CN222450340U

CN222450340U - 3 degrees of freedom handling robot

Info

Publication number: CN222450340U
Application number: CN202420939080.6U
Authority: CN
Inventors: 余竣英; 李玉东; 姜慢; 陈中林; 余家秀
Original assignee: Chongqing Tuode Precision Machinery Co ltd
Current assignee: Chongqing Tuode Precision Machinery Co ltd
Priority date: 2024-04-30
Filing date: 2024-04-30
Publication date: 2025-02-11
Anticipated expiration: 2034-04-30

Abstract

The utility model discloses a three-degree-of-freedom handling manipulator, and relates to the technical field related to manipulators. The utility model comprises a circular plate; three strip plates evenly distributed in an annular shape are fixed on the circumference of the circular plate, clamping strips are arranged directly below the strip plates, and the upper end faces of the strip plates are provided with track openings that pass through the end positions thereof, and the inside of the track openings are provided with I-shaped blocks that are slidably sleeved on the circumference of the strip plates, and the end faces of the clamping strips opposite to the circular plate are fixed with semicircular racks that pass through the inner position of the track opening, and the end faces of the I-shaped blocks located above the strip plates are fixed with synchronous motors, and the rotating shaft ends of the synchronous motors are fixed with toothed plates that mesh with the semicircular racks. The utility model can drive the rotation of the clamping strips through the rotation of the semicircular racks, thereby improving the clamping stability of the clamping strips, and at the same time, the I-shaped blocks slide along the strip plates at the inner position of the track openings, and can adjust the range between multiple clamping strips.

Description

3-Degree-of-freedom carrying manipulator

Technical Field

The utility model belongs to the technical field of manipulators, and particularly relates to a 3-degree-of-freedom carrying manipulator.

Background

The first manipulator is an automatic device which imitates the hand action of a person and realizes automatic grabbing, carrying and operation according to given programs, tracks and requirements. The device is used for replacing human operation in severe environments such as high temperature, high pressure, multiple dust, inflammability, explosiveness, radioactivity and the like, and heavy, monotonous and frequent operation, so that the device is increasingly widely applied, and in industrial automatic production, a mechanical arm is used for completing the taking and placing of workpieces in a single machine or a combined machine tool and an automatic production line.

However, in order to improve the degree of freedom of the manipulator, the existing carrying manipulator can cause the manipulator to be too loose, so that the clamping force of the manipulator can be reduced, in the process of carrying materials by using the manipulator, the materials are easy to fall off at positions between the manipulators, so that the situation of damaging the materials occurs, and meanwhile, when the existing carrying manipulator is used, the existing carrying manipulator does not have the effect of adjusting the clamping range, so that the adjustment treatment cannot be performed according to the body type of the materials to be carried, and the practicability of the manipulator can be reduced. For this purpose we provide a 3 degree of freedom handling robot to solve the problems described above.

Disclosure of utility model

The utility model aims to provide a 3-degree-of-freedom carrying manipulator which can drive the clamping strips to rotate through the rotation movement of a semicircular rack so as to improve the clamping stability of the clamping strips, and meanwhile, the H-shaped block slides along the inner position of a track opening along a strip-shaped plate so as to adjust the range among a plurality of clamping strips.

In order to solve the technical problems, the utility model is realized by the following technical scheme:

The utility model relates to a 3-degree-of-freedom carrying manipulator which comprises a circular plate, wherein three strip-shaped plates which are annularly and uniformly distributed are fixed on the periphery of the circular plate, clamping strips are arranged under the strip-shaped plates, track ports penetrating through the end positions of the strip-shaped plates are formed in the upper end faces of the strip-shaped plates, I-shaped blocks which are sleeved on the periphery of the strip-shaped plates in a sliding mode are arranged in the track ports, the I-shaped blocks are abutted to the strip-shaped plates through bolts arranged on the lower end faces, semicircular racks penetrating through the inner positions of the track ports are fixed on the upper parts of the end faces of the clamping strips, mounting plates are fixed on the end faces of the I-shaped blocks located above the strip-shaped plates, synchronous motors are arranged on the upper end faces of the mounting plates, and toothed plates connected with the semicircular racks in a meshed mode are fixed at the rotating shaft ends of the synchronous motors.

The utility model is further arranged that the lower end surfaces of the H-shaped blocks are respectively fixed with a U-shaped block, and the front end surface and the rear end surface of each U-shaped block are respectively provided with a rotating hole in a penetrating way.

The utility model is further arranged that the upper end parts of the clamping strips are respectively fixed with a round block rotating at the inner position of the U-shaped block, and the two end surfaces of the round block are respectively fixed with a rotating rod rotating at the inner position of the rotating hole.

The utility model is further arranged that the end surfaces of the I-shaped blocks are all fixed with linkage bars positioned at the inner positions of the rail road junction, and the upper end surfaces of the linkage bars are all provided with arc openings in a penetrating way.

The utility model is further arranged that the distance between the arc opening and the axis of the rotating rod is consistent with the distance between the semicircular rack and the axis of the rotating rod, and the sliding path of the semicircular rack is consistent with the arc opening.

The utility model is further provided that a connecting rod is fixed at the middle part of the upper end surface of the circular plate, and locking plates are fixed on the upper end surfaces of the connecting rods.

The utility model is further arranged that the strip-shaped plates are positioned on the upper end surfaces of the rail road junction and are fixedly provided with the stop blocks, and the stop blocks are positioned at positions close to the circular plates.

The utility model has the following beneficial effects:

1. when the clamping device is used, the synchronous motor is controlled to work, so that the synchronous motor can drive the toothed plate to rotate, the synchronous motor can directly control the semicircular rack to rotate around the rotating rod, and the semicircular rack can drive the clamping strips connected with the semicircular rack to rotate in opposite or opposite directions, thereby improving the clamping force of the clamping strips and ensuring the stability of clamping and carrying.

2. When the clamping device is used, the bolts on the I-shaped blocks are unscrewed, the I-shaped blocks are controlled to slide along the track openings, so that the I-shaped blocks can directly drive the clamping strips to slide along the strip-shaped plates, and further, the range among the clamping strips can be adjusted, and the clamping range of the clamping strips can be adjusted according to the body type of a required clamping material.

Of course, it is not necessary for any one product to practice the utility model to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a 3-degree-of-freedom transfer robot.

FIG. 2 is an assembly view of the clamping bar and the I-block of the present utility model.

Fig. 3 is a structural view of the grip bar in the present utility model.

Fig. 4 is a block diagram of the present utility model.

Fig. 5 is a structural view of a disk in the present utility model.

In the drawings, the list of components represented by the various numbers is as follows:

1-round plate, 101-strip plate, 102-rail mouth, 103-stop block, 104-connecting rod, 105-locking plate, 2-clamping strip, 201-round block, 202-rotating rod, 203-semicircular rack, 3-synchronous motor, 301-toothed plate, 4-I-shaped block, 401-mounting plate, 402-U-shaped block, 403-rotating hole, 404-linkage strip and 405-arc mouth.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Detailed description of the preferred embodiments

Referring to fig. 1-5, the present utility model is a 3-degree-of-freedom handling manipulator, which can drive the clamping bars 2 to rotate through the rotation of the semicircular racks 203, so as to improve the clamping stability of the clamping bars 2, and simultaneously, the h-shaped block 4 slides along the strip-shaped plate 101 at the inner position of the track opening 102, so as to adjust the range between the clamping bars 2.

The circular plate 1 is fixedly provided with three annular uniformly distributed strip plates 101 on the periphery of the circular plate 1, clamping strips 2 are arranged under the strip plates 101, track ports 102 penetrating through the end positions of the strip plates are formed in the upper end faces of the strip plates 101, I-shaped blocks 4 sleeved on the periphery of the strip plates 101 in a sliding mode are arranged in the track ports 102, the I-shaped blocks 4 are abutted to the strip plates 101 through bolts arranged on the lower end faces, semicircular racks 203 penetrating through the inner positions of the track ports 102 are fixed on the upper portions of the end faces of the clamping strips 2, opposite to the circular plate 1, of the circular plate 1, mounting plates 401 are fixed on the end faces of the I-shaped blocks 4 located above the strip plates 101, synchronous motors 3 are fixed on rotating shaft ends of the synchronous motors 3, tooth plates 301 meshed with the semicircular racks 203 are fixed on the end faces of the I-shaped blocks 4, arc ports 405 are formed in a penetrating mode in the inner positions of the track ports 102, the distance between the arc ports 405 and the axes of the rotating rods 202 is consistent with the distances between the semicircular racks 203 and the axes 202, and the sliding paths of the semicircular racks 203 are consistent with the arc ports 405.

Through the arrangement and use of the structure, the synchronous motor 3 is controlled to work, so that the synchronous motor 3 can drive the toothed plate 301 to rotate, the synchronous motor 3 can directly control the semicircular racks 203 to rotate around the rotating rod 202, and the semicircular racks 203 can drive the clamping strips 2 connected with the semicircular racks to rotate in opposite directions or opposite directions, so that the clamping strips 2 can improve the clamping force of clamping, the stability of clamping and carrying is ensured, meanwhile, the position between the clamping strips 2 is required to be adjusted, bolts on the I-shaped block 4 can be unscrewed, the I-shaped block 4 is controlled to slide along the track opening 102, the I-shaped block 4 can directly drive the clamping strips 2 to slide along the strip plate 101, the range between the clamping strips 2 can be adjusted, the semicircular racks 203 can pass through the inner position of the arc opening 405 when being driven to rotate, and the arranged linkage strips 404 can limit the I-shaped block 4, so that the I-shaped block 4 can be prevented from moving excessively in the track opening 102, and the semicircular racks 203 are blocked by 1 when rotating.

Second embodiment

Referring to fig. 2, 3 and 4, in the first embodiment, the U-shaped block 402 and the round block 201 are matched to facilitate the angle adjustment of the clamping bar 2.

Specifically, the lower terminal surface of worker's shape piece 4 all is fixed with U-shaped piece 402, and the front and back terminal surface of U-shaped piece 402 all runs through and has seted up changeing hole 403, and the upper end of grip bar 2 all is fixed with rotatory round piece 201 that is in U-shaped piece 402 inside position, and the both ends face of round piece 201 all is fixed with rotatory bull stick 202 that is in changeing hole 403 inside position.

The operation process of this embodiment is that, because the rotating rod 202 is located at the inner position of the rotating hole 403, when the clamping bar 2 is driven to rotate by the semicircular rack 203, the clamping bar 2 drives the round block 201 to rotate at the inner position of the U-shaped block 402, and thus the round block 201 drives the rotating rod 202 to move at the inner position of the rotating hole 403.

Detailed description of the preferred embodiments

Referring to fig. 5, based on the first embodiment, the stop block 103 performs secondary limiting on the i-shaped block 4, so that a single operation of the linkage bar 404 is avoided, and the collision rate of the linkage bar 404 is reduced, so as to ensure that the linkage bar 404 is intact.

Specifically, a connecting rod 104 is fixed in the middle of the upper end surface of the circular plate 1, locking plates 105 are fixed on the upper end surfaces of the connecting rod 104, stop blocks 103 are fixed on the upper end surfaces of the strip-shaped plates 101, which are located at the rail holes 102, and the stop blocks 103 are located at positions close to the circular plate 1.

The operation process of the embodiment is that the locking plate 105 is installed and connected with external travel equipment through the setting treatment of the mounting plate 401, so that when the external travel equipment works, the locking plate 105 can drive the circular plate 1 to move and drive the plurality of clamping strips 2 to move, and meanwhile, through the use of the stop block 103, the H-shaped block 4 can be limited for the second time, the single work of the linkage strip 404 is avoided, the collision rate of the linkage strip 404 can be reduced, and the integrity of the linkage strip 404 is ensured.

In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the utility model disclosed above are intended only to assist in the explanation of the utility model. The preferred embodiments are not exhaustive or to limit the utility model to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model. The utility model is limited only by the claims and the full scope and equivalents thereof.

Claims

The mechanical arm for carrying the goods in 1.3 degrees of freedom comprises a circular plate (1) and is characterized in that three circular strip plates (101) which are uniformly distributed in an annular mode are fixed on the periphery of the circular plate (1), clamping strips (2) are arranged right below the circular strip plates (101), track ports (102) penetrating through the end positions of the circular strip plates are formed in the upper end faces of the circular strip plates (101), I-shaped blocks (4) which are sleeved on the periphery of the circular strip plates (101) in a sliding mode are arranged in the track ports (102), the I-shaped blocks (4) are abutted to the circular strip plates (101) through bolts arranged on the lower end faces, semicircular racks (203) penetrating through the inner positions of the track ports (102) are fixed on the upper portions of the end faces of the circular strip plates (1), mounting plates (401) are fixed on the end faces of the I-shaped blocks (4) which are located above the circular strip plates (101), and the upper end faces of the mounting plates (401) are synchronous motors (3) are fixedly meshed with the semicircular racks (301).
2. The 3-degree-of-freedom handling manipulator according to claim 1, wherein the lower end surfaces of the i-shaped blocks (4) are respectively fixed with a U-shaped block (402), and the front and rear end surfaces of the U-shaped blocks (402) are respectively provided with a rotating hole (403) in a penetrating manner.
3. The 3-degree-of-freedom handling manipulator according to claim 2, wherein the upper end portions of the clamping bars (2) are each fixed with a round block (201) rotatably positioned inside the U-shaped block (402), and both end faces of the round block (201) are each fixed with a rotating rod (202) rotatably positioned inside the rotating hole (403).
4. A 3-degree-of-freedom handling manipulator according to claim 3, wherein the end faces of the i-shaped blocks (4) are respectively fixed with a linkage bar (404) at the inner position of the track port (102), and the upper end faces of the linkage bars (404) are respectively provided with an arc port (405) in a penetrating way.
5. The 3-degree-of-freedom handling robot of claim 4, wherein a distance between the arc opening (405) and an axis of the rotating lever (202) coincides with a distance between the semicircular rack (203) and an axis of the rotating lever (202), and a sliding path of the semicircular rack (203) coincides with the arc opening (405).
6. The 3-degree-of-freedom handling manipulator according to claim 1, wherein a connecting rod (104) is fixed at a middle position of an upper end face of the circular plate (1), and locking plates (105) are fixed at upper end faces of the connecting rod (104).
7. 3-Degree-of-freedom handling robot according to claim 1, characterized in that each of the strip-shaped plates (101) is fixed with a stopper (103) at the upper end face of the rail opening (102), and the stopper (103) is located close to the circular plate (1).