Multi-direction rotating type grabbing machine

Abstract

The utility model provides a multidirectional rotation type hand grabbing machine, which relates to the technical field of hand grabbing machines and comprises a first servo motor, a turntable is mounted at the output end of the first servo motor, a second servo motor is fixedly mounted on the upper surface of the turntable, a first supporting arm is mounted at the output end of the second servo motor, and a second supporting arm is mounted at the output end of the first supporting arm. A driving adjusting assembly is arranged between the first supporting arm and the second supporting arm, a mechanical gripper is installed at the output end of the fourth servo motor, the output end of the hydraulic cylinder stretches out and draws back, at the moment, the second supporting arm can swing independently, the second supporting arm moves in the middle of the electric guide rail through the electric guide block, and therefore the second supporting arm can swing independently. According to the device, a second mounting clamping plate can move, a second supporting arm can swing at a larger amplitude, the output end of a third servo motor continues to rotate, the angle of a mechanical gripper is adjusted at the moment, and the device can convey the device to multiple directions and is convenient to convey to a proper position.

Description

Technical Field

[0001] The utility model relates to the technical field of hand-held machines, in particular to a multi-directional rotating hand-held machine. Background Art

[0002] A hand gripper is a mechanical device that can realize functions similar to those of human hands. It is mainly used to clamp workpieces or tools and is one of the important actuators. For example, patent application number CN202121300511.7 is a two-axis and a half high-precision two-hand gripper manipulator, which aims to provide a two-axis and a half high-precision two-hand gripper manipulator that can quickly exchange positions. The key points of its technical solution are that it includes a cross bar, a transverse transmission device is provided on the cross bar, a connecting device is provided on the transmission device, a lifting device is provided on the connecting device, and a rotating device is also provided at the bottom of the lifting device. The rotating device includes a cylinder mounting plate at the bottom of the lifting device, a rotating cylinder provided on the cylinder mounting plate, a hand gripper mounting plate provided at the outlet of the rotating cylinder, pneumatic hand grippers are provided on both sides of the hand gripper mounting plate, and a hand gripper is provided at the top of the pneumatic hand gripper. In the above technical solution, the direction of the hand gripper cannot be adjusted in many aspects, and it is difficult to grasp devices in different directions, and the grasping efficiency is low. Utility Model Content

[0003] The main purpose of the utility model is to provide a multi-directional rotating hand gripper, which can effectively solve the problem that the direction of the hand gripper in the background technology cannot be adjusted in many aspects, it is difficult to grasp devices in different directions, and the grasping efficiency is low.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a multi-directional rotating hand gripper, comprising a first servo motor, a turntable is installed at the output end of the first servo motor, a second servo motor is fixedly installed on the upper surface of the turntable, a first support arm is installed at the output end of the second servo motor, a second support arm is rotatably installed at the top of the first support arm, a drive adjustment component is arranged between the first support arm and the second support arm, a mounting disk is rotatably installed at the top of the second support arm, a fourth servo motor is fixedly installed on the surface of the mounting disk, and a mechanical gripper is installed at the output end of the fourth servo motor.

[0005] Preferably, a positioning base is fixedly mounted on the lower surface of the first servo motor, and a plurality of mounting holes are equidistantly formed on the surface of the positioning base.

[0006] Preferably, a third servo motor is fixedly mounted on the side surface of the top end of the second support arm, a rotating shaft is mounted on the output end of the third servo motor, and the mounting plate is mounted on the side surface of the rotating shaft.

[0007] Preferably, the drive adjustment assembly includes a first mounting plate and a mounting groove, wherein the first mounting plate is fixedly mounted on the inner surface of the first support arm, and the mounting groove is provided on the inner surface of the second support arm.

[0008] Preferably, an electric guide rail is installed on the inner surface of the installation groove, and an electric guide block is installed in the middle of the electric guide rail.

[0009] Preferably, a second mounting plate is fixedly mounted on the lower surface of the electric guide block, and a second mounting shaft is rotatably mounted between inner walls on both sides of the second mounting plate.

[0010] Preferably, a first mounting shaft is rotatably mounted between the inner walls on both sides of the first mounting clamping plate, a hydraulic cylinder is fixedly mounted on the side of the first mounting shaft, and an output end of the hydraulic cylinder is arranged on the side of the second mounting shaft.

[0011] Compared with the prior art, the utility model has the following beneficial effects:

[0012] (1) The entire device is driven to rotate by the first servo motor to adjust the angle of the mechanical gripper. When the position of the mechanical gripper is adjusted to a suitable position, the output end of the second servo motor is rotated to make the first support arm and the second support arm swing, so that the mechanical gripper can swing. When the mechanical gripper swings to a suitable angle, the output end of the hydraulic cylinder is extended and retracted, so that the second support arm can swing alone. The electric guide block is moved in the middle of the electric guide rail to move the second mounting plate. As the second mounting plate moves, the second support arm can swing to a larger amplitude. The degree is larger, and when the second support arm is swung to a suitable angle, the output end of the third servo motor continues to rotate, and the angle of the mechanical gripper is adjusted at this time, and the mechanical gripper is adjusted to the position where the device needs to be grasped. At this time, the mechanical gripper works to grasp the device, and the fourth servo motor works to drive the mechanical gripper to rotate, so that the device rotates. After the device is grasped, the device can be transported to a suitable position by repeating the above work process. This device can transport the device to multiple directions, which is convenient for transporting the device to a suitable position, thereby improving the transportation efficiency of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a structural schematic diagram of a multi-directional rotating hand grabber of the utility model;

[0014] Figure 2 This is a schematic diagram of the top view of a multi-directional rotating hand gripper of the utility model;

[0015] Figure 3 It is a side view structural schematic diagram of a multi-directional rotating hand grabber of the utility model;

[0016] Figure 4 It is a schematic diagram of the enlarged structure of point A of a multi-directional rotating hand gripper of the utility model.

[0017] In the figure: 1. first servo motor; 2. positioning base; 3. mounting hole; 4. turntable; 5. second servo motor; 6. first support arm; 7. drive adjustment assembly; 701. hydraulic cylinder; 702. first mounting clamp; 703. first mounting shaft; 704. mounting groove; 705. electric guide rail; 706. electric guide block; 707. second mounting clamp; 708. second mounting shaft; 8. second support arm; 9. third servo motor; 10. mounting disk; 11. fourth servo motor; 12. mechanical gripper; 13. rotating shaft. DETAILED DESCRIPTION

[0018] The following will be combined with the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0019] like Figure 1 , 2 As shown, a multi-directional rotating hand gripper comprises a first servo motor 1, a turntable 4 is mounted on the output end of the first servo motor 1, a second servo motor 5 is fixedly mounted on the upper surface of the turntable 4, a first support arm 6 is mounted on the output end of the second servo motor 5, a second support arm 8 is rotatably mounted on the top end of the first support arm 6, a driving adjustment component 7 is arranged between the first support arm 6 and the second support arm 8, a mounting plate 10 is rotatably mounted on the top end of the second support arm 8, a fourth servo motor 11 is fixedly mounted on the surface of the mounting plate 10, and a mechanical gripper 12 is mounted on the output end of the fourth servo motor 11.

[0020] like Figure 1 As shown, a positioning base 2 is fixedly installed on the lower surface of the first servo motor 1, and a plurality of mounting holes 3 are equidistantly opened on the surface of the positioning base 2. By fixing the positioning base 2 on the lower surface of the first servo motor 1 and opening a plurality of mounting holes 3 equidistantly opened on the surface of the positioning base 2, it is convenient for workers to install the device in a suitable position.

[0021] like Figure 1As shown, a third servo motor 9 is fixedly installed on the top side of the second support arm 8, and a rotating shaft 13 is installed on the output end of the third servo motor 9. The mounting plate 10 is installed on the side of the rotating shaft 13. By rotating the output end of the third servo motor 9, the rotating shaft 13 can be driven to rotate, and the mechanical gripper 12 can be driven to swing.

[0022] like Figure 2 , 3 4, the drive adjustment component 7 includes a first mounting clamp plate 702 and a mounting groove 704. The first mounting clamp plate 702 is fixedly mounted on the inner surface of the first support arm 6. The mounting groove 704 is opened on the inner surface of the second support arm 8. An electric guide rail 705 is installed on the inner surface of the mounting groove 704. An electric guide block 706 is installed in the middle of the electric guide rail 705. A second mounting clamp plate 707 is fixedly mounted on the lower surface of the electric guide block 706. A second mounting shaft 708 is rotatably mounted between the inner walls on both sides of the second mounting clamp plate 707. A first mounting shaft 703 is rotatably installed between the inner walls on both sides of the first mounting clamping plate 702, and a hydraulic cylinder 701 is fixedly installed on the side of the first mounting clamping plate 703. The output end of the hydraulic cylinder 701 is arranged on the side of the second mounting shaft 708. The output end of the hydraulic cylinder 701 is extended and retracted, so that the second support arm 8 can be swung independently, and the electric guide block 706 is moved in the middle of the electric guide rail 705 to move the second mounting clamping plate 707. As the second mounting clamping plate 707 moves, the second support arm 8 can swing to a greater extent.

[0023] The working principle of this multi-directional rotating hand grabber:

[0024] During use, when it is necessary to use this device to grasp a component, the first servo motor 1 is used to drive the entire device to rotate, thereby adjusting the angle of the mechanical gripper 12. When the position of the mechanical gripper 12 is adjusted to a suitable position, the output end of the second servo motor 5 is rotated to make the first support arm 6 and the second support arm 8 swing, so that the mechanical gripper 12 can swing. When it swings to a suitable angle, the output end of the hydraulic cylinder 701 is extended and retracted, so that the second support arm 8 can swing alone, and the electric guide block 706 is moved in the middle of the electric guide rail 705, so that the second mounting clamp 707 can move. As the second mounting clamp 707 moves The movement can make the second support arm 8 swing with a larger amplitude. When the second support arm 8 is swung to a suitable angle, the output end of the third servo motor 9 continues to rotate. At this time, the angle of the mechanical gripper 12 is adjusted, and the mechanical gripper 12 is adjusted to the position where the device needs to be grasped. At this time, the mechanical gripper 12 works to grasp the device, and the fourth servo motor 11 works to drive the mechanical gripper 12 to rotate, so that the device rotates. After the device is grasped, the device can be transported to a suitable position by repeating the above-mentioned work process. This device can transport the device to multiple directions, which is convenient for transporting the device to a suitable position, thereby improving the transportation efficiency of the device.

[0025] The above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A multi-directional rotating hand gripper, comprising a first servo motor (1), characterized in that: A turntable (4) is installed at the output end of the first servo motor (1), a second servo motor (5) is fixedly installed on the upper surface of the turntable (4), a first support arm (6) is installed at the output end of the second servo motor (5), a second support arm (8) is rotatably installed at the top of the first support arm (6), a driving adjustment component (7) is arranged between the first support arm (6) and the second support arm (8), a mounting plate (10) is rotatably installed at the top of the second support arm (8), a fourth servo motor (11) is fixedly installed on the surface of the mounting plate (10), and a mechanical gripper (12) is installed at the output end of the fourth servo motor (11).

2. A multi-directional rotating hand gripper according to claim 1, characterized in that: A positioning base (2) is fixedly mounted on the lower surface of the first servo motor (1), and a plurality of mounting holes (3) are equidistantly formed on the surface of the positioning base (2).

3. The multi-directional rotating hand gripper according to claim 1, characterized in that: A third servo motor (9) is fixedly mounted on the side surface of the top end of the second support arm (8), a rotating shaft (13) is mounted on the output end of the third servo motor (9), and the mounting plate (10) is mounted on the side surface of the rotating shaft (13).

4. The multi-directional rotating hand gripper according to claim 1, characterized in that: The drive adjustment assembly (7) comprises a first mounting plate (702) and a mounting groove (704); the first mounting plate (702) is fixedly mounted on the inner surface of the first support arm (6); and the mounting groove (704) is provided on the inner surface of the second support arm (8).

5. The multi-directional rotating hand gripper according to claim 4, characterized in that: An electric guide rail (705) is installed on the inner surface of the installation groove (704), and an electric guide block (706) is sleeved and installed in the middle of the electric guide rail (705).

6. The multi-directional rotating hand gripper according to claim 5, characterized in that: A second mounting clamping plate (707) is fixedly mounted on the lower surface of the electric guide block (706), and a second mounting shaft (708) is rotatably mounted between inner walls on both sides of the second mounting clamping plate (707).

7. The multi-directional rotating hand gripper according to claim 6, characterized in that: A first mounting shaft (703) is rotatably mounted between the inner walls on both sides of the first mounting clamping plate (702), a hydraulic cylinder (701) is fixedly mounted on the side of the first mounting shaft (703), and an output end of the hydraulic cylinder (701) is arranged on the side of the second mounting shaft (708).

Images