Grabbing mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a grabbing mechanical arm which comprises a grabbing part, a rotating base and a driving assembly connected with the grabbing part and the rotating base, the rotating base drives the driving assembly to rotate in the circumferential direction, and the driving assembly controls the grabbing part to move up and down to achieve grabbing. The driving assembly comprises a first driving arm and a second driving arm, the first driving arm is connected with the grabbing part to control the grabbing part to achieve grabbing, and the second driving arm is connected with the rotating base. According to the grabbing mechanical arm, people can be assisted in grabbing and transferring objects, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a grasping mechanical arm. Background Art

[0002] With the development of science and technology, machines can largely replace manual labor to complete various tasks, and the most commonly used mechanism to complete various tasks is the robotic arm. At present, robotic arms are mostly used to lift or support objects to achieve the transfer of objects. The objects need to be transferred or fixed to the robotic arm, and then the robotic arm transfers the objects. Its work efficiency is low, and it cannot grab objects like human hands and release them at will. Utility Model Content

[0003] The purpose of the present application is to provide a grasping robot arm, which can assist people in grasping and transferring objects, thereby greatly improving work efficiency.

[0004] The present application is implemented through the following technical solution: a grasping robot arm, including a grasping part, a rotating base and a driving assembly connecting the grasping part and the rotating base, the rotating base drives the driving assembly to rotate circumferentially, and the driving assembly controls the grasping part to move up and down to achieve grasping.

[0005] In the grasping robot arm as described above, the driving assembly includes a first driving arm and a second driving arm, the first driving arm is connected to the grasping part to control the grasping part to achieve grasping, and the second driving arm is connected to the rotating base.

[0006] In the grasping robot arm as described above, the first driving arm includes a first driving pole, which is installed on the first driving arm and drives the grasping part to move closer to or away from the end of the first driving pole through the first transmission shaft thereon to achieve a grasping action.

[0007] In a grabbing robot arm as described above, the connection between the first driving arm and the second driving arm includes a first rotating part for limiting the position, and a first driving part for driving the first driving arm to rotate around the first rotating part, and the first rotating part includes a first pin connection hole arranged on both sides of the first driving arm and the second driving arm and a pin connection shaft passing through the first pin connection hole.

[0008] In a grabbing robot arm as described above, the first driving part includes a second driving pole arranged on the second driving arm, a second transmission shaft connected to the second driving pole, and a first pin column cooperating with the second transmission shaft, the second driving arm includes a first limiting groove, the first pin column passes through the mounting hole on the first driving arm and is embedded in the first limiting groove.

[0009] In the grabbing robot arm as described above, the rotating base includes a driving component for driving the second driving arm to rotate longitudinally, and a rotating component for driving the second driving arm to rotate transversely.

[0010] In the grabbing robot arm as described above, the driving component includes a second rotating part for limiting position, and a second driving part for driving the second driving arm to rotate around the second rotating part.

[0011] In the grabbing robot arm as described above, the second rotating part includes second pin-connecting holes arranged on both sides of the second driving arm, through holes arranged on the rotating base and corresponding to the second pin-connecting holes, and pin-connecting columns passing through the second pin-connecting holes and the through holes.

[0012] In a grabbing robot arm as described above, the second driving part includes a third driving pole installed on the rotating base, a third transmission shaft connected to the third driving pole, and a second pin column cooperating with the third transmission shaft, the rotating base includes a second limiting groove, and the second pin column passes through a connecting hole on the second driving arm and is embedded in the second limiting groove.

[0013] In the grabbing robot arm as described above, the rotating component includes a driving motor, a driving wheel connected to the transmission shaft of the driving motor, and a driven wheel meshingly connected to the driving wheel, and the driven wheel is connected to the rotating shaft at the lower end of the rotating base.

[0014] Compared with the prior art, this application has the following advantages:

[0015] 1. A grabbing robot arm of the utility model comprises a grabbing part, a rotating base and a driving assembly connecting the grabbing part and the rotating base. The rotating base drives the driving assembly to rotate circumferentially, and the driving assembly controls the grabbing part to move up and down to achieve grabbing. It can assist people in grabbing and transferring objects, greatly improving work efficiency.

[0016] 2. The grabbing robot arm has a driving connection structure in which each robot arm is connected to the rotating base through a rotating connection structure. For example, the first driving arm and the second driving arm are connected through a first rotating part and a first driving part, and the second driving arm and the rotating base are connected through a second rotating part and a second driving part. This structure is more convenient and quick to assemble, and its overall stability is higher, and it is not easy to shake when grabbing objects, causing the objects to fall loose. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 This is a schematic diagram of the structure of a grabbing robot arm according to an embodiment of the present application.

[0019] Figure 2 This is a schematic structural diagram of the grabbing robot arm from another angle according to an embodiment of the present application.

[0020] Figure 3 This is a schematic structural diagram of the grabbing robot arm from another angle according to an embodiment of the present application.

[0021] Figure 4 It is a side view of the grabbing robot arm according to an embodiment of the present application.

[0022] Figure 5 for Figure 4 Schematic diagram of the structure when in use.

[0023] Figure 6 for Figure 4 sectional view of .

[0024] Figure 7 It is a schematic structural diagram of the rotating component of an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the technical problems, technical solutions and beneficial effects solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0026] like Figure 1-7 As shown, an embodiment of the present application proposes a grasping robot arm, including a grasping part 1, a rotating base 2, and a driving component 3 connecting the grasping part 1 and the rotating base 2, the rotating base 2 drives the driving component 3 to rotate circumferentially, and the driving component 3 controls the grasping part 1 to move up and down to achieve grasping, which can assist people in grasping and transferring objects, greatly improving work efficiency.

[0027] The driving assembly 3 includes a first driving arm 31 and a second driving arm 32. The first driving arm 31 is connected to the grasping portion 1 to control the grasping portion 1 to grasp, and the second driving arm 32 is connected to the rotating base 2. The rotating base 2 includes a driving component 21 for driving the second driving arm 32 to rotate longitudinally, and a rotating component 22 for driving the second driving arm 32 to rotate laterally. The second driving arm 32 is connected to an end of the first driving arm 31 away from the grasping portion 1 and drives the first driving arm 31 to rotate longitudinally. The first driving arm 31 controls the grasping portion 1 to grasp an object, and the second driving arm 32 controls the grasping portion 1 to grasp an object. The first driving arm 31 is controlled to rotate longitudinally around the connection between the two, so that the first driving arm 31 can grab objects in a smaller range. The rotating base 2 drives the second driving arm 32 to rotate in multiple directions, thereby driving the first driving arm 31 to grab objects in a larger range. Through the cooperation of the driving component 21 and the rotating component 22, its flexibility is higher; the first driving arm 31 includes a first driving pole 311, and the first driving pole 311 is installed on the first driving arm 31 and drives the grabbing part 1 to move closer to or away from the end of the first driving pole 311 through the first transmission shaft 312 thereon to achieve a grabbing action.

[0028] The connection between the first driving arm 31 and the second driving arm 32 includes a first rotating portion 321 for limiting position, and a first driving portion 322 for driving the first driving arm 31 to rotate around the first rotating portion 321. The first rotating portion 321 includes a first pin connection hole 323 provided on both sides of the first driving arm 31 and the second driving arm 32 and a pin connection shaft 324 passing through the first pin connection hole 323. The first driving portion 322 includes a second driving pole 325 provided on the second driving arm 32, a second transmission shaft 326 connected to the second driving pole 325, and a first pin column 327 matched with the second transmission shaft 326. The second driving arm 32 includes a first limiting groove 328. The first pin connection hole 323 is provided on both sides of the first driving arm 31 and the second driving arm 32. The column 327 passes through the mounting hole 313 on the first driving arm 31 and is embedded in the first limiting groove 328, wherein the first driving part 322 drives the first driving arm 31 to rotate around the first rotating part 321, and the first pin 327 passes through the mounting hole 313 on the first driving arm 31 and is embedded in the first limiting groove 328, one end of the first driving part 325 is fixed to the second driving arm 32, and the other end is fixed by the first pin 327, the first limiting groove 328 limits the rotation angle of the first driving arm 31 to prevent it from being unable to reset due to excessive rotation angle, and it fixes the first driving part 325, so that it has higher stability during rotation.

[0029] The driving component 21 includes a second rotating portion 211 for limiting position, and a second driving portion 212 that drives the second driving arm 32 to rotate around the second rotating portion 211, the second rotating portion 211 includes second pin-connecting holes 213 arranged on both sides of the second driving arm 32, a through hole 23 arranged on the rotating base 2 and corresponding to the second pin-connecting hole 213, and a pin-connecting column 214 penetrating the second pin-connecting hole 213 and the through hole 23, the second driving portion 212 includes a third driving pole 215 installed on the rotating base 2, a third transmission shaft 216 connected to the third driving pole 215, and a second The pin 217, the rotating base 2 includes a second limiting groove 24, the second pin 217 is passed through the connecting hole 329 on the second driving arm 32 and is embedded in the second limiting groove 24, wherein the second driving part 212 drives the second driving arm 32 to rotate around the second rotating part 211, and the second pin 217 is passed through the connecting hole 329 on the second driving arm 32 and is embedded in the second limiting groove 24, the second limiting groove 24 limits the rotation angle of the second driving arm 32 to prevent it from being unable to reset due to excessive rotation angle, and it fixes the second driving part 212, so that it has higher stability during rotation.

[0030] The rotating component 22 includes a driving motor 221 , a driving wheel 222 connected to the transmission shaft of the driving motor 221 , and a driven wheel 223 meshingly connected to the driving wheel 222 . The driven wheel 223 is connected to the rotating shaft 25 at the lower end of the rotating base 2 .

[0031] In this embodiment, the grabbing robot arm is equipped with a driving connection structure through a rotating connection structure between each robot arm and the rotating base 2. For example, the connection between the first driving arm 31 and the second driving arm 32 is connected by the first rotating part 321 and the first driving part 322, and the second driving arm 32 and the rotating base 2 are connected by the second rotating part 211 and the second driving part 212. This structure is more convenient and quick to assemble, and its overall stability is higher, and it is not easy to shake when grabbing objects, causing the objects to fall loose.

[0032] In summary, this application has but is not limited to the following beneficial effects:

[0033] The utility model provides a grabbing mechanical arm, comprising a grabbing part 1, a rotating base 2 and a driving component 3 connecting the grabbing part 1 and the rotating base 2, wherein the rotating base 2 drives the driving component 3 to rotate circumferentially, and the driving component 3 controls the grabbing part 1 to move up and down to achieve grabbing, which can assist people in grabbing and transferring objects, greatly improving work efficiency; the grabbing mechanical arm is equipped with a driving connection structure through a rotating connection structure between each mechanical arm and the rotating base 2, such as the first driving arm 31 and the second driving arm 32 are connected at the connection through the first rotating part 321 and the first driving part 322, and the second driving arm 32 and the rotating base 2 are connected through the second rotating part 211 and the second driving part 212. This structure is more convenient and quick to assemble, and its overall stability is higher, and it is not easy to shake when grabbing objects, causing the objects to fall loose.

[0034] It should be understood that the terms "first", "second", etc. are used in this application to describe each

[0035] information, but such information should not be limited to these terms, which are only used to refer to the same type of

[0036] For example, without departing from the scope of this application, the term "first"

[0037] The information may also be referred to as the "second" information, and similarly, the "second" information may also be referred to as the "first" information. In addition, the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operate in a specific position, and therefore cannot be understood as limiting the present application.

[0038] As described above, one or more implementation methods are provided in combination with specific contents, and the specific implementation of this application is not limited to these descriptions. Any similarity or similarity with the method, structure, etc. of this application, or some technical deductions or replacements made based on the concept of this application should be considered as the protection scope of this application.

Claims

1. A grabbing robot arm, characterized in that: The invention comprises a gripping portion (1), a rotating base (2), and a driving assembly (3) connecting the gripping portion (1) and the rotating base (2), wherein the rotating base (2) drives the driving assembly (3) to rotate in a circumferential direction, and the driving assembly (3) controls the gripping portion (1) to move up and down to achieve gripping.

2. A grabbing robot arm according to claim 1, characterized in that: The driving assembly (3) comprises a first driving arm (31) and a second driving arm (32); the first driving arm (31) is connected to the grasping portion (1) to control the grasping portion (1) to achieve grasping; and the second driving arm (32) is connected to the rotating base (2).

3. A grabbing robot arm according to claim 2, characterized in that: The first driving arm (31) comprises a first driving pole (311), the first driving pole (311) being mounted on the first driving arm (31) and driving the grasping portion (1) to move closer to or farther from an end of the first driving pole (311) via a first transmission shaft (312) thereon to achieve a grasping action.

4. A grabbing robot arm according to claim 2, characterized in that: The connection between the first driving arm (31) and the second driving arm (32) comprises a first rotating portion (321) for limiting position, and a first driving portion (322) for driving the first driving arm (31) to rotate around the first rotating portion (321), and the first rotating portion (321) comprises a first pin connection hole (323) provided on both sides of the first driving arm (31) and the second driving arm (32), and a pin connection shaft (324) passing through the first pin connection hole (323).

5. A grabbing robot arm according to claim 4, characterized in that: The first driving part (322) comprises a second driving pole (325) arranged on the second driving arm (32), a second transmission shaft (326) connected to the second driving pole (325), and a first pin (327) matched with the second transmission shaft (326); the second driving arm (32) comprises a first limiting groove (328); the first pin (327) passes through a mounting hole (313) on the first driving arm (31) and is embedded in the first limiting groove (328).

6. A grabbing robot arm according to claim 2, characterized in that: The rotating base (2) comprises a driving component (21) for driving the second driving arm (32) to rotate longitudinally, and a rotating component (22) for driving the second driving arm (32) to rotate transversely.

7. A grabbing robot arm according to claim 6, characterized in that: The driving component (21) comprises a second rotating portion (211) for limiting position, and a second driving portion (212) for driving the second driving arm (32) to rotate around the second rotating portion (211).

8. A grabbing robot arm according to claim 7, characterized in that: The second rotating part (211) comprises second pin-connecting holes (213) provided on both sides of the second driving arm (32), through holes (23) provided on the rotating base (2) and corresponding to the second pin-connecting holes (213), and pin-connecting columns (214) passing through the second pin-connecting holes (213) and the through holes (23).

9. The grabbing robot arm according to claim 7, characterized in that: The second driving part (212) comprises a third driving pole (215) mounted on the rotating base (2), a third transmission shaft (216) connected to the third driving pole (215), and a second pin (217) matched with the third transmission shaft (216); the rotating base (2) comprises a second limiting groove (24); the second pin (217) passes through a connecting hole (329) on the second driving arm (32) and is embedded in the second limiting groove (24).

10. The grabbing robot arm according to claim 6, characterized in that: The rotating component (22) comprises a driving motor (221), a driving wheel (222) connected to a transmission shaft of the driving motor (221), and a driven wheel (223) meshingly connected to the driving wheel (222); the driven wheel (223) is connected to a rotating shaft (25) at the lower end of the rotating base (2).

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