Mechanical arm assembly with anti-skid structure

Abstract

The utility model relates to the technical field of industrial material processing, in particular to a mechanical arm assembly with an anti-skid structure, which comprises a base, a supporting main rod is welded in the middle of the top of the base, a supporting rod is sleeved on the outer wall of a rod body of the supporting main rod, and a rotating mechanism is clamped on the inner wall of the supporting rod. A supporting rotating rod is connected to the inner wall of one side of the rotating mechanism in a sleeving mode, a fixing box is welded to the top end of the supporting rotating rod, transverse moving mechanisms are connected to the left side and the right side of the inner wall of the fixing box in a threaded mode, vertical moving mechanisms perpendicularly penetrate through the inner walls of the transverse moving mechanisms, and clamping mechanisms transversely penetrate through the inner walls of the left side and the right side of the vertical moving mechanisms. And an air suction mechanism transversely penetrates through the interior of the clamping mechanism. According to the improved mechanical arm assembly, the rotating mechanism, the transverse moving mechanism and the vertical moving mechanism are additionally arranged, so that accurate grabbing of industrial materials is achieved, and the materials can be prevented from falling off in the conveying process through the anti-skid silica gel layers bonded to the inner walls of the opposite sides of the grabbing plates and the arrangement of the air suction mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial material processing, in particular to a mechanical arm component with an anti-slip structure. Background Art

[0002] Industrial raw materials are objects of labor obtained through human labor and used in the industrial production process. Industrial raw materials can be divided into two categories according to their degree of processing: raw materials and materials. The objects of labor from mining industry and agriculture are called raw materials; raw materials that have been further processed are called materials, such as pig iron for steelmaking. According to their different roles in the production process, they can be divided into main raw materials and auxiliary materials. Those that constitute the main body of the product are main raw materials, such as cotton yarn in weaving; those that only play an auxiliary role in the formation of the product are auxiliary materials.

[0003] A robotic arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof and other fields. The robotic arm is a complex system with uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling model of the robotic arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade and form the terminal posture.

[0004] In the process of realizing the utility model, the inventors found that the prior art had the following problems: 1. The position control of the existing robotic arm assembly for grasping materials is not accurate enough, so grasping errors may occur; 2. The existing robotic arm assembly lacks an anti-slip mechanism for grasping materials, so that when grasping relatively smooth or specially shaped materials, the materials are prone to falling off. Utility Model Content

[0005] The purpose of the utility model is to provide a mechanical arm assembly with an anti-skid structure, so as to solve the problem that the existing mechanical arm assembly proposed in the above background technology is not accurate enough in position control for material grabbing, so that there will be a situation of grabbing errors and the existing mechanical arm assembly lacks an anti-skid mechanism for material grabbing, so that when grabbing relatively smooth and special-shaped materials, it is easy to fall off. To achieve the above purpose, the utility model provides the following technical solutions: the mechanical arm assembly with an anti-skid structure includes a base, a support main rod is welded to the middle of the top of the base, a support support rod is sleeved on the outer wall of the rod body of the support main rod, a rotating mechanism is clamped on the inner wall of the support support rod, a support rotating rod is sleeved on the inner wall of one side of the rotating mechanism, a fixing box is welded on the top of the inner wall of the fixing box, and the left and right sides of the inner wall are both screwed with a transverse movement mechanism, the inner wall of the transverse movement mechanism is vertically penetrated by a vertical movement mechanism, the left and right inner walls of the vertical movement mechanism are horizontally penetrated by a clamping mechanism, and the inside of the clamping mechanism is horizontally penetrated by an air suction mechanism.

[0006] Further preferably, the rotating mechanism consists of a driving gear, a driven gear and a driving motor, wherein the driving end of the driving motor is plugged with the driving gear, and the outer wall of one side of the driving gear is meshed with the driven gear, and the inner wall of the driven gear is sleeved with a supporting rotating rod, and the supporting rotating rod is rotatably connected to the inner wall of the supporting main rod.

[0007] Further preferably, the transverse movement mechanism is composed of two hydraulic cylinders and a support plate, wherein the bottoms of the hydraulic cylinders are respectively screwed to the left and right sides of the inner wall of the fixed box, and the driving ends of the two are plugged into the left and right sides of the rear end of the support plate.

[0008] Further preferably, the vertical movement mechanism is composed of a hydraulic cylinder and a support frame, wherein the hydraulic cylinder vertically penetrates the middle of the top end of the support plate, and the driving end of the hydraulic cylinder is also plugged into the top center of the support frame.

[0009] Further preferably, the clamping mechanism consists of a gripping plate, an electric telescopic rod and an anti-slip silicone layer, wherein the driving end of the electric telescopic rod transversely penetrates the left and right sides of the supporting frame and is plugged into the outer wall of the gripping plate, and an anti-slip silicone layer is also bonded to the inner wall on the opposite side of the gripping plate.

[0010] Further preferably, the suction mechanism consists of a vacuum pump and a telescopic exhaust pipe, wherein the air inlet end of the telescopic exhaust pipe is plugged into the interior of the grab plate, and the air outlet end of the telescopic exhaust pipe transversely penetrates the outer wall of the support frame and is plugged into the vacuum pump, and a number of air holes are also opened on the inner wall on the opposite side of the plate.

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

[0012] In the utility model, the rotating mechanism is started to drive the supporting rotating rod and various components arranged on the top end thereof to rotate together, thereby changing the direction of the adjusting clamping mechanism, and the transverse movement mechanism is started to push the vertical movement mechanism and the clamping mechanisms that penetrate horizontally through the inner walls on the left and right sides thereof to move to just above the material to be grasped, and the entire clamping mechanism is pushed down to the vicinity of the material by starting the vertical movement mechanism, so that the material is located between the two grab plates in the clamping mechanism, and then it can stop, thereby realizing accurate grasping of industrial materials.

[0013] At the same time, the electric telescopic rods on the left and right sides are started to drive the connected grab plates toward the surface of the material until the anti-slip silicone layers bonded to the inner walls on the opposite sides of the two grab plates are tightly fitted with the outer walls on both sides of the material. At the same time, the vacuum pumps on the left and right sides are started to completely extract the air between the contact surface of the grab plate and the material through the telescopic exhaust pipe, so that vacuum adsorption is formed between the anti-slip silicone layer and the surface of the material, thereby further firmly controlling the material between the two grab plates to prevent it from falling off during the transmission process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0015] Figure 2 It is a schematic diagram of the rear side cross-sectional structure of the utility model;

[0016] Figure 3 This is a schematic diagram of the structure of the clamping mechanism of the utility model.

[0017] In the figure: 1. base; 2. supporting main rod; 3. supporting support rod; 4. rotating mechanism; 401. driving gear; 402. driven gear; 403. driving motor; 5. supporting rotating rod; 6. fixing box; 7. transverse movement mechanism; 701. hydraulic cylinder; 702. supporting plate; 8. vertical movement mechanism; 801. hydraulic cylinder; 802. supporting frame; 9. clamping mechanism; 901. grab plate; 902. electric telescopic rod; 903. anti-slip silicone layer; 10. suction mechanism; 1001. vacuum pump; 1002. telescopic exhaust pipe. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in 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 in the utility model, all other embodiments obtained by ordinary technical personnel in this field without creative work are within the scope of protection of the utility model.

[0019] See also Figures 1 to 3 The utility model provides a technical solution: a mechanical arm assembly with an anti-slip structure, including a base 1, a supporting main rod 2 is welded to the middle of the top of the base 1, a supporting support rod 3 is sleeved on the outer wall of the rod body of the supporting main rod 2, a rotating mechanism 4 is clamped on the inner wall of the supporting support rod 3, a supporting rotating rod 5 is sleeved on the inner wall of one side of the rotating mechanism 4, a fixing box 6 is welded on the top of the supporting rotating rod 5, a transverse movement mechanism 7 is screwed on the left and right sides of the inner wall of the fixing box 6, a vertical movement mechanism 8 is vertically penetrated through the inner wall of the transverse movement mechanism 7, a clamping mechanism 9 is horizontally penetrated through the inner walls on the left and right sides of the vertical movement mechanism 8, and a suction mechanism 10 is horizontally penetrated inside the clamping mechanism 9.

[0020] In this embodiment, Figure 1 and Figure 2As shown, the rotating mechanism 4 is composed of a driving gear 401, a driven gear 402 and a driving motor 403, wherein the driving end of the driving motor 403 is plugged with the driving gear 401, and the outer wall of one side of the driving gear 401 is meshed with the driven gear 402, and the inner wall of the driven gear 402 is sleeved with a supporting rotating rod 5, and the supporting rotating rod 5 is rotatably connected to the inner wall of the supporting main rod 2; it should be noted that when using the mechanical arm assembly in the utility model, the operator can start the driving motor 403 to make its output end start to rotate and drive the plugged in The driving gear 401 rotates together, and at the same time, the driven gear 402 meshed with the outer wall of one side of the driving gear 401 will also be driven to rotate, and because the supporting rotating rod 5 is sleeved on the inner wall of the driven gear 402, and the supporting rotating rod 5 is rotatably connected to the inner wall of the supporting main rod 2, when the driven gear 402 rotates, it will also rotate in contact with the inner wall of the supporting main rod 2, thereby causing the various components provided on its top to rotate at the same time, thereby changing the direction of the adjusting clamping mechanism 9 to facilitate accurate grasping of industrial materials.

[0021] In this embodiment, Figure 1 and Figure 3 As shown, the transverse movement mechanism 7 is composed of two hydraulic cylinders 701 and a support plate 702, wherein the bottom of the hydraulic cylinder 701 is screwed to the left and right sides of the inner wall of the fixed box 6 respectively, and the driving ends of the two are plugged into the left and right sides of the rear end of the support plate 702; it should be noted that after the operator adjusts the entire transverse movement mechanism 7 and the clamping mechanism 9 to rotate above the industrial material through the rotating mechanism 4, the operator can start the two hydraulic cylinders 701 at the same time, so that the driving ends of the two begin to extend forward and push the support plate 702 plugged therewith to move horizontally together, because the hydraulic cylinder 801 in the vertical movement mechanism 8 is vertically penetrated in the middle of the top of the support plate 702, so when the support plate 702 is pushed by the hydraulic cylinder 701 to move horizontally, its entire vertical movement mechanism 8 will also be pushed until the clamping mechanism 9 that horizontally penetrates the inner walls on the left and right sides of the vertical movement mechanism 8 is pushed to the top of the material to be grasped, and then it can stop, thereby adjusting the horizontal movement of the clamping mechanism 9.

[0022] In this embodiment, Figure 1 and Figure 3As shown, the vertical movement mechanism 8 is composed of a hydraulic cylinder 801 and a support frame 802, wherein the hydraulic cylinder 801 vertically penetrates the middle of the top of the support plate 702, and the driving end of the hydraulic cylinder 801 is also plugged into the top center of the support frame 802; it should be noted that when the operator pushes the entire vertical movement mechanism 8 and the clamping mechanism 9 to the top of the material to be grasped through the transverse movement mechanism 7, the operator can start the hydraulic cylinder 801 at this time to make its driving end begin to extend downward and push the support frame 802 plugged therein to move downward together, until the entire clamping mechanism 9 that transversely penetrates the inner walls on the left and right sides of the support frame 802 is lowered to the vicinity of the material, and the material is located between the two grab plates 901 in the clamping mechanism 9, and then it can stop, so as to adjust the vertical movement of the clamping mechanism 9.

[0023] In this embodiment, Figure 1 and Figure 3 As shown, the clamping mechanism 9 is composed of a gripping plate 901, an electric telescopic rod 902 and an anti-skid silicone layer 903, wherein the driving end of the electric telescopic rod 902 horizontally penetrates the left and right sides of the supporting frame 802 and is plugged into the outer wall of the gripping plate 901, and the anti-skid silicone layer 903 is also bonded to the inner wall of the opposite side of the gripping plate 901; it should be noted that when the operator adjusts the entire clamping mechanism 9 to align the position of the material through the transverse movement mechanism 7 and the vertical movement mechanism 8, and makes the material located between the two gripping plates 901 in the clamping mechanism 9, at this time, the operator The electric telescopic rods 902 on the left and right sides can be started simultaneously through an external controller, so that the driving ends of the two begin to move laterally toward each other at the same time, thereby driving the gripping plate 901 plugged therein to approach the surface of the material in the middle position, until the anti-slip silicone layer 903 bonded to the inner walls of the opposite sides of the two gripping plates 901 are tightly fitted with the outer walls of the two sides of the material. At the same time, the entire material will be accurately grasped by the clamping mechanism 9, and the provision of the anti-slip silicone layer 903 can increase the friction between the contact surface of the gripping plate 901 and the material, thereby preventing the material from falling off.

[0024] In this embodiment, Figure 1 and Figure 3As shown, the suction mechanism 10 is composed of a vacuum pump 1001 and a telescopic suction pipe 1002, wherein the air inlet end of the telescopic suction pipe 1002 is plugged into the inside of the gripping plate 901, and the air outlet end of the telescopic suction pipe 1002 transversely penetrates the outer wall of the supporting frame 802 and is plugged into the vacuum pump 1001, and a plurality of air holes are also provided on the inner wall on the opposite side of the gripping plate 901; it should be noted that when the operator starts the electric telescopic rod 902 to push the gripping plate 901 plugged therein close to the outer wall of the material, the telescopic suction pipe 1002 in the suction mechanism 10 will also drive the electric telescopic rod 902 to change the length of the tube body, and between the two The anti-slip silicone layer 903 on the inner wall on the opposite side of the gripping plate 901 fits tightly with the outer walls on both sides of the material, so that after the material is accurately gripped, the operator can simultaneously start the vacuum pumps 1001 on the left and right sides, so that the vacuum pump 1001 can completely extract the residual air between the contact surface of the gripping plate 901 and the material through the telescopic exhaust pipe 1002, so that the gap between the two is in a vacuum state, so that the anti-slip silicone layer 903 bonded to the inner wall on the opposite side of the gripping plate 901 and the surface of the material form vacuum adsorption, so that the material can be further firmly controlled between the two gripping plates 901 to prevent it from falling off during the transmission process.

[0025] The use method and advantages of the utility model: When the mechanical arm assembly with an anti-slip structure is used, the working process is as follows:

[0026] like Figure 1 , Figure 2 and Figure 3As shown, first, by starting the driving motor 403, the driving gear 401 plugged therein and the driven gear 402 meshed with the outer wall of one side of the driving gear 401 are driven to rotate together. At this time, the supporting rotating rod 5 sleeved on the inner wall of the driven gear 402 will rotate in close contact with the inner wall of the supporting main rod 2, so that the clamping mechanism 9 is adjusted and rotated to the top of the material. Then the operator can start the two hydraulic cylinders 701 at the same time to push the supporting plate 702 plugged therein to move horizontally. Because the vertical movement mechanism 8 is vertically penetrated through the middle of the top of the supporting plate 702, during this period, the entire vertical movement mechanism 8 will also be pushed to the top of the material to be grasped. At the same time, the operator can start the hydraulic cylinder 801 again to push the supporting frame 802 plugged therein and the entire clamping mechanism 9 that horizontally penetrates the inner walls on the left and right sides of the supporting frame 802 to descend together. The gripping mechanism 9 can stop when the material is near the material so that the material is located between the two gripping plates 901 in the clamping mechanism 9. Then, the operator can simultaneously start the electric telescopic rods 902 on the left and right sides through the external controller to push the gripping plates 901 plugged therein to approach the surface of the material in the middle position until the anti-slip silicone layer 903 bonded to the inner walls on the opposite sides of the two gripping plates 901 are tightly fitted together with the outer walls on both sides of the material, thereby accurately grasping the entire material, and during this period, start the vacuum pumps 1001 on the left and right sides to completely extract the residual air between the gripping plates 901 and the contact surface of the material through the telescopic exhaust pipe 1002, so that the anti-slip silicone layer 903 bonded to the inner walls on the opposite sides of the gripping plates 901 and the surface of the material form a vacuum adsorption, thereby being able to further firmly control the material between the two gripping plates 901 to prevent it from falling off during the transmission process.

[0027] The above shows and describes the basic principle, main features and advantages of the utility model. Technical staff in this industry should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the utility model and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model will have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A mechanical arm assembly with an anti-slip structure, comprising a base (1), characterized in that: A supporting main rod (2) is welded to the middle of the top of the base (1); a supporting support rod (3) is sleeved on the outer wall of the supporting main rod (2); a rotating mechanism (4) is clamped on the inner wall of the supporting support rod (3); a supporting rotating rod (5) is sleeved on the inner wall of one side of the rotating mechanism (4); a fixing box (6) is welded to the top of the supporting rotating rod (5); a transverse movement mechanism (7) is screwed on the left and right sides of the inner wall of the fixing box (6); a vertical movement mechanism (8) is vertically penetrated through the inner wall of the transverse movement mechanism (7); a clamping mechanism (9) is horizontally penetrated through the left and right inner walls of the vertical movement mechanism (8); and a suction mechanism (10) is horizontally penetrated inside the clamping mechanism (9).

2. The mechanical arm assembly with an anti-slip structure according to claim 1, characterized in that: The rotating mechanism (4) is composed of a driving gear (401), a driven gear (402) and a driving motor (403), wherein the driving end of the driving motor (403) is plugged with the driving gear (401), and the outer wall of one side of the driving gear (401) is meshed with the driven gear (402), and the inner wall of the driven gear (402) is sleeved with a supporting rotating rod (5), and the supporting rotating rod (5) is rotatably connected to the inner wall of the supporting main rod (2).

3. The mechanical arm assembly with an anti-slip structure according to claim 1, characterized in that: The transverse movement mechanism (7) is composed of two hydraulic cylinders (701) and a support plate (702), wherein the bottom of the hydraulic cylinder (701) is screwed to the left and right sides of the inner wall of the fixed box (6), and the driving ends of the two are plugged into the left and right sides of the rear end of the support plate (702).

4. The mechanical arm assembly with an anti-slip structure according to claim 1, characterized in that: The vertical movement mechanism (8) is composed of a hydraulic cylinder (801) and a support frame (802), wherein the hydraulic cylinder (801) vertically penetrates the middle of the top end of the support plate (702), and the driving end of the hydraulic cylinder (801) is also plugged into the top center of the support frame (802).

5. The mechanical arm assembly with an anti-slip structure according to claim 1, characterized in that: The clamping mechanism (9) is composed of a gripping plate (901), an electric telescopic rod (902) and an anti-slip silicone layer (903), wherein the driving end of the electric telescopic rod (902) transversely penetrates the left and right sides of the support frame (802) and is plugged into the outer wall of the gripping plate (901), and the anti-slip silicone layer (903) is also bonded to the inner wall on the opposite side of the gripping plate (901).

6. The mechanical arm assembly with an anti-slip structure according to claim 1, characterized in that: The suction mechanism (10) is composed of a vacuum pump (1001) and a telescopic exhaust pipe (1002), wherein the air inlet end of the telescopic exhaust pipe (1002) is plugged into the interior of the gripping plate (901), and the air outlet end of the telescopic exhaust pipe (1002) transversely penetrates the outer wall of the supporting frame (802) and is plugged into the vacuum pump (1001), and a plurality of air holes are also provided on the inner wall on the opposite side of the gripping plate (901).

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