Robot with multi-directional grabbing piece

Abstract

The utility model discloses a robot with a multidirectional grabbing piece, which belongs to the technical field of robots, and is characterized in that a driving motor is started to drive a rotating rod and a rotating plate to rotate along a steering wheel, and the rotating plate drives a lifting shell and a mounting plate to steer and thicken in the rotating process, so that a mounting limiting structure is simple in structure and high in practicability. The position adjusting process is more stable, when a rotating plate stops rotating, a steering motor is started to drive a mounting plate to rotate to the grabbing direction of a grabbing piece, after the direction is adjusted, a lifting push rod is started to push the mounting plate to move downwards, and a clamping drive piece is started to drive a clamping plate to be opened in the process that the mounting plate moves to the lower end; after the clamping plate is opened, the clamping driving part is started and pushed to push the clamping plate to move inwards to grab the grabbing part, the angle of the mounting plate is adjusted through the steering motor, the adaptability of grabbing of the mounting plate is improved, grabbing is convenient, the adaptability is high in the grabbing process, gaps are avoided, the attaching performance is low, and falling is effectively prevented.

Description

TECHNICAL FIELD

[0001] The utility model relates to a robot with multidirectional grabbing piece belongs to robot technical field. BACKGROUND

[0002] As the application number for: 201711094802.3 discloses a kind of rotatable grabbing device of robot is grabbed and is grabbed component, including four grabbing pieces and four telescopic cylinders of uniform distribution in the lower of rotary disc, grabbing piece includes the annular suction nozzle that can form negative pressure cavity and the reinforcing block extending from annular suction nozzle upper end to connecting plate direction, reinforcing block is embedded in a connecting pipe;Connecting pipe is equipped with a gas passage extending to negative pressure cavity, annular suction nozzle is contacted with the smooth upper surface of the object to be grabbed, the gas in annular suction nozzle is extracted by gas passage, forms the vacuum area for adsorbing the object to be grabbed, four grabbing pieces are connected with the lower end surface of rotary disc by a telescopic cylinder respectively, rotary disc includes the disc body for installing grabbing piece, the boss fixed between disc body and grooved wheel, the cylinder body of telescopic cylinder is connected with disc body, the telescopic rod of telescopic cylinder is fixedly connected with the outer wall of reinforcing block, grabbed component has the advantages of simple structure, convenient to use, reliable grabbing.

[0003] Prior art is realized by four grabbing pieces and four telescopic cylinders of uniform distribution in the lower of rotary disc, with the advantages of simple structure, convenient to use, reliable grabbing.

[0004] Prior art cannot realize the function that driving grabbing claw lifting multidirectional rotation material taking, cannot realize the angle of adjusting claw, is not convenient for the high adaptation of grabbing piece and is grabbed.

[0005] Therefore, a robot with multidirectional grabbing piece is needed to improve the above shortcomings. UTILITY MODEL CONTENTS

[0006] The main purpose of the utility model is to provide a kind of robot with multidirectional grabbing piece.

[0007] The purpose of the utility model can be achieved by adopting the following technical solutions:

[0008] A kind of robot with multidirectional grabbing piece, including the clamping plate for grabbing;

[0009] Clamping plate is fixedly connected by steering disc, steering disc is installed with rotating plate, limiting piece, lifting shell, drive motor, rotating slider and rotating rod;

[0010] Rotating slider is slidably installed in steering disc, rotating plate is installed on rotating slider, rotating rod is installed through another end of rotating plate, rotating rod is driven by drive motor to rotate plate rotary connection;

[0011] The outer end of rotating rod is installed with limiting piece, and the outer end of rotating plate is installed with lifting shell.

[0012] Preferably, the lifting shell is provided with a lifting push rod, a steering motor, a mounting plate, a push clamping drive and a clamping plate.

[0013] The lifting shell is provided with the lifting push rod, the output end of the lifting push rod is provided with the steering motor, the output end of the steering motor is provided with the mounting plate, the two sides of the mounting plate are provided with the push clamping drive, and the output end of the push clamping drive is provided with the clamping plate.

[0014] Preferably, the steering disc is provided with a steering rail, a positioning frame and a positioning hole, the steering disc is provided with the steering rail around one side, the steering disc is provided with the positioning frame at the shaft center, and the steering disc is provided with the positioning hole around.

[0015] Preferably, the rotating rod on the driving motor is in a toothed structure.

[0016] Preferably, the push clamping drive drives the clamping plate to open and close.

[0017] Preferably, the rotating plate is wide at one end and thin at the other end.

[0018] Preferably, the clamping plate is provided with a toothed structure.

[0019] The robot with the multi-directional clamping piece has the advantages that the steering disc is fixedly installed above the clamping operation table, the rotating plate is placed into the steering rail through the rotating sliding block after being fixed, and the rotating plate is rotated in multiple directions.

[0020] The driving motor is started to drive the rotating rod and the rotating plate to rotate along the steering disc, the rotating plate drives the lifting shell and the mounting plate to steer in the rotating process, the thick mounting limiting structure is simple in structure and more stable in the process of adjusting the position.

[0021] When the rotating plate stops rotating, the steering motor is started to drive the mounting plate to rotate to a direction suitable for clamping, the direction is adjusted, the lifting push rod is started to push the mounting plate to move downward, the push clamping drive is started to drive the clamping plate to open in the process of moving to the lower end, the push clamping drive is started to push the clamping plate to move inward to clamp the clamping piece after the clamping plate is opened, the angle of the mounting plate is adjusted through the steering motor, the adaptability of the mounting plate is improved, the clamping is facilitated, the adaptability is high in the clamping process, the gap is avoided, the adhesion is low, and the clamping piece is effectively prevented from falling off.

[0022] When the rotating plate stops rotating, the steering motor is started to drive the mounting plate to rotate to a direction suitable for clamping, the direction is adjusted, the lifting push rod is started to push the mounting plate to move downward, the push clamping drive is started to drive the clamping plate to open in the process of moving to the lower end, the push clamping drive is started to push the clamping plate to move inward to clamp the clamping piece after the clamping plate is opened, the angle of the mounting plate is adjusted through the steering motor, the adaptability of the mounting plate is improved, the clamping is facilitated, the adaptability is high in the clamping process, the gap is avoided, the adhesion is low, and the clamping piece is effectively prevented from falling off.

[0023] The mounting plate moves to the lower end, the push clamping drive is started to drive the clamping plate to open, the push clamping drive is started to push the clamping plate to move inward to clamp the clamping piece after the clamping plate is opened, the angle of the mounting plate is adjusted through the steering motor, the adaptability of the mounting plate is improved, the clamping is facilitated, the adaptability is high in the clamping process, the gap is avoided, the adhesion is low, and the clamping piece is effectively prevented from falling off. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a whole three-dimensional structure schematic view of the device according to the preferred embodiment of the robot with the multi-directional clamping piece.

[0025] Figure 2 is a bottom view of a preferred embodiment of a robot with a multi-directional grabbing element according to the present application;

[0026] Figure 3 is a top view of a preferred embodiment of a robot with a multi-directional grabbing element according to the present application;

[0027] Figure 4 is a schematic diagram of a driving structure of a preferred embodiment of a robot with a multi-directional grabbing element according to the present application;

[0028] Figure 5 is a top view of a driving structure of a preferred embodiment of a robot with a multi-directional grabbing element according to the present application.

[0029] In the figure: 1, steering disc; 102, steering rail; 103, positioning frame; 104, positioning hole; 2, rotating plate; 201, limiting piece; 202, lifting shell; 203, driving motor; 204, rotating sliding block; 205, rotating rod; 206, lifting push rod; 207, steering motor; 3, mounting plate; 301, push clamping driving piece; 302, clamping plate. DETAILED DESCRIPTION

[0030] In order to make the technical scheme of the present application clearer and more explicit to those skilled in the art, the present application will be further described in detail below in conjunction with embodiments and drawings, but the implementation manner of the present application is not limited thereto.

[0031] As shown in Figure 1 - Figure 5 The robot with a multi-directional grabbing element provided by the present embodiment comprises a clamping plate 302 for grabbing;

[0032] The clamping plate 302 is fixedly connected by a steering disc 1, and the steering disc 1 is installed with a rotating plate 2, a limiting piece 201, a lifting shell 202, a driving motor 203, a rotating sliding block 204 and a rotating rod 205;

[0033] The rotating sliding block 204 is slidingly installed in the steering disc 1, the rotating sliding block 204 is installed with the rotating plate 2, the other end of the rotating plate 2 is installed with the rotating rod 205, and the rotating rod 205 is connected with the rotating plate 2 in rotation by the driving motor 203;

[0034] The outer end of the rotating rod 205 is installed with the limiting piece 201, and the outer end of the rotating plate 2 is installed with the lifting shell 202 on one side.

[0035] The lifting shell 202 is installed with a lifting push rod 206, a steering motor 207, a mounting plate 3, a push clamping driving piece 301 and the clamping plate 302.

[0036] The lifting push rod 206 is installed in the lifting shell 202, the output end of the lifting push rod 206 is installed with the steering motor 207, the output end of the steering motor 207 is installed with the mounting plate 3, the two sides of the mounting plate 3 are installed with the push clamping driving part 301, and the output end of the push clamping driving part 301 is installed with the clamping plate 302.

[0037] The steering disc 1 is installed with the steering rail 102, the positioning frame 103 and the positioning hole 104, the steering rail 102 is arranged around one side of the steering disc 1, the positioning frame 103 is installed at the shaft center of the steering disc 1, and the positioning hole 104 is arranged around the steering disc 1.

[0038] The rotating rod 205 on the driving motor 203 is in a toothed structure.

[0039] The push clamping driving part 301 drives the clamping plate 302 to open and close.

[0040] The rotating disc 2 is wide at one end and thin at the other end.

[0041] The clamping plate 302 is distributed with a toothed structure.

[0042] As shown in Figure 1 - Figure 5 The working process of the robot with the multi-directional clamping part provided in the embodiment is as follows:

[0043] Step 1: Fix the steering disc 1 above the clamping operation table, and then place the rotating disc 2 into the steering rail 102 through the rotating sliding block 204 to rotate in multiple directions;

[0044] Step 2: Start the driving motor 203 to drive the rotating rod 205 and the rotating disc 2 to rotate along the steering disc 1, and the rotating disc 2 drives the lifting shell 202 and the mounting plate 3 to steer in the rotating process;

[0045] Step 3: When the rotating disc 2 stops rotating, start the steering motor 207 to drive the mounting plate 3 to the direction suitable for clamping, and then start the lifting push rod 206 to push the mounting plate 3 to move downward;

[0046] In the process of moving the mounting plate 3 to the lower end, start the push clamping driving part 301 to drive the clamping plate 302 to open, and then start the push clamping driving part 301 to push the clamping plate 302 to move inward to clamp the clamping part.

[0047] Embodiment one

[0048] As shown in Figure 1 - Figure 5As shown, the steering disc 1 is fixedly installed above the grabbing operation table, and after being fixed, the rotating plate 2 is placed into the rotating rail 102 through the rotating sliding block 204 for multidirectional rotation;

[0049] By starting the driving motor 203, the rotating rod 205 and the rotating plate 2 are driven to rotate along the steering disc 1, and in the process of rotation, the rotating plate 2 drives the lifting shell 202 and the mounting plate 3 to steer, and the thickened mounting limiting structure is simple in structure and more stable in the process of adjusting the position.

[0050] Embodiment two

[0051] As shown, Figure 1 - Figure 5 As shown, when the rotating plate 2 stops rotating, the steering motor 207 is started to drive the mounting plate 3 to rotate to the direction suitable for grabbing, and after the direction is adjusted, the lifting push rod 206 is started to push the mounting plate 3 to move downward;

[0052] In the process of moving the mounting plate 3 to the lower end, the push clamping driving part 301 is started to drive the clamping plate 302 to open, after the clamping plate 302 is opened, the push clamping driving part 301 is started to push the clamping plate 302 to move inward to grab the grabbed part, the angle of the mounting plate 3 is adjusted through the steering motor 207, the adaptability of the mounting plate 3 is improved, the grabbing is facilitated, the adaptability is high in the process of grabbing, the gap is avoided, the adhesion is low, and the effective anti-falling is realized.

[0053] The above is only a further embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and concept of the present application within the scope disclosed by the present application, which belongs to the protection scope of the present application.

Claims

1. A robot with a multi-directional grabbing piece, comprising a clamping plate (302) for grabbing; characterized in that The clamping plate (302) is fixedly connected by a steering disc (1), and the steering disc (1) is provided with a rotating plate (2), a limiting piece (201), a lifting shell (202), a driving motor (203), a rotating sliding block (204) and a rotating rod (205); The rotating sliding block (204) is slidingly installed in the steering disc (1), the rotating plate (2) is installed on the rotating sliding block (204), the rotating rod (205) is installed through the other end of the rotating plate (2), and the rotating rod (205) is rotatably connected with the rotating plate (2) and driven by the driving motor (203); The outer end of the rotating rod (205) is provided with the limiting piece (201), and the outer end of the rotating plate (2) is provided with the lifting shell (202) on one side.

2. The robot with a multi-directional gripper of claim 1, wherein: The lifting shell (202) is provided with a lifting push rod (206), a steering motor (207), a mounting plate (3), a push clamping driving piece (301) and a clamping plate (302); The lifting shell (202) is provided with the lifting push rod (206), the steering motor (207), the mounting plate (3), the push clamping driving piece (301) and the clamping plate (302); 3. The robot with a multi-directional gripper of claim 2, wherein: The steering disc (1) is provided with a steering rail (102), a positioning frame (103) and a positioning hole (104), the steering rail (102) is arranged on one side of the steering disc (1), the positioning frame (103) is arranged at the shaft center of the steering disc (1), and the positioning hole (104) is arranged on the steering disc (1).

4. The robot with a multi-directional gripper of claim 3, wherein: The rotating rod (205) on the driving motor (203) is in a toothed structure.

5. The robot with a multi-directional gripper of claim 4, wherein: The push clamping driving piece (301) drives the clamping plate (302) to open and close.

6. The robot with a multi-directional gripper of claim 5, wherein: The rotating plate (2) is wide at one end and thin at the other end.

7. The robot with a multi-directional gripper of claim 6, wherein: The clamping plate (302) is provided with a toothed structure.

Images