Rotating equipment for mechanical arm claw joint machining

Abstract

The invention discloses rotating equipment for mechanical arm claw joint machining, and relates to the technical field of mechanical arm claw joint machining, the rotating equipment comprises a box body and a box cover, rectangular openings are symmetrically formed in the top surface of the box cover, a moving plate is slidably arranged in the rectangular openings, a square plate is arranged at the top of the moving plate, and a flexible clamping mechanism is arranged on the square plate; a first driving mechanism is arranged on the bottom face of the box cover, and a second driving mechanism is arranged on the inner bottom face of the box body. An electric push rod is arranged on the inner bottom surface of the box body, and a transmission mechanism which firstly acts on the driving mechanism I and then acts on the driving mechanism II is arranged at the movable end of the electric push rod; through the use of the transmission mechanism, the mechanical arm claw joint is conveniently clamped and fixed, and then the mechanical arm claw joint is rotated, so that the mechanical arm claw joint is conveniently and comprehensively machined, and the working efficiency of machining of the mechanical arm claw joint is improved.

Description

Technical Field

[0001] The invention relates to the technical field of robot arm claw joint processing, and in particular to a rotating device used for robot arm claw joint processing. Background Art

[0002] The robot arm claw joint is a key component of the robot arm end effector (claw hand). It connects the connecting rod and claw hand parts of the robot arm, and plays the role of transmitting power and realizing action. Its main function is to control the opening and closing, rotation and other actions of the claw hand, so as to realize the operations of grabbing, carrying and placing objects. When processing the robot arm claw joint, a rotating device is required. However, when the existing rotating device is used, due to the irregular structure of the robot arm claw joint, it is not possible to stably clamp and fix the robot arm claw joint, which easily causes the robot arm claw joint to fall when rotating, affecting the speed of the robot arm claw joint processing. Summary of the invention

[0003] In order to solve the problems in the background technology, the present invention proposes a rotating device for machining a robot arm claw joint.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A rotary device for machining a mechanical arm claw joint, comprising a box body and a box cover, wherein a rectangular opening is symmetrically provided on the top surface of the box cover, a moving plate is slidably provided in the rectangular opening, a square plate is provided on the top of the moving plate, and a flexible clamping mechanism acting on the mechanical arm claw joint is provided on the square plate;

[0006] A driving mechanism 1 acting on the movable plate is provided on the bottom surface of the box cover, and a driving mechanism 2 acting on the flexible clamping mechanism is provided on the bottom surface of the box body;

[0007] An electric push rod is arranged on the bottom surface of the box body, and a transmission mechanism is arranged at the movable end of the electric push rod, which first acts on the first driving mechanism and then acts on the second driving mechanism.

[0008] Preferably, the driving mechanism comprises a short shaft rotatably arranged on the inner top surface of the box cover, a gear column fixedly connected to the outer arm of the short shaft, and a bar-shaped tooth plate arranged on both sides of the gear column, and one end of the bar-shaped tooth plate is fixedly connected to the movable plate.

[0009] Preferably, the flexible clamping mechanism includes a connecting shaft rotatably set on a square plate, a clamping plate fixed to the outer end of the connecting shaft and a plurality of circular cavities evenly set on the clamping plate, a movable rod is slidably set in the circular cavity, and a second extrusion spring is set between the movable rod and the circular cavity.

[0010] Preferably, the second driving mechanism includes a mounting plate 1 fixedly connected to the bottom surface of the box body, a hollow shaft 2 slidably arranged on the mounting plate 1, and a hollow shaft 1 slidably arranged in the hollow shaft 2, and the hollow shaft 1 is rotatably arranged on the bottom surface of the box body through the mounting plate 2, a spiral groove is provided on the outer wall of the hollow shaft 1, a cylinder matching the spiral groove is provided on the inner wall of the hollow shaft 2, a movable shaft is slidably provided in the hollow shaft 1 through a limit bar, and a driving component acting on the connecting shaft is provided at one end of the movable shaft.

[0011] Preferably, the driving assembly includes a second pulley fixedly connected to the outer wall of the movable shaft, wherein a first pulley is fixedly connected to the outer end of one of the connecting shafts, the first pulley is connected to the second pulley by a belt, and the belt is in a taut state, and the movable shaft is connected to the movable plate by a connecting plate.

[0012] Preferably, the transmission mechanism includes a rectangular frame fixedly connected to the movable end of the electric push rod, a movable block slidably arranged in the rectangular frame and an extrusion spring 1, and the extrusion spring 1 is located at an end away from the fixed end of the electric push rod, and the top of the movable block is provided with a bar-shaped tooth plate 2 that engages with the tooth column, and the bottom surface of the box body is provided with a limit piece that acts on the bar-shaped tooth plate 2, and the side of the rectangular frame is provided with a push plate that acts on the hollow shaft 2.

[0013] Preferably, the limiting member includes a support plate fixed to the bottom surface of the box body, a micro electric push rod installed on the support plate and a circular plate arranged at the movable end of the micro electric push rod, the circular plate is provided with a fixing rod, and a plurality of fixing holes are evenly opened on the two side surfaces of the bar-shaped tooth plate.

[0014] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0015] The present invention, through the use of a transmission mechanism, makes it convenient to first clamp and fix the robot arm claw joint, and then rotate the robot arm claw joint, thereby facilitating comprehensive processing of the robot arm claw joint and improving the work efficiency of the robot arm claw joint processing; wherein, through the use of a flexible clamping mechanism, it is convenient to clamp and fix an irregular robot arm claw joint, and improve the fixation stability of the robot arm claw joint, thereby facilitating the processing of the robot arm claw joint; through the use of a second driving mechanism, it is convenient to rotate the flexible clamping mechanism, thereby realizing the rotation of the robot arm claw joint, facilitating the processing of the robot arm claw joint and improving the work efficiency of the robot arm claw joint processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It shows a schematic structural diagram of a front viewing angle provided by an embodiment of the present invention;

[0017] Figure 2 A schematic diagram of a cross-sectional structure at a front viewing angle provided by an embodiment of the present invention is shown;

[0018] Figure 3 A schematic structural diagram of a transmission mechanism provided by an embodiment of the present invention from a first viewing angle is shown;

[0019] Figure 4 A schematic structural diagram of a transmission mechanism according to a second viewing angle is shown;

[0020] Figure 5 A schematic structural diagram of the connection between the first hollow shaft and the second hollow shaft provided in an embodiment of the present invention is shown;

[0021] Figure 6 for Figure 5 A partial enlarged view of the middle A;

[0022] Figure 7 It shows a schematic structural diagram of the connection between the movable shaft and the limit bar provided in an embodiment of the present invention;

[0023] Figure 8 A schematic structural diagram of a flexible clamping mechanism provided according to an embodiment of the present invention is shown.

[0024] Legend:

[0025] 1. Box body; 2. Box cover; 3. Rectangular opening; 4. Connecting shaft; 5. Pulley 1; 6. Belt; 7. Square plate; 8. Clamp; 9. Moving plate; 10. Strip tooth plate 1; 11. Hollow shaft 1; 12. Mounting plate 1; 13. Hollow shaft 2; 14. Rectangular frame; 15. Push plate; 16. Short shaft; 17. Tooth column; 18. Active shaft; 19. Pulley 2; 20. Spiral groove; 21. Fixed rod; 22. Circular plate; 23. Electric push rod; 24. Micro electric push rod; 25. Support plate; 26. Active block; 27. Fixed hole; 28. Strip tooth plate 2; 29. ​​Extrusion spring 1; 30. Cylinder; 31. Limiting strip; 32. Active rod; 33. Extrusion spring 2; 34. Circular cavity; 35. Connecting plate. DETAILED DESCRIPTION

[0026] 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.

[0027] See also Figure 1 - Figure 8 , the present invention provides a technical solution:

[0028] A rotary device for machining a mechanical arm claw joint comprises a box body 1 and a box cover 2 arranged on the box body 1, a rectangular opening 3 is symmetrically opened on the top surface of the box cover 2, a moving plate 9 is slidably arranged in the rectangular opening 3, a square plate 7 is arranged on the top of the moving plate 9, and a flexible clamping mechanism acting on the mechanical arm claw joint is arranged on the square plate 7; by using the flexible clamping mechanism, it is convenient to clamp and fix the irregular mechanical arm claw joint, improve the fixing stability of the mechanical arm claw joint, and thus facilitate the machining of the mechanical arm claw joint;

[0029] A driving mechanism 1 acting on the movable plate 9 is provided on the bottom surface of the box cover 2. By using the driving mechanism 1, it is convenient to adjust the position of the movable plate 9, thereby facilitating the adjustment of the position between the flexible clamping mechanisms, and facilitating the fixing of mechanical arm claw joints of different lengths; a driving mechanism 2 acting on the flexible clamping mechanism is provided on the bottom surface of the box body 1. By using the driving mechanism 2, it is convenient to rotate the flexible clamping mechanism, thereby realizing the rotation of the mechanical arm claw joint, facilitating the processing of the mechanical arm claw joint, and improving the working efficiency of the processing of the mechanical arm claw joint;

[0030] An electric push rod 23 is provided on the bottom surface of the box body 1, and the movable end of the electric push rod 23 is provided with a transmission mechanism that first acts on driving mechanism 1 and then acts on driving mechanism 2. Through the use of the transmission mechanism, it is convenient to clamp and fix the robot arm claw joint first, and then rotate the robot arm claw joint, thereby facilitating comprehensive processing of the robot arm claw joint and improving the work efficiency of the robot arm claw joint processing.

[0031] In the present invention, the driving mechanism includes a short shaft 16 rotatably arranged on the inner top surface of the box cover 2, a tooth column 17 fixedly connected to the outer arm of the short shaft 16, and a bar tooth plate 10 arranged on both sides of the tooth column 17, and one end of the bar tooth plate 10 is fixedly connected to the movable plate 9, and the bar tooth plate 10 is staggeredly meshed with the tooth column 17 to facilitate the mutual movement of the movable plate 9, thereby facilitating the clamping and fixing of the robot arm claw joint.

[0032] In the present invention, the flexible clamping mechanism includes a connecting shaft 4 rotatably set on a square plate 7, a clamping plate 8 fixedly connected to the outer end of the connecting shaft 4 and a plurality of circular cavities 34 evenly arranged on the clamping plate 8, a movable rod 32 is slidably provided in the circular cavity 34, and an extrusion spring 2 33 is provided between the movable rod 32 and the circular cavity 34. By using the movable rod 32 and the extrusion spring 2 33 in coordination with each other, it is convenient to increase the contact area with the robot arm claw joint, thereby facilitating the improvement of the stability of the fixation of the robot arm claw joint.

[0033] In the present invention, the driving mechanism 2 includes a mounting plate 12 fixedly connected to the inner bottom surface of the box body 1, a hollow shaft 13 slidably arranged on the mounting plate 12, and a hollow shaft 11 slidably arranged in the hollow shaft 13, and the hollow shaft 11 is rotatably arranged on the inner bottom surface of the box body 1 through the mounting plate 2, a spiral groove 20 is provided on the outer wall of the hollow shaft 11, a cylinder 30 matching the spiral groove 20 is provided on the inner wall of the hollow shaft 13, and a movable shaft 18 is slidably arranged in the hollow shaft 11 through a limit bar 31, specifically: a limit groove is provided on the inner wall of the hollow shaft 11, and a limit bar 31 is provided on the inner wall of the hollow shaft 11. A limit strip 31 is slidably provided in the positioning groove, and the limit strip 31 is fixedly connected to the outer wall of the movable shaft 18, so as to limit the movable shaft 18, thereby facilitating the movable shaft 18 to rotate along with the hollow shaft 11; a driving component acting on the connecting shaft 4 is provided at one end of the movable shaft 18; through the use of the driving component, it is convenient to drive the flexible clamping mechanism to rotate, thereby realizing the rotation of the robot arm claw joint; wherein, through the mutual cooperation of the spiral groove 20 and the cylinder 30, it is convenient to rotate the hollow shaft 11, thereby facilitating the rotation of the movable shaft 18, and further realizing the rotation of the robot arm claw joint.

[0034] In the present invention, the driving assembly includes a pulley 2 19 fixedly connected to the outer wall of the movable shaft 18, a pulley 1 5 is fixedly connected to the outer end of one of the connecting shafts 4, the pulley 1 5 is connected to the pulley 2 19 by a belt 6, and the belt 6 is in a taut state, and the movable shaft 18 is connected to the movable plate 9 by a connecting plate 35, and the connecting plate 35 and the movable shaft 18 are rotatably arranged, so that the movable shaft 18 can move synchronously with the movable plate 9.

[0035] In the present invention, the transmission mechanism includes a rectangular frame 14 fixed to the movable end of the electric push rod 23, a movable block 26 slidably arranged in the rectangular frame 14, and a squeezing spring 29, and the squeezing spring 29 is located at an end away from the fixed end of the electric push rod 23. By using the squeezing spring 29, it is convenient to squeeze the movable block 26, so that the movable block 26 can move synchronously with the rectangular frame 14; a bar tooth plate 28 meshing with the tooth column 17 is provided on the top of the movable block 26, a limiting member acting on the bar tooth plate 28 is provided on the bottom surface of the box body 1, and a push plate 15 acting on the hollow shaft 13 is provided on the side of the rectangular frame 14; wherein, by using the limiting member, it is convenient to limit the bar tooth plate 28, so as to facilitate the movement of the bar tooth plate 28.

[0036] In the present invention, the limiting member includes a support plate 25 fixedly connected to the inner bottom surface of the box body 1, a micro electric push rod 24 installed on the support plate 25, and a circular plate 22 arranged at the movable end of the micro electric push rod 24, a fixing rod 21 is provided on the circular plate 22, and a plurality of fixing holes 27 are evenly opened on the side surface of the bar-shaped tooth plate 28.

[0037] Working principle: When the present invention is used, the mechanical arm claw joint is first placed between the two clamping plates 8, and then the micro electric push rod 24 is opened, and the fixed rod 21 is driven to move by the contraction of the movable end of the micro electric push rod 24, so that the fixed rod 21 is separated from the fixing hole 27, thereby releasing the fixation of the strip tooth plate 28;

[0038] Then, the electric push rod 23 is opened, and the rectangular frame 14 is driven to move by contracting the movable end of the electric push rod 23. Then, under the action of the extrusion spring 1 29, the movable block 26 is moved synchronously with the rectangular frame 14, thereby driving the bar tooth plate 2 28 to move, thereby driving the tooth column 17 to rotate, and the rotation of the tooth column 17 drives the bar tooth plate 10 to move relatively, thereby driving the movable plate 9 to move relatively, thereby driving the square plate 7 and the clamping plate 8 to move, and finally, the clamping force between the two clamping plates 8 is used to fix the robot arm claw joint;

[0039] Then, the movable end of the micro electric push rod 24 is extended to drive the fixing rod 21 to be inserted into the fixing hole 27 to fix the strip tooth plate 28;

[0040] As the rectangular frame 14 continues to move, the push plate 15 is driven to move, and then the push plate 15 drives the hollow shaft 2 13 to slide, and with the cooperation of the cylinder 30 and the spiral groove 20, the hollow shaft 2 13 is rotated, and then under the action of the limit strip 31, the movable shaft 18 is rotated, and then the pulley 2 19 is driven to rotate, thereby driving the pulley 1 5 to rotate, and further driving the connecting shaft 4 to rotate, and the rotation of the connecting shaft 4 drives the splint 8 to rotate, thereby realizing the rotation of the robot arm claw joint, wherein, when the cylinder 30 moves from one end of the spiral groove 20 to the other end, the movable shaft 18 rotates exactly 360°, thereby realizing one rotation of the robot arm claw joint, so as to facilitate comprehensive processing of the robot arm claw joint.

[0041] The above description of the embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotary device for machining a robot arm claw joint, comprising a box body (1) and a box cover (2), characterized in that: A rectangular opening (3) is symmetrically provided on the top surface of the box cover (2), a movable plate (9) is slidably provided in the rectangular opening (3), a square plate (7) is provided on the top of the movable plate (9), and a flexible clamping mechanism acting on the claw joint of the mechanical arm is provided on the square plate (7); A first driving mechanism acting on the movable plate (9) is provided on the bottom surface of the box cover (2), and a second driving mechanism acting on the flexible clamping mechanism is provided on the inner bottom surface of the box body (1); An electric push rod (23) is provided on the inner bottom surface of the box body (1), and a transmission mechanism is provided at the movable end of the electric push rod (23) which first acts on the first driving mechanism and then acts on the second driving mechanism.

2. A rotary device for machining a robot arm claw joint according to claim 1, characterized in that: The driving mechanism comprises a short shaft (16) rotatably arranged on the inner top surface of the box cover (2), a tooth column (17) fixedly connected to the outer arm of the short shaft (16), and a bar-shaped tooth plate (10) arranged on both sides of the tooth column (17), and one end of the bar-shaped tooth plate (10) is fixedly connected to the moving plate (9).

3. A rotary device for machining a robot arm claw joint according to claim 2, characterized in that: The flexible clamping mechanism comprises a connecting shaft (4) rotatably arranged on a square plate (7), a clamping plate (8) fixedly connected to the outer end of the connecting shaft (4), and a plurality of circular cavities (34) evenly arranged on the clamping plate (8), a movable rod (32) being slidably arranged in the circular cavity (34), and a second extrusion spring (33) being arranged between the movable rod (32) and the circular cavity (34).

4. A rotary device for machining a robot arm claw joint according to claim 3, characterized in that: The driving mechanism 2 comprises a mounting plate 1 (12) fixedly connected to the inner bottom surface of the box body (1), a hollow shaft 2 (13) slidably arranged on the mounting plate 1 (12), and a hollow shaft 1 (11) slidably arranged in the hollow shaft 2 (13), and the hollow shaft 1 (11) is rotatably arranged on the inner bottom surface of the box body (1) through the mounting plate 2, a spiral groove (20) is provided on the outer wall of the hollow shaft 1 (11), a cylinder (30) matching the spiral groove (20) is provided on the inner wall of the hollow shaft 2 (13), a movable shaft (18) is slidably arranged in the hollow shaft 1 (11) through a limit strip (31), and a driving component acting on the connecting shaft (4) is provided at one end of the movable shaft (18).

5. A rotary device for machining a robot arm claw joint according to claim 4, characterized in that: The driving assembly comprises a second pulley (19) fixedly connected to the outer wall of the movable shaft (18), a first pulley (5) is fixedly connected to the outer end of one of the connecting shafts (4), the first pulley (5) and the second pulley (19) are connected via a belt (6), and the belt (6) is in a taut state, and the movable shaft (18) and the movable plate (9) are connected via a connecting plate (35).

6. A rotary device for machining a robot arm claw joint according to claim 5, characterized in that: The transmission mechanism comprises a rectangular frame (14) fixedly connected to the movable end of the electric push rod (23), a movable block (26) slidably arranged in the rectangular frame (14) and a compression spring (29), wherein the compression spring (29) is located at an end away from the fixed end of the electric push rod (23), a bar-shaped tooth plate (28) meshing with a tooth column (17) is provided on the top of the movable block (26), a limiting member acting on the bar-shaped tooth plate (28) is provided on the inner bottom surface of the box body (1), and a push plate (15) acting on the hollow shaft (13) is provided on the side surface of the rectangular frame (14).

7. A rotary device for machining a robot arm claw joint according to claim 6, characterized in that: The limiting member comprises a support plate (25) fixedly connected to the inner bottom surface of the box body (1), a micro electric push rod (24) mounted on the support plate (25), and a circular plate (22) arranged at the movable end of the micro electric push rod (24), wherein a fixing rod (21) is provided on the circular plate (22), and a plurality of fixing holes (27) are evenly opened on the side surfaces of the second strip-shaped tooth plate (28).

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