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CN-224211911-U - Multi-gesture grabbing manipulator

CN224211911UCN 224211911 UCN224211911 UCN 224211911UCN-224211911-U

Abstract

The utility model provides a multi-pose grabbing manipulator, and belongs to the technical field of machinery. The problem that an existing shaft type gas claw device can only grab workpieces at specific angles is solved. This many appearance snatchs manipulator, including mount pad, output revolving cylinder, gas claw fixed plate down and connect the gas claw in gas claw fixed plate downside, have two mounting panels that all are platelike that are parallel arrangement on the mount pad, be provided with connecting seat and the top of above-mentioned revolving cylinder between two mounting panels is fixed on the connecting seat, the both sides of connecting seat all are fixed with the pivot that the level set up, two the pivot corresponds penetrates in two mounting panels and can rotate for the mounting panel, be connected with the swing driving piece on the mount pad, the output of swing driving piece and two in the pivot one be connected and can drive the axis round trip oscillation of connecting seat revolute shaft. The multi-gesture grabbing manipulator has the advantage of wide application range.

Inventors

  • LI BAOPENG
  • JI ZHIHENG
  • WU ZHOU
  • ZHANG LIXIN
  • JIANG LIJUN

Assignees

  • 海德曼（上海）自动化技术有限公司

Dates

Publication Date
20260508
Application Date
20250429

Claims (6)

  1. 1. The utility model provides a manipulator is snatched to many appearance, includes mount pad (1), revolving cylinder (2) with the output down, the level is fixed in and is platy gas claw fixed plate (3) of revolving cylinder (2) output downside and connect gas claw (4) in gas claw fixed plate (3) downside, a serial communication port, have two mounting panels (5) that all are platy that are parallel to each other on mount pad (1), two mounting panels (5) follow horizontal direction interval distribution, be provided with connecting seat (6) and the top of above-mentioned revolving cylinder (2) between two mounting panels (5) is fixed in on connecting seat (6), the both sides of connecting seat (6) all are fixed with pivot (7) of level setting, two pivot (7) correspond and penetrate in two mounting panels (5) and can rotate for mounting panel (5), be connected with swing driver (8) on mount pad (1), the output of swing driver (8) and two in pivot (7) are connected and can drive the axis of revolute seat (6) and make a round trip.
  2. 2. The multi-gesture grabbing mechanical arm according to claim 1, wherein the swing driving piece (8) is an air cylinder, a shell of the swing driving piece (8) is hinged to the mounting base (1), a long swing arm (9) is arranged at the outer end of a piston rod of the swing driving piece (8), one end of the swing arm (9) is hinged to the outer end of the piston rod of the swing driving piece (8), and the other end of the swing arm is hinged to the rotating shaft (7).
  3. 3. The multi-gesture grabbing manipulator according to claim 2, wherein a block-shaped limiting block (10) is connected to the side portion of the mounting base (1), and the swing arm (9) can abut against the limiting block (10) when swinging around the axis of the rotating shaft (7).
  4. 4. A multi-gesture grabbing manipulator according to claim 3, wherein the eccentric position of the limiting block (10) is provided with a through hole (10 a) in a penetrating way, and the limiting block (10) is detachably fixed on the mounting base (1) through a fastener penetrating through the through hole (10 a).
  5. 5. The multi-gesture grabbing manipulator according to any one of claims 1-4, wherein the connecting seat (6) comprises a top plate (6 a) and two side plates (6 b) fixed on the top plate (6 a), the rotary cylinder (2) is fixed on the lower side of the top plate (6 a), the two side plates (6 b) are respectively located on two sides of the rotary cylinder (2), and the two rotating shafts (7) are respectively fixed corresponding to the two side plates (6 b).
  6. 6. The multi-pose grabbing manipulator according to any one of claims 1-4, wherein the number of gas claws (4) is at least two.

Description

Multi-gesture grabbing manipulator Technical Field The utility model belongs to the technical field of machinery, and relates to a multi-gesture grabbing manipulator. Background A robot is an automatic operation device that mimics some of the motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The manipulator can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to industries such as mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like. For example, a shaft type gas claw device is designed and applied for Chinese patent, the application number of the shaft type gas claw device is 201521062300.9, the application number of the shaft type gas claw device is CN205201548U, the shaft type gas claw device comprises a mounting seat, a rotary cylinder and a rotary gas claw device driven by the rotary cylinder, the rotary gas claw device comprises a gas claw fixing plate, finger cylinders and finger assemblies which are sequentially arranged below the rotary cylinder, limiting blocks are arranged on the gas claw fixing plate, the number of the finger cylinders is 3, the finger cylinders are respectively arranged on the left side and the right side of the gas claw fixing plate in a ratio of 2:1, and the finger assemblies are fixedly connected with the finger cylinders through bolts. The shaft type gas claw device is formed by the rotary cylinder, the rotary gas claw device driven by the rotary cylinder and the like, so that shaft type workpieces with different conicities can be better grabbed. However, after the shaft type gas claw device is installed, the shaft type gas claw device can only be used for grabbing shaft type workpieces at a specific angle, such as a horizontal setting, and is difficult to adapt to shaft type workpieces with inclined settings, particularly large inclined angles. Disclosure of utility model The utility model aims to solve the problems in the prior art, provides a multi-gesture grabbing manipulator, and solves the problem that an existing shaft type pneumatic claw device can only grab a workpiece at a specific angle. The aim of the utility model can be achieved by the following technical scheme: The utility model provides a many appearance snatchs manipulator, includes mount pad, the revolving cylinder of output down, the level is fixed in the platy gas claw fixed plate of revolving cylinder output downside and connects the gas claw in gas claw fixed plate downside, its characterized in that, have two mounting panels that all are platy that are parallel arrangement each other on the mount pad, two mounting panels follow horizontal direction interval distribution, be provided with connecting seat and the top of above-mentioned revolving cylinder between two mounting panels is fixed on the connecting seat, the both sides of connecting seat all are fixed with the pivot of level setting, two the pivot corresponds to penetrate in two mounting panels and can rotate for the mounting panel, be connected with the swing driver on the mount pad, the output of swing driver is connected with two in the pivot and can drive the axis round the connecting seat swings back and forth. In this many appearance snatchs manipulator, the gas claw of gas claw fixed plate downside is current part for open and shut in order to snatch the work piece, rotary cylinder's output can circumference rotate, and then can drive gas claw fixed plate and connect the gas claw synchronous rotation at gas claw fixed plate downside, in order to adapt to the snatch demand that is the work piece that need not the angle setting in the horizontal plane. Further, the swinging driving piece can drive the connecting seat to swing around the axis of the rotating shaft through the rotating shaft, so that the rotating cylinder and the air claw are driven to swing back and forth in the vertical plane, and the grabbing requirements of workpieces arranged at different angles in the vertical plane are met. The multi-gesture grabbing manipulator can grab workpieces in multiple angles in the horizontal plane and the vertical plane through the cooperation of the swing driving piece and the rotary cylinder, and therefore the multi-gesture grabbing manipulator can grab the workpieces in multiple gestures and is wide in application range. In the multi-gesture grabbing manipulator, the swing driving piece is an air cylinder, the shell of the swing driving piece is hinged to the mounting seat, a long-strip swing arm is arranged at the outer end of the piston rod of the swing driving piece, one end of the swing arm is hinged to the outer end of the piston rod of the swing driving piece, and the other end of the swing arm is hinged to the rotating shaft. The cylinder piston rod is matched with the swing arm to drive the rotating shaft,