CN113894829A - Multi-claw synchronous manipulator - Google Patents
Multi-claw synchronous manipulator Download PDFInfo
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- CN113894829A CN113894829A CN202111322632.6A CN202111322632A CN113894829A CN 113894829 A CN113894829 A CN 113894829A CN 202111322632 A CN202111322632 A CN 202111322632A CN 113894829 A CN113894829 A CN 113894829A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 230000000712 assembly Effects 0.000 claims abstract description 23
- 238000000429 assembly Methods 0.000 claims abstract description 23
- 230000000670 limiting effect Effects 0.000 claims abstract description 5
- 210000000078 claw Anatomy 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 6
- 238000005299 abrasion Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 18
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000009471 action Effects 0.000 description 11
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application relates to a multi-claw synchronous manipulator which comprises a shell, wherein a guide hole is formed in the bottom wall of the shell; the clamping assemblies are positioned on the outer side of the shell and used for clamping articles, and are provided with a plurality of groups, and the groups of clamping assemblies are distributed at equal angles; the sliding assembly is used for connecting the clamping assembly and the shell and limiting the clamping assembly to slide along the direction of the guide hole; a power assembly; the sliding component is positioned in the shell and penetrates through the guide hole to be connected with the sliding component for providing power for clamping articles for one group of clamping components; a transmission assembly; be located the casing, pass the guiding hole and be used for driving multiunit centre gripping subassembly simultaneous movement, this application has the effect of the staff use of being convenient for.
Description
Technical Field
The application relates to the technical field of manipulators, in particular to a multi-claw synchronous manipulator.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program.
The existing manipulator comprises a mounting plate, a fixed claw fixedly connected to one side of the mounting plate close to an article, a movable claw used for being matched with the fixed claw and an adjusting hydraulic cylinder used for adjusting the relative distance between the movable claw and the fixed claw, wherein the article is guaranteed to be positioned between the fixed claw and the movable claw during use, and the movable claw moves to one side close to the fixed claw under the action of the adjusting hydraulic cylinder, so that the article is clamped.
In view of the above related technologies, the inventor thinks that when in use, the fixed rod needs to be abutted to an article or the movable claw drives the article to move to one side close to the fixed claw in the clamping process, so that the problem that the article is difficult to regulate and control or is displaced before being clamped occurs, and the defect that the use by a worker is inconvenient exists.
Disclosure of Invention
In order to solve the defect that the staff of being not convenient for uses, this application provides a synchronous manipulator of many claws.
The application provides a synchronous manipulator of many claws adopts following technical scheme, includes: a housing, the bottom wall of which is provided with a guide hole; the clamping assemblies are positioned on the outer side of the shell and used for clamping articles, and are provided with a plurality of groups, and the groups of clamping assemblies are distributed at equal angles; the sliding assembly is used for connecting the clamping assembly and the shell and limiting the clamping assembly to slide along the direction of the guide hole; a power assembly; the sliding component is positioned in the shell and penetrates through the guide hole to be connected with the sliding component for providing power for clamping articles for one group of clamping components; a transmission assembly; and the clamping components are positioned in the shell and penetrate through the guide holes to drive the multiple groups of clamping components to synchronously move.
Through adopting above-mentioned technical scheme, power component drives one of them group centre gripping subassembly motion and provides power for it during the use, and meanwhile transmission assembly conveys the power that power component transmitted to other centre gripping subassemblies, and relative displacement takes place for centre gripping subassembly and casing under the effect of subassembly that slides, and then the realization is got the clamp of article, and whole in-process multiunit centre gripping subassembly simultaneous action, and the same power supply of sharing has the effect of being convenient for staff's operation and use when guaranteeing article primary importance.
Preferably, the clamping assembly comprises a connecting rod and a clamping rod, and the connecting rod is vertically and fixedly connected with the clamping rod; the connecting rods of the clamping assemblies are distributed at equal angles by taking the perpendicular bisector of the shell as an axis; the connecting rod is connected with the sliding component.
Through adopting above-mentioned technical scheme, the centre gripping subassembly is in the use, and the connecting rod is connected with the subassembly that slides, and the subassembly that slides realizes driving the supporting rod with power component drive assembly and removes to the one side that is close to each other or keeps away from each other, and then has realized getting of article and put, and then has reached the effect that the staff of being convenient for used.
Preferably, the sliding assembly comprises a guide rail and a sliding block, the guide rail is fixedly connected with the shell, and the length direction of the guide rail is the same as the direction of the guide hole; the slide block slides along the length direction of the guide rail, and the connecting rod is fixedly connected with the slide block.
Through adopting above-mentioned technical scheme, when the subassembly that slides drove the centre gripping subassembly and removes, the slider moved to one side that is close to each other or keeps away from along the length direction of guide rail, and then realized driving the connecting rod and move to one side that is close to each other or keeps away from each other, and then realized adjusting whether centre gripping article of supporting rod, reached the effect that the staff of being convenient for used.
Preferably, the power assembly comprises a connecting sleeve, a control hydraulic cylinder and a connecting rod; the connecting sleeve is fixedly connected to the circumferential inner wall of the shell and connected with the control hydraulic cylinder, a piston rod of the control hydraulic cylinder is fixedly connected with the connecting rod, and one end of the connecting rod, which deviates from the control hydraulic cylinder, is fixedly connected with the sliding block.
Through adopting above-mentioned technical scheme, when power component drove the centre gripping subassembly and removes, when the piston rod of control pneumatic cylinder removed, under the effect of guiding hole, the centre gripping subassembly slided along the direction of setting for, under the cooperation of drive assembly and the subassembly that slides, realized pressing from both sides tight article or release article, whole clamp is got the in-process, only needs a power supply, has reached the effect of guaranteeing multiunit centre gripping subassembly simultaneous movement.
Preferably, the transmission assembly comprises a rotating shaft, a rotating plate and a transmission shaft, the rotating shaft penetrates through the bottom plate of the shell and is fixedly connected with the shell, and the center line of the rotating shaft in the length direction is collinear with the perpendicular bisector of the shell; the rotating shaft penetrates through the center of the rotating plate and is rotationally connected with the rotating plate; the rotating plate is provided with adjusting holes which are staggered with the guide holes; the connecting rod is inserted in the adjusting hole in a sliding manner; the transmission shaft is fixedly connected with the sliding block which is not connected with the connecting rod, and the rest end of the transmission shaft penetrates through the adjusting hole and the guide hole.
Through adopting above-mentioned technical scheme, when power component drives one of them group centre gripping subassembly and removes, the connecting rod slides along the orientation of seting up of guiding hole, meanwhile the guiding rod slides in the regulation hole, and then realize driving the commentaries on classics board and rotate, because the transmission shaft is pegged graft in surplus regulation hole and is connected with the subassembly that slides, the subassembly that slides is connected with the centre gripping subassembly again, and then realize driving surplus centre gripping subassembly and slide along the orientation of seting up of transfer chute, and then realized the linkage of multiunit centre gripping subassembly, and the uniformity of each group's centre gripping subassembly motion has been guaranteed in the setting up of transmission subassembly, and then reached the effect that makes things convenient for the staff to use.
Preferably, the bottom end of the clamping rod is connected with a bearing assembly; the bearing assembly comprises a control plate, a push rod, an adjusting rod, a rotating plate, a bearing rod and a bearing block; the control plate is positioned on one side of the clamping rods, the push rod vertically penetrates through the clamping rods, one end of the push rod is fixedly connected with the control plate, and the other end of the push rod is inserted in the adjusting rod in a sliding mode and slides along the length direction of the adjusting rod; one end of the rotating plate is fixedly connected with the clamping rod, and the other end of the rotating plate is rotatably connected with the adjusting rod; the bearing rod is positioned at the bottom end of the clamping rod, penetrates through the clamping rod and is in sliding connection with the clamping rod; the bearing block is positioned on one side of the clamping rods, which are close to each other, and is fixedly connected with the bearing rod, and the rest end of the bearing rod is slidably connected with the adjusting rod.
Through adopting above-mentioned technical scheme, when centre gripping subassembly centre gripping article, the supporting rod is to the one side removal that is close to article, at this moment, the supporting rod drives control panel and article butt, along with centre gripping subassembly presss from both sides tight article gradually, it moves to the one side of keeping away from article to adjust the pole drive catch bar this moment, under the effect of regulation pole and dwang, the carrier bar drives the carrier block and moves to the one side that is close to article, press from both sides tight article at the centre gripping subassembly this moment, use with the carrier block cooperation simultaneously and reached the stability that improves centre gripping subassembly clamping connection article.
Preferably, the outer wall of the circumferential direction of the bearing rod is slidably sleeved with a return spring, and the return spring is positioned between the clamping rod and the adjusting rod.
Through adopting above-mentioned technical scheme, when needs put down article, the supporting rod removes to one side of keeping away from article, regulating plate no longer with article butt this moment, reset spring promotes the bottom of adjusting the pole and removes from one side of article away from this moment, and then realizes driving the carrier block and remove from one side of article, and then has reached the effect of guaranteeing article centre gripping and transportation stability.
Preferably, the carrier bar is a rectangular columnar structure.
Through adopting above-mentioned technical scheme, the carrier bar is rectangle columnar structure, and then has guaranteed that the carrier bar can only slide along its length direction, and then has guaranteed that the movement track of carrier block can not change, and then has guaranteed the stability of centre gripping article in-process.
Preferably, the upper surface of the bearing block is fixedly connected with an anti-abrasion block.
Through adopting above-mentioned technical scheme, when carrier block bearing article or when carrier block and article separation, the setting of abrasionproof piece can reduce carrier block and article contact, and then has guaranteed the integrality of article, reduces the wearing and tearing to article.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the power assembly, the transmission assembly and the sliding assembly are matched for use, so that linkage of a plurality of groups of clamping assemblies can be realized, action consistency is kept in the clamping process, and only one group of power source is needed, so that the effect of facilitating use of workers is achieved;
2. the bearing component is matched with the clamping component for use, so that the object can be clamped, meanwhile, the object can be supported, and the stability of clamping the object is further ensured;
3. reset spring's setting can guarantee when the centre gripping subassembly no longer centre gripping article, and carrier block automatic re-setting to in next time bearing article, and then reached the effect that makes things convenient for the staff to use.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present application;
FIG. 2 is a schematic view showing a pilot hole;
fig. 3 is a schematic diagram showing the transmission assembly.
In the figure, 1, a housing; 11. a guide hole; 2. a clamping assembly; 21. a connecting rod; 22. a clamping rod; 3. a slipping component; 31. a guide rail; 32. a slider; 4. a power assembly; 41. connecting sleeves; 42. controlling the hydraulic cylinder; 43. a connecting rod; 5. a transmission assembly; 51. a rotating shaft; 52. rotating the plate; 521. an adjustment hole; 53. a drive shaft; 6. a load bearing assembly; 61. a control panel; 62. a push rod; 63. adjusting a rod; 64. a rotating plate; 65. a carrier bar; 66. a bearing block; 7. a return spring; 8. and an anti-abrasion block.
Detailed Description
The present application is described in further detail below with reference to figures 1-3.
The embodiment of the application discloses synchronous manipulator of many claws.
Referring to fig. 1, 2 and 3, the multi-jaw synchronous robot comprises a housing 1, a clamping assembly 2, a sliding assembly 3, a power assembly 4 and a transmission assembly 5; the shell 1 is a cylindrical structure with the top end and the bottom end both closed, a plurality of guide holes 11 are formed in the bottom wall of the shell 1, and the guide holes 11 are formed at equal angles; the clamping assemblies 2 are positioned on the outer side of the shell 1 and used for clamping articles, the clamping assemblies 2 are provided with a plurality of groups, the number of the clamping assemblies 2 is the same as that of the guide holes 11, in the embodiment, the clamping assemblies 2 are provided with three groups, and the groups of the clamping assemblies 2 are distributed at equal angles; the sliding assembly 3 is used for limiting the clamping assembly 2 to slide along the opening direction of the guide hole 11, and the sliding assembly 3 is used for connecting the clamping assembly 2 with the shell 1; the power assembly 4 is positioned in the shell 1, and the power assembly 4 drives one group of clamping assemblies 2 to slide along the opening direction of the guide hole 11; the transmission assembly 5 is also positioned in the shell 1, and the transmission assembly 5 passes through the guide hole 11 to drive the plurality of groups of clamping assemblies 2 to move synchronously.
Referring to fig. 2 and 3, when the device is used, only articles are required to be positioned between the plurality of groups of clamping assemblies 2, the power assembly 4 is started, the power assembly 4 drives one group of clamping assemblies 2 to move under the limiting action of the sliding assembly 3 and the guide hole 11, and the power assembly 4 simultaneously acts on the plurality of groups of clamping assemblies 2 under the action of the transmission assembly 5, so that the clamping assemblies 2 are taken and placed, and the effect of facilitating the use of workers is achieved.
Referring to fig. 1 and 2, the clamping assemblies 2 comprise connecting rods 21 and clamping rods 22, the connecting rods 21 are vertically and fixedly connected with the clamping rods 22, the connecting rods 21 of the multiple groups of clamping assemblies 2 are equiangularly distributed by taking a perpendicular bisector of the housing 1 as an axis, and the connecting rods 21 are parallel to the guide holes 11; the clamping rods 22 are located at the ends that are located close to each other away from the plurality of links 21; the sliding assembly 3 comprises a guide rail 31 and a sliding block 32, the guide rail 31 is fixedly connected with the housing 1, the guide rail 31 is parallel to the connecting rod 21, the sliding block 32 slides along the length direction of the guide rail 31, and the sliding block 32 is fixedly connected with the connecting rod 21.
Referring to fig. 2 and 3, the power assembly 4 includes a connecting sleeve 41, a control hydraulic cylinder 42 and a connecting rod 43, the connecting sleeve 41 is fixedly connected to the circumferential outer wall of the casing 1, and the control hydraulic cylinder 42 is connected to the connecting sleeve 41, and may be fixedly connected or hinged; the length of the control hydraulic cylinder 42 is the same as the opening direction of one of the guide holes 11, and one end of the connecting rod 43 is fixedly connected with the piston rod of the control hydraulic cylinder 42, and the other end penetrates through the guide hole 11 and is fixedly connected with the sliding block 32. When in use, the relative position of the clamping assembly 2 connected with the connecting rod 43 and the shell 1 can be adjusted only by adjusting the control hydraulic cylinder 42.
Referring to fig. 2 and 3, the driving assembly 5 includes a rotation shaft 51, a rotation plate 52, and a driving shaft 53; the rotating shaft 51 penetrates through the bottom plate of the shell 1 and is fixedly connected with the shell 1, and the center line of the rotating shaft 51 in the length direction is collinear with the perpendicular bisector of the shell 1; the rotating plate 52 is sleeved on the circumferential outer wall of the rotating shaft 51 and is rotatably connected with the rotating shaft 51, and the rotating axis of the rotating plate 52 is a perpendicular bisector of the rotating plate 52 and is collinear with the perpendicular bisector of the shell 1; the rotating plate 52 is provided with a plurality of adjusting holes 521, the number of the adjusting holes 521 is the same as that of the guiding holes 11, and one adjusting hole 521 corresponds to one guiding hole 11; the adjusting holes 521 are distributed in a crossed manner with the guide holes 11; the connecting rod 43 is inserted in the adjusting hole 521 in a sliding manner; at this time, as the connecting rod 43 slides in the opening direction of the guide hole 11, the rotating plate 52 rotates about the axis of the rotating shaft 51 as a rotation axis by the adjustment hole 521.
Referring to fig. 2 and 3, the transmission shaft 53 is fixedly connected to the sliding block 32 without the connection rod 43, and the remaining end of the transmission shaft 53 penetrates through the adjustment hole 521 and the guide hole 11 and is slidably inserted into the adjustment hole 521 and the guide hole 11, when the connection rod 43 slides in the guide hole 11, the connection rod 43 drives the rotating plate 52 to rotate under the action of the guide hole 11 and the adjustment hole 521, and meanwhile, the transmission shaft 53 is inserted into the adjustment hole 521 and the guide hole 11, so that under the action of the power assembly 4 and the transmission assembly 5, the effect of synchronous movement of the plurality of sets of clamping assemblies 2 is achieved; and then realized multiunit centre gripping subassembly 2 and got the effect of putting article simultaneously, reached the effect that makes things convenient for the staff to use.
Referring to fig. 1 and 3, the bottom end of the clamping rod 22 is connected with a bearing assembly 6 for supporting an article, the bearing assembly 6 comprises a control plate 61, a pushing rod 62, an adjusting rod 63, a rotating plate 64, a bearing rod 65 and a bearing block 66, the control plate 61 is located on one side where the plurality of clamping rods 22 approach each other, and the length direction of the control plate 61 is the same as the length direction of the clamping rods 22; the push rod 62 vertically penetrates through the clamping rod 22, one end of the push rod 62 is fixedly connected with the control panel 61, and the other end of the push rod 62 is inserted in the adjusting rod 63 in a sliding mode and slides along the length direction of the adjusting rod 63 and can rotate relative to the adjusting rod 63; the rotating plate 64 is positioned at one side of the clamping rods 22 which are deviated from each other, one end of the rotating plate 64 is fixedly connected with the clamping rods 22, and the other end is rotatably connected with the adjusting rod 63; the bearing rod 65 is a rectangular columnar structure, the bearing rod 65 is positioned at the bottom end of the clamping rod 22, and the bearing rod 65 penetrates through the clamping rod 22 and is in sliding connection with the clamping rod 22; one end of the bearing rod 65 is connected with one end of the adjusting rod 63, which is far away from the push rod 62, in a sliding manner, and the bearing rod 65 slides along the length direction of the adjusting rod 63; the outer circumferential wall of the bearing rod 65 is sleeved with a return spring 7, and the return spring 7 is positioned between the clamping rod 22 and the adjusting rod 63; the rest end of the bearing rod 65 is fixedly connected with the bearing block 66; the bearing block 66 is positioned at one side of the clamping rods 22 close to each other, and the bearing block 66 is embedded in the clamping rods 22; the upper surface of the bearing block 66 is fixedly connected with an anti-abrasion block 8; the wear-resistant block 8 is made of rubber.
Referring to fig. 1 and 3, when the clamping rods 22 approach each other for clamping an article, the article abuts against the control plate 61, and as the plurality of clamping rods 22 gradually approach each other, the control plate 61 drives the pushing rod 62 to move to a side away from the article, and under the action of the adjusting rod 63 and the rotating plate 64, the bearing rod 65 moves to a side close to the article, and at this time, the bearing block 66 is located below the article to support the article, and when the article is put down, the bearing rod 65 is driven to move to a side away from the article under the action of the return spring 7, so as to be separated from the article; in the use, bearing component 6 uses with the cooperation of centre gripping subassembly 2, has realized the bearing to article, and then has improved the stability of getting article of clamp.
The implementation principle of the multi-claw synchronous manipulator in the embodiment of the application is as follows: when the clamping device is used, the piston rod of the hydraulic cylinder 42 is controlled to move, at the moment, under the action of the connecting rod 43 and the sliding component 3, one group of clamping components 2 moves, under the action of the transmission component 5, a plurality of groups of clamping components 2 move simultaneously, when an article is clamped, the article is abutted to the control plate 61, under the transmission of the push rod 62, the adjusting rod 63 and the bearing rod 65, the bearing block 66 is positioned below the article and used for bearing the article, and when the article is placed on the clamping rod 22, under the action of the reset spring 7, the bearing block 66 is separated from the article; the article taking and placing device has the advantages that articles are taken and placed, the safety of the articles is guaranteed, and the effect of facilitating use of workers is achieved.
The embodiments of the present invention are preferred embodiments of the present application, and the scope of protection of the present application is not limited by the embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. The utility model provides a synchronous manipulator of many claws which characterized in that: the method comprises the following steps:
a shell (1), the bottom wall of which is provided with a guide hole (11);
the clamping assemblies (2) are positioned on the outer side of the shell (1) and used for clamping articles, and are provided with a plurality of groups, and the groups of clamping assemblies (2) are distributed at equal angles;
the sliding assembly (3) is used for connecting the clamping assembly and the shell (1) and limiting the clamping assembly to slide along the direction of the guide hole (11);
a power assembly (4); the sliding component (3) is positioned in the shell (1) and connected with the sliding component (3) through the guide hole (11) to provide power for clamping articles for one group of clamping components (2);
a transmission assembly (5); is positioned in the shell (1) and passes through the guide hole (11) to drive the plurality of groups of clamping components (2) to move synchronously.
2. A multi-jaw synchronous robot as claimed in claim 1, wherein: the clamping assembly (2) comprises a connecting rod (21) and a clamping rod (22), and the connecting rod (21) is vertically and fixedly connected with the clamping rod (22); the connecting rods (21) of the clamping assemblies (2) are distributed at equal angles by taking the perpendicular bisector of the shell (1) as an axis; the connecting rod (21) is connected with the sliding component (3).
3. A multi-jaw synchronous robot as claimed in claim 2, wherein: the sliding assembly (3) comprises a guide rail (31) and a sliding block (32), the guide rail (31) is fixedly connected with the shell (1), and the length direction of the guide rail (31) is the same as the direction of the guide hole (11); the sliding block (32) slides along the length direction of the guide rail (31), and the connecting rod (21) is fixedly connected with the sliding block (32).
4. A multi-jaw synchronous robot as claimed in claim 3, wherein: the power assembly (4) comprises a connecting sleeve (41), a control hydraulic cylinder (42) and a connecting rod (43); the connecting sleeve (41) is fixedly connected to the circumferential inner wall of the shell (1) and connected with the control hydraulic cylinder (42), a piston rod of the control hydraulic cylinder (42) is fixedly connected with the connecting rod (43), and one end, deviating from the control hydraulic cylinder (42), of the connecting rod (43) is fixedly connected with the sliding block (32).
5. The multi-jaw synchronous robot of claim 4, wherein: the transmission assembly (5) comprises a rotating shaft (51), a rotating plate (52) and a transmission shaft (53), the rotating shaft (51) penetrates through a bottom plate of the shell (1) and is fixedly connected with the shell (1), and the center line of the rotating shaft (51) in the length direction is collinear with the perpendicular bisector of the shell (1); the rotating shaft (51) penetrates through the center of the rotating plate (52) and is rotationally connected with the rotating plate (52); the rotating plate (52) is provided with adjusting holes (521), and the adjusting holes (521) are staggered with the guide holes (11); the connecting rod (43) is inserted in the adjusting hole (521) in a sliding manner; the transmission shaft (53) is fixedly connected with the sliding block (32) which is not connected with the connecting rod (43), and the rest end of the transmission shaft (53) penetrates through the adjusting hole (521) and the guide hole (11).
6. A multi-jaw synchronous robot as claimed in claim 2, wherein: the bottom end of the clamping rod (22) is connected with a bearing assembly (6); the bearing assembly (6) comprises a control plate (61), a push rod (62), an adjusting rod (63), a rotating plate (64), a bearing rod (65) and a bearing block (66); the control plate (61) is positioned on one side where the clamping rods (22) are close to each other, the push rod (62) vertically penetrates through the clamping rods (22), one end of the push rod (62) is fixedly connected with the control plate (61), and the rest end of the push rod (62) is inserted into the adjusting rod (63) in a sliding mode and slides along the length direction of the adjusting rod (63); one end of the rotating plate (64) is fixedly connected with the clamping rod (22), and the other end of the rotating plate is rotatably connected with the adjusting rod (63); the bearing rod (65) is positioned at the bottom end of the clamping rod (22), and the bearing rod (65) penetrates through the clamping rod (22) and is connected with the clamping rod in a sliding manner; the bearing block (66) is positioned at one side of the clamping rods (22) close to each other, the bearing block (66) is fixedly connected with the bearing rod (65), and the rest end of the bearing rod (65) is connected with the adjusting rod (63) in a sliding manner.
7. The multi-jaw synchronous robot of claim 6, wherein: the outer wall of the circumferential direction of the bearing rod (65) is slidably sleeved with a return spring (7), and the return spring (7) is positioned between the clamping rod (22) and the adjusting rod (63).
8. The multi-jaw synchronous robot of claim 6, wherein: the bearing rod (65) is of a rectangular columnar structure.
9. The multi-jaw synchronous robot of claim 6, wherein: the upper surface of the bearing block (66) is fixedly connected with an anti-abrasion block (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111322632.6A CN113894829B (en) | 2021-11-09 | 2021-11-09 | Multi-claw synchronous manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111322632.6A CN113894829B (en) | 2021-11-09 | 2021-11-09 | Multi-claw synchronous manipulator |
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| CN113894829A true CN113894829A (en) | 2022-01-07 |
| CN113894829B CN113894829B (en) | 2024-03-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114604800A (en) * | 2022-03-31 | 2022-06-10 | 江苏西顿科技有限公司 | Explosion-proof AGV car |
| CN116331828A (en) * | 2023-05-11 | 2023-06-27 | 太原福莱瑞达物流设备科技有限公司 | A transport clamping jaw device for inclinometry |
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| CN110653841A (en) * | 2019-09-30 | 2020-01-07 | 佛山科学技术学院 | Simple and convenient mechanical gripper |
| CN213412040U (en) * | 2020-11-02 | 2021-06-11 | 王建先 | Clamping device for manipulator |
| CN113427516A (en) * | 2021-08-26 | 2021-09-24 | 向海重工集团股份有限公司 | Mechanical arm for mining machinery capable of adapting to irregular shape |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114604800A (en) * | 2022-03-31 | 2022-06-10 | 江苏西顿科技有限公司 | Explosion-proof AGV car |
| CN114604800B (en) * | 2022-03-31 | 2023-12-15 | 江苏西顿科技有限公司 | Explosion-proof AGV car |
| CN116331828A (en) * | 2023-05-11 | 2023-06-27 | 太原福莱瑞达物流设备科技有限公司 | A transport clamping jaw device for inclinometry |
| CN116331828B (en) * | 2023-05-11 | 2023-08-04 | 太原福莱瑞达物流设备科技有限公司 | A transport clamping jaw device for inclinometry |
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