groove (10) are matched in clamping.

3. The single-axis robot capable of multi-functional clamping according to claim 2, characterized in that: One side of each of the two groups of transmission bases (6) is provided with a first guide groove (15), and the inner sides of the two groups of transmission bases (6) are respectively provided with two groups of sliding grooves (16), the sliding grooves (16) are matched with the scissor frame (7) in structure, and the sliding grooves (16) and the scissor frame (7) are matched in sliding.

4. The single-axis robot capable of multi-functional clamping according to claim 3, characterized in that: The back of the supporting arm plate (3) is provided with a reversible motor (17), the output end of the reversible motor (17) is connected with a transmission shaft (18) in transmission, both ends of the transmission shaft (18) are provided with first gear wheels (19), one end of the supporting arm plate (3) close to the reversible motor (17) is provided with a second guide rail (20), the second guide rail (20) is matched with the first guide groove (15) in structure, and the second guide rail (20) and the first guide groove (15) are matched in sliding.

5. The single-axis robot capable of multi-functional clamping according to claim 4, characterized in that: One end of the supporting arm plate (3) is internally provided with a sliding plate groove (21), the sliding plate groove (21) is matched with the L-shaped arm plate (11) in structure, the sliding plate groove (21) and the L-shaped arm plate (11) are matched in sliding, second guide grooves (22) are formed in the inner walls of both sides of the sliding plate groove (21), the second guide grooves (22) are matched with the first guide rail (14) in structure, and the second guide grooves (22) and the first guide rail (14) are matched in sliding.

6. The single-axis robot capable of multi-functional clamping according to claim 5, characterized in that: The support arm plate (3) is provided with gear grooves (23) near both sides of the sliding plate groove (21), the second gears (24) are rotationally connected in the gear grooves (23), the second gears (24) are matched with the first gears (19) in structure, the second gears (24) are meshedly connected with the first gears (19), the gear rods (25) are installed between the two groups of second gears (24), the gear rods (25) are matched with the transmission toothed plates (13) in structure, and the gear rods (25) are meshedly connected with the transmission toothed plates (13).

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