A multi-stage arm grabbing device

Abstract

The present invention discloses a multi-stage arm grasping device, comprising a first steering mechanism, wherein the first steering mechanism is provided with a first steering motor, wherein the output end of the first steering motor is connected to a driven shaft one; a mechanical arm one, wherein one end of the mechanical arm one is connected to a driven shaft one, and the other end is connected to a mechanical arm two through a second steering mechanism; a grasping mechanism, wherein the grasping mechanism is connected to two ends of the mechanical arm, the grasping mechanism is provided with a claw bucket, the claw bucket is provided with a fixed claw and a movable claw, and the movable claw is connected to a cylinder; the swing amplitude of the mechanism of the present invention reaches 15.84 deg / s, which can ensure the swing of the mechanism from horizontal to vertical and efficiently pick up balls and disks.

Description

Technical Field

[0001] The invention relates to a multi-stage arm grasping device, belonging to the technical field of mechanical claws. Background Art

[0002] With the development of science and technology, the use of robotic equipment has become very widespread. In various fields, robots play an important role in replacing manual work.

[0003] The existing technology uses a steering gear to drive a plurality of clamping claws to slide on a slideway, which has the following disadvantages: the left and right sides of the clamping part of the mechanical claw are parallel to each other, and the structure is relatively simple; it cannot grasp the sphere and the disc at the same time, and the function is single. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiency in the prior art that spheres and discs cannot be grasped at the same time, and to provide a multi-stage arm grasping device.

[0005] A multi-stage arm grasping device, comprising

[0006] A first steering mechanism, wherein the first steering mechanism is provided with a first steering motor, and an output end of the first steering motor is connected to a driven shaft 1;

[0007] A mechanical arm 1, wherein one end of the mechanical arm 1 is connected to the driven shaft 1, and the other end is connected to the mechanical arm 2 via a second steering mechanism;

[0008] The grabbing mechanism is connected to the two ends of the mechanical arm, and the grabbing mechanism is provided with a claw bucket, and the claw bucket is provided with a fixed claw and a movable claw, and the movable claw is connected to a cylinder.

[0009] Preferably, the second steering mechanism includes a second steering motor, a second driving gear, a second driven gear and a second driven shaft. The second steering motor is arranged at the end of the second mechanical arm, the second driving gear is arranged at the output end of the second steering motor, and the second driven shaft is arranged on the second driven gear. The rotation of the second steering motor causes the second driving gear to rotate along the second driven gear to further change the rotation angle of the second mechanical arm.

[0010] Preferably, the driven shaft 1 is provided with a driven gear 1, the first steering motor is provided with a driving shaft 1, and the driving shaft 1 is provided with a driving gear 1, and the first steering motor rotates to make the driving gear 1 drive the driven gear 1, thereby changing the rotation angle of the mechanical arm 1.

[0011] Preferably, a transition gear is meshed between the driving gear 1 and the driven gear 1.

[0012] Preferably, the claw bucket is provided with an auxiliary motor, the auxiliary motor is connected to an auxiliary rotating wheel, and the auxiliary rotating wheel is arranged below the fixed claw.

[0013] Preferably, a driven roller is provided at the bottom of the claw bucket.

[0014] Preferably, when the air cylinder is actuated, the fixed claw overlaps with the movable claw, and when the air cylinder is reset, the fixed claw is at a right angle to the movable claw.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the swing amplitude of the mechanism of the present invention reaches 15.84 deg / s, which can ensure the swing of the mechanism from horizontal to vertical, efficiently pick up the ball, and quickly grab the disc through the cooperation of the fixed claw and the moving claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention;

[0017] Figure 2 It is a schematic diagram of the grabbing mechanism of the present invention;

[0018] Figure 3 is a schematic diagram of a first steering mechanism of the present invention;

[0019] Figure 4 is a schematic diagram of a second steering mechanism of the present invention;

[0020] Figure 5 It is an overall schematic diagram of the robotic arm of the present invention.

[0021] In the figure: 1. first steering mechanism; 11. first steering motor; 12. driving shaft 1; 13. driving gear 1; 14. transition gear; 15. driven shaft 1; 16. driven gear 1; 2. mechanical arm 1; 3. second steering mechanism; 31. second steering motor; 32. driving gear 2; 33. driven gear 2; 34. driven shaft 2; 4. mechanical arm 2; 5. grasping mechanism; 51. moving claw; 52. auxiliary rotating wheel; 53. driven roller; 54. claw bucket; 55. cylinder; 56. auxiliary motor; 57. fixed claw. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0025] like Figure 1-Figure 5 As shown, a multi-stage arm grasping device is disclosed, including a first steering mechanism 1, wherein the first steering mechanism 1 is provided with a first steering motor 11, and the output end of the first steering motor 11 is connected to a driven shaft 15; a mechanical arm 2, wherein one end of the mechanical arm 2 is connected to the driven shaft 15, and the other end is connected to a mechanical arm 2 4 through a second steering mechanism 3; the first steering motor 11 rotates to drive a driving gear 13 through a driving shaft 12, and further causes a driven gear 16 on the driving shaft 15 to rotate, thereby adjusting the mechanical arm 2;

[0026] like Figure 1-Figure 2As shown, a grabbing mechanism 5 is connected to the end of the mechanical arm 24, and the grabbing mechanism 5 is provided with a claw bucket 54, and the claw bucket 5 is provided with a fixed claw 57 and a movable claw 51, and the movable claw 51 is connected to a cylinder 55; the claw bucket 54 is provided with an auxiliary motor 56, and the auxiliary motor 56 is connected to an auxiliary rotating wheel 52, and the auxiliary rotating wheel 52 is arranged below the fixed claw 57; a driven roller 53 is provided at the bottom of the claw bucket 54; when the cylinder 55 is actuated, the fixed claw 57 overlaps with the movable claw 51 and is inserted into the central through hole of the disc to be grabbed, and when the cylinder 55 is reset, the fixed claw 57 is at a right angle to the movable claw 51, and the disc is controlled not to fall by the angle between the fixed claw 57 and the movable claw 51, thereby sending the disc to a specified position;

[0027] like Figure 4 As shown, the second steering mechanism 3 includes a second steering motor 31, a second driving gear 32, a second driven gear 33 and a second driven shaft 34. The second steering motor 31 is arranged at the end of the second mechanical arm 4, the second driving gear 32 is arranged at the output end of the second steering motor 31, and the second driven shaft 34 is arranged on the second driven gear 33. The second steering motor 31 rotates to make the second driving gear 32 rotate along the second driven gear 33 to further change the rotation angle of the second mechanical arm 4; the second steering motor 31 rotates to drive the second driving gear 32 to further drive the second driven gear 33. Since the driven gear 33 is fixedly arranged on the second driven shaft 34, and the second driven shaft 34 is fixedly connected to the first mechanical arm 2, the second mechanical arm 4 adjusts its action at this time;

[0028] The driven shaft 15 is provided with a driven gear 16, the first steering motor 11 is provided with a driving shaft 12, and the driving shaft 12 is provided with a driving gear 13. The first steering motor 11 rotates to make the driving gear 13 drive the driven gear 16 so that the robot arm 2 changes the rotation angle.

[0029] In this embodiment, a transition gear 14 is meshed between the driving gear 13 and the driven gear 1 16 to reduce the gear rotation speed.

[0030] Working process: The rotating wheel 52 generates friction with the ball under the drive of the auxiliary motor 56, sucking the ball into the claw bucket, and the cylinder 55 extends to the hollow circle position in the disk. When the cylinder 55 is reset, it clamps the disk with the fixed claw 57.

[0031] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-stage arm grasping device, characterized in that: include A first steering mechanism (1), the first steering mechanism (1) being provided with a first steering motor (11), the output end of the first steering motor (11) being connected to a driven shaft 1 (15); A mechanical arm 1 (2), wherein one end of the mechanical arm 1 (2) is connected to a driven shaft 1 (15), and the other end is connected to a mechanical arm 2 (4) via a second steering mechanism (3); A gripping mechanism (5), the gripping mechanism (5) being connected to two ends of the mechanical arm (4), the gripping mechanism (5) being provided with a claw bucket (54), the claw bucket (54) being provided with a fixed claw (57) and a movable claw (51), the movable claw (51) being connected to a cylinder (55); The second steering mechanism (3) comprises a second steering motor (31), a second driving gear (32), a second driven gear (33) and a second driven shaft (34); the second steering motor (31) is arranged at the end of the second mechanical arm (4); the second driving gear (32) is arranged at the output end of the second steering motor (31); the second driven shaft (34) is arranged on the second driven gear (33); the second steering motor (31) rotates to cause the second driving gear (32) to rotate along the second driven gear (33) to further change the rotation angle of the second mechanical arm (4); The driven shaft (15) is provided with a driven gear (16), the first steering motor (11) is provided with a driving shaft (12), the driving shaft (12) is provided with a driving gear (13), and the first steering motor (11) rotates so that the driving gear (13) drives the driven gear (16), thereby changing the rotation angle of the mechanical arm (2); A transition gear (14) is meshed between the driving gear 1 (13) and the driven gear 1 (16); The claw bucket (54) is provided with an auxiliary motor (56), the auxiliary motor (56) is connected to an auxiliary rotating wheel (52), and the auxiliary rotating wheel (52) is arranged below the fixed claw (57); When the air cylinder (55) is in motion, the fixed claw (57) overlaps with the movable claw (51); when the air cylinder (55) is reset, the fixed claw (57) and the movable claw (51) are at a right angle.

2. The multi-stage arm grasping device according to claim 1, characterized in that: A driven roller (53) is provided at the bottom of the claw bucket (54).

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