CN-121989277-A - Has metamorphic function robot with structure

CN121989277ACN 121989277 ACN121989277 ACN 121989277ACN-121989277-A

Abstract

The invention relates to the technical field of robots, and discloses a robot with a metamorphic structure, which comprises a base and a mechanical arm, wherein the mechanical arm is fixedly arranged at the top of the base, one end of the mechanical arm is fixedly connected with a support frame, the bottom of the support frame is fixedly connected with an I-shaped support plate, and the bottom of the I-shaped support plate is provided with a clamping mechanism; according to the invention, by arranging the metamorphic mechanism, when the cylindrical workpiece is required to be clamped, the second hydraulic rod is started, then the second hydraulic rod can drive the toothed plate to move to one side far away from the supporting frame, meanwhile, the toothed plate can drive the two gears to rotate in opposite directions, the toothed plate can drive the structures such as the linkage block, the linkage rod, the supporting frame and the like to rotate, four clamping plates in the clamping mechanism are respectively obliquely positioned at the periphery of the cylindrical workpiece, and then when the first hydraulic rod is started to control the clamping plates to clamp the cylindrical workpiece, the periphery of the workpiece can be clamped, so that the clamping stability is effectively improved.

Inventors

ZHAN YUXIN
ZHEN SHUAI
DU XIUZHI
WANG WENYUE
SONG JINGHAO
LIU YONGLE
Shan Ziyi

Assignees

滁州职业技术学院

Dates

Publication Date: 20260508
Application Date: 20260209

Claims (10)

1. The robot with the metamorphic structure comprises a base (1) and a mechanical arm (2), wherein the mechanical arm (2) is fixedly arranged at the top of the base (1), and is characterized in that one end of the mechanical arm (2) is fixedly connected with a support frame (3), the bottom of the support frame (3) is fixedly connected with an I-shaped support plate (4), and a clamping mechanism is arranged at the bottom of the I-shaped support plate (4); The clamping mechanism comprises four supporting frames (5) symmetrically arranged at the bottom of an I-shaped supporting plate (4), a first hydraulic rod (6) is fixedly connected to the inside of each supporting frame (5), the output end of each first hydraulic rod (6) penetrates through the outer side of each supporting frame (3) and is fixedly connected with a clamping plate (7), one side of each clamping plate (7) is fixedly connected with a compression box (8), a plurality of piston holes (9) are formed in the inner wall of each compression box (8), a piston sheet (10) is arranged in each piston hole (9), a propping block (11) is fixedly connected to one side of each piston sheet (10), a propping rod (12) is fixedly connected to one side of each propping block (11), and one end of each propping rod (12) penetrates through one side of each clamping plate (7); the metamorphic mechanism is fixedly arranged on the supporting frame (3); The anti-running mechanism is movably arranged on the support frame (3); The ejection mechanism is fixedly arranged on the anti-running mechanism.
2. The robot with metamorphic structure of claim 1, wherein the metamorphic mechanism comprises a second hydraulic rod (13) fixedly connected to two sides of a supporting frame (3), the output end of the second hydraulic rod (13) is fixedly connected with a toothed plate (14), two sides of the toothed plate (14) are respectively connected with a gear (15) in a meshed mode, the bottom of the gear (15) is rotatably connected with the top of the I-shaped supporting plate (4) through a rotating shaft, the top of the gear (15) is fixedly connected with a linkage block (16), the bottom of the linkage block (16) is fixedly connected with two linkage rods (17), and the bottom of the linkage rod (17) is fixedly connected with the top of the supporting frame (5).
3. The robot with metamorphic structure of claim 2, wherein the anti-running mechanism comprises a connecting plate (18) which is connected to the inside of the supporting frame (3) in a sliding mode, limiting blocks (19) are fixedly connected to two sides of the connecting plate (18), connecting rods (20) are arranged at the connecting positions of the limiting blocks (19) and the toothed plates (14) and are hinged through the connecting rods (20), sliding grooves (21) are formed in the tops of the connecting plates (18), a motor (22) is fixedly connected to one side of the connecting plate (18), the output end of the motor (22) penetrates into the sliding grooves (21), a bidirectional screw rod (23) is fixedly connected to the inside of the sliding grooves, two sliding blocks (24) are connected to the surface transmission of the bidirectional screw rod (23), and V-shaped positioning blocks (25) are fixedly connected to the bottoms of the sliding blocks (24).
4. The robot with metamorphic structure of claim 3, wherein the ejection mechanism comprises a first extrusion block (26) fixedly connected to the top of the sliding block (24), two sides of the first extrusion block (26) are respectively provided with a transmission box (27), one side of the transmission box (27) is fixedly connected with one side of the connecting plate (18), one side of the transmission box (27) is fixedly communicated with a corrugated hose (28), one end of the corrugated hose (28) is fixedly communicated with one side of the compression box (8), a piston plate (29) is arranged in the transmission box (27), one side of the piston plate (29) is fixedly connected with a pushing block (30), one side of the pushing block (30) is fixedly connected with a pushing rod (31), one end of the pushing rod (31) penetrates through one side of the transmission box (27), and a second extrusion block (32) is fixedly connected.
5. A robot with a metamorphic structure as set forth in claim 4, wherein said first squeeze bulb (26) is arcuate on both sides and said second squeeze bulb (32) is sloped on one side.
6. The robot with the metamorphic structure of claim 4, wherein the surface of the pushing rod (12) is sleeved with a spring (33), one end of the spring (33) is fixedly connected with one side of the pushing block (11), and the other end of the spring (33) is fixedly connected with the inner wall of the piston hole (9).
7. A robot with a metamorphic structure according to claim 3, characterized in that one end of the screw is provided with a bearing (34), and is rotatably connected with the inner wall of the sliding groove (21) through the bearing (34).
8. The robot with the metamorphic structure of claim 3, wherein limiting grooves (35) are formed in two sides of the supporting frame (3), and the limiting grooves (35) are matched with limiting blocks (19).
9. The robot with the metamorphic structure of claim 3, wherein two anti-slip pads (36) are fixedly connected to one side opening end of the V-shaped positioning block (25), and the anti-slip pads (36) are made of rubber.
10. The robot with the metamorphic structure of claim 2, wherein a guide groove (37) matched with the linkage rod (17) is formed in the top of the I-shaped supporting plate (4), and the guide groove (37) is arc-shaped.

Description

Has metamorphic function robot with structure Technical Field The invention relates to the technical field of robots, in particular to a robot with a metamorphic structure. Background The robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots can perform tasks such as tasks or movements through programming and automatic control. The robot has the basic characteristics of perception, decision making, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves the life of the human beings, and enlarges or extends the activity and capacity range of the human beings. The transfer robot is also one kind of robot, and the during operation is through arm centre gripping work piece, accomplishes the transportation of small tracts of land, but transfer robot conventional clamping mode is all from both sides centre gripping to the work piece, and to some columniform work pieces, the mode of both sides centre gripping hardly centre gripping is stable, can only change anchor clamps in the face of this kind of circumstances, wastes time and energy, has reduced the efficiency of work. Disclosure of Invention The present invention is directed to a robot with a metamorphic structure, which solves the problems set forth in the background art. In order to achieve the aim, the invention provides the technical scheme that the robot with the metamorphic structure comprises a base and a mechanical arm, wherein the mechanical arm is fixedly arranged at the top of the base, one end of the mechanical arm is fixedly connected with a support frame, the bottom of the support frame is fixedly connected with an I-shaped support plate, and the bottom of the I-shaped support plate is provided with a clamping mechanism; The clamping mechanism comprises four supporting frames symmetrically arranged at the bottom of the I-shaped supporting plate, a first hydraulic rod is fixedly connected to the inside of the supporting frames, the output end of the first hydraulic rod penetrates through the outer side of the supporting frame and is fixedly connected with a clamping plate, one side of the clamping plate is fixedly connected with a compression box, a plurality of piston holes are formed in the inner wall of the compression box, a piston sheet is arranged in the piston holes, one side of the piston sheet is fixedly connected with a supporting and moving block, one side of the supporting and moving block is fixedly connected with a supporting and moving rod, and one end of the supporting and moving rod penetrates through one side of the clamping plate; The metamorphic mechanism is fixedly arranged on the supporting frame; the anti-running mechanism is movably arranged on the support frame; The ejection mechanism is fixedly arranged on the anti-running mechanism. Preferably, the metamorphic mechanism comprises a second hydraulic rod fixedly connected to two sides of the support frame, the output end of the second hydraulic rod is fixedly connected with a toothed plate, two sides of the toothed plate are all in meshed connection with gears, the bottoms of the gears are rotationally connected with the top of the I-shaped support plate through rotating shafts, the tops of the gears are fixedly connected with a linkage block, the bottoms of the linkage block are fixedly connected with two linkage rods, and the bottoms of the linkage rods are fixedly connected with the top of the support frame. Preferably, the anti-running mechanism comprises a connecting plate which is connected to the inside of the supporting frame in a sliding manner, limiting blocks are fixedly connected to two sides of the connecting plate, connecting rods are arranged at the positions where the limiting blocks are connected with the toothed plates and are hinged through the connecting rods, a sliding groove is formed in the top of the connecting plate, one side of the connecting plate is fixedly connected with a motor, the output end of the motor penetrates through the inside of the sliding groove, a bidirectional screw rod is fixedly connected with, two sliding blocks are connected to the surface transmission of the bidirectional screw rod, and a V-shaped positioning block is fixedly connected to the bottom of each sliding block. Preferably, the ejection mechanism comprises a first extrusion block fixedly connected to the top of the sliding block, two sides of the first extrusion block are respectively provided with a transmission box, one side of the transmission box is fixedly connected with one side of the connecting plate, one side of the transmission box is fixedly communicated with a corrugated hose, one end of the corrugated hose is fixedly communicated with one side of the compression box, a piston plate is arranged in the transmission box, one side of the piston plate is fixedly connected with a pushing block, one side of the p