CN219152900U - Combined mechanical arm and robot - Google Patents

Abstract

The utility model provides a combined manipulator and a robot, and relates to the technical field of robots. Compared with the prior art, the combined manipulator disclosed by the utility model can be suitable for stably clamping nonlinear objects.

Description

A combined manipulator and robot

technical field

The utility model relates to the technical field of robots, in particular to a combined manipulator and a robot.

Background technique

The manipulator can imitate certain action functions of the human hand and arm, and is used to grab, carry objects or operate tools according to a fixed program. It can replace the heavy labor of people to realize the mechanization and automation of production. Operation to protect personal safety, and thus widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy sectors.

The existing clamping manipulator can change the position and posture of the grasped object through the driving mechanism. However, the existing clamping manipulator is only suitable for linear objects, and cannot be applied to non-linear, curved, and twisted objects.

Utility model content

The problem to be solved by the utility model is: how to provide a combined manipulator that can clamp both linear and non-linear long objects.

The utility model provides a combined manipulator, comprising: a first clamping mechanism, a second clamping mechanism, a driving mechanism and a long shaft member, the first clamping mechanism and the second clamping mechanism are connected to the on the long axis, and the first clamping mechanism and the second clamping mechanism have the same structure, the second clamping mechanism is used to connect with the mechanical arm of the robot, and the driving mechanism is used to drive the The first clamping mechanism deflects relative to the second clamping mechanism, the first clamping mechanism includes a connecting plate, a left jaw, a right jaw and a driving member, and the left jaw is connected to the right jaw at intervals On the connecting plate, the driving member is used to drive the left jaw and the right jaw to move towards each other or away from each other.

Compared with the prior art, a combined manipulator provided by the utility model has, but is not limited to, the following beneficial effects:

The combined manipulator described in the utility model, wherein the first clamping mechanism and the second clamping mechanism are used to clamp the object to be clamped at two points, that is, when the object needs to be clamped, the object to be clamped is located on the left Between the gripper and the right gripper, the left gripper and the right gripper located on the connecting plate can be driven to move towards each other through the driving part to clamp the object, otherwise the left gripper and the right gripper can be driven by the driving part The object can be released by moving away from each other. Compared with the single-point clamping manipulator, this combined manipulator makes the clamping object more stable. When the clamped object is a non-linear, curved and twisted object, before clamping the object , the first clamping mechanism can be driven to deflect relative to the second clamping mechanism through the driving mechanism, to a certain extent, it can adapt to non-linear objects to be clamped, so that the combined manipulator can stably clamp non-linear objects, and along the length of the long axis A plurality of first clamping mechanisms and/or second clamping mechanisms can be arranged at intervals along the length direction, so that the object can be clamped at multiple points, making the clamped object more stable. Compared with the prior art, the combined manipulator of the utility model can stably clamp non-linear objects.

Optionally, the connecting plate is rotatably connected to the long axis; the driving mechanism includes a first connecting frame, a first motor, a first driving gear and a first driven gear, and the first connecting frame is connected to The connecting plate, the first motor is connected to the first connecting frame, the first driving gear is connected to the output end of the first motor, and the first driven gear is fixedly connected to the long shaft components, and the first driven gear is in transmission connection with the first driving gear.

Optionally, the left jaw includes a first left rod, a second left rod and a third left rod, one end of the first left rod is hinged to the connecting plate, and an end of the second left rod is hinged At the other end of the first left rod, one end of the third left rod is hinged to the connecting plate, and the other end is hinged to the middle of the second left rod.

Optionally, the right jaw includes a first right rod, a second right rod and a third right rod, one end of the first right rod is hinged to the connecting plate, and the end of the second right rod is hinged At the other end of the first right rod, one end of the third right rod is hinged to the connecting plate, and the other end is hinged to the middle of the second right rod.

Optionally, the driving member includes a second connecting frame, a second motor, a second driving gear and a second driven gear, the second connecting frame is connected to the connecting plate, and the second motor is connected to the The second connecting frame, the second driving gear is connected to the end of the first right rod away from the second right rod, and the second driving gear is connected to the output end of the second motor, so The second driven gear is connected to the end of the first left rod away from the second left rod, and the second driven gear is in transmission connection with the second driving gear.

Optionally, the left jaw further includes a first fingertip board, and the first fingertip board is connected to an end of the second left rod away from the first left rod.

Optionally, the right jaw further includes a second fingertip board, and the second fingertip board is connected to an end of the second right rod away from the first right rod.

Optionally, the combined manipulator further includes a flexible part, the end surface of the first fingertip board facing the second fingertip board and the end surface of the second fingertip board facing the first fingertip board The flexible parts are provided on the end faces.

Optionally, the combined manipulator further includes a connecting joint, the connecting joint is connected to the second clamping mechanism, and the connecting joint is used for connecting with the mechanical arm of the robot.

In addition, the utility model also provides a robot, including the combined manipulator as mentioned above.

Since the technical improvement and technical effect of the robot are the same as those of the combined manipulator, no detailed description will be given on the technical effect of the robot.

Description of drawings

Fig. 1 is the structural schematic diagram one of the combined manipulator of the utility model embodiment;

Fig. 2 is the structural schematic diagram 2 of the combined manipulator of the utility model embodiment;

Fig. 3 is the structural schematic diagram three of the combined manipulator of the utility model embodiment;

Fig. 4 is a schematic structural diagram of the first clamping mechanism of the embodiment of the present invention.

Explanation of reference signs:

1. The first clamping mechanism; 11. The connecting plate; 12. The left jaw; 121. The first left lever; 122. The second left lever; 123. The third left lever; 124. The first fingertip inserting plate; 13 , right gripper; 131, the first right rod; 132, the second right rod; 133, the third right rod; 134, the second fingertip plate; 14, the driver; 141, the second connecting frame; Two motors; 143, the second driving gear; 144, the second driven gear; 2, the second clamping mechanism; 3, the driving mechanism; 31, the first connecting frame; 32, the first motor; 33, the first driving gear ; 34, the first driven gear; 4, the long shaft part; 5, the flexible part; 6, the connecting joint.

Detailed ways

In order to make the above purpose, features and advantages of the utility model more obvious and easy to understand, specific embodiments of the utility model will be described in detail below in conjunction with the accompanying drawings.

In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear" etc. are based on those shown in the drawings. Orientation or positional relationship is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the utility model. limit.

Moreover, the Z axis in the accompanying drawings represents the vertical direction, that is, the up and down position, and the positive direction of the Z axis (that is, the arrow pointing to the Z axis) represents the upper direction, and the negative direction of the Z axis (that is, the opposite direction to the positive direction of the Z axis) Direction) means down; the X-axis in the drawings means the horizontal direction, that is, the left-right position, and the positive direction of the X-axis (that is, the arrow pointing to the X-axis) represents the right, and the negative direction of the X-axis (that is, the positive direction with the X-axis The opposite direction) means left; the Y axis in the accompanying drawings indicates the longitudinal direction, that is, the front and rear positions, and the positive direction of the Y axis (that is, the arrow pointing to the Y axis) represents the front, and the negative direction of the Y axis (that is, the direction of the Y axis) Positive in the opposite direction) means after.

At the same time, it should be noted that the meanings of the aforementioned Z-axis, X-axis and Y-axis are only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, in a specific orientation construction and operation, therefore, should not be construed as limiting the utility model.

As shown in Figures 1 to 4, the combined manipulator of the embodiment of the present invention includes: a first clamping mechanism 1, a second clamping mechanism 2, a driving mechanism 3 and a long axis member 4, the first clamping mechanism 1 and the second clamping mechanism The two clamping mechanisms 2 are connected to the long shaft member 4 at intervals, and the first clamping mechanism 1 and the second clamping mechanism 2 have the same structure, the second clamping mechanism 2 is used to connect with the mechanical arm of the robot, and the driving mechanism 3 It is used to drive the first clamping mechanism 1 to deflect relative to the second clamping mechanism 2. The first clamping mechanism 1 includes a connecting plate 11, a left clamping jaw 12, a right clamping jaw 13 and a driving member 14. The left clamping jaw 12 and the right clamping The jaws 13 are connected to the connecting plate 11 at intervals, and the driving member 14 is used to drive the left jaw 12 and the right jaw 13 to move toward each other or away from each other.

In this embodiment, the first clamping mechanism 1 and the second clamping mechanism 2 of the combined manipulator are used to clamp the clamped object at two points, that is, when the object needs to be clamped, the clamped object Located between the left jaw 12 and the right jaw 13, then the left jaw 12 and the right jaw 13 located on the connecting plate 11 can be driven to move toward each other by the driver 14 to clamp the object, otherwise the driver can 14 Drive the left jaw 12 and the right jaw 13 to move away from each other to release the object. Compared with the single-point clamping manipulator, this combination manipulator makes the clamping object more stable. When the clamped object is non-linear, curved For distorted objects, before clamping the object, the first clamping mechanism 1 can be driven to deflect relative to the second clamping mechanism 2 through the driving mechanism 3, to a certain extent adapt to non-linear clamped objects, so that the combined manipulator can Stable clamping of non-linear objects, and a plurality of first clamping mechanisms 1 and/or second clamps can be arranged at intervals along the length direction of the long axis 4 (the Z-axis direction in Figure 1 or Figure 2 or Figure 3 ) Holding mechanism 2, so that the object can be clamped at multiple points, making the clamped object more stable. Compared with the prior art, the combined manipulator of the utility model is suitable for stable clamping of non-linear objects.

In the above-mentioned working process, as shown in the accompanying drawings 1 to 3, two second clamping devices can be arranged at intervals along the length direction of the long axis member 4 (the Z-axis direction in the accompanying drawing 1 or 2 or 3). Mechanism 2 and a first clamping mechanism 1, and the first clamping mechanism 1 is located between two second clamping mechanisms 2, so that the combined manipulator can clamp non-linear, curved and twisted objects (for example: S-shaped long strips).

In other embodiments, the specific number of the first clamping mechanism 1 and the second clamping mechanism 2 can be adjusted according to the actual clamped object, which is not limited here.

Optionally, the connecting plate 11 is rotatably connected to the long shaft member 4; the driving mechanism 3 includes a first connecting frame 31, a first motor 32, a first driving gear 33 and a first driven gear 34, and the first connecting frame 31 is connected to The connecting plate 11, the first motor 32 is connected to the first connecting frame 31, the first driving gear 33 is connected to the output end of the first motor 32, the first driven gear 34 is fixedly connected to the long axis member 4, and the first driven The gear 34 is in transmission connection with the first driving gear 33 .

In this embodiment, as shown in FIG. 2 , relative rotation between the connecting plate 11 and the long shaft part 4 can be realized through bearings, and the second clamping mechanism 2 can be connected to the long shaft part 4 through set screws, that is, The second clamping mechanism 2 and the long shaft part 4 will not rotate relative to each other, and the first driven gear 34 can be connected to the long shaft part 4 through a set screw, that is, the first driven gear 34 and the long shaft part 4 will not When relative rotation occurs, the first connecting frame 31 can be welded to the connecting plate 11 through a long-axis rod, and the first motor 32 can be connected to the first connecting frame 31 through bolts, so that the first driving gear 33 can be driven by the first motor 32 Rotation will make the first motor 32, the first driving gear 33, the first connecting frame 31 and the first clamping mechanism 1 rotate around the axis of the long axis 4 as a whole, so as to realize the clamping of the first clamping mechanism 1 relative to the second Mechanism 2 deflects.

Optionally, the left jaw 12 includes a first left rod 121, a second left rod 122 and a third left rod 123, one end of the first left rod 121 is hinged to the connecting plate 11, and the end of the second left rod 122 is hinged to The other end of the first left rod 121 , one end of the third left rod 123 are hinged to the connecting plate 11 , and the other end is hinged to the middle of the second left rod 122 .

In this embodiment, as shown in accompanying drawing 4, the rear end of the first left lever 121 (in the opposite direction of the Y axis in the accompanying drawing 4) can be hinged on the left side of the connecting plate 11 (the X axis in the accompanying drawing 4) by a pin shaft. opposite direction), the rear end of the second left rod 122 can be hinged on the front end of the first left rod 121 through a pin shaft, and the rear end of the third left rod 123 can be hinged on the connecting plate 11 through a pin shaft, and the third left rod 123 The front end of the second left rod 122 can be hinged to the middle part of the second left rod 122 through a pin shaft, and the third left rod 123 is used to limit the movement posture of the second left rod 122. The front end of the second left rod 122 is a convex arc structure, which can avoid Interference occurs when cooperating with the right jaw 13.

Optionally, the right jaw 13 includes a first right rod 131, a second right rod 132 and a third right rod 133, one end of the first right rod 131 is hinged to the connecting plate 11, and the end of the second right rod 132 is hinged to The other end of the first right rod 131 , one end of the third right rod 133 are hinged to the connecting plate 11 , and the other end is hinged to the middle of the second right rod 132 .

In this embodiment, as shown in accompanying drawing 4, the rear end of the first right lever 131 (in the opposite direction of the Y axis in the accompanying drawing 4) can be hinged on the right side of the connecting plate 11 (in the accompanying drawing 4, the X axis positive direction), the rear end of the second right rod 132 can be hinged on the front end of the first right rod 131 through a pin shaft, the rear end of the third right rod 133 can be hinged on the connecting plate 11 through a pin shaft, and the third right rod 133 The front end of the second right rod 132 can be hinged to the middle part of the second right rod 132 through a pin shaft, and the third right rod 133 is used to limit the movement posture of the second right rod 132. The front end of the second right rod 132 is a convex arc structure, which can avoid Interference occurs when cooperating with the left jaw 12.

Optionally, the driving member 14 includes a second connecting frame 141, a second motor 142, a second driving gear 143 and a second driven gear 144, the second connecting frame 141 is connected to the connecting plate 11, and the second motor 142 is connected to the second Two connecting frames 141, the second driving gear 143 is connected to the end of the first right rod 131 away from the second right rod 132, and the second driving gear 143 is connected to the output end of the second motor 142, and the second driven gear 144 is connected to At the end of the first left rod 121 far away from the second left rod 122 , the second driven gear 144 is in transmission connection with the second driving gear 143 .

In this embodiment, as shown in accompanying drawings 2 and 4, the second connecting frame 141 can be welded on the connecting plate 11, the second motor 142 can be connected to the second connecting frame 141 by bolts, and the second driving gear 143 can be connected to the hinge of the first right lever 131 and the connecting plate 11 through a key, that is, the first right lever 131 can rotate with the second driving gear 143, and the second driven gear 144 can be connected to the first left lever 121 through a key. The hinge with the connecting plate 11, that is, the first left lever 121 can rotate with the second driven gear 144, thereby driving the second driving gear 143 to rotate through the second motor 142, which will drive the left jaw 12 and the right jaw 13 Action, by controlling the forward and reverse rotation of the second motor 142 , the left jaw 12 and the right jaw 13 can be driven to move towards each other or away from each other, so as to clamp or loosen the clamped object.

Optionally, the left jaw 12 further includes a first fingertip board 124 , and the first fingertip board 124 is connected to the end of the second left rod 122 away from the first left rod 121 .

In this embodiment, as shown in accompanying drawings 3 and 4, the first fingertip inserting plate 124 can be bolted to the front end of the left jaw 12 (in the positive direction of the Y axis in the accompanying drawing 4), the first fingertip The inserting plate 124 can increase the contact area with the clamped object, making the clamping more stable.

Optionally, the right jaw 13 further includes a second fingertip board 134 , and the second fingertip board 134 is connected to the end of the second right rod 132 away from the first right rod 131 .

In this embodiment, as shown in accompanying drawings 3 and 4, the second fingertip inserting plate 134 can be bolted to the front end of the right jaw 13 (in the positive direction of the Y axis in the accompanying drawing 4), the second fingertip The inserting plate 134 can increase the contact area with the clamped object, making the clamping more stable.

Optionally, the combined manipulator further includes a flexible member 5, the end face of the first fingertip board 124 facing the second fingertip board 134 and the end face of the second fingertip board 134 facing the first fingertip board 124 are both arranged There are flexible parts 5.

In this embodiment, as shown in FIG. 4 , the flexible member 5 can be bolted to the end surface of the first fingertip board 124 facing the second fingertip board 134 and the second fingertip board 134 facing the first fingertip board. The end surface of the sharp plate 124, where the flexible piece 5 can be a silicone block or a rubber block, is used to absorb part of the impact during the clamping process.

Optionally, the combined manipulator further includes a connecting joint 6 connected to the second clamping mechanism 2, and the connecting joint 6 is used for connecting with the mechanical arm of the robot.

In this embodiment, as shown in FIG. 1 , the connection joint 6 can be connected to the second clamping mechanism 2 by bolts, and the connection joint 6 includes a flange structure, which can be connected to the mechanical arm of the robot by bolts.

In addition, the utility model also provides a robot, including the aforementioned combined manipulator.

Since the technical improvement and technical effect of the robot are the same as those of the combined manipulator, no detailed description will be given on the technical effect of the robot.

Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will all fall within the protection scope of the present utility model.

Claims (10)

1. A combined manipulator, characterized in that it comprises: a first clamping mechanism (1), a second clamping mechanism (2), a drive mechanism (3) and a long axis member (4), the first clamping mechanism The mechanism (1) and the second clamping mechanism (2) are connected to the long axis (4) at intervals, and the first clamping mechanism (1) and the second clamping mechanism (2) For the same structure, the second clamping mechanism (2) is used to connect with the mechanical arm of the robot, and the driving mechanism (3) is used to drive the first clamping mechanism (1) relative to the second clamping mechanism. The mechanism (2) is deflected, and the first clamping mechanism (1) includes a connecting plate (11), a left jaw (12), a right jaw (13) and a driving member (14), and the left jaw (12 ) and the right jaw (13) are connected to the connecting plate (11) at intervals, and the driving member (14) is used to drive the left jaw (12) and the right jaw (13) toward Move towards each other or away from each other. 2. The combination manipulator according to claim 1, characterized in that, the connecting plate (11) is rotatably connected to the long shaft member (4); the driving mechanism (3) includes a first connecting frame (31) , the first motor (32), the first driving gear (33) and the first driven gear (34), the first connecting frame (31) is connected to the connecting plate (11), the first motor ( 32) Connected to the first connecting frame (31), the first driving gear (33) is connected to the output end of the first motor (32), and the first driven gear (34) is fixedly connected to The long shaft member (4), and the first driven gear (34) is in transmission connection with the first driving gear (33). 3. The combination manipulator according to claim 1, characterized in that, the left jaw (12) comprises a first left lever (121), a second left lever (122) and a third left lever (123), so One end of the first left rod (121) is hinged to the connecting plate (11), and the end of the second left rod (122) is hinged to the other end of the first left rod (121). One end of the three left rods (123) is hinged to the connecting plate (11), and the other end is hinged to the middle part of the second left rod (122). 4. The combination manipulator according to claim 3, characterized in that, the right jaw (13) comprises a first right rod (131), a second right rod (132) and a third right rod (133), so One end of the first right rod (131) is hinged to the connecting plate (11), and the end of the second right rod (132) is hinged to the other end of the first right rod (131). One end of the three right rods (133) is hinged to the connecting plate (11), and the other end is hinged to the middle part of the second right rod (132). 5. The combination manipulator according to claim 4, characterized in that, the drive member (14) comprises a second connecting frame (141), a second motor (142), a second driving gear (143) and a second slave moving gear (144), the second connecting frame (141) is connected to the connecting plate (11), the second motor (142) is connected to the second connecting frame (141), and the second driving The gear (143) is connected to the end of the first right lever (131) away from the second right lever (132), and the output of the second driving gear (143) and the second motor (142) end connection, the second driven gear (144) is connected to the end of the first left rod (121) away from the second left rod (122), and the second driven gear (144) and The second driving gear (143) is in transmission connection. 6. The combination manipulator according to claim 4, characterized in that, the left gripper (12) further comprises a first fingertip board (124), and the first fingertip board (124) is connected to the The end of the second left rod (122) away from the first left rod (121). 7. The combination manipulator according to claim 6, characterized in that, the right jaw (13) further comprises a second fingertip board (134), and the second fingertip board (134) is connected to the The end of the second right rod (132) away from the first right rod (131). 8. The combined manipulator according to claim 7, further comprising a flexible member (5), the end face of the first fingertip board (124) facing the second fingertip board (134) and The flexible member (5) is provided on the end surface of the second fingertip board (134) facing the first fingertip board (124). 9. The combination manipulator according to any one of claims 1-8, characterized in that it also comprises a connection joint (6), the connection joint (6) is connected to the second clamping mechanism (2), so The connecting joint (6) is used for connecting with the mechanical arm of the robot. 10. A robot, characterized by comprising the combined manipulator according to any one of claims 1-9.

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