Clamping mechanism of manipulator

Abstract

The utility model discloses a clamping mechanism of a manipulator, which comprises a plate-shaped base, at least two bearing seats are mounted on the base, the bearing seats are perpendicular to the base, and a connecting seat is mounted in the center of the base; a driving motor is installed on the base, the output end of the driving motor is sleeved with a first synchronous belt wheel, a rotating shaft is rotatably installed in each bearing seat, one end of each rotating shaft extends upwards out of the corresponding bearing seat and is provided with a second synchronous belt wheel, and the other end of each rotating shaft is provided with a clamping hand; the second synchronous belt wheels and the first synchronous belt wheels are mounted on the same synchronous belt; a supporting plate is horizontally mounted at one end of the clamping hand deviating from the rotating shaft; the clamping hand is a similar V-shaped section bar with two connected fins, and the clamping hand is provided with connected corner ends. After the clamping mechanism and the mechanical arm are combined, a battery of the composite robot can be used for driving the motor to realize opening and closing of a clamp gripper, and compared with an air cylinder driving mode, the composite robot is low in noise and light in weight.

Description

TECHNICAL FIELD

[0001] The utility model relates to battery processing equipment especially a clamping mechanism of mechanical hand. BACKGROUND

[0002] In the battery package production process, the hard paperboard for making paper box placed in the plastic box is placed to the material placing place of automatic box filling machine, and then the paper box board is folded into a paper box by the automatic box filling machine through a mechanical mechanism. Usually, the process of taking and placing the paper box board is completed by manual work, and the workload and labor intensity are large. In order to reduce the labor intensity of the operator and improve the automation and intelligent level of the equipment, a full-automatic paper box paperboard feeding system needs to be developed, and the clamping mechanism for clamping and stacking the hard paperboard is the key link to realize the automation of paper box paperboard feeding. SUMMARY

[0003] The utility model discloses a kind of clamping mechanisms of mechanical hand.

[0004] The technical scheme for achieving the utility model is as follows: a clamping mechanism of mechanical hand, comprising horizontally arranged plate-shaped base, at least two bearing seats are installed on the base, the axial direction of the bearing seat is perpendicular to the base, and a connecting seat for installing a mechanical arm is installed at the center of the base; a driving motor is installed on the base, a first synchronous pulley is sleeved on the output end of the driving motor, a rotating shaft is rotatably installed in each bearing seat, one end of the rotating shaft extends out of the bearing seat upward and a second synchronous pulley is installed at the end, and a clamping hand for clamping materials is installed at the other end of the rotating shaft; each second synchronous pulley and the first synchronous pulley are installed on the same synchronous belt; the clamping hand is perpendicular to the base, a supporting plate is horizontally installed at one end of the clamping hand away from the rotating shaft, and the vertical distance between the base and the supporting plate is slightly greater than the thickness of the material to be clamped; the clamping hand is a V-shaped profile with two wings connected, the connection between the two wings is a corner end, each clamping hand has a first position and a second position, the corner end of each clamping hand is away from the material at the first position, the corner end is directed towards the material at the second position, and each wing is in contact with the material, the supporting plate is located outside the material at the first position, and the supporting plate is located below the material at the second position.

[0005] Further, four bearing seats are installed on the base, and each two second synchronous pulleys form a clamping pair.

[0006] Further, the clamping hand is an integral structure.

[0007] Further, the corner end is circularly transitioned.

[0008] Further, the supporting plate is a fan shape.

[0009] Further, the base is an I shape, reducing the weight of the clamping mechanism.

[0010] Further, a tensioning wheel is installed between the first synchronous belt wheel and the second synchronous belt wheel.

[0011] The utility model discloses a clamping mechanism of mechanical hand and mechanical arm combine mechanical hand, can utilize the battery of mechanical hand to drive motor, realize the opening and closing of the clamp gripper, compared with the noise of cylinder drive mode is small, and the quality is light, and the use time of self-contained battery is prolonged. Meanwhile, the V type hand in the process of realizing the clamping and releasing of material, uneven material edge is also arranged flat, so that the material is placed to the fixed position of the box filling machine, and the material edge is not easy to be damaged, and the paper box scrap rate is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is the structural schematic diagram of the clamping mechanism of the mechanical hand of the utility model embodiment;

[0013] Figure 2 It is the structural schematic diagram of the clamping mechanism of the mechanical hand of the utility model embodiment. DETAILED DESCRIPTION

[0014] The preferred embodiments of the utility model are described in detail below in combination with the drawings.

[0015] As Figure 1 and Figure 2As shown, a clamping mechanism of a mechanical hand comprises a horizontally arranged plate-shaped base 1, the base 1 is in the shape of an I-beam, four corners of the base 1 are respectively provided with a bearing seat 2, the bearing seat 2 is arranged vertically to the base 1, four bearing seats 2 are arranged in the shape of an isosceles trapezoid, and a connecting seat 3 for mounting a mechanical arm is mounted at the center of the space enclosed by the four bearing seats 2; a driving motor 4 is mounted on the base 1, and a first synchronous pulley 5 is sleeved on the output end of the driving motor 4; a rotating shaft 6 is rotatably mounted in each bearing seat 2, one end of the rotating shaft 6 extends out of the bearing seat 2 upward and is provided with a second synchronous pulley 7 at the end, and the other end of the rotating shaft 6 is provided with a clamping hand 8; each second synchronous pulley 7 and the first synchronous pulley 5 are mounted on the same synchronous belt 9, a tension pulley 10 is mounted between the first synchronous pulley 5 and the second synchronous pulley 7, and each two second synchronous pulleys 7 form a clamping pair; the clamping hand 8 is arranged vertically to the base 1, the clamping hand 8 is a V-shaped profile with two wings 81 abutting each other, the abutting position of the two wings 81 is a corner end 82, and a fan-shaped supporting plate 11 is horizontally mounted on one end of the clamping hand 8 away from the rotating shaft 6, and the vertical distance A between the base 1 and the supporting plate 11 is slightly greater than the thickness B of the material 100 to be clamped.

[0016] The connecting seat 1 of the clamping mechanism of the mechanical hand realized in the embodiment is mounted on a mechanical arm (not shown) to form a mechanical hand, and the working principle is as follows:

[0017] 1) In the initial state, the corner end 81 of each clamping hand 8 is arranged away from the corner of the material 100 to be clamped at the first position, the base 1 is driven downward by the mechanical arm to abut against the upper surface of the material 100 to be clamped, and the clamping hand 8 is located at each corner of the material 100, at this time, the supporting plate 11 is located outside the material 100, the fan-shaped sharp corner 111 of the supporting plate 11 faces the corner side of the material 100, and the corner end 82 of each clamping hand 8 is away from the material 100, which is the first position of the clamping hand 8.

[0018] 2) Then the battery of the mechanical arm drives the driving motor 4 to rotate, drives the first synchronous pulley 5 to rotate, and drives the second synchronous pulley 7 to rotate together, and the second synchronous pulley 7 drives the clamping hand 8 to rotate 180 degrees to the second position, at this time, each corner end faces the corner of the material and each wing 81 abuts against the corner of the material 100, and in this process, the uneven edges of the material are also arranged flat, the supporting plate 11 at the lower end of the clamping hand 8 is turned into the lower side of the material 100, and the material 100 can be lifted when the mechanical arm is lifted. Realize the transfer of the material.

[0019] 3) After the material 100 is transferred to the position, the driving motor 4 rotates, the clamping hand 8 and the supporting plate 11 return to the first position, and are separated from the material.

[0020] The number of bearing seats and second synchronous pulleys is not limited to the embodiment, and the bearing seats can be configured according to the size and shape of the clamped material. For example, when the material is small, only two second synchronous pulleys are needed to complete the clamping operation, and when the material is long, four second synchronous pulleys are arranged to clamp more stably. In the embodiment, the width of the material to be clamped is different, so the four bearing seats are arranged in isosceles trapezoidal shape. The shape of the base is not limited to an I-shaped type, and can be a trapezoidal plate, but the I-shaped type is beneficial to reduce the weight of the clamping mechanism. The corner end of the clamping handle can be arc-shaped or sharp-angled. The tension pulley is arranged as needed to improve the stability of the clamping action. The shape of the supporting plate is not limited to a fan shape, and can be other structures, as long as the supporting plate is located outside the material at the first position and below the material at the second position.

[0021] The above is only an embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent process transformation or direct or indirect application in other related technical fields according to the content of the utility model specification is also included in the patent protection range of the utility model.

Claims

1. A gripping mechanism of a robot hand, characterized by: It includes horizontally arranged plate-shaped base, the base is installed with at least two bearing seats, the axial direction of bearing seat is perpendicular to the base, the center of base is installed with connecting seat for installing mechanical arm; The base is installed with driving motor, the output end of driving motor is sleeved with first synchronous pulley, each bearing seat is rotatably installed with rotating shaft, one end of rotating shaft extends out of bearing seat and is installed with second synchronous pulley at the end, the other end of rotating shaft is installed with clamping hand for clamping material; Each second synchronous pulley and first synchronous pulley are installed on the same synchronous belt; The clamping hand is perpendicular to the base, the end of clamping hand away from rotating shaft is horizontally installed with supporting plate, the vertical distance between base and supporting plate is slightly greater than the thickness of material to be clamped; The clamping hand is V-shaped profile with two wings connected, the connecting part of two wings is corner end, each clamping hand has first position and second position, the corner end of each clamping hand is away from the material at first position, the corner end of each clamping hand is towards the material at second position and each wing is in contact with the material, the supporting plate is located outside the material at first position, the supporting plate is located below the material at second position.

2. The gripping mechanism of the robot hand according to claim 1, characterized in that: Four bearing seats are installed on the base, and each two second synchronous pulleys form a clamping pair.

3. The gripping mechanism of the robot hand according to claim 1, characterized in that: The clamping hand is an integral structure.

4. The gripping mechanism of the robot manipulator according to claim 3, characterized in that: The corner end is circularly transitioned.

5. The gripping mechanism of the robot hand according to claim 1, characterized in that: The supporting plate is fan-shaped.

6. The gripping mechanism of the robot hand according to claim 1, characterized in that: The base is I-shaped.

7. The gripping mechanism of the robot hand according to claim 1, characterized in that: A tension pulley is installed between the first synchronous pulley and the second synchronous pulley.

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