Robotic multi-gripper device

Abstract

The utility model discloses a kind of robot multi-gripper devices, including mechanical arm, the bottom of the mechanical arm is provided with moving assembly, the top of the mechanical arm is provided with mounting bracket, mechanical claw is installed on the mounting bracket by connecting frame, the moving assembly includes mounting plate and sliding plate, the bottom of the mounting plate is rotatably connected with adjusting plate, the top of the mounting plate is provided with the drive mechanism for driving adjusting plate rotation, the bottom of the sliding plate is provided with universal wheel, the utility model is linked by the linkage design of speed reducer, adjusting plate, hydraulic push rod and the like component, the flexible switching of device movement and fixed state is realized, when needing to move, speed reducer drives adjusting plate to make four groups of universal wheel structure synchronous expansion outward, cooperate hydraulic push rod and universal wheel is lowered to ground, by the flexible steering characteristics of universal wheel, 360 degree free movement of device can be easily realized, improve the moving convenience of device.

Description

Technical Field

[0001] This utility model mainly relates to the field of mechanical gripper equipment technology, specifically a robot multi-gripper device. Background Technology

[0002] Mechanical gripper equipment is an automated device that uses mechanical structures to perform operations such as grasping, handling, and placing objects. It is widely used in industrial manufacturing, logistics warehousing, medical surgery, service robots and other fields. Its core function is to simulate the grasping action of the human hand and achieve precise operation of objects of different shapes, weights and materials through the movement and control of the mechanical structure.

[0003] Currently, most traditional mechanical gripper devices adopt a fixed design. This design reveals obvious deficiencies in flexibility and adaptability during actual operation, making it difficult to meet the dynamic changes in the needs of diverse operation scenarios and task objects. In order to cope with different application scenarios, mechanical grippers often need to rely on other transfer equipment or manual handling during movement. This process not only consumes time and manpower, but also leads to a significant reduction in work efficiency. Utility Model Content

[0004] This utility model provides a solution that is significantly different from existing technologies, addressing the problem that existing solutions are too simplistic. It mainly provides a multi-gripper robot device to solve the technical problems mentioned in the background, where traditional mechanical grippers are mostly fixed designs, lacking flexibility and adaptability in actual operation, and requiring the assistance of transfer equipment or manual handling during movement, which is both time-consuming and labor-intensive, and reduces work efficiency.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0006] A multi-gripper device for robots includes a robotic arm, a movable component at the bottom of the robotic arm, a mounting frame at the top of the robotic arm, and a robotic gripper mounted on the mounting frame via a connecting frame.

[0007] The movable component includes a mounting plate and a sliding plate. An adjusting plate is rotatably connected to the bottom of the mounting plate, and a driving mechanism for driving the adjusting plate to rotate is provided at the top of the mounting plate. A universal wheel is provided at the bottom of the sliding plate, and a sliding block that slides with the adjusting plate is provided at the top of the sliding plate. The adjusting plate is driven to rotate by the driving mechanism, which in turn moves the sliding plate along a preset trajectory, thereby adjusting the position of the universal wheel.

[0008] More preferably, the movable component includes a support plate, the bottom of which is provided with a plurality of telescopic plates, each of which has a mounting block on its lower outer side, and the outer wall of the mounting block has a circular hole for mounting or connecting other components.

[0009] More preferably, the mounting plate is fixedly connected to the inner wall of a plurality of telescopic plates, and a geared motor is mounted on the top of the mounting plate. The output end of the geared motor passes through the mounting plate and is connected to the top center of the adjusting plate, for driving the adjusting plate to rotate relative to the mounting plate.

[0010] More preferably, the inner wall of the telescopic plate is equipped with a fixing plate, and the bottom of the fixing plate is equipped with a plurality of guide blocks arranged in a ring. The sliding plate, the universal wheel and the sliding block are set as a group, and there are several groups, arranged in a ring. The top of the guide block is provided with a groove that matches the outer wall of the sliding plate. The sliding plate is slidably installed in the groove so as to realize the sliding plate moving along the guide trajectory of the guide block.

[0011] More preferably, the bottom of the adjusting plate has a plurality of arc-shaped holes arranged in a ring, and the bottom of the fixing plate has a plurality of straight holes arranged in a ring. The upper and lower parts of the sliding block are respectively slidably engaged with the corresponding arc-shaped holes and straight holes, so that when the adjusting plate rotates, the sliding block is driven to move along the straight holes.

[0012] More preferably, a hydraulic push rod is installed at the bottom center of the fixed plate, and the bottom telescopic end of the hydraulic push rod is connected to the base plate to drive the base plate to move in the vertical direction to realize the switching between support and movement of the device.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] This multi-gripper robot, through the coordinated design of components such as a geared motor, an adjusting plate, and hydraulic push rods, enables flexible switching between mobile and fixed states. When movement is required, the geared motor drives the adjusting plate to simultaneously expand the four sets of omnidirectional wheels outwards, and the hydraulic push rods lower the omnidirectional wheels to the ground. Once the robot reaches the designated position, the hydraulic push rods push the base plate to contact the ground and provide support, while the geared motor drives the adjusting plate to retract the omnidirectional wheel structure inwards to save space. Thanks to the flexible steering characteristics of the omnidirectional wheels, the robot can easily move 360 ​​degrees freely, improving its mobility.

[0015] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0017] Figure 2 This is an enlarged structural diagram of the mobile component of this utility model;

[0018] Figure 3This is an exploded magnified structural diagram of the mobile component of this utility model.

[0019] Numbering on the map:

[0020] 1. Robotic arm; 2. Moving component; 201. Support plate; 202. Telescopic plate; 203. Mounting plate; 204. Gear motor; 205. Adjusting plate; 206. Fixing plate; 207. Guide block; 208. Sliding plate; 209. Caster wheel; 2010. Sliding block; 2011. Hydraulic push rod; 2012. Base plate; 3. Mounting frame; 4. Connecting frame; 5. Mechanical gripper. Detailed Implementation

[0021] To facilitate understanding of this utility model, a more comprehensive description of the utility model will be given below with reference to the accompanying drawings, which show several embodiments of the utility model. However, the utility model can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the disclosure of the utility model more thorough and comprehensive.

[0022] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0023] Please refer to the appendix carefully. Figure 1-3 A multi-gripper device for robots includes a robotic arm 1, a movable component 2 mounted on the bottom of the robotic arm 1, a mounting frame 3 mounted on the top of the robotic arm 1, robotic claws 5 mounted around the mounting frame 3 via connecting frames 4, and a robotic claw 5 mounted on the bottom of the mounting frame 3.

[0024] The movable component 2 includes a mounting plate 203 and a sliding plate 208. An adjusting plate 205 is rotatably connected to the bottom of the mounting plate 203. A drive mechanism for driving the adjusting plate 205 to rotate is installed on the top of the mounting plate 203. A caster wheel 209 is installed on the bottom of the sliding plate 208. A sliding block 2010 that slides with the adjusting plate 205 is installed on the top of the sliding plate 208. The adjusting plate 205 is driven to rotate by the drive mechanism, which drives the sliding plate 208 to move along a preset trajectory, thereby adjusting the position of the caster wheel 209.

[0025] It should be noted that the mechanical claw 5 and the mechanical arm 1 involved in this utility model both adopt existing mature mechanisms and control systems, so they will not be described in detail here.

[0026] In this embodiment, as Figure 2 and Figure 3As shown, the movable component 2 includes a support plate 201. Multiple telescopic plates 202 are installed on the bottom of the support plate 201. Each telescopic plate 202 has a mounting block on its lower outer side. Bolts, pins and other connecting parts can be used to install the movable component 2 to the installation position and fix the device as needed.

[0027] In this embodiment, as Figure 2 and Figure 3 As shown, the mounting plate 203 is fixedly connected to the upper part of the inner wall of several telescopic plates 202. A geared motor 204 is mounted on its top. The output end of the geared motor 204 passes through the mounting plate 203 and is connected to the top center of the adjusting plate 205. When the geared motor 204 drives the adjusting plate 205 to rotate, the four sets of sliding plates 208, casters 209 and sliding blocks 2010 can simultaneously retract inward or expand outward. After expanding outward, the four casters 209 can play a role, making the device easy to move.

[0028] In this embodiment, as Figure 2 and Figure 3 As shown, a fixing plate 206 is fixedly installed on the inner wall of the telescopic plate 202. The fixing plate 206 is fixedly connected to the upper fixed part of the inner wall of several telescopic plates 202. Four guide blocks 207 arranged in a circular array are provided at the bottom of the fixing plate 206. The sliding plate 208, the universal wheel 209 and the sliding block 2010 constitute a set of structures. The four sets of structures are arranged in a circular array. The top of the guide block 207 is provided with a groove that matches the shape of the outer wall of the sliding plate 208. The sliding plate 208 can slide in the groove. When the four sets of sliding plates 208, universal wheel 209 and sliding block 2010 structures retract inward or expand outward simultaneously, the sliding plate 208 slides in the groove of the corresponding guide block 207. This design can improve the stability of the four sets of sliding plates 208, universal wheel 209 and sliding block 2010 during the movement process.

[0029] In this embodiment, as Figure 2 and Figure 3 As shown, the bottom of the adjusting plate 205 has several arc-shaped holes arranged in a circular array, while the bottom of the fixed plate 206 has several straight holes arranged in a circular array. The upper and lower parts of the sliding block 2010 form a sliding fit with the corresponding arc-shaped holes and straight holes, respectively. When the adjusting plate 205 rotates, the fit between its arc-shaped holes and the sliding block 2010 can drive the corresponding caster wheel 209 and the sliding block 2010 to move, thereby enabling the four sets of sliding plates 208, caster wheel 209 and sliding block 2010 structures to synchronously retract inward or expand outward. At the same time, the movement of the sliding block 2010 within the straight holes of the fixed plate 206 can improve the stability of the sliding plates 208, caster wheel 209 and sliding block 2010 during movement.

[0030] In this embodiment, as Figure 2 and Figure 3 As shown, a hydraulic push rod 2011 is installed at the bottom center of the fixed plate 206. The bottom telescopic end of the hydraulic push rod 2011 is connected to the base plate 2012. The outer wall of the base plate 2012 is connected to the telescopic end of the telescopic plate 202. After the hydraulic push rod 2011 is activated, the base plate 2012 can be driven to move upward or downward, thereby realizing the contact or separation of the base plate 2012 with the ground, and achieving the switching between the device's support state and movement state.

[0031] It should be noted that the hydraulic push rod 2011 and its supporting equipment and control system in this utility model are all existing mature technologies, so they will not be described in detail here.

[0032] The specific operating procedure of this utility is as follows: First, when it is necessary to move the device, start the reduction motor 204. Its output end drives the adjustment plate 205 to rotate. The arc-shaped hole at the bottom of the adjustment plate 205 cooperates with the sliding block 2010. When the adjustment plate 205 rotates, it drives the sliding block 2010 to move, thereby causing the four sets of structures composed of the sliding plate 208, the universal wheel 209 and the sliding block 2010 to expand outward synchronously. During this process, the sliding plate 208 slides in the groove at the top of the guide block 207, and the sliding block 2010 moves in the straight hole of the fixed plate 206. This double guide structure ensures the stability of the movement of the four sets of structures.

[0033] After expanding outward, the hydraulic push rod 2011 is activated, which drives the extension end of the base plate 2012 and the telescopic plate 202 connected to the base plate 2012 to move upward. The four casters 209 contact the ground, and then the push device moves the device through the four casters 209.

[0034] When the device needs to be fixed in a designated position, the hydraulic push rod 2011 is activated. The bottom telescopic end of the hydraulic push rod 2011 pushes the base plate 2012 downward, and at the same time, the telescopic end of the telescopic plate 202 moves downward until the base plate 2012 contacts the ground and provides support. Then, the adjustment plate 205 is driven to rotate in the opposite direction by the reduction motor 204, causing the four sets of sliding plates 208, universal wheels 209, and sliding blocks 2010 to retract inward, which facilitates the flexible adjustment of the device's movement and fixing state in different scenarios. The robotic arm 1 and the robotic gripper 5 adopt existing mature mechanisms and control systems, which can complete grasping, handling, and other operations according to actual work requirements.

[0035] The present invention has been described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvement made by adopting the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, shall be within the protection scope of the present invention.

Claims

1. A multi-gripper robot device, comprising a robotic arm (1), characterized in that: The bottom of the robotic arm (1) is provided with a moving component (2), and the top of the robotic arm (1) is provided with a mounting frame (3). A robotic claw (5) is mounted on the mounting frame (3) via a connecting frame (4). The moving component (2) includes a mounting plate (203) and a sliding plate (208). An adjusting plate (205) is rotatably connected to the bottom of the mounting plate (203). A driving mechanism for driving the adjusting plate (205) to rotate is provided on the top of the mounting plate (203). A universal wheel (209) is provided at the bottom of the sliding plate (208). A sliding block (2010) that slides with the adjusting plate (205) is provided on the top of the sliding plate (208). The adjusting plate (205) is driven to rotate by the driving mechanism, which drives the sliding plate (208) to move along a preset trajectory and adjusts the position of the universal wheel (209).

2. The robot multi-gripper device according to claim 1, characterized in that: The moving component (2) includes a support plate (201), and a plurality of telescopic plates (202) are provided at the bottom of the support plate (201). Each telescopic plate (202) has a mounting block on its lower outer side, and the outer wall of the mounting block has a round hole for installing or connecting other components.

3. The robot multi-gripper device according to claim 2, characterized in that: The mounting plate (203) is fixedly connected to the inner wall of several telescopic plates (202). A geared motor (204) is installed on the top of the mounting plate (203). The output end of the geared motor (204) passes through the mounting plate (203) and is connected to the top center of the adjusting plate (205) to drive the adjusting plate (205) to rotate relative to the mounting plate (203).

4. A robot multi-gripper device according to claim 2, characterized in that: The inner wall of the telescopic plate (202) is equipped with a fixing plate (206). The bottom of the fixing plate (206) is equipped with a plurality of guide blocks (207) arranged in a ring. The sliding plate (208), the caster wheel (209) and the sliding block (2010) are set as a group, and there are several groups, arranged in a ring. The top of the guide block (207) is provided with a groove that matches the outer wall of the sliding plate (208). The sliding plate (208) is slidably installed in the groove so that the sliding plate (208) moves along the guide trajectory of the guide block (207).

5. A robot multi-gripper device according to claim 4, characterized in that: The bottom of the adjusting plate (205) is provided with a plurality of arc-shaped holes arranged in a ring, and the bottom of the fixing plate (206) is provided with a plurality of straight holes arranged in a ring. The upper and lower parts of the sliding block (2010) are respectively slidably engaged with the corresponding arc-shaped holes and straight holes, so that when the adjusting plate (205) rotates, the sliding block (2010) is driven to move along the straight holes.

6. A robot multi-gripper device according to claim 4, characterized in that: A hydraulic push rod (2011) is installed at the bottom center of the fixed plate (206). The bottom telescopic end of the hydraulic push rod (2011) is connected to the base plate (2012) to drive the base plate (2012) to move in the vertical direction.

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