CN217046406U

CN217046406U - Manipulator for gripper

Info

Publication number: CN217046406U
Application number: CN202220431407.XU
Authority: CN
Inventors: 朱兴龙; 游志刚; 刘海鹰; 李世雯
Original assignee: Yangzhou University
Current assignee: Yangzhou University
Priority date: 2022-03-02
Filing date: 2022-03-02
Publication date: 2022-07-26
Anticipated expiration: 2032-03-02

Abstract

The utility model discloses a gripper manipulator, which comprises a connection component, the connection component includes a base plate, and a casing is fixedly connected to the lower side of the base plate; a compliant joint assembly includes a fixed block connected in the casing, the fixed block facing The lower end is slidably connected with an intermediate slider, the center of the fixed block is provided with an intermediate partition plate, and the fixed blocks on both sides of the intermediate partition plate are provided with intermediate return springs, and the end of the intermediate return spring away from the intermediate partition plate collides with On the middle slider, the downward end of the middle slider is fixedly connected with a connecting block, the downward end of the connecting block is slidably connected with the lower slider, the center of the connecting block is provided with a lower partition, The connecting blocks are all provided with lower return springs, the side of the lower return spring away from the lower partition plate is against the lower slider, and the axis direction of the lower return spring is parallel to the sliding direction of the lower slider and perpendicular to the sliding direction of the middle slider; The utility model can adjust the position and posture adaptively.

Description

Manipulator for gripper

Technical Field

The utility model relates to the technical field of machining, especially a manipulator for gripper.

Background

In machining, shaft hole assembly is often required, and during the shaft hole assembly, the upper part of the shaft is clamped by using a clamp holder, the position of the clamp holder is adjusted to enable the shaft to be aligned with the center of the hole, and then the shaft is inserted into the hole. In the prior art, when the shaft is assembled into the hole by the small deviation, the shaft and the inner wall of the hole are rigidly interfered, parts are easily damaged, the clamp holder is impacted, and the service life of the clamp holder is shortened.

SUMMERY OF THE UTILITY MODEL

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and in the abstract of the specification and the title of the application to avoid obscuring the purpose of this section, the abstract of the specification and the title of the application, and such simplifications or omissions are not intended to limit the scope of the invention.

The present invention has been made in view of the above and/or other problems occurring in the conventional machining.

Therefore, the utility model aims at providing a manipulator for holder, its structure is reliable, can self-adaptation adjustment position appearance, improves the reliability of assembly.

In order to solve the technical problem, the utility model provides a following technical scheme: a manipulator for a gripper, which comprises,

the connecting assembly comprises a bottom plate, and a shell with a downward opening is fixedly connected to the lower side of the bottom plate;

the flexible joint component comprises a fixed block connected in the shell, the downward end of the fixed block is slidably connected with a middle sliding block, the center of the fixing block is provided with a middle clapboard, the fixing blocks at the two sides of the middle clapboard are provided with middle return springs, one end of the middle return spring, which is far away from the middle partition plate, is abutted against the middle slide block, the axial direction of the middle return spring is parallel to the sliding direction of the middle slide block, the downward end of the middle slide block is fixedly connected with a connecting block, the downward end of the connecting block is slidably connected with a lower slide block, a lower clapboard is arranged at the center of the connecting block, the connecting blocks at the two sides of the lower clapboard are both provided with lower return springs, one side of each lower return spring, which is far away from the lower clapboard, is abutted against the lower sliding block, the axial direction of the lower return spring is parallel to the sliding direction of the lower sliding block and is vertical to the sliding direction of the middle sliding block.

As the utility model discloses a preferred scheme of manipulator for holder, wherein: the lower part of fixed block is equipped with the spacing portion in the middle that is used for restricting middle slider to move down, be equipped with the spacing sliding tray in the middle of corresponding with spacing portion in the middle of the middle slider, spacing portion in the middle can just slide along the spacing sliding tray in the middle.

As a preferred scheme of manipulator for the gripper of the utility model, wherein: the lower limiting part is arranged at the lower part of the connecting block and used for limiting the lower sliding block to move downwards, the lower limiting sliding groove corresponding to the lower limiting part is arranged on the lower sliding block, and the lower limiting part can just slide along the lower limiting sliding groove.

As a preferred scheme of manipulator for the gripper of the utility model, wherein: middle mounting groove has been opened to the middle slider one end up of middle spacing sliding tray both sides, install middle dog in the middle mounting groove, middle dog is connected with middle slider, the one end that intermediate bottom was kept away from to middle reset spring is contradicted on middle dog.

As the utility model discloses a preferred scheme of manipulator for holder, wherein: the middle stop block is connected with a middle connecting bolt extending into the middle mounting groove, and one end, far away from the middle partition plate, of the middle return spring is sleeved on the middle connecting bolt.

As the utility model discloses a preferred scheme of manipulator for holder, wherein: lower spacing sliding tray both sides lower slider one end up is opened there is lower mounting groove, install down the dog in the mounting groove down, the dog is connected with the lower slider down, reset spring keeps away from down the one end of baffle and contradicts on the dog down.

As a preferred scheme of manipulator for the gripper of the utility model, wherein: the lower stop block is connected with a lower connecting bolt extending into the lower mounting groove, and one end, far away from the lower partition plate, of the lower reset spring is sleeved on the lower connecting bolt.

As a preferred scheme of manipulator for the gripper of the utility model, wherein: rotationally be connected with in the casing and be spherical interior bowl, the upper surface and the equal level of lower surface of interior bowl, fixed block fixed connection is on interior bowl.

As the utility model discloses a preferred scheme of manipulator for holder, wherein: a plurality of upper return springs are arranged at one end of the inner bowl, which is arranged relative to the bottom plate, and the upper ends of the upper return springs are connected with the bottom plate.

As the utility model discloses a preferred scheme of manipulator for holder, wherein: the one end that interior bowl set up relative bottom plate is opened has the spread groove, interior bowl is connected with the angle through the spread groove and resets the supporting shoe, one side of the relative bottom plate of angle reset supporting shoe is fixed with and has elastic flexible rod, the one end and the bottom plate that interior bowl was kept away from to the flexible rod are connected.

The utility model has the advantages that: when the mechanical arm is used for carrying out the shaft hole assembly task and the blocking phenomenon occurs, the function of flexible adjustment is carried out, so that the shaft can be smoothly inserted into the hole in a flexible and passive mode, when other target objects are grabbed, the clamp is flexibly contacted with the part, and the surface of the part is not easy to damage.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor. Wherein:

fig. 1 is a front view of the present invention.

Fig. 2 is a top view of the present invention.

Fig. 3 is a view from a-a in fig. 2.

Fig. 4 is a view from direction B-B in fig. 2.

Fig. 5 is a three-dimensional structure view of the utility model with a middle block and a lower block hidden.

The flexible joint component comprises a flexible joint component 100, a lower stop block 101, a lower sliding block 102, a lower limiting sliding groove 102a, a lower mounting groove 102b, a middle sliding block 103, a middle limiting sliding groove 103a, a middle mounting groove 103b, a connecting block 104, a lower partition plate 104a, a lower limiting part 104b, a middle return spring 105, a middle connecting bolt 106, an upper fixing bolt 107, an angle return supporting block 108, a flexible rod 109, an upper return spring 110, an inner bowl 111, a connecting groove 111a, a fixing block 112, a middle partition plate 112a, a middle limiting part 112b, a lower return spring 113, a lower connecting bolt 114, a lower fixing bolt 115, a middle stop block 116, a connecting component 200, a bottom plate 201, a shell 202 and an opening 202 a.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail with reference to the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be implemented in other ways different from the specific details set forth herein, and one skilled in the art may similarly generalize the present invention without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Furthermore, the references herein to "one embodiment" or "an embodiment" refer to a particular feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Example 1

Referring to fig. 1 to 5, a first embodiment of the present invention provides a manipulator for a gripper, which has a simple structure and is convenient for measurement.

A manipulator for a gripper comprises a connecting assembly 200, wherein the connecting assembly 200 comprises a bottom plate 201, and a shell 202 with a downward opening 202a is fixedly connected to the lower side of the bottom plate 201;

the compliant joint assembly 100 comprises a fixed block 112 connected in a shell 202, wherein the downward end of the fixed block 112 is slidably connected with a middle sliding block 103, the center of the fixed block 112 is provided with a middle partition plate 112a, the fixed blocks 112 on two sides of the middle partition plate 112a are both provided with middle return springs 105, one ends of the middle return springs 105 far away from the middle partition plate 112a are abutted against the middle sliding block 103, the axial direction of the middle return springs 105 is parallel to the sliding direction of the middle sliding block 103, the downward end of the middle sliding block 103 is fixedly connected with a connecting block 104, the connecting block 104 is connected with the middle sliding block 103 by using lower fixing bolts 115, the downward end of the connecting block 104 is slidably connected with a lower sliding block 102, the center of the connecting block 104 is provided with a lower partition plate 104a, the connecting blocks 104 on two sides of the lower partition plate 104a are both provided with lower return springs 113, one side of the lower return springs 113 far away from the lower partition plate 104a is abutted against the lower sliding block 102, the axial direction of the lower return spring 113 is parallel to the sliding direction of the lower slider 102 and perpendicular to the sliding direction of the intermediate slider 103.

Furthermore, the lower part of the fixing block 112 is provided with a middle limiting part 112b for limiting the downward movement of the middle slider 103, the middle slider 103 is provided with a middle limiting sliding groove 103a corresponding to the middle limiting part 112b, and the middle limiting part 112b can just slide along the middle limiting sliding groove 103 a.

Furthermore, the lower portion of the connecting block 104 is provided with a lower limit portion 104b for limiting the downward movement of the lower slider 102, the lower slider 102 is provided with a lower limit sliding groove 102a corresponding to the lower limit portion 104b, and the lower limit portion 104b can slide along the lower limit sliding groove 102 a.

Furthermore, the middle slider 103 of middle spacing sliding tray 103a both sides one end up is opened there is middle mounting groove 103b, install middle dog 116 in the middle mounting groove 103b, middle dog 116 is connected with middle slider 103, the one end that middle reset spring 105 kept away from intermediate bottom 112a is contradicted on middle dog 116, be connected with the intermediate junction bolt 106 that stretches into in the middle mounting groove 103b on the middle dog 116, the one end suit that middle reset spring 105 kept away from intermediate bottom 112a is on intermediate junction bolt 106.

Furthermore, lower mounting groove 102b is opened to the lower slider 102 one end up of lower limit sliding tray 102a both sides, installs the lower stop 101 in the lower mounting groove 102b, and lower stop 101 is connected with lower slider 102, and the one end that lower reset spring 113 kept away from lower baffle 104a is contradicted on lower stop 101, is connected with the lower connecting bolt 114 that stretches into in lower mounting groove 102b on the lower stop 101, and the one end suit that lower reset spring 113 kept away from lower baffle 104a is on connecting bolt 114 down.

When the clamp is used, the clamp is arranged at the lower side of the lower sliding block 102, when the clamp clamps a shaft to carry out a shaft hole assembly task, when the shaft is inserted into a hole and touches the inner wall of the hole due to position deviation, the lower sliding block 102 and the middle sliding block 103 generate tiny displacement towards the direction of reducing the contact force to adjust the position and posture of the shaft, so that the position deviation of the shaft and the hole is reduced until the shaft and the hole are completely assembled in an overlapped mode, when the shaft does not touch the inner wall of the hole any more, namely rigid interference does not exist, and the middle return spring 105 or the lower return spring 113 can respectively drive the middle sliding block 103 and the lower sliding block 102 to return to the original positions; the utility model discloses during the during operation can be with the smooth gentle and agreeable patchhole of driven of axle, when snatching other target objects, the holder is contact with the part compliantly, is difficult for damaging the part surface.

Example 2

Referring to fig. 3 and 4, a second embodiment of the present invention is different from the previous embodiment in that the tilt rotation and the rotation in the horizontal direction of the robot are realized, and the reliability of the gripping is improved.

A manipulator for a gripper, wherein a housing 202 is rotatably connected with a spherical inner bowl 111 through an opening 202a, the upper surface and the lower surface of the inner bowl 111 are horizontal, a fixing block 112 is fixedly connected on the inner bowl 111, and the fixing block 112 is connected with the inner bowl 111 by using an upper fixing bolt 107.

Furthermore, a plurality of upper return springs 110 are arranged at one end of the inner bowl 111, which is arranged opposite to the bottom plate 201, and the upper ends of the upper return springs 110 are connected with the bottom plate 201; one end that interior bowl 111 set up relative bottom plate 201 is opened has lower spread groove 111a, and interior bowl 111 is connected with angle through spread groove 111a down and resets the supporting shoe 108, and one side that angle resets the supporting shoe 108 relative bottom plate 201 is fixed with and has elastic flexible rod 109, and the one end that interior bowl 111 was kept away from to flexible rod 109 is connected with bottom plate 201.

When a target object is grabbed, the clamper is slightly dislocated with the part and is not just contacted with the part, the inner bowl 111 is self-adaptive or rotates obliquely or horizontally, so that the clamper can grab the part smoothly, the surface of the part is not easy to be damaged, when the inner bowl 111 rotates obliquely, the inner bowl 111 resets under the action of a plurality of upper reset springs 110, and when the inner bowl 111 rotates horizontally, the inner bowl 111 resets under the action of the flexible rod 109; when carrying out the shaft hole assembly task, when the axle touched with the inner wall in hole, interior bowl 111 probably also can take place to rotate, reduced the assembly error in shaft hole, made the shaft hole assemble together convenient to use smoothly.

It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.

Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).

It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.

It should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or substituted by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.

Claims

1. A manipulator for a gripper is characterized in that: which comprises the following steps of (a) preparing,

the connecting assembly (200) comprises a bottom plate (201), and a shell (202) with a downward opening (202 a) is fixedly connected to the lower side of the bottom plate (201);

the flexible joint assembly (100) comprises a fixing block (112) connected in a shell (202), one downward end of the fixing block (112) is slidably connected with a middle sliding block (103), a middle partition plate (112 a) is arranged at the center of the fixing block (112), middle reset springs (105) are arranged on the fixing block (112) on two sides of the middle partition plate (112 a), one ends, far away from the middle partition plate (112 a), of the middle reset springs (105) abut against the middle sliding block (103), the axis direction of the middle reset springs (105) is parallel to the sliding direction of the middle sliding block (103), one downward end of the middle sliding block (103) is fixedly connected with a connecting block (104), one downward end of the connecting block (104) is slidably connected with a lower sliding block (102), and the center of the connecting block (104) is provided with a lower partition plate (104 a), all be equipped with down reset spring (113) on connecting block (104) of baffle (104 a) both sides down, one side that lower reset spring (113) kept away from lower baffle (104 a) is contradicted on slider (102) down, the axis direction of lower reset spring (113) is parallel and perpendicular with the gliding direction of middle slider (103) with the sliding direction of slider (102) down.

2. A robot hand for a clamper according to claim 1, wherein: the lower part of fixed block (112) is equipped with the spacing portion in the middle (112 b) that is used for restricting middle slider (103) to move down, be equipped with the spacing sliding tray in the middle (103) that corresponds with spacing portion in the middle (112 b) (103 a), spacing portion in the middle (112 b) can just slide along spacing sliding tray in the middle (103 a).

3. A robot hand for a clamper according to claim 1 or 2, wherein: the lower limiting part (104 b) used for limiting the lower sliding block (102) to move downwards is arranged at the lower part of the connecting block (104), a lower limiting sliding groove (102 a) corresponding to the lower limiting part (104 b) is arranged on the lower sliding block (102), and the lower limiting part (104 b) can just slide along the lower limiting sliding groove (102 a).

4. A robot hand for a clamper according to claim 2, wherein: middle slider (103) up one end of middle spacing sliding tray (103 a) both sides is opened there is middle mounting groove (103 b), install middle dog (116) in middle mounting groove (103 b), middle dog (116) are connected with middle slider (103), the one end that intermediate bottom (112 a) were kept away from in middle reset spring (105) is contradicted on middle dog (116).

5. The robot hand for a clamper according to claim 4, wherein: the middle stop block (116) is connected with a middle connecting bolt (106) extending into the middle mounting groove (103 b), and one end, far away from the middle partition plate (112 a), of the middle return spring (105) is sleeved on the middle connecting bolt (106).

6. A robot hand for a clamper according to claim 3, wherein: lower mounting groove (102 b) have been opened to the lower slider (102) of lower limit sliding tray (102 a) both sides one end up, install down dog (101) in lower mounting groove (102 b), down dog (101) are connected with lower slider (102), the one end of baffle (104 a) is contradicted on lower dog (101) under keeping away from in reset spring (113).

7. The robot hand for a clamper according to claim 6, wherein: the lower stop block (101) is connected with a lower connecting bolt (114) extending into the lower mounting groove (102 b), and one end, far away from the lower partition plate (104 a), of the lower return spring (113) is sleeved on the lower connecting bolt (114).

8. The robot hand for a gripper according to claim 1 or 2, wherein: rotationally be connected with in casing (202) and be spherical interior bowl (111), the upper surface and the lower surface of interior bowl (111) are all level, fixed block (112) fixed connection is on interior bowl (111).

9. A robot hand for a clamper according to claim 8, wherein: a plurality of upper return springs (110) are arranged at one end of the inner bowl (111) opposite to the bottom plate (201), and the upper ends of the upper return springs (110) are connected with the bottom plate (201).

10. A robot hand for a clamper according to claim 8, wherein: one end that interior bowl (111) set up relative bottom plate (201) is opened has lower spread groove (111 a), interior bowl (111) are connected with angle through spread groove (111 a) down and reset supporting shoe (108), one side that angle reset supporting shoe (108) is relative bottom plate (201) is fixed with flexible pole (109) that have elasticity, the one end and bottom plate (201) that interior bowl (111) were kept away from in flexible pole (109) are connected.