Rotatable turnover type mechanical arm with clamp

Abstract

The utility model belongs to the field of mechanical engineering, particularly relates to a rotatable turnover type mechanical arm with a clamp, and aims to solve the problems that an existing mechanical arm is single in clamping mechanism and cannot firmly clamp materials. The rotating device is arranged on the base; the telescopic device is arranged on the rotating device; the turnover device is arranged on the telescopic device; the number of the first fixing devices is three, the three first fixing devices are all arranged at the bottom of the turnover device, and the first fixing devices are used for fixing materials; the number of the second fixing devices is three, and the three second fixing devices are arranged at the bottoms of the three first fixing devices correspondingly; according to the mechanical arm, materials can be firmly clamped, the materials are prevented from falling off in the clamping process, and the working efficiency of the mechanical arm is improved.

Description

Technical Field

[0001] The present application relates to the field of mechanical engineering, and in particular to a rotatable flip-type mechanical arm with a clamp. Background Art

[0002] The robot arm is a high-precision, high-speed dispensing robot. It is suitable for small-batch production and improves production efficiency. In addition to dispensing operations, it can also handle various tasks such as UV irradiation, part placement, screw locking, circuit board cutting, etc. The robot arm is currently the most widely used automated mechanical device in the field of robotics technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military and space exploration.

[0003] The patent document with the publication number CN211415158U discloses a rotatable flip-type mechanical arm with a clamp, including a base, a rotating seat on the base and a boom hinged on the top of the rotating seat, a rotating arm is connected to the end of the boom, and the end of the rotating arm is connected to the clamp through a mounting seat, and a lifting cylinder for controlling the up and down movement of the boom is also provided on the rotating seat, the clamp includes a clamp body and an armrest arranged at one end of the clamp body, a clamp is provided on both sides of the left and right sides of the other end of the clamp body, a shaft rod is provided on the upper inner side of the clamp, and the shaft rod is inserted into the clamp body, and a double-axis cylinder matching the left and right clamps is provided at the bottom of the clamp body, and the two piston rods of the double-axis cylinder are respectively welded and fixed to the middle of the left and right clamps, and a card slot is also provided on the inner side of the lower part of the clamp, and the card slot is arranged at the lower part of the clamp. The utility model makes the charging pile more efficient and labor-saving during storage and transportation by installing a clamp on the mechanical arm.

[0004] The patent document with publication number CN112643696B discloses a rotatable flip-type mechanical arm with a clamp, including a base, a steering member and a grabbing hand, wherein the steering member connects the base and the grabbing hand, and an arm end is arranged at the end of the grabbing hand; the arm end includes an end shell, a cavity is arranged inside the end shell, a support shaft is arranged in the middle of the end shell, and the support shaft is arranged coaxially with the end shell; the mechanical claw of the present invention can adjust the number of claws to adapt to the shape of the grasped object

[0005] However, the existing mechanical arm has a single clamping mechanism and cannot firmly clamp materials. Therefore, a rotatable and flippable mechanical arm with a clamp is proposed. Utility Model Content

[0006] In order to improve the problem that the existing robotic arm has a single clamping mechanism and cannot firmly clamp materials, the present application provides a rotatable and flippable robotic arm with a clamp.

[0007] The present application provides a rotatable flip-type mechanical arm with a clamp, which adopts the following technical solution:

[0008] A rotatable flip-type mechanical arm with a clamp, comprising:

[0009] Base;

[0010] A rotating device, wherein the rotating device is arranged on the base;

[0011] A telescopic device, the telescopic device is arranged on the rotating device;

[0012] A turning device, which is arranged on the telescopic device;

[0013] A first fixing device, wherein three first fixing devices are provided, and the three first fixing devices are all provided at the bottom of the turning device;

[0014] The second fixing device is provided in three pieces, and the three second fixing devices are respectively provided at the bottom of the three first fixing devices.

[0015] Furthermore, the rotating device includes a first rotating motor, a first motor and a driving arm, the first motor is fixedly installed at the bottom of the base, the first rotating motor is fixedly installed on one side of the base, the output shaft of the first rotating motor is fixedly connected to the driving arm, and the rotating device is used to drive the telescopic device, the flipping device, the first fixing device and the second fixing device to adjust the angle.

[0016] Furthermore, the telescopic device includes a rotating shaft, a telescopic arm and a fixed block, the output shaft of the driving arm is fixedly connected to the rotating shaft, the rotating shaft is fixedly connected to the fixed block, and the telescopic arm is fixedly mounted on the fixed block.

[0017] Furthermore, the flipping device includes a fixed frame, a second motor and a rotating block, the fixed frame is fixedly connected to one side of the telescopic arm, the second motor is fixedly installed on the fixed frame, the output shaft of the second motor is fixedly connected to the rotating block, the rotating block is fixedly installed with a second rotating motor, and the output shaft of the second rotating motor is fixedly connected with a turntable.

[0018] Furthermore, the first fixing device includes an air pump, three air pipes and three plugs. The air pump is fixedly installed at the bottom of the turntable. The bottom of the air pump is fixedly connected to a chassis. The chassis is fixedly connected to a box body. The box body is provided with three sliding grooves. The three plugs and the air pump are fixedly connected to the two ends of the three air pipes respectively. The first fixing device is used to fix the material.

[0019] Furthermore, the second fixing device includes a forward and reverse motor, three clamping blocks, three racks, two sliding shafts and three wedge blocks. The chassis is provided with a forward and reverse motor, and a screw is fixedly connected to the output shaft of the forward and reverse motor, and the screw is threadedly connected to one of the three racks. The chassis is provided with a slide groove, and the slide groove is slidably connected to one of the three racks. The three racks are each provided with a plurality of second notches, and the three wedge blocks are each provided with a plurality of first notches, and the plurality of second notches are respectively matched with the plurality of first notches. Two second fixing plates and four first fixing plates are fixedly connected to the chassis, the screw is rotatably connected to the two second fixing plates, the two sliding shafts are respectively rotatably connected to the four first fixing plates, and two of the three racks are respectively slidably connected to the sliding shaft. A gear is rotatably connected to the chassis, and the three racks are meshed with the gear.

[0020] In summary, the present application includes at least one of the following beneficial technical effects:

[0021] 1. The first fixing device and the second fixing device can firmly clamp the material to prevent the material from falling during the clamping process, thereby improving the working efficiency of the robot arm;

[0022] 2. The telescopic device, the flipping device, the first fixing device and the second fixing device can be rotated at multiple angles through the rotating device, and the telescopic device can adjust the length of the mechanical arm, thereby increasing the clamping range. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure in Example 1 of the present application;

[0024] Figure 2 It is a schematic diagram of the connection structure of the flip device, the first fixing device and the second fixing device in the first embodiment of the present application;

[0025] Figure 3 is a schematic diagram of the connection structure between the first fixing device and the second fixing device in the first embodiment of the present application;

[0026] Figure 4 It is a schematic diagram of the structure of the second fixing device in Example 1 of the present application.

[0027] Figure numerals: 1. box body; 2. rotating shaft; 3. fixed block; 4. first rotating motor; 5. air pipe; 6. telescopic arm; 7. fixed frame; 8. turntable; 9. driving arm; 10. base; 11. first motor; 12. air pump; 13. chassis; 14. second motor; 15. plug; 16. sliding groove; 17. wedge block; 18. clamping block; 19. screw; 20. forward and reverse motor; 21. first fixed plate; 22. gear; 23. sliding shaft; 24. second fixed plate; 25. second rotating motor; 26. rotating block; 27. first notch; 28. second notch; 29. ​​rack; 30. sliding groove. DETAILED DESCRIPTION

[0028] Embodiment 1

[0029] The following is combined with Figure 1-Figure 4 The first embodiment of the present application is described in further detail.

[0030] The installation method of a rotatable flip-type mechanical arm with a clamp is shown in Figure 1 ,include:

[0031] Base 10;

[0032] A rotating device, the rotating device is arranged on the base 10;

[0033] A telescopic device, the telescopic device is arranged on the rotating device;

[0034] A turning device, which is arranged on the telescopic device;

[0035] A first fixing device, wherein three first fixing devices are provided, and the three first fixing devices are all provided at the bottom of the turning device;

[0036] The second fixing device is provided in three pieces, and the three second fixing devices are respectively provided at the bottom of the three first fixing devices.

[0037] Reference Figure 2-4The flipping device includes a fixed frame 7, a second motor 14 and a rotating block 26. The fixed frame 7 is fixedly connected to one side 6 of the telescopic arm. The second motor 14 is fixedly installed on the fixed frame 7. The output shaft of the second motor 14 is fixedly connected to the rotating block 26. A second rotating motor 25 is fixedly installed on the rotating block 26. A turntable 8 is fixedly connected to the output shaft of the second rotating motor 25. The first fixing device includes an air pump 12, three air pipes 5 and three plugs 15. The air pump 12 is fixedly installed at the bottom of the turntable 8. The bottom of the air pump 12 is fixedly connected to a chassis 13. The chassis 13 is fixedly connected to a box body 1. Three sliding grooves 16 are provided on the box body 1. The three plugs 15 and the air pump 12 are fixedly connected to the two ends of the three air pipes 5 respectively. The first fixing device is used to fix the material. The second fixing device includes a forward and reverse motor 20, three clamping blocks 18, three racks 29, two sliding shafts 23 and three wedge blocks 17, a forward and reverse motor 20 is provided on the chassis 13, and a screw 19 is fixedly connected to the output shaft of the forward and reverse motor 20, and the screw 19 is threadedly connected to one of the three racks 29, and a slide groove 30 is provided on the chassis 13, and the slide groove 30 is slidably connected to one of the three racks 29, and a plurality of second notches 28 are provided on the three racks 29, and a plurality of first notches 27 are provided on the three wedge blocks 17, and the plurality of second notches 28 are respectively matched with the plurality of first notches 27, and two second fixed plates 24 and four first fixed plates 21 are fixedly connected to the chassis 13, and the screw 19 is rotatably connected to the two second fixed plates 24, and the two sliding shafts 23 are respectively rotatably connected to the four first fixed plates 21, and two of the three racks 29 are respectively slidably connected to the sliding shaft 23, and a gear 22 is rotatably connected to the chassis 13, and the three racks 29 are meshed with the gear 22.

[0038] The implementation principle of a rotatable flip-type mechanical arm with a clamp in the embodiment of the present application is as follows: when in use, the first motor 11 is started, the first motor 11 drives the base 10 to rotate, and then the first rotating motor 4 is started, the first rotating motor 4 drives the driving arm 9 to rotate, the driving arm 9 drives the telescopic device, the flipping device, the three first fixing devices and the three second fixing devices to adjust the angle, and then the telescopic arm 6 is started to drive the flipping device, the three first fixing devices and the three second fixing devices to move forward and backward, and then the second motor 14 is started, the second motor 14 drives the rotating block 26, the second rotating motor 25, the turntable 8, the three first fixing devices and the three second fixing devices to flip, and then the second rotating motor 25 is started to drive the turntable 8, the three first fixing devices and The three second fixing devices rotate, and then the three air pumps 12 are started. The three air pumps 12 form negative pressure inside the nine plugs 15, and the nine plugs 15 adsorb the object. Then the three forward and reverse motors 20 are started. The three forward and reverse motors 20 drive the three screws 19 to rotate. The three screws 19 drive three of the nine racks 29 to move on the three slide grooves 30. The three racks 29 respectively drive the three gears 22 to rotate. The three gears 22 respectively drive the other six racks 29 to move on the six sliding shafts 23. The multiple second notches 28 on the nine racks 29 respectively cooperate with the multiple first notches 27 on the nine wedge blocks 17, so that the nine wedge blocks 17 drive the nine clamping blocks 18 to move on the nine sliding grooves 16 respectively, and the nine clamping blocks 18 clamp the object.

[0039] Embodiment 2

[0040] The difference between this embodiment and the first embodiment is that three shock absorbers are fixedly connected to the turntable 8, and the three shock absorbers are respectively fixedly connected to the three chassis 13. The three shock absorbers can buffer the vibration generated when the second motor 14 drives the rotating block 26, the second rotating motor 25, the turntable 8, the three first fixing devices and the three second fixing devices to flip, thereby preventing the material from shaking too much, thereby avoiding affecting the fixed clamping effect.

[0041] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A rotatable flip-type mechanical arm with a clamp, characterized in that: include: Base (10); A rotating device, the rotating device is arranged on the base (10); A telescopic device, the telescopic device is arranged on the rotating device; A turning device, which is arranged on the telescopic device; A first fixing device, wherein three first fixing devices are provided, and the three first fixing devices are all provided at the bottom of the turning device; The second fixing device is provided in three pieces, and the three second fixing devices are respectively provided at the bottom of the three first fixing devices.

2. A rotatable flip-type mechanical arm with a clamp according to claim 1, characterized in that: The rotating device comprises a first rotating motor (4), a first motor (11) and a driving arm (9); the first motor (11) is fixedly mounted on the bottom of the base (10); the first rotating motor (4) is fixedly mounted on one side of the base (10); the output shaft of the first rotating motor (4) is fixedly connected to the driving arm (9); and the rotating device is used to drive the telescopic device, the flipping device, the first fixing device and the second fixing device to adjust the angle.

3. A rotatable flip-type mechanical arm with a clamp according to claim 2, characterized in that: The telescopic device comprises a rotating shaft (2), a telescopic arm (6) and a fixed block (3); the output shaft of the driving arm (9) is fixedly connected to the rotating shaft (2); the rotating shaft (2) is fixedly connected to the fixed block (3); and the telescopic arm (6) is fixedly mounted on the fixed block (3).

4. A rotatable flip-type mechanical arm with a clamp according to claim 3, characterized in that: The flipping device comprises a fixed frame (7), a second motor (14) and a rotating block (26); the fixed frame (7) is fixedly connected to one side of the telescopic arm (6); the second motor (14) is fixedly mounted on the fixed frame (7); the output shaft of the second motor (14) is fixedly connected to the rotating block (26); a second rotating motor (25) is fixedly mounted on the rotating block (26); and a rotating disk (8) is fixedly connected to the output shaft of the second rotating motor (25).

5. A rotatable flip-type mechanical arm with a clamp according to claim 4, characterized in that: The first fixing device comprises an air pump (12), three air pipes (5) and three plugs (15); the air pump (12) is fixedly installed at the bottom of the turntable (8); the bottom of the air pump (12) is fixedly connected to a chassis (13); the chassis (13) is fixedly connected to a box body (1); the box body (1) is provided with three sliding grooves (16); the three plugs (15) and the air pump (12) are fixedly connected to two ends of the three air pipes (5) respectively; the first fixing device is used to fix the material.

6. A rotatable flip-type mechanical arm with a clamp according to claim 5, characterized in that: The second fixing device comprises a forward and reverse motor (20), three clamping blocks (18), three racks (29), two sliding shafts (23) and three wedge blocks (17); the forward and reverse motor (20) is arranged on the chassis (13); a screw rod (19) is fixedly connected to the output shaft of the forward and reverse motor (20); the screw rod (19) is threadedly connected to one of the three racks (29); a slide groove (30) is provided on the chassis (13); the slide groove (30) is slidably connected to one of the three racks (29); and a plurality of second notches (28) are provided on each of the three racks (29). , a plurality of first notches (27) are formed on the three wedge blocks (17), and a plurality of second notches (28) are respectively matched with the plurality of first notches (27); two second fixed plates (24) and four first fixed plates (21) are fixedly connected to the chassis (13); the screw rod (19) is rotatably connected to the two second fixed plates (24); two sliding shafts (23) are respectively rotatably connected to the four first fixed plates (21); two of the three racks (29) are respectively slidably connected to the sliding shafts (23); a gear (22) is rotatably connected to the chassis (13), and the three racks (29) are all meshed with the gear (22).

Images