Mechanical arm capable of switching chucks

Abstract

The mechanical arm comprises a mechanical arm body, a rotating column, a driving assembly, a fixing frame, clamping jaws and a limiting assembly, the fixing frame is arranged on one side of the mechanical arm body, the multiple clamping jaws can be arranged on a horizontal frame body of the fixing frame at intervals, and the limiting assembly is arranged on the rotating column. A rotating column and a driving assembly used for driving the rotating column to rotate are rotatably arranged at the output end of the mechanical arm body, and a threaded groove is coaxially formed in the side wall, away from the mechanical arm body, of the rotating column in a sunken mode. According to the equipment, the defects that in the prior art, a plurality of chucks are arranged on the peripheral sides of the first small rotary table and the second small rotary table, so that the chucks are replaced by rotating the first small rotary table and the second small rotary table, the number and model of the chucks capable of being replaced are limited, and the application range is limited are overcome. According to the mechanical arm capable of switching the chucks, any chuck can be automatically replaced, and the application range is widened.

Description

Technical Field

[0001] The utility model relates to the field of clamps, in particular to a mechanical arm with a switchable clamp. Background Art

[0002] With the diversified development of industrial production, the clamps at the same workstation sometimes need to cope with the clamping of parts of different shapes. The traditional methods of clamping several clamps in parallel or frequently manually replacing the chucks are too cumbersome and not conducive to the compactness and simplification of tooling.

[0003] Chinese patent CN208262365U discloses a clamping device with switchable chucks, which is controlled to open by the clamp, and the cylinder drives the first small turntable and the second small turntable to replace the chucks, and the clamp is controlled to clamp after waiting for the second type of workpiece to reach the position.

[0004] The applicant discovered the following technical problems when implementing the above technical solution:

[0005] The device arranges a plurality of chucks on the periphery of the first small turntable and the second small turntable, so that the chucks can be replaced by rotating the first small turntable and the second small turntable. However, the number and types of chucks that can be replaced in this way are limited, and the scope of application is limited.

[0006] Therefore, providing a mechanical arm with a switchable chuck that can automatically replace any chuck to improve the scope of application is an urgent problem to be solved by the present invention. Utility Model Content

[0007] In view of the above technical problems, the purpose of the utility model is to overcome the problem that the prior art equipment sets a plurality of chucks around the first small turntable and the second small turntable, and replaces the chucks by rotating the first small turntable and the second small turntable, which has a limited number and type of chucks that can be replaced and a limited scope of application. Thus, a mechanical arm with switchable chucks that can automatically replace any chuck is provided to improve the scope of application.

[0008] In order to achieve the above-mentioned purpose, the utility model provides a mechanical arm with a switchable chuck, the mechanical arm comprising: a mechanical arm body, a rotating column, a driving assembly, a fixed frame, a clamping jaw and a limiting assembly, the fixed frame is arranged on one side of the mechanical arm body, and a plurality of clamping jaws can be arranged at intervals on its horizontal frame, the output end of the mechanical arm body is rotatably provided with a rotating column and a driving assembly for driving the rotating column to rotate, the rotating column is coaxially recessed with a thread groove on one side wall away from the mechanical arm body, the upper surface of the clamping jaw is vertically provided with a stud compatible with the thread groove, and the limiting assembly is used to prevent the clamping jaw from rotating when the mechanical arm is replaced.

[0009] Preferably, the limiting assembly comprises: a plurality of limiting columns vertically arranged on the fixing frame and a limiting plate horizontally arranged at the lower end of the stud, and the surface of the limiting plate is penetrated by through holes corresponding to the limiting columns one by one.

[0010] Preferably, the robotic arm body comprises: a fixed seat, a rotating seat, a first movable arm, a second movable arm and a third movable arm, the fixed seat is arranged on one side of the fixed frame, the rotating seat is rotatably arranged on the fixed seat, and a first hinge seat is arranged on its upper surface, one end of the first movable arm is hinged on the first hinge seat, and the other end thereof is hinged to one end of the second movable arm, the second movable arm is hinged to the third movable arm at one end away from the first movable arm, the third movable arm is rotatably provided with a rotating column at one end away from the second movable arm, and a driving component for driving the rotating column to rotate.

[0011] Preferably, the driving assembly includes: a first driving motor and a driving gear coaxially arranged at the output end of the first driving motor, a transmission gear coaxially arranged around the rotating column, the first driving motor is arranged on one side of the third movable arm, and the driving gear is meshed with the transmission gear.

[0012] Preferably, a second hinged seat is provided at the lower end of the first movable arm away from the fixed frame, a second drive motor is provided on the second hinged seat, a first hinged frame is provided at the end of the second movable arm away from the third movable arm, one end of the first connecting rod assembly is hinged on the first hinged frame, and the end of the first connecting rod assembly away from the first hinged frame is fixed to the output shaft of the second drive motor.

[0013] Preferably, the first connecting rod assembly includes: a first connecting rod and a second connecting rod, one end of the first connecting rod is fixed to the output end of the second driving motor, and the other end of the first connecting rod is hinged to one end of the second connecting rod, and the second connecting rod is hinged to the first hinge frame away from one end of the first connecting rod.

[0014] Preferably, a second articulated frame is provided on a side of the rotating seat away from the second articulated seat, one end of a second connecting rod assembly is hinged on the second articulated frame, and one end of the second connecting rod assembly away from the second articulated frame is hinged on the first articulated frame.

[0015] Preferably, the second connecting rod assembly comprises: a third connecting rod and a fourth connecting rod, wherein one end of the third connecting rod is hinged on the first articulated frame, and the other end of the third connecting rod is hinged to one end of the fourth connecting rod, and one end of the fourth connecting rod is hinged on the second articulated frame away from the third connecting rod.

[0016] According to the above technical scheme, the beneficial effects of the utility model compared with the prior art are as follows: the present application drives the clamping jaw to move to the corresponding position on the fixed frame through the robot arm body, and then starts the driving assembly to drive the rotating column to rotate. Due to the existence of the limiting assembly, the clamping jaw will not rotate along with the rotation of the rotating column through the stud, so that it will be gradually screwed out, thereby realizing the separation of the clamping jaw from the robot arm body; then the robot arm body is moved to another clamping jaw on the fixed frame, and the thread groove of the rotating column is made to correspond to the stud on the clamping jaw, and then the driving assembly is started. Due to the existence of the limiting assembly, the clamping jaw will not rotate along with the rotation of the rotating column through the stud, so that it will be gradually tightened, thereby realizing the installation of the clamping jaw and the robot arm body; thereby realizing that the robot arm can automatically replace any chuck on the fixed frame according to needs.

[0017] Other features and advantages of the utility model will be described in detail in the subsequent specific implementation mode; and the parts not involved in the utility model are the same as the prior art or can be implemented by using the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation to the present invention. In the accompanying drawings:

[0019] Figure 1 A three-dimensional diagram of a mechanical arm with a switchable chuck provided in a preferred embodiment of the utility model Figure 1 .

[0020] Figure 2 A three-dimensional diagram of a mechanical arm with a switchable chuck provided in a preferred embodiment of the utility model Figure 2 .

[0021] Figure 3 A partial explosion of a mechanical arm with a switchable chuck is provided in a preferred embodiment of the utility model Figure 1 .

[0022] Figure 4 It is a partial three-dimensional view of a mechanical arm with a switchable chuck provided in a preferred embodiment of the utility model. Figure 1 .

[0023] Figure 5 It is a partial three-dimensional view of a mechanical arm with a switchable chuck provided in a preferred embodiment of the utility model. Figure 2 .

[0024] Description of reference numerals: 1-mechanical arm body; 101-fixed seat; 102-rotating seat; 10201-first articulated seat; 10202-second articulated frame; 103-first movable arm; 10301-second articulated seat; 10302-second drive motor; 104-second movable arm; 10401-first articulated frame; 105-third movable arm; 106-first connecting rod assembly; 10601-first connecting rod ;10602-second connecting rod;17-second connecting rod assembly;10701-third connecting rod;10702-fourth connecting rod;2-rotating column;201-threaded groove;202-transmission gear;3-driving assembly;301-first driving motor;302-driving gear;4-fixed frame;5-clamping claw;501-stud;6-limiting assembly;601-limiting plate;60101-through hole;602-limiting column. DETAILED DESCRIPTION

[0025] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0026] In the description of the embodiments of the present utility model, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like are used to indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, it is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, if the terms "first", "second", "third" and the like appear, they are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In addition, if the terms "horizontal", "vertical", "overhanging" and the like appear, it does not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of the embodiments of the present utility model, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0028] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0029] Reference Figure 1-Figure 3 : A robot arm with a switchable chuck, the robot arm comprising: a robot arm body 1, a rotating column 2, a driving component 3, a fixed frame 4, a clamp 5 and a limit component 6, the fixed frame 4 is arranged on one side of the robot arm body 1, and a plurality of clamps 5 can be arranged at intervals on its horizontal frame, the output end of the robot arm body 1 is rotatably provided with a rotating column 2 and a driving component 3 for driving the rotating column 2 to rotate, the rotating column 2 is coaxially recessed with a thread groove 201 on one side wall away from the robot arm body 1, the upper surface of the clamp 5 is vertically provided with a stud 501 adapted to the thread groove 201, and the limit component 6 is used to prevent the clamp 5 from rotating when the robot arm replaces the clamp 5.

[0030] The present application drives the clamping jaw 5 to move to the corresponding position on the fixed frame 4 through the robot arm body 1, and then starts the driving component 3 to drive the rotating column 2 to rotate. Due to the existence of the limiting component 6, the clamping jaw 5 will not rotate along with the rotation of the rotating column 2 through the stud 501, and will be gradually screwed out, so that the clamping jaw 5 is separated from the robot arm body 1; then the robot arm body 1 is moved to another clamping jaw 5 on the fixed frame 4, and the thread groove 201 of the rotating column 2 corresponds to the stud 501 on the clamping jaw 5, and then the driving component 3 is started. Due to the existence of the limiting component 6, the clamping jaw 5 will not rotate along with the rotation of the rotating column 2 through the stud 501, and will be gradually tightened, so that the installation of the clamping jaw 5 and the robot arm body 1 is realized; thereby realizing that the robot arm can automatically replace any chuck on the fixed frame 4 according to needs.

[0031] Reference Figure 2 and Figure 3 The limiting assembly 6 includes: a plurality of limiting columns 602 vertically arranged on the fixing frame 4 and a limiting plate 601 horizontally arranged at the lower end of the stud 501, and the surface of the limiting plate 601 is penetrated by through holes 60101 corresponding to the limiting columns 602 one by one.

[0032] The present application ensures that the robot body 1 can accurately correspond to the clamp 5 by one-to-one correspondence between the through hole 60101 on the limit plate 601 and the limit column 602, thereby improving the operation accuracy and safety. Moreover, due to the cooperation between the limit plate 601 and the limit column 602, the clamp 5 will not rotate along with the rotation of the rotating column 2 through the stud 501.

[0033] Reference Figure 2: The robot arm body 1 includes: a fixed seat 101, a rotating seat 102, a first movable arm 103, a second movable arm 104 and a third movable arm 105, the fixed seat 101 is arranged on one side of the fixed frame 4, the rotating seat 102 is rotatably arranged on the fixed seat 101, and a first hinge seat 10201 is arranged on its upper surface, one end of the first movable arm 103 is hinged on the first hinge seat 10201, and the other end thereof is hinged to one end of the second movable arm 104, the second movable arm 104 is hinged to one end of the third movable arm 105 away from the first movable arm 103, the third movable arm 105 is rotatably arranged with a rotating column 2 at one end away from the second movable arm 104, and a driving component 3 for driving the rotating column 2 to rotate.

[0034] The design of the present application enables the robot body 1 to have multi-axis movement capabilities through the articulation and rotation designs between the various movable arms, which can realize complex movements and operations, thereby improving the flexibility and applicability of the robot arm.

[0035] Reference Figure 3 The driving assembly 3 includes: a first driving motor 301 and a driving gear 302 coaxially arranged at the output end of the first driving motor 301, and a transmission gear 202 is coaxially arranged around the rotating column 2. The first driving motor 301 is arranged on one side of the third movable arm 105, and the driving gear 302 is meshed with the transmission gear 202.

[0036] In the present application, the first driving motor 301 is started to drive the driving gear 302 to rotate, thereby driving the rotating column 2 to rotate through the transmission gear 202 .

[0037] Reference Figure 4 and Figure 5 : A second articulated seat 10301 is arranged at the lower end of the first movable arm 103 away from the fixed frame 4, a second driving motor 10302 is arranged on the second articulated seat 10301, a first articulated frame 10401 is arranged at one end of the second movable arm 104 away from the third movable arm 105, one end of the first connecting rod assembly 106 is hinged on the first articulated frame 10401, and the end of the first connecting rod assembly 106 away from the first articulated frame 10401 is fixed to the output shaft of the second driving motor 10302.

[0038] The second drive motor 10302 of the present application is arranged on the first movable arm 103, which can realize the drive and control of the second movable arm 104, so that the robot arm has more freedom of movement and flexibility. The first connecting rod assembly 106 is fixed on the output shaft of the second drive motor 10302. Through the drive of the second drive motor 10302, the movement of the first connecting rod assembly 106 can be realized, thereby controlling the relative position and angle of the first movable arm 103 and the second movable arm 104. This design makes the structure of the robot arm more compact and stable, and can realize complex movements and operations, which is suitable for industrial application scenarios that require precise control and positioning.

[0039] Reference Figure 4 and Figure 5 : The first connecting rod assembly 106 includes: a first connecting rod 10601 and a second connecting rod 10602, one end of the first connecting rod 10601 is fixed to the output end of the second driving motor 10302, and the other end thereof is hinged to one end of the second connecting rod 10602, and the second connecting rod 10602 is hinged to the first articulated frame 10401 at one end away from the first connecting rod 10601.

[0040] In the present application, the motion of the first connecting rod 10601 and the second connecting rod 10602 can be controlled by driving the second driving motor 10302 , thereby controlling the relative motion state of the first movable arm 103 and the second movable arm 104 .

[0041] Reference Figure 4 and Figure 5 : A second articulated frame 10202 is arranged on the side of the rotating seat 102 away from the second articulated seat 10301, and one end of the second connecting rod assembly 107 is hinged on the second articulated frame 10202, and one end of the second connecting rod assembly 107 away from the second articulated frame 10202 is hinged on the first articulated frame 10401.

[0042] The design of the present application can make the structure of the robotic arm more stable and reliable, and can withstand greater workloads and pressures.

[0043] Reference Figure 4 and Figure 5 : The second connecting rod assembly 107 includes: a third connecting rod 10701 and a fourth connecting rod 10702, one end of the third connecting rod 10701 is hinged on the first articulated frame 10401, and the other end thereof is hinged to one end of the fourth connecting rod 10702, and one end of the fourth connecting rod 10702 away from the third connecting rod 10701 is hinged on the second articulated frame 10202.

[0044] This design of the present application makes the structure of the second connecting rod assembly 107 more stable and strong, so that the robot arm can withstand greater force and load.

[0045] When the device provided by the utility model is in use, the mechanical arm body 1 drives the clamping jaw 5 to move to the corresponding position on the fixed frame 4, and then the driving component 3 is started to drive the rotating column 2 to rotate. Due to the existence of the limiting component 6, the clamping jaw 5 will not rotate along with the rotation of the rotating column 2 through the stud 501, so that it will be gradually screwed out, so that the clamping jaw 5 and the mechanical arm body 1 are separated; then the mechanical arm body 1 is moved to another clamping jaw 5 on the fixed frame 4, and the thread groove 201 of the rotating column 2 is made to correspond to the stud 501 on the clamping jaw 5, and then the driving component 3 is started. Due to the existence of the limiting component 6, the clamping jaw 5 will not rotate along with the rotation of the rotating column 2 through the stud 501, so that it will be gradually tightened, so that the installation of the clamping jaw 5 and the mechanical arm body 1 is realized; thereby realizing that the mechanical arm can automatically replace any chuck on the fixed frame 4 according to needs.

[0046] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications, and these simple modifications all belong to the protection scope of the present invention.

[0047] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present utility model will not further describe various possible combinations.

[0048] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A mechanical arm with a switchable chuck, characterized in that: The mechanical arm comprises: a mechanical arm body (1), a rotating column (2), a driving component (3), a fixed frame (4), a clamping jaw (5) and a limiting component (6); the fixed frame (4) is arranged on one side of the mechanical arm body (1), and a plurality of clamping jaws (5) can be arranged at intervals on its horizontal frame; the output end of the mechanical arm body (1) is rotatably provided with a rotating column (2) and a driving component (3) for driving the rotating column (2) to rotate; a side wall of the rotating column (2) away from the mechanical arm body (1) is coaxially recessed with a thread groove (201); a stud (501) adapted to the thread groove (201) is vertically arranged on the upper surface of the clamping jaw (5); and the limiting component (6) is used to prevent the clamping jaw (5) from rotating when the mechanical arm replaces the clamping jaw (5).

2. A mechanical arm with a switchable chuck according to claim 1, characterized in that: The limiting assembly (6) comprises: a plurality of limiting columns (602) vertically arranged on the fixing frame (4) and a limiting plate (601) horizontally arranged at the lower end of the stud (501), and the surface of the limiting plate (601) is penetrated by through holes (60101) corresponding to the limiting columns (602) one by one.

3. A mechanical arm with a switchable chuck according to claim 1, characterized in that: The mechanical arm body (1) comprises: a fixed seat (101), a rotating seat (102), a first movable arm (103), a second movable arm (104) and a third movable arm (105), wherein the fixed seat (101) is arranged on one side of the fixed frame (4), the rotating seat (102) is rotatably arranged on the fixed seat (101), and a first hinge seat (10201) is arranged on its upper surface, one end of the first movable arm (103) is hinged on the first hinge seat (10201), and the other end thereof is hinged to one end of the second movable arm (104), the second movable arm (104) is hinged to one end of the third movable arm (105) away from the first movable arm (103), and the third movable arm (105) is rotatably arranged on one end of the rotating column (2) away from the second movable arm (104), and a driving component (3) for driving the rotating column (2) to rotate.

4. A mechanical arm with a switchable chuck according to claim 1, characterized in that: The driving assembly (3) comprises: a first driving motor (301) and a driving gear (302) coaxially arranged at the output end of the first driving motor (301); a transmission gear (202) is coaxially arranged around the rotating column (2); the first driving motor (301) is arranged on one side of the third movable arm (105); and the driving gear (302) is meshed with the transmission gear (202).

5. The mechanical arm with switchable chuck according to claim 3, characterized in that: A second hinge seat (10301) is provided at the lower end of the first movable arm (103) away from the fixed frame (4), and a second drive motor (10302) is provided on the second hinge seat (10301). A first hinge frame (10401) is provided at the end of the second movable arm (104) away from the third movable arm (105). One end of a first connecting rod assembly (106) is hinged on the first hinge frame (10401), and one end of the first connecting rod assembly (106) away from the first hinge frame (10401) is fixed to the output shaft of the second drive motor (10302).

6. A mechanical arm with a switchable chuck according to claim 5, characterized in that: The first connecting rod assembly (106) includes: a first connecting rod (10601) and a second connecting rod (10602), one end of the first connecting rod (10601) is fixed to the output end of the second driving motor (10302), and the other end thereof is hinged to one end of the second connecting rod (10602), and the end of the second connecting rod (10602) away from the first connecting rod (10601) is hinged to the first articulated frame (10401).

7. A mechanical arm with a switchable chuck according to claim 5, characterized in that: A second articulated frame (10202) is provided on the side of the rotating seat (102) away from the second articulated seat (10301), one end of a second connecting rod assembly (107) is hinged on the second articulated frame (10202), and one end of the second connecting rod assembly (107) away from the second articulated frame (10202) is hinged on the first articulated frame (10401).

8. The mechanical arm with switchable chuck according to claim 7, characterized in that: The second link assembly (107) includes: a third link (10701) and a fourth link (10702), wherein one end of the third link (10701) is hinged on the first articulated frame (10401), and the other end thereof is hinged to one end of the fourth link (10702), and one end of the fourth link (10702) away from the third link (10701) is hinged on the second articulated frame (10202).

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