Manipulator with chuck convenient to replace

Abstract

The mechanical arm comprises a base and a chuck body, the top of the base is rotationally connected with a mechanical arm, the top end of the mechanical arm is rotationally connected with a clamping base, the interior of the clamping base is slidably connected with a moving block, the outer wall of one side of the chuck body is provided with a plurality of inserting blocks inserted into the moving block, and the inserting blocks are arranged on the outer wall of the other side of the chuck body. And a fixed block is slidably connected to the interior of the movable block, and a plurality of fixed rods are arranged on the outer wall of one side of the fixed block. The lifting rod is lifted upwards to drive the fixing block and the fixing rod to move upwards, the fixing rod can be moved out of the inserting block, the chuck body is pulled in the direction away from the moving block, the chuck body can be detached from the moving block, and the function that different chuck bodies are replaced according to the shapes of different objects to be clamped is achieved. The problem that an article is prone to falling off from a chuck body due to the fact that the chuck body is not matched with the shape of the article to be clamped is solved.

Description

TECHNICAL FIELD

[0001] The utility model mechanical hand technical field, specifically relates to a mechanical hand convenient to replace chuck. BACKGROUND

[0002] Mechanical hand refers to the ability to imitate the hand and arm some action function, with fixed program to pick up, carry the object or operate the tool automatic operation device. It mainly consists of actuator, drive mechanism and control system three parts, it can replace people to carry out heavy labor to realize the mechanization and automation of production.

[0003] Such as the announcement number for CN108748246B, the announcement day is November 3, 2020.A kind of mechanical hand device, including the mobile platform and support platform of horizontal arrangement, mobile platform can be relative to support platform horizontal movement;The middle part of mobile platform is equipped with a rotating connecting column, the lower end of rotating connecting column is connected with main drive motor, rotating connecting column is connected with a mechanical arm, the periphery of mobile platform is equipped with three drive cylinders, the rear end of each drive cylinder is hinged and connected with rack, the drive rod of the front end of each drive cylinder is hinged on mobile platform.

[0004] The above and in the prior art, due to the shape of the different articles, some articles are more regular in shape, and some articles are irregular in shape, suitable for clamping regular-shaped objects when clamping irregular-shaped articles, then it is easy to clamp unstable, and it is easy to make irregular objects fall off from the chuck, therefore, it is urgent to design a kind of mechanical hand convenient to replace chuck to solve the above problems. INVENTION CONTENTS

[0005] The utility model aims at providing a kind of mechanical hand convenient to replace chuck to solve the above deficiencies in prior art.

[0006] In order to achieve the above object, the utility model provides the following technical scheme:

[0007] A kind of mechanical hand convenient to replace chuck, including base and chuck body, the top of base is rotatably connected with mechanical arm, the top of mechanical arm is rotatably connected with clamping seat, and the inside of clamping seat is slidably connected with moving block, chuck body side outer wall is provided with several plug-in blocks in the inside of moving block, and the inside of moving block is slidably connected with fixed block, the outer wall of fixed block one side is provided with several fixed rods, and fixed rod is inserted into the inside of plug-in block, the outer wall of fixed block top is provided with the pull rod extending to the top of moving block, and the inner wall of moving block top is provided with the fixed spring connected with fixed block.

[0008] Further, the inner wall of the clamping seat is fixed with a motor by bolts, and a transmission screw is provided on the output shaft of the motor.

[0009] Further, the inside of the clamping seat is slidably connected with a sliding block, and a sliding rod is arranged on the inner wall of the clamping seat, the sliding block is slidably sleeved on the outside of the sliding rod, and the transmission screw rod penetrates through the inside of the sliding block.

[0010] Further, the inside of the clamping seat is slidably connected with a sliding block, and a sliding rod is arranged on the inner wall of the clamping seat, the sliding block is slidably sleeved on the outside of the sliding rod, and the transmission screw rod penetrates through the inside of the sliding block.

[0011] Further, the inside of the clamping seat is slidably connected with a sliding block, and a sliding rod is arranged on the inner wall of the clamping seat, the sliding block is slidably sleeved on the outside of the sliding rod, and the transmission screw rod penetrates through the inside of the sliding block.

[0012] Further, the inside of the clamping seat is slidably connected with a sliding block, and a sliding rod is arranged on the inner wall of the clamping seat, the sliding block is slidably sleeved on the outside of the sliding rod, and the transmission screw rod penetrates through the inside of the sliding block.

[0013] Further, the inside of the clamping seat is slidably connected with a sliding block, and a sliding rod is arranged on the inner wall of the clamping seat, the sliding block is slidably sleeved on the outside of the sliding rod, and the transmission screw rod penetrates through the inside of the sliding block.

[0014] In the above technical scheme, the utility model provides a mechanical hand convenient to change chuck,

[0015] 1. By setting up the clamping seat, the moving block, the chuck body, the insert block, the fixed block, the fixed rod, the lifting rod and the fixed spring, the fixed block and the fixed rod are driven to move up by pulling the lifting rod upward, the fixed rod can be moved out of the inside of the insert block, the chuck body is pulled away from the moving block, the chuck body can be detached from the moving block, the function of changing different chuck bodies according to the shape of different objects to be clamped is realized, and the problem that the object is easily dropped from the chuck body because the chuck body and the shape of the object to be clamped are not matched is solved.

[0016] 2. By setting the motor, the transmission screw rod, the sliding block, the sliding rod, the rotating seat and the connecting rod, the motor can drive the transmission screw rod to rotate and thread the sliding block, the sliding block can drive the connecting rod to move down, the connecting rod can drive the moving block and the chuck body to move due to the action of the rotating seat, and the object can be clamped.

[0017] 3. By setting the lifting plate, moving wheel, guide groove, guide block, long neck screw and triangular block, rotating the long neck screw can drive the triangular block to move and press the inclined surface of the lifting plate, so that the lifting plate drives the moving wheel to descend, and the moving wheel contacts the ground, facilitating the movement of the mechanical hand, and when the mechanical hand does not need to be moved, the moving wheel can be raised and stored in the inside of the base, so that the surface of the base in contact with the ground is wider, ensuring the stability of the base. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0019] Figure 1 A three-dimensional structure schematic view of an embodiment of the utility model discloses a mechanical hand convenient to replace a chuck is provided.

[0020] Figure 2 A chuck holder structure schematic view of an embodiment of the utility model discloses a mechanical hand convenient to replace a chuck is provided.

[0021] Figure 3 A chuck body replacement structure schematic view of an embodiment of the utility model discloses a mechanical hand convenient to replace a chuck is provided.

[0022] Figure 4 A base structure schematic view of an embodiment of the utility model discloses a mechanical hand convenient to replace a chuck is provided.

[0023] Explanation of reference signs:

[0024] 1, base; 2, mechanical arm; 3, chuck holder; 4, moving block; 5, chuck body; 6, plug-in block; 7, fixed block; 8, fixed rod; 9, lifting rod; 10, fixed spring; 11, motor; 12, transmission screw; 13, sliding block; 14, sliding rod; 15, rotating seat; 16, connecting rod; 17, lifting plate; 18, moving wheel; 19, guide groove; 20, guide block; 21, long neck screw; 22, triangular block; 23, limiting block; 24, limiting groove; 25, sliding plate; 26, lifting spring. DETAILED DESCRIPTION

[0025] In order to make those skilled in the art better understand the technical scheme of the present application, the present application will be further described in detail below with reference to the drawings.

[0026] As Figures 1-4As shown in the utility model embodiment provides a kind of mechanical hand of convenient replacement chuck, including base 1 and chuck body 5, the top of base 1 is rotatably connected with mechanical arm 2, the top of mechanical arm 2 is rotatably connected with clamping seat 3, and the inside of clamping seat 3 is slidably connected with moving block 4, the outer wall of one side of chuck body 5 is provided with several plug blocks 6 inserted in the inside of moving block 4, and the inside of moving block 4 is slidably connected with fixed block 7, the outer wall of one side of fixed block 7 is provided with several fixed rods 8, and fixed rod 8 is inserted in the inside of plug block 6, the outer wall of the top of fixed block 7 is provided with lifting rod 9 extending to the top of moving block 4, and the inner wall of the top of moving block 4 is provided with fixed spring 10 connected with fixed block 7.

[0027] The utility model provides a kind of mechanical hand of convenient replacement chuck, including base 1 and chuck body 5, the top of base 1 is rotatably connected with mechanical arm 2, the top of mechanical arm 2 is rotatably connected with clamping seat 3, and the inside of clamping seat 3 is slidably connected with moving block 4, the outer wall of one side of chuck body 5 is provided with several plug blocks 6 inserted in the inside of moving block 4, and the inside of moving block 4 is slidably connected with fixed block 7, the outer wall of one side of fixed block 7 is provided with several fixed rods 8, and fixed rod 8 is inserted in the inside of plug block 6, the outer wall of the top of fixed block 7 is provided with lifting rod 9 extending to the top of moving block 4, and the inner wall of the top of moving block 4 is provided with fixed spring 10 connected with fixed block 7, upwardly pulling lifting rod 9 drives fixed block 7 and fixed rod 8 to move upwards, makes fixed rod 8 from the inside of plug block 6 remove, pull chuck body 5 in the direction of moving away from moving block 4 and detach chuck body 5 from moving block 4, can change different chuck body 5 according to the shape of different objects to be clamped, so that chuck body 5 is more matched with the shape of the object to be clamped, can be more tightly clamped to the object, can prevent the object from falling off from chuck body 5.

[0028] By being provided with: upwardly pulling lifting rod 9 drives fixed block 7 and fixed rod 8 to move upwards, can make fixed rod 8 from the inside of plug block 6 remove, pull chuck body 5 in the direction of moving away from moving block 4, chuck body 5 can be detached from moving block 4, realize the function of changing different chuck body 5 according to the shape of different objects to be clamped, solve the problem that chuck body 5 is not matched with the shape of the object to be clamped and makes the object easily fall off from chuck body 5.

[0029] In one embodiment of the utility model, Figure 2 As shown, the inner wall of clamping seat 3 is fixed with motor 11 by bolt, and transmission screw rod 12 is arranged on the output shaft of motor 11.

[0030] In another embodiment of the utility model, Figure 2As shown, the inside of the clamping seat 3 is slidably connected with a sliding block 13, and the inner wall of the clamping seat 3 is provided with a sliding rod 14, the sliding block 13 is slidably sleeved on the outside of the sliding rod 14, and the transmission screw rod 12 is screwed into the inside of the sliding block 13, and the transmission screw rod 12 and the sliding block 13 are screwed to enable the sliding block 13 to move.

[0031] In another embodiment of the utility model, as shown in the figure, Figure 2 As shown, the inside of the clamping seat 3 is provided with a sliding plate 25, and the moving block 4 is slidably sleeved on the outside of the sliding plate 25, the outer walls of the moving block 4 and the sliding block 13 are both provided with rotating seats 15, the inside of the adjacent two rotating seats 15 is rotatably connected with a connecting rod 16, and the sliding plate 25 can guide the moving block 4.

[0032] In one embodiment of the utility model, as shown in the figure, Figure 4 As shown, the inside of the base 1 is slidably connected with a lifting plate 17, the outer wall of the bottom of the lifting plate 17 is fixedly provided with a moving wheel 18 through bolts, the inner walls of the two sides of the base 1 are both provided with guide grooves 19, and the outer walls of the two sides of the lifting plate 17 are both provided with guide blocks 20 slidably connected in the inside of the guide grooves 19, and the guide grooves 19 can guide the guide blocks 20.

[0033] In another embodiment of the utility model, as shown in the figure, Figure 4 As shown, the outer wall of one side of the base 1 is threadedly connected with a long neck screw rod 21, one end of the long neck screw rod 21 located in the inside of the base 1 is rotatably connected with a triangular block 22 through a bearing, and rotating the long neck screw rod 21 can drive the triangular block 22 to move and press the inclined surface of the lifting plate 17.

[0034] In another embodiment of the utility model, as shown in the figure, Figure 4 As shown, the outer wall of the top of the triangular block 22 is integrally connected with a limiting block 23, the inner wall of the top of the base 1 is provided with a limiting groove 24, the limiting block 23 is slidably connected in the inside of the limiting groove 24, the inner wall of the limiting groove 24 is provided with a lifting spring 26 connected with the limiting block 23, and the lifting spring 26 can drive the limiting block 23 and the lifting plate 17 to move upwards.

[0035] Working principle: according to the shape of the object to be clamped, the chuck body 5 can be replaced to ensure the stability of the chuck body 5 to the object, the fixed block 7 and the fixed rod 8 are pulled up to move upwards, the fixed rod 8 can be moved out from the inside of the plug block 6, the chuck body 5 is pulled away from the moving block 4, the chuck body 5 can be disassembled from the moving block 4, different chuck bodies 5 can be replaced according to the shape of the object to be clamped, the chuck body 5 is more matched with the shape of the object to be clamped, the object can be clamped more tightly, the object can be prevented from falling off the chuck body 5, the motor 11 drives the transmission screw 12 to rotate and the sliding block 13 is screwed, the sliding block 13 drives the connecting rod 16 to move downwards, due to the action of the rotating seat 15, the connecting rod 16 drives the moving block 4 and the chuck body 5 to move, the two chuck bodies 5 can clamp the object, when the sliding block 13 moves, the sliding rod 14 can guide the sliding block 13, the moving block 4 slides on the sliding plate 25, the moving block 4 and the chuck body 5 can move parallelly, when the mechanical hand needs to be moved, the long neck screw 21 drives the triangular block 22 to move, the triangular block 22 presses the inclined surface of the lifting plate 17, the lifting plate 17 drives the moving wheel 18 to descend, the moving wheel 18 contacts the ground, the mechanical hand is convenient to move, when the lifting plate 17 ascends, the limiting groove 24 can guide the limiting block 23 and the lifting plate 17, when the mechanical hand does not need to be moved, the moving wheel 18 can be lifted and stored in the inside of the base 1, the surface of the base 1 contacting the ground is wider, the stability of the base 1 is ensured, and the base 1 is prevented from sliding.

[0036] The above only describes some exemplary embodiments of the utility model in a manner of description, without doubt, for ordinary skilled person in the art, the described embodiments can be modified in various ways without departing from the spirit and scope of the utility model. Therefore, the above drawings and description are illustrative in nature and should not be understood as limiting the scope of protection of the utility model claims.

Claims

1. A mechanical hand for facilitating replacement of a collet, comprising a base (1) and a collet body (5), characterized in that, The top of the base (1) is rotatably connected with a mechanical arm (2), the top end of the mechanical arm (2) is rotatably connected with a clamping seat (3), the inside of the clamping seat (3) is slidably connected with a moving block (4), a plurality of plug blocks (6) are arranged on the outer wall of one side of the clamping head body (5) and are plugged into the inside of the moving block (4), the inside of the moving block (4) is slidably connected with a fixed block (7), a plurality of fixed rods (8) are arranged on the outer wall of one side of the fixed block (7) and are plugged into the inside of the plug block (6), the outer wall of the top of the fixed block (7) is provided with a lifting rod (9) extending to the top of the moving block (4), and the inner wall of the top of the moving block (4) is provided with a fixed spring (10) connected with the fixed block (7).

2. The mechanical hand of claim 1 wherein, The inner wall of the clamping seat (3) is fixedly provided with a motor (11) through bolts, and the output shaft of the motor (11) is provided with a transmission screw rod (12).

3. The mechanical hand of claim 2 wherein, The inside of the clamping seat (3) is slidably connected with a sliding block (13), and the inner wall of the clamping seat (3) is provided with a sliding rod (14), the sliding block (13) is slidably sleeved on the outside of the sliding rod (14), and the transmission screw rod (12) is threaded through the inside of the sliding block (13).

4. The mechanical hand of claim 3 wherein, The inside of the clamping seat (3) is provided with a sliding plate (25), and the moving block (4) is slidably sleeved on the outside of the sliding plate (25), the outer walls of the moving block (4) and the sliding block (13) are both provided with a rotating seat (15), and the inside of adjacent two rotating seats (15) is rotatably connected with a connecting rod (16).

5. The mechanical hand of claim 4 wherein, The inside of the base (1) is slidably connected with a lifting plate (17), and the outer wall of the bottom of the lifting plate (17) is fixedly provided with a moving wheel (18) through bolts, the inner walls of the two sides of the base (1) are both provided with a guide groove (19), and the outer walls of the two sides of the lifting plate (17) are both provided with a guide block (20) slidably connected in the inside of the guide groove (19).

6. The mechanical hand of claim 5 wherein, The outer wall of one side of the base (1) is threadedly plugged with a long-necked screw rod (21), and one end of the long-necked screw rod (21) located in the inside of the base (1) is rotatably connected with a triangular block (22) through a bearing.

7. The mechanical hand of claim 6 wherein, The outer wall of the top of the triangular block (22) is integrally connected with a limiting block (23), and the inner wall of the top of the base (1) is provided with a limiting groove (24), the limiting block (23) is slidably connected in the inside of the limiting groove (24), and the inner wall of the limiting groove (24) is provided with a lifting spring (26) connected with the limiting block (23).

Images