A mechanical arm capable of clamping special-shaped parts

Abstract

The present invention discloses a mechanical arm capable of clamping special-shaped parts, and relates to the technical field of mechanical arms. The mechanical arm capable of clamping special-shaped parts comprises a U-shaped plate arranged on the mechanical arm body, the side wall of the U-shaped plate is rotatably connected to two symmetrically arranged rotating blocks through a first rotating shaft, and the side wall of each rotating block is fixedly connected to a first fixed block and a second fixed block. The mechanical arm capable of clamping special-shaped parts can simultaneously clamp the top and bottom of the special-shaped part body, so that the clamping is more stable and reliable, and the clamping effect is better. Moreover, after clamping, it is convenient to move and adjust the special-shaped part body to ensure that the center of gravity of the special-shaped part body is in the clamping position, so that the special-shaped part body on both sides of the clamping position maintains a balanced state, so that the clamping is more stable and reliable, and at the same time, it can avoid damage and deformation to the special-shaped part body, so that the clamping effect is better.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a mechanical arm capable of clamping special-shaped parts. Background Art

[0002] Due to its unique operational flexibility, robotic arms have replaced many manual jobs and are widely used in industrial assembly, safety and explosion-proof and other fields. Objects are generally gripped and transferred by robotic arms. Therefore, the gripping mechanism of robotic arms has been continuously updated according to different needs. The bent arc plate is a kind of special-shaped part. During the production process, it needs to be gripped and transferred by a robotic arm.

[0003] However, when the existing robotic arms that can clamp special-shaped parts are used, they are mostly clamped from both end faces of the special-shaped parts. Due to their limited thickness, the clamping effect is affected. At the same time, since some special-shaped parts are asymmetrically designed, their center of gravity is offset from the clamping point during clamping, which can easily cause the special-shaped parts to loosen or even fall off, and can also easily cause damage and deformation of the special-shaped parts, affecting the clamping effect. Summary of the invention

[0004] The purpose of the present invention is to provide a mechanical arm capable of clamping special-shaped parts, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A mechanical arm capable of clamping special-shaped parts, comprising a U-shaped plate arranged on a mechanical arm body, the side wall of the U-shaped plate being rotatably connected to two symmetrically arranged rotating blocks through a first rotating shaft, and the side wall of each rotating block being fixedly connected to a first fixed block and a second fixed block, the side wall of the first fixed block being rotatably connected to a first rotating plate through a first rotating mechanism, and the side wall of the first rotating plate being fixedly connected to two symmetrically arranged first supporting blocks, the side wall of the first supporting block being rotatably connected to a plurality of first rubber wheels arranged in an array through a first rotating rod, and the side wall of the second fixed block being rotatably connected to a second rotating plate through a second rotating mechanism, the side wall of the second rotating plate being fixedly connected to two symmetrically arranged second supporting blocks, and the side wall of the second supporting block being rotatably connected to a second rubber wheel through a second rotating rod, the rotation of the first rotating rod being driven by a driving mechanism, and a first limiting mechanism for limiting the first rotating rod being arranged on the top of the first supporting block, and a second limiting mechanism for limiting the rotating block being arranged on the side wall of the U-shaped plate.

[0006] Preferably, the driving mechanism includes a pointer fixedly connected to the side wall of the first rotating shaft, and the side wall of the U-shaped plate is fixedly connected to two symmetrically arranged L-shaped plates, each side wall of the L-shaped plates is fixedly inserted with a visual sensor, and the top of the first support block is fixedly connected to an L-shaped frame, the top of the L-shaped frame is fixedly connected to a first motor, the output end of the first motor is fixed to the upper end of the first rotating rod, and the first motor is electrically connected to the visual sensor.

[0007] Preferably, the first limiting mechanism includes a plurality of array-arranged sockets opened on the side wall of the first rotating rod, and the top of the first support block is fixedly connected to a fixed plate, the side wall of the fixed plate is inserted with two symmetrically arranged T-shaped guide rods, and one end of the T-shaped guide rod is fixedly connected to a moving block, the side wall of each of the T-shaped guide rods is sleeved with a first spring, and the side wall of the moving block is fixedly connected to a pin, the top of the fixed plate is fixedly connected to an electromagnet, and the top of the moving block is fixedly connected to an iron block.

[0008] Preferably, the first rotating mechanism includes a second rotating shaft rotatably connected to the side wall of the first fixed block, and the first rotating plate is fixedly sleeved on the side wall of the second rotating shaft, the side wall of the second rotating shaft is fixedly sleeved with a first gear, and the side wall of the first fixed block is connected to the first rack through a first reset mechanism.

[0009] Preferably, the first resetting mechanism includes two symmetrically arranged first connecting blocks fixedly connected to the side walls of the first fixed block, and the side walls of the first connecting blocks are fixedly connected to two symmetrically arranged first guide rods, the side walls of the first guide rods are sleeved with a first slider, the first slider is fixed to the side walls of the first rack, and the side walls of the first guide rods are sleeved with a second spring.

[0010] Preferably, the second rotating mechanism includes a third rotating shaft rotatably connected to the side wall of the second fixed block, and the second rotating plate fixed sleeve is arranged on the side wall of the third rotating shaft, the side wall fixed sleeve of the third rotating shaft is provided with a second gear, and the side wall of the second fixed block is connected to a second rack through a second reset mechanism, and the movement of the second rack and the first rack is pushed by a pushing mechanism.

[0011] Preferably, the second reset mechanism includes two symmetrically arranged second connecting blocks fixedly connected to the side walls of the second fixed block, and the side walls of the second connecting blocks are fixedly connected to two symmetrically arranged second guide rods, the side walls of the second guide rods are sleeved with a second slider, the second slider is fixed to the side walls of the second rack, and the side walls of the second guide rods are sleeved with a third spring.

[0012] Preferably, the pushing mechanism includes a first pushing block fixedly connected to the side wall of the first rack, and the side wall of the second rack is fixedly connected to the second pushing block, the side wall of the rotating block is connected to a moving plate through a moving mechanism, and the bottom of the moving plate is fixedly connected to the first pushing plate, the first pushing plate includes a first inclined surface, and the top of the moving plate is fixedly connected to two symmetrically arranged first sets of rods, the side walls of the first sets of rods are sleeved with a first sleeve, and the upper end of the first sleeve is fixedly connected to the second pushing plate, the second pushing plate includes a second inclined surface, and the side walls of the first sleeve are sleeved with a fourth spring.

[0013] Preferably, the moving mechanism includes a mounting plate fixedly connected to the side wall of the rotating block, and the side wall of the mounting plate is fixedly connected to a second set of rods, the side wall of the second set of rods is sleeved with a second sleeve, and the other end of the second sleeve is fixed to the side wall of the moving plate, the side wall of the mounting plate is rotatably connected to a threaded rod, and the side wall of the threaded rod is threadedly connected to a threaded tube, the other end of the threaded tube is fixed to the side wall of the moving plate, the side wall of the mounting plate is fixedly connected to a second motor, and the output end of the second motor is fixed to one end of the threaded rod.

[0014] Preferably, the second limiting mechanism includes a limiting block fixedly connected to the side wall of the U-shaped plate, and the side wall of the limiting block is provided with a limiting groove, the side wall of the movable plate is fixedly connected to a connecting frame, and the bottom of the connecting frame is fixedly connected to an L-shaped limiting plate.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) This type of mechanical arm capable of clamping special-shaped parts, through the joint action of the first rotating mechanism and the second rotating mechanism, when it is necessary to clamp the special-shaped part body, by simultaneously clamping the top and bottom of the special-shaped part body, the clamping is more stable and reliable, and the clamping effect is better. Moreover, after clamping, it is convenient to move and adjust the special-shaped part body to ensure that the center of gravity of the special-shaped part body is at the clamping position, so that the special-shaped part body on both sides of the clamping position maintains a balanced state, making the clamping more stable and reliable. At the same time, it can avoid damage and deformation to the special-shaped part body, so that the clamping effect is better.

[0017] (2) This type of mechanical arm capable of clamping special-shaped parts, through the joint action of the first limiting mechanism, etc., after the movement and adjustment of the special-shaped part body is completed, the electromagnet is powered off. At this time, the moving block can move toward the direction close to the first rotating rod under the action of the first spring, and insert the pin into the socket for limiting, so as to prevent the first rotating rod and the first rubber wheel from rotating at will, thereby making the clamping effect of the special-shaped part body better, more stable and reliable.

[0018] (3) This type of mechanical arm capable of clamping special-shaped parts, through the joint action of the second limiting mechanism, etc., after the movement and adjustment of the special-shaped part body is completed, the second motor continues to rotate. At this time, the moving plate continues to move, and the fourth spring can be compressed. At the same time, when the moving plate moves, the limiting plate is driven to move through the connecting frame, and the limiting plate is inserted into the limiting groove, so that the first rotating shaft and the rotating block can be limited to prevent them from rotating randomly, thereby making the clamping effect of the special-shaped part body better, more stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the positions of the first rotating mechanism and the second rotating mechanism in the present invention;

[0021] Figure 3 is a schematic diagram of the position of the second limiting mechanism in the present invention;

[0022] Figure 4 for Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0023] Figure 5 for Figure 2 A schematic diagram of the enlarged structure at B in the middle;

[0024] Figure 6 for Figure 3 Schematic diagram of the enlarged structure at C in the middle;

[0025] Figure 7 for Figure 5 Schematic diagram of the enlarged structure at D in the middle;

[0026] Figure 8 for Figure 5 Schematic diagram of the enlarged structure at E in the middle;

[0027] Fig. 9 for Figure 8 The enlarged structural diagram at F in the middle;

[0028] Fig.10 for Figure 8 Schematic diagram of the enlarged structure at G in the middle.

[0029] In the figure: 1, mechanical arm body; 2, first rotating mechanism; 201, second rotating shaft; 202, first gear; 203, first rack; 3, first reset mechanism; 301, first connecting block; 302, first guide rod; 303, first slider; 304, second spring; 4, second rotating mechanism; 401, third rotating shaft; 402, second gear; 403, second rack; 5, second reset mechanism; 501, second connecting block; 502, second Guide rod; 503, second slider; 504, third spring; 6, pushing mechanism; 601, first pushing block; 602, moving plate; 603, first pushing plate; 604, first inclined surface; 605, second pushing block; 606, second pushing plate; 607, second inclined surface; 608, first sleeve rod; 609, first sleeve; 610, fourth spring; 7, first limiting mechanism; 701, jack; 702, fixed plate; 703, T-shaped guide rod; 7 04, moving block; 705, latch; 706, first spring; 707, iron block; 708, electromagnet; 8, moving mechanism; 801, mounting plate; 802, second set of rods; 803, second set of tubes; 804, threaded rod; 805, threaded tube; 806, second motor; 9, driving mechanism; 901, L-shaped frame; 902, first motor; 903, L-shaped plate; 904, visual sensor; 905, pointer; 10, second limit mechanism; 1 001, limit block; 1002, limit groove; 1003, connecting frame; 1004, limit plate; 11, U-shaped plate; 12, first rotating shaft; 13, rotating block; 14, first fixed block; 15, first rotating plate; 16, first supporting block; 17, first rotating rod; 18, first rubber wheel; 19, second fixed block; 20, second rotating plate; 21, second supporting block; 22, second rotating rod; 23, second rubber wheel; 24, special-shaped part body. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figure 1-Figure 10The present invention provides a technical solution: a mechanical arm capable of clamping special-shaped parts, comprising a U-shaped plate 11 arranged on a mechanical arm body 1, the side wall of the U-shaped plate 11 is rotatably connected to two symmetrically arranged rotating blocks 13 through a first rotating shaft 12, and the side wall of each rotating block 13 is fixedly connected to a first fixed block 14 and a second fixed block 19, the side wall of the first fixed block 14 is rotatably connected to a first rotating plate 15 through a first rotating mechanism 2, and the side wall of the first rotating plate 15 is fixedly connected to two symmetrically arranged first supporting blocks 16, the side wall of the first supporting block 16 is rotatably connected to a plurality of array-arranged first rubber wheels 18 through a first rotating rod 17, and the side wall of the second fixed block 19 is rotatably connected to a second rotating plate 20 through a second rotating mechanism 4, and the side wall of the second rotating plate 20 is fixedly connected to two symmetrically arranged second supporting blocks 21, and The side wall of the second support block 21 is rotatably connected to the second rubber wheel 23 through the second rotating rod 22. The rotation of the first rotating rod 17 is driven by the driving mechanism 9, and the top of the first support block 16 is provided with a first limiting mechanism 7 for limiting the first rotating rod 17. The side wall of the U-shaped plate 11 is provided with a second limiting mechanism 10 for limiting the rotating block 13. By clamping the top and bottom of the special-shaped part body 24 at the same time, the clamping is more stable and reliable, and the clamping effect is better. After clamping, it is convenient to move and adjust the special-shaped part body 24 to ensure that the center of gravity of the special-shaped part body 24 is in the clamping position, so that the special-shaped part body 24 on both sides of the clamping position maintains a balanced state, making the clamping more stable and reliable. At the same time, it can avoid damage and deformation to the special-shaped part body 24, so that the clamping effect is better.

[0032] See also Figure 5 and Figure 6The driving mechanism 9 includes a pointer 905 fixedly connected to the side wall of the first rotating shaft 12, and the side wall of the U-shaped plate 11 is fixedly connected to two symmetrically arranged L-shaped plates 903, and the side wall of each L-shaped plate 903 is fixedly inserted with a visual sensor 904, and the top of the first support block 16 is fixedly connected to an L-shaped frame 901, and the top of the L-shaped frame 901 is fixedly connected to a first motor 902, the output end of the first motor 902 is fixed to the upper end of the first rotating rod 17, and the first motor 902 is electrically connected to the visual sensor 904. When the special-shaped body 24 needs to be clamped, the U-shaped plate 11 is first moved by the robot body 1 so that the special-shaped body 24 is between the two rotating blocks 13, and then the first rotating plate 15 is rotated to a horizontal state by the first rotating mechanism 2, and then the robot body 1 is moved upward so that the first rubber wheel 18 contacts the bottom of the special-shaped body 24, and then the second rotating plate 20 is rotated downward by the second rotating mechanism 4 so that the second rubber wheel 23 contacts the special-shaped body 24 is abutted against each other to achieve the clamping limit of the special-shaped part body 24. By clamping the top and bottom of the special-shaped part body 24 at the same time, the clamping is more stable and reliable, and the clamping effect is better. In addition, when the special-shaped part body 24 is not symmetrically designed, its center of gravity is not at the midline position. At this time, the rotating block 13 will rotate and tilt along the first rotating shaft 12. When the first rotating shaft 12 rotates, it drives the pointer 905 to rotate synchronously, and detects through the visual sensor 904 to determine the inclination direction of the first rotating shaft 12 and the rotating block 13. Then, the first motor 902 is started. The rotation of the first motor 902 drives the rotation of the first rotating rod 17 and the first rubber wheel 18, so that the special-shaped part body 24 can be moved and adjusted. When the pointer 905 is in a vertical state, it means that the center of gravity of the special-shaped part body 24 is in the clamping position. At this time, the special-shaped part body 24 on both sides of the clamping position maintains a balanced state, which makes the clamping more stable and reliable. At the same time, it can avoid damage and deformation to the special-shaped part body 24, so that the clamping effect is better.

[0033] See also Figure 7The first limiting mechanism 7 includes a plurality of array-arranged jacks 701 provided on the side wall of the first rotating rod 17, and a fixed plate 702 is fixedly connected to the top of the first supporting block 16, two symmetrically arranged T-shaped guide rods 703 are inserted into the side wall of the fixed plate 702, and one end of the T-shaped guide rod 703 is fixedly connected to a moving block 704, and the side wall of each T-shaped guide rod 703 is sleeved with a first spring 706, and the side wall of the moving block 704 is fixedly connected to a latch 705, and the top of the fixed plate 702 is fixedly connected to There is an electromagnet 708, and an iron block 707 is fixedly connected to the top of the moving block 704. After the movement and adjustment of the special-shaped part body 24 is completed, the electromagnet 708 is powered off. At this time, the moving block 704 can move toward the direction close to the first rotating rod 17 under the action of the first spring 706, and the pin 705 is inserted into the socket 701 for limiting, preventing the first rotating rod 17 and the first rubber wheel 18 from rotating at will, thereby making the clamping effect of the special-shaped part body 24 better, more stable and reliable.

[0034] See also Figure 8 and Fig. 9 The first rotating mechanism 2 includes a second rotating shaft 201 rotatably connected to the side wall of the first fixed block 14, and the first rotating plate 15 is fixedly sleeved on the side wall of the second rotating shaft 201, and the side wall of the second rotating shaft 201 is fixedly sleeved with a first gear 202, and the side wall of the first fixed block 14 is connected to the first rack 203 through the first resetting mechanism 3, which guides and resets the rotation of the first rotating plate 15.

[0035] See also Fig. 9 The first reset mechanism 3 includes two symmetrically arranged first connecting blocks 301 fixedly connected to the side walls of the first fixed block 14, and the side walls of the first connecting blocks 301 are fixedly connected to two symmetrically arranged first guide rods 302, the side walls of the first guide rods 302 are sleeved with first sliders 303, the first sliders 303 are fixed to the side walls of the first rack 203, and the side walls of the first guide rods 302 are sleeved with second springs 304, which guide and reset the movement of the first rack 203.

[0036] See also Figure 8 and Fig.10 The second rotating mechanism 4 includes a third rotating shaft 401 rotatably connected to the side wall of the second fixed block 19, and the second rotating plate 20 is fixedly sleeved on the side wall of the third rotating shaft 401, and the side wall of the third rotating shaft 401 is fixedly sleeved with a second gear 402, and the side wall of the second fixed block 19 is connected to a second rack 403 through a second reset mechanism 5, and the movement of the second rack 403 and the first rack 203 is pushed by the pushing mechanism 6, which guides and resets the rotation of the second rotating plate 20.

[0037] See also Fig.10The second reset mechanism 5 includes two symmetrically arranged second connecting blocks 501 fixedly connected to the side walls of the second fixed block 19, and the side walls of the second connecting blocks 501 are fixedly connected to two symmetrically arranged second guide rods 502, the side walls of the second guide rods 502 are sleeved with second sliders 503, the second sliders 503 are fixed to the side walls of the second rack 403, and the side walls of the second guide rods 502 are sleeved with third springs 504, which guide and reset the movement of the second rack 403.

[0038] See also Figure 8-Figure 10 The pushing mechanism 6 includes a first pushing block 601 fixedly connected to the side wall of the first rack 203, and the side wall of the second rack 403 is fixedly connected to the second pushing block 605, the side wall of the rotating block 13 is connected to the moving plate 602 through the moving mechanism 8, and the bottom of the moving plate 602 is fixedly connected to the first pushing plate 603, the first pushing plate 603 includes a first inclined surface 604, and the top of the moving plate 602 is fixedly connected to two symmetrically arranged first sleeve rods 608, the side wall of the first sleeve rod 608 is sleeved with a first sleeve tube 609, and the upper end of the first sleeve tube 609 is fixedly connected to the second pushing plate 606, the second pushing plate 606 includes a second inclined surface 607, and the side wall of the first sleeve tube 609 is sleeved with a fourth spring 610, and the moving plate 602 is driven by the moving mechanism 8 to move When the first inclined surface 604 abuts against the first pushing block 601, the first rack 203 is pushed to move upward. At the same time, the second spring 304 is compressed, thereby pushing the first gear 202 and the second rotating shaft 201 to rotate clockwise, and rotating the upward first rotating plate 15 to a horizontal state. When the moving plate 602 continues to move, the first pushing block 601 moves to the top of the first pushing plate 603. When the second inclined surface 607 abuts against the second pushing block 605, the second rack 403 is pushed to move downward, thereby pushing the second gear 402 and the third rotating shaft 401 to rotate counterclockwise, thereby driving the second rotating plate 20 to rotate downward, and making the second rubber wheel 23 abut against the top of the special-shaped part body 24.

[0039] See also Figure 8The moving mechanism 8 includes a mounting plate 801 fixedly connected to the side wall of the rotating block 13, and the side wall of the mounting plate 801 is fixedly connected with a second rod 802, the side wall of the second rod 802 is sleeved with a second sleeve 803, and the other end of the second sleeve 803 is fixed to the side wall of the moving plate 602, the side wall of the mounting plate 801 is rotatably connected with a threaded rod 804, and the side wall of the threaded rod 804 is threadedly connected with a threaded tube 805, the other end of the threaded tube 805 is fixed to the side wall of the moving plate 602, the side wall of the mounting plate 801 is fixedly connected with a second motor 806, and the output end of the second motor 806 is fixed to one end of the threaded rod 804, the second motor 806 is started, and the rotation of the second motor 806 drives the rotation of the threaded rod 804, thereby driving the moving plate 602 to move, and then driving the first push plate 603 and the second push plate 606 to move.

[0040] See also Figure 6 and Figure 8 The second limiting mechanism 10 includes a limiting block 1001 fixedly connected to the side wall of the U-shaped plate 11, and a limiting groove 1002 is provided on the side wall of the limiting block 1001, and a connecting frame 1003 is fixedly connected to the side wall of the movable plate 602, and an L-shaped limiting plate 1004 is fixedly connected to the bottom of the connecting frame 1003. After the movement and adjustment of the special-shaped part body 24 is completed, the second motor 806 continues to rotate. At this time, the movable plate 602 continues to move, and the fourth spring 610 can be compressed. At the same time, when the movable plate 602 moves, the limiting plate 1004 is driven to move through the connecting frame 1003, and the limiting plate 1004 is inserted into the limiting groove 1002, so that the first rotating shaft 12 and the rotating block 13 can be limited to prevent them from rotating at will, thereby making the clamping effect of the special-shaped part body 24 better, more stable and reliable.

[0041] Working principle: When it is necessary to clamp the special-shaped part body 24, the U-shaped plate 11 is first moved by the mechanical arm body 1 so that the special-shaped part body 24 is located between the two rotating blocks 13. Then, the second motor 806 is started. The rotation of the second motor 806 drives the rotation of the threaded rod 804, thereby driving the moving plate 602 to move, and then driving the first push plate 603 and the second push plate 606 to move. When the first inclined surface 604 abuts against the first push block 601, the first rack 203 is pushed to move upward. At the same time, the second spring 304 is compressed, thereby driving the first gear 202 and the second rotating shaft 201 to rotate clockwise, and rotating the upward first rotating plate 15 to a horizontal state.

[0042] Next, the second motor 806 is stopped, and the robot body 1 is moved upward so that the first rubber wheel 18 contacts the bottom of the special-shaped part body 24, and then the second motor 806 is started again to make the moving plate 602 continue to move. When the moving plate 602 continues to move, the first push block 601 moves to the top of the first push plate 603. When the second inclined surface 607 abuts against the second push block 605, the second rack 403 is pushed to move downward, thereby pushing the second gear 402 and the third rotating shaft 401 to rotate counterclockwise, thereby driving the second rotating plate 20 to rotate downward, and making the second rubber wheel 23 abut against the top of the special-shaped part body 24, so as to achieve the clamping limit of the special-shaped part body 24, and by clamping the top and bottom of the special-shaped part body 24 at the same time, the clamping is more stable and reliable, and the clamping effect is better;

[0043] When the special-shaped part body 24 is not symmetrically designed, its center of gravity is not at its midline position. At this time, the rotating block 13 will rotate and tilt along the first rotating shaft 12. When the first rotating shaft 12 rotates, it drives the pointer 905 to rotate synchronously, and detects through the visual sensor 904, so that the tilting direction of the first rotating shaft 12 and the rotating block 13 can be determined. Then, the first motor 902 is started to rotate forward and reverse. The rotation of the first motor 902 drives the rotation of the first rotating rod 17 and the first rubber wheel 18, so that the special-shaped part body 24 can be moved and adjusted. When the pointer 905 is in a vertical state, it means that the center of gravity of the special-shaped part body 24 is in the clamping position. At this time, the special-shaped part body 24 on both sides of the clamping position maintains a balanced state, making the clamping more stable and reliable. At the same time, it can avoid damage and deformation to the special-shaped part body 24, so that the clamping effect is better.

[0044] After the movement and adjustment of the special-shaped part body 24 is completed, the electromagnet 708 is powered off. At this time, the moving block 704 can move toward the direction close to the first rotating rod 17 under the action of the first spring 706, and the latch 705 is inserted into the insertion hole 701 for limiting, so as to prevent the first rotating rod 17 and the first rubber wheel 18 from rotating at will, thereby making the clamping effect of the special-shaped part body 24 better, more stable and reliable;

[0045] After the movement and adjustment of the special-shaped part body 24 is completed, the second motor 806 continues to rotate. At this time, the movable plate 602 continues to move, and the fourth spring 610 can be compressed. At the same time, when the movable plate 602 moves, the limiting plate 1004 is driven to move through the connecting frame 1003, and the limiting plate 1004 is inserted into the limiting groove 1002, so that the first rotating shaft 12 and the rotating block 13 can be limited to prevent them from rotating at will, thereby making the clamping effect of the special-shaped part body 24 better, more stable and reliable.

Claims

1. A mechanical arm capable of clamping a special-shaped part, comprising a U-shaped plate (11) arranged on a mechanical arm body (1), characterized in that: The side wall of the U-shaped plate (11) is rotatably connected to two symmetrically arranged rotating blocks (13) via a first rotating shaft (12), and the side wall of each rotating block (13) is fixedly connected to a first fixed block (14) and a second fixed block (19), the side wall of the first fixed block (14) is rotatably connected to a first rotating plate (15) via a first rotating mechanism (2), and the side wall of the first rotating plate (15) is fixedly connected to two symmetrically arranged first supporting blocks (16), the side wall of the first supporting block (16) is rotatably connected to a plurality of first rubber wheels (18) arranged in an array via a first rotating rod (17), and the side wall of the second fixed block (19) is fixedly connected to a first rotating plate (15) via a first rotating mechanism (2). The wall is rotatably connected to a second rotating plate (20) via a second rotating mechanism (4); the side wall of the second rotating plate (20) is fixedly connected to two symmetrically arranged second support blocks (21); and the side wall of the second support block (21) is rotatably connected to a second rubber wheel (23) via a second rotating rod (22); the rotation of the first rotating rod (17) is driven by a driving mechanism (9); and a first limiting mechanism (7) for limiting the first rotating rod (17) is provided at the top of the first support block (16); and a second limiting mechanism (10) for limiting the rotating block (13) is provided on the side wall of the U-shaped plate (11); The driving mechanism (9) comprises a pointer (905) fixedly connected to the side wall of the first rotating shaft (12), and the side wall of the U-shaped plate (11) is fixedly connected to two symmetrically arranged L-shaped plates (903), and the side wall of each of the L-shaped plates (903) is fixedly inserted with a visual sensor (904), and the top of the first supporting block (16) is fixedly connected to an L-shaped frame (901), and the top of the L-shaped frame (901) is fixedly connected to a first motor (902), the output end of the first motor (902) is fixed to the upper end of the first rotating rod (17), and the first motor (902) is electrically connected to the visual sensor (904); The first limiting mechanism (7) comprises a plurality of array-arranged insertion holes (701) provided on the side wall of the first rotating rod (17), and the top of the first supporting block (16) is fixedly connected to a fixing plate (702), the side wall of the fixing plate (702) is inserted with two symmetrically arranged T-shaped guide rods (703), and one end of the T-shaped guide rod (703) is fixedly connected to a moving block (704), the side wall of each of the T-shaped guide rods (703) is sleeved with a first spring (706), and the side wall of the moving block (704) is fixedly connected to a latch (705), the top of the fixing plate (702) is fixedly connected to an electromagnet (708), and the top of the moving block (704) is fixedly connected to an iron block (707); The first rotating mechanism (2) comprises a second rotating shaft (201) rotatably connected to a side wall of the first fixed block (14); the first rotating plate (15) is fixedly sleeved on the side wall of the second rotating shaft (201); the side wall of the second rotating shaft (201) is fixedly sleeved with a first gear (202); and the side wall of the first fixed block (14) is connected to a first rack (203) via a first reset mechanism (3); The second rotating mechanism (4) comprises a third rotating shaft (401) rotatably connected to the side wall of the second fixed block (19), and the second rotating plate (20) is fixedly sleeved on the side wall of the third rotating shaft (401), the side wall of the third rotating shaft (401) is fixedly sleeved with a second gear (402), and the side wall of the second fixed block (19) is connected to a second rack (403) via a second reset mechanism (5), and the movement of the second rack (403) and the first rack (203) is driven by a driving mechanism (6); The second limiting mechanism (10) comprises a limiting block (1001) fixedly connected to the side wall of the U-shaped plate (11), and a limiting groove (1002) is provided on the side wall of the limiting block (1001); a connecting frame (1003) is fixedly connected to the side wall of the movable plate (602), and an L-shaped limiting plate (1004) is fixedly connected to the bottom of the connecting frame (1003).

2. A mechanical arm capable of clamping a special-shaped part according to claim 1, characterized in that: The first reset mechanism (3) comprises two symmetrically arranged first connection blocks (301) fixedly connected to the side walls of the first fixed block (14), and the side walls of the first connection blocks (301) are fixedly connected to two symmetrically arranged first guide rods (302), the side walls of the first guide rods (302) are sleeved with first sliders (303), the first sliders (303) are fixed to the side walls of the first rack (203), and the side walls of the first guide rods (302) are sleeved with second springs (304).

3. A mechanical arm capable of clamping a special-shaped part according to claim 1, characterized in that: The second reset mechanism (5) comprises two symmetrically arranged second connecting blocks (501) fixedly connected to the side wall of the second fixed block (19), and the side wall of the second connecting block (501) is fixedly connected to two symmetrically arranged second guide rods (502), the side wall of the second guide rod (502) is sleeved with a second slider (503), the second slider (503) is fixed to the side wall of the second rack (403), and the side wall of the second guide rod (502) is sleeved with a third spring (504).

4. A mechanical arm capable of clamping a special-shaped part according to claim 1, characterized in that: The pushing mechanism (6) comprises a first pushing block (601) fixedly connected to the side wall of the first rack (203), and the side wall of the second rack (403) is fixedly connected to the second pushing block (605), the side wall of the rotating block (13) is connected to a moving plate (602) via a moving mechanism (8), and the bottom of the moving plate (602) is fixedly connected to the first pushing plate (603), the first pushing plate (603) comprises a first inclined surface (604), and the top of the moving plate (602) is fixedly connected to two symmetrically arranged first sleeve rods (608), the side wall of the first sleeve rod (608) is sleeved with a first sleeve tube (609), and the upper end of the first sleeve tube (609) is fixedly connected to the second pushing plate (606), the second pushing plate (606) comprises a second inclined surface (607), and the side wall of the first sleeve tube (609) is sleeved with a fourth spring (610).

5. A mechanical arm capable of clamping a special-shaped part according to claim 4, characterized in that: The moving mechanism (8) comprises a mounting plate (801) fixedly connected to the side wall of the rotating block (13), and the side wall of the mounting plate (801) is fixedly connected to a second rod (802), the side wall of the second rod (802) is sleeved with a second sleeve (803), and the other end of the second sleeve (803) is fixed to the side wall of the moving plate (602), the side wall of the mounting plate (801) is rotatably connected to a threaded rod (804), and the side wall of the threaded rod (804) is threadedly connected to a threaded tube (805), the other end of the threaded tube (805) is fixed to the side wall of the moving plate (602), and the side wall of the mounting plate (801) is fixedly connected to a second motor (806), and the output end of the second motor (806) is fixed to one end of the threaded rod (804).

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