Manipulator with adjustable manipulator spacing

Abstract

The utility model discloses a manipulator with an adjustable manipulator distance, belongs to the technical field of manipulators, and aims to solve the problems that the lengths of clamping arms of most manipulators cannot be adjusted, and an object can only be clamped from the two sides of the object, so that the clamping effect on the object is poor. Comprising a shell, clamping arms arranged on the two sides of the shell, a first motor fixed to one end of the shell, a circular gear fixedly arranged at the output end of the first motor in a sleeving mode and located in an inner cavity of the shell, racks arranged at the upper end and the lower end of the circular gear in a meshed mode and an arm adjusting mechanism acting on the clamping arms. According to the clamping device, the total length between the second motor and the sliding arm can be adjusted to adapt to clamping operation of objects with different thicknesses and sizes, the object clamping effect can be further improved through the supporting effect of the supporting plate on the bottoms of the objects in the clamping process, and therefore the applicability of the clamping device is improved.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a robotic arm with adjustable spacing. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both humans and machines.

[0003] In existing robotic arms, the spacing between the gripping arms can be adjusted to accommodate objects of different sizes. However, the length of the gripping arms of most robotic arms cannot be adjusted and they can only grip objects from both sides, resulting in poor gripping performance and limiting the use of the device.

[0004] Therefore, there is a need for a robotic arm with adjustable gripper spacing to solve the problem that most existing robotic arms cannot adjust their gripper arm length and can only grip objects from both sides, resulting in poor gripping performance. Utility Model Content

[0005] The purpose of this invention is to provide a robotic arm with adjustable spacing to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a manipulator with adjustable spacing, comprising a housing, gripping arms disposed on both sides of the housing, a first motor fixed to one end of the housing, a circular gear fixedly sleeved at the output end of the first motor located in the inner cavity of the housing, a rack meshing with the upper and lower ends of the circular gear, and an arm adjustment mechanism acting on the gripping arms. One side of the rack is fixed to the surface of the gripping arm at an adjacent position. The output end of the first motor is rotatably connected to the inner cavity surface of the housing, and the rack is slidably connected to the inner walls on both sides of the housing.

[0007] The adjusting arm mechanism includes a positioning groove at the bottom of the clamping arm, a sliding arm slidably inserted into the cavity of the positioning groove, a rubber pad fixed to one side of the two sliding arms that are close to each other, and a movable component that acts on the sliding arm.

[0008] It should be noted in the solution that the movable component includes a second motor fixed to the top of the clamping arm, a threaded rod fixed to the output end of the second motor, a limiting ring groove fixed to the bottom of the threaded rod, an inner groove opened in the inner cavity of the sliding arm, and a threaded hole communicating with the top of the inner groove.

[0009] It is further worth noting that the threaded rod and the threaded hole are connected by a thread, the limiting ring groove and the inner groove are connected by a sliding connection, the diameter of the limiting ring groove is larger than the diameter of the threaded hole, and the threaded rod is rotatably connected to the inner wall of the clamping arm at the middle position.

[0010] Furthermore, it should be noted that the adjusting arm mechanism also includes a support assembly acting on the sliding arm. The support assembly includes a support plate that is slidably inserted through the bottom of the sliding arm, spring telescopic rods fixed to both ends of the inner surface of the support plate, a limiting shaft fixed to the two clamping arms on opposite sides, and a limiting sleeve that is slidably sleeved on the outer circumference of the limiting shaft.

[0011] In a preferred embodiment, the bottom of the limiting sleeve is fixed to the surface of the support plate, and one side of the spring telescopic rod is fixed to the surface of the sliding arm.

[0012] In a preferred embodiment, the arm adjustment mechanism further includes a buffer assembly, which includes a support rod fixed to the upper and lower ends of the inner cavity surface of the housing and a positioning sleeve slidably sleeved at the middle position of the outer circumference of the support rod.

[0013] In a preferred embodiment, the buffer assembly further includes connecting springs sleeved on both sides of the outer circumferential surface of the support rod, with one side of the connecting springs fixed to the inner wall of the housing.

[0014] Compared with the prior art, the robotic arm with adjustable spacing provided by this utility model has at least the following beneficial effects:

[0015] (1) By starting the second motor, the sliding arm can move in the vertical direction, thereby adjusting the total length between the second motor and the sliding arm to adapt to the clamping operation of objects of different thicknesses. In addition, during the clamping process, the support plate can further improve the clamping effect on the bottom of the object, thereby improving the applicability of the device.

[0016] (2) The meshing action between the spur gear and the two racks can limit the movement trajectory of the racks under the limiting action of the positioning sleeve and the support rod. Furthermore, under the abutting action between the positioning sleeve and the connecting spring and the extension and resetting function of the connecting spring itself, it can buffer the movement of the two racks to the maximum and minimum states, thereby further improving the applicability of the device. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention from the front view.

[0018] Figure 2In this utility model Figure 1 Enlarged structural diagram at point A;

[0019] Figure 3 This is a three-dimensional structural diagram of the present invention from the rear view direction;

[0020] Figure 4 This is a three-dimensional cross-sectional view of a portion of the structure of this utility model;

[0021] Figure 5 This is a three-dimensional cross-sectional view of the clamping arm in this utility model.

[0022] In the diagram: 1. Housing; 2. Clamping arm; 3. First motor; 4. Circular gear; 5. Rack; 6. Support rod; 7. Positioning sleeve; 8. Connecting spring; 9. Rubber pad; 10. Sliding arm; 11. Second motor; 12. Positioning groove; 13. Threaded rod; 14. Inner groove; 15. Threaded hole; 16. Limiting ring groove; 17. Support plate; 18. Limiting shaft; 19. Limiting sleeve; 20. Spring telescopic rod. Detailed Implementation

[0023] The following description is intended to disclose the present invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious variations will be apparent to those skilled in the art.

[0024] Example 1

[0025] Please see Figure 1-5 This utility model provides a manipulator with adjustable spacing, including a housing 1, clamping arms 2 disposed on both sides of the housing 1, a first motor 3 fixed to one end of the housing 1, a circular gear 4 fixedly sleeved on the output end of the first motor 3 located in the inner cavity of the housing 1, a rack 5 meshing with the upper and lower ends of the circular gear 4, and an arm adjustment mechanism acting on the clamping arms 2. One side of the rack 5 is fixed to the surface of the adjacent clamping arm 2, the output end of the first motor 3 is rotatably connected to the inner cavity surface of the housing 1, and the rack 5 is slidably connected to the inner walls on both sides of the housing 1.

[0026] The arm adjustment mechanism includes a positioning groove 12 opened at the bottom of the clamping arm 2, a sliding arm 10 slidably inserted into the cavity of the positioning groove 12, a rubber pad 9 fixed to one side of the two sliding arms 10 that are close to each other, and a movable component that acts on the sliding arm 10.

[0027] When it is necessary to reduce the distance between the clamping arms 2 to clamp an object, the first motor 3 is started to rotate the sprocket 4. Under the meshing action between the sprocket 4 and the rack 5, the two racks 5 make opposite translational movements, thereby reducing the distance between the clamping arms 2 to clamp the object. Furthermore, the setting of the rubber pad 9 can improve the clamping effect of the clamping arms 2 on the object. The movable component can increase the total length between the clamping arms 2 and the sliding arm 10, thereby adapting to the clamping operation of objects with different thicknesses and sizes.

[0028] Please see Figure 1-5 The movable components include a second motor 11 fixed to the top of the clamping arm 2, a threaded rod 13 fixed to the output end of the second motor 11, a limiting annular groove 16 fixed to the bottom of the threaded rod 13, an inner groove 14 opened in the inner cavity of the sliding arm 10, and a threaded hole 15 communicating with the top of the inner groove 14. The threaded rod 13 and the threaded hole 15 are threadedly connected, the limiting annular groove 16 and the inner groove 14 are slidably connected, the diameter of the limiting annular groove 16 is larger than the diameter of the threaded hole 15, and the threaded rod 13 is rotatably connected to the middle position of the inner wall of the clamping arm 2.

[0029] By starting the second motor 11, the threaded rod 13 is rotated. Since the inner wall of the positioning groove 12 can resist and limit the sliding arm 10, the sliding arm 10 can move in the vertical direction. Thus, under the cooperation of the threaded structure between the threaded hole 15 and the threaded rod 13, the sliding arm 10 can move in the vertical direction, thereby extending the position of the sliding arm 10 inside the positioning groove 12 out of the outside of the clamping arm 2, thereby increasing the total length of the clamping arm 2 and the sliding arm 10, so as to adapt to the clamping operation of objects with different thicknesses. Furthermore, the resistance between the limiting ring groove 16 and the inner groove 14 further improves the smoothness of the movement of the sliding arm 10. And the resistance between the threaded hole 15 and the limiting ring groove 16 prevents the sliding arm 10 from completely disengaging from the inside of the positioning groove 12 and from the outer circumference of the threaded rod 13.

[0030] Please see Figure 1-5 The adjusting arm mechanism also includes a support assembly acting on the sliding arm 10. The support assembly includes a support plate 17 that is slidably inserted through the bottom of the sliding arm 10, spring telescopic rods 20 fixed to both ends of the inner surface of the support plate 17, a limiting shaft 18 fixed to one side of the two clamping arms 2 that are far apart from each other, and a limiting sleeve 19 that is slidably sleeved on the outer circumferential surface of the limiting shaft 18. The bottom of the limiting sleeve 19 is fixed to the surface of the support plate 17, and one side of the spring telescopic rod 20 is fixed to the surface of the sliding arm 10.

[0031] When the clamping arms 2 clamp the two sides of the object, the support plates 17 can slide in opposite directions due to the contact between the support plates 17 and the object, and the limiting action of the limiting shaft 18 and the limiting sleeve 19, as well as the support action of the inner wall of the sliding arm 10. This causes the spring telescopic rod 20 to deform. After the support plates 17 move to the bottom of the object and extend the total length of the clamping arms 2 and the sliding arm 10, the support plates 17 can return to their original position under the rebound force of the spring telescopic rod 20. This improves the clamping effect of the object by supporting the bottom of the object with the support plates 17.

[0032] Example 2

[0033] Reference Figure 1-5 As shown, the adjusting arm mechanism includes a buffer assembly, which includes a support rod 6 fixed at the upper and lower ends of the inner cavity surface of the housing 1, a positioning sleeve 7 slidably sleeved at the middle position of the outer periphery of the support rod 6, and connecting springs 8 sleeved on both sides of the outer periphery of the support rod 6. One side of the connecting spring 8 is fixed to the inner wall of the housing 1.

[0034] Since the positioning sleeve 7 can only slide on the outer circumferential surface of the support rod 6 and under the connection of the positioning sleeve 7, it can limit the movement trajectory of the rack 5. Furthermore, under the contact between the positioning sleeve 7 and the connecting spring 8, and under the extension and resetting function of the connecting spring 8 itself, it can buffer the movement of the two racks 5 to the maximum and minimum states, thereby improving the stability when clamping objects.

Claims

1. A manipulator with adjustable spacing, comprising a housing (1), clamping arms (2) disposed on both sides of the housing (1), a first motor (3) fixed to one end of the housing (1), a circular gear (4) fixedly sleeved at the output end of the first motor (3) located in the inner cavity of the housing (1), and racks (5) meshing with the upper and lower ends of the circular gear (4), characterized in that: It also includes an arm adjustment mechanism acting on the clamping arm (2), one side of the rack (5) is fixed to the surface of the clamping arm (2) at an adjacent position, the output end of the first motor (3) is rotatably connected to the inner cavity surface of the housing (1), and the rack (5) is slidably connected to the inner walls on both sides of the housing (1). The adjusting arm mechanism includes a positioning groove (12) at the bottom of the clamping arm (2), a sliding arm (10) slidably inserted into the cavity of the positioning groove (12), a rubber pad (9) fixed to one side of the two sliding arms (10) that are close to each other, and a movable component that acts on the sliding arm (10).

2. The manipulator with adjustable spacing according to claim 1, characterized in that: The movable component includes a second motor (11) fixed to the top of the clamping arm (2), a threaded rod (13) fixed to the output end of the second motor (11), a limiting annular groove (16) fixed to the bottom of the threaded rod (13), an inner groove (14) opened in the inner cavity of the sliding arm (10), and a threaded hole (15) communicating with the top of the inner groove (14).

3. The manipulator with adjustable spacing according to claim 2, characterized in that: The threaded rod (13) is threadedly connected to the threaded hole (15), the limiting ring groove (16) is slidably connected to the inner groove (14), the diameter of the limiting ring groove (16) is larger than the diameter of the threaded hole (15), and the threaded rod (13) is rotatably connected to the middle position of the inner wall of the clamping arm (2).

4. The manipulator with adjustable spacing according to claim 1, characterized in that: The arm adjustment mechanism also includes a support assembly acting on the sliding arm (10). The support assembly includes a support plate (17) that is slidably inserted through the bottom of the sliding arm (10), a spring telescopic rod (20) fixed to both ends of the inner surface of the support plate (17), a limiting shaft (18) fixed to one side away from each other of the two clamping arms (2), and a limiting sleeve (19) that is slidably sleeved on the outer circumferential surface of the limiting shaft (18).

5. A robotic arm with adjustable spacing according to claim 4, characterized in that: The bottom of the limiting sleeve (19) is fixed to the surface of the support plate (17), and one side of the spring telescopic rod (20) is fixed to the surface of the sliding arm (10).

6. The manipulator with adjustable spacing according to claim 1, characterized in that: The arm adjustment mechanism also includes a buffer assembly, which includes a support rod (6) fixed to the upper and lower ends of the inner cavity surface of the housing (1) and a positioning sleeve (7) slidably sleeved at the middle position of the outer periphery of the support rod (6).

7. A robotic arm with adjustable spacing according to claim 6, characterized in that: The buffer assembly also includes connecting springs (8) sleeved on both sides of the outer periphery of the support rod (6), and one side of the connecting springs (8) is fixed to the inner wall of the housing (1).

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