Mechanical arm grabbing mechanism

Abstract

The utility model discloses a mechanical arm grabbing mechanism which comprises an external connecting plate, an adjusting mechanism is arranged on the external connecting plate, the adjusting mechanism comprises a rotating shaft, a fixing sleeve, a spring, an inserting sleeve, an inserting rod, a fixing mechanism, an abutting head, a telescopic mechanism, a vertical rod and a fixing plate, the rotating shaft is installed on the side wall of the fixing sleeve, the rotating shaft is rotationally connected to the external connecting plate, and the spring is arranged on the spring. The spring is installed on the fixing sleeve, the fixing mechanism is connected to the fixing sleeve and the inserting rod in a matched mode, the adjusting mechanism can dynamically adjust the elastic force and flexibility of the spring according to the requirement of a grabbing task, accurate grabbing force control is achieved, the adjusting mechanism can provide proper supporting and adjusting in the adjusting process through the arrangement of the inserting rod, and the grabbing force is adjusted. Therefore, the flexibility and the accuracy of adjustment are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arm grasping, and more specifically, to a mechanical arm grasping mechanism. Background Art

[0002] In the existing technology, when performing various grasping tasks, the robot arm grasping mechanism often needs to adjust the grasping method and strength according to the shape, size and texture of the target object to ensure a stable and safe grasping effect. In order to meet this demand, many robot arm grasping mechanisms adopt spring flexible clamping technology, which provides grasping strength through the elastic force of the spring while allowing a certain flexibility to adapt to objects of different shapes. However, the existing spring clamping mechanisms often have a limitation, that is, they cannot adjust the range of the spring's flexible rotation, which means that when grasping different objects, the elastic force and flexibility of the spring may not be optimally matched, thereby affecting the convenience and efficiency of the robot arm grasping mechanism.

[0003] For example, when grasping a light or fragile object, a smaller grasping force and greater flexibility are required to avoid damaging the object; while when grasping a heavy or fixed-shaped object, a larger grasping force and less flexibility are required to ensure stable grasping. If the spring clamping mechanism cannot be adjusted according to these requirements, then when grasping these different types of objects, it may be necessary to replace springs with different characteristics, which not only increases the complexity of the operation, but also reduces work efficiency. Utility Model Content

[0004] In view of the problems existing in the prior art, the utility model provides a mechanical arm grasping mechanism to solve the technical problems mentioned in the background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robotic arm grasping mechanism, comprising an external plate, an adjusting mechanism is arranged on the external plate, the adjusting mechanism comprises a rotating shaft, a fixing sleeve, a spring, an insertion sleeve, an insertion rod, a fixing mechanism, a contact head, a telescopic mechanism, a vertical rod and a fixing plate, the rotating shaft is mounted on the side wall of the fixing sleeve, the rotating shaft is rotatably connected to the external plate, the spring is mounted on the fixing sleeve, the fixing mechanism is cooperatively connected to the fixing sleeve and the insertion rod, the insertion sleeve is mounted on the spring, the insertion rod is sleeved on the insertion sleeve, the contact head is mounted on the other end of the spring, a plurality of vertical rods are arranged, and the plurality of vertical rods are respectively connected to the fixing plate and the external plate, and the telescopic mechanism is cooperatively connected to the external plate.

[0006] The utility model is further configured that a plurality of the insertion sleeves are provided, and the plurality of the insertion sleeves are respectively and equidistantly installed on the spring, and each of the insertion sleeves is provided with a rounded corner, and the design of the plurality of insertion sleeves ensures the limiting of the spring.

[0007] The utility model is further configured such that the fixing mechanism includes a one-way piece and a round head, a plurality of the one-way pieces are provided, and the plurality of the one-way pieces are respectively mounted on the inner wall of the fixing sleeve, and a round head is mounted on each of the one-way pieces, and the design of the fixing mechanism ensures the stability of the fixation.

[0008] The utility model is further configured that a spiral groove is opened on the side wall of the insertion rod, a plurality of the one-way sheets are arranged along the spiral groove, and the round head abuts in the spiral groove. The design of the spiral groove ensures the continuity of the clamping.

[0009] The utility model is further configured that a threaded sleeve is threadedly provided on the fixing sleeve, the insertion rod is slidably connected in the threaded sleeve, a handle is provided on the insertion rod, and the design of the threaded sleeve ensures the limiting position of the insertion rod.

[0010] The utility model is further configured such that the telescopic mechanism includes a clamping cylinder, a folding plate and a follower seat, the clamping cylinder is mounted on an external plate, the follower seat is mounted on a fixed sleeve, and the two ends of the folding plate are respectively grasped and connected to the protruding end of the clamping cylinder and the follower seat. The design of the telescopic mechanism ensures the continuity of clamping.

[0011] The utility model is further configured that the fixing plate is provided with a plurality of transverse grooves, the fixing sleeve is slidably connected in the transverse grooves, and the design of the transverse grooves ensures the limiting position of the fixing sleeve.

[0012] The utility model is further configured that a telescopic cylinder is provided on the external device, and the extended end of the telescopic cylinder is connected to the fixed plate, and the design of the telescopic cylinder ensures the overall movement.

[0013] Compared with the prior art, the utility model provides a mechanical arm grasping mechanism, which has the following beneficial effects:

[0014] 1. The adjustment mechanism provides a flexible and adaptable spring clamping adjustment method, ensuring that the robot arm grasping mechanism can adapt to objects of different shapes and sizes. Through the cooperation of the rotating shaft, fixed sleeve, spring, insertion sleeve, insertion rod, fixing mechanism, contact head, telescopic mechanism, vertical rod and fixed plate, the adjustment mechanism can dynamically adjust the elastic force and flexibility of the spring according to the requirements of the grasping task to achieve precise grasping force control. The setting of the insertion rod enables the adjustment mechanism to provide appropriate support and adjustment during the adjustment process, thereby improving the flexibility and accuracy of the adjustment.

[0015] 2. The fixing mechanism provides a stable and reliable spring fixing method, ensuring the stability and safety of the robot arm grasping mechanism during the grasping process. Through the cooperation of the one-way sheet and the round head, the fixing mechanism can provide stable support and connection for the insertion rod during the grasping process, thereby ensuring the stability and reliability of the grasping.

[0016] 3. The telescopic mechanism provides a flexible and smooth spring movement mode, ensuring the uniformity and stability of the robot arm grasping mechanism during the grasping process. Through the cooperation of the clamping cylinder, folding plate and follower seat, the telescopic mechanism can achieve smooth and flexible movement during the grasping process, thereby ensuring the uniformity and efficiency of the grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of a mechanical arm grasping mechanism in the utility model;

[0018] Figure 2 It is a structural schematic diagram of the adjustment mechanism in the utility model;

[0019] Figure 3 For the utility model Figure 2 A schematic cross-sectional structure diagram of ;

[0020] Figure 4 It is a structural schematic diagram of the insertion rod in the utility model;

[0021] Figure 5 It is a structural schematic diagram of the one-way sheet in the utility model.

[0022] In the figure: 1. external plate; 2. rotating shaft; 3. fixing sleeve; 4. spring; 5. insertion sleeve; 6. insertion rod; 7. abutment head; 8. vertical rod; 9. fixing plate; 10. fillet; 11. one-way sheet; 12. round head; 13. spiral groove; 14. threaded sleeve; 15. handle; 16. clamping cylinder; 17. folding plate; 18. follower seat; 19. transverse groove; 20. telescopic cylinder. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0025] In the present invention, unless otherwise specified, directions such as "up" and "down" are usually used in reference to the directions shown in the drawings, or in reference to the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "left" and "right" are usually used in reference to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directions are not used to limit the present invention.

[0026] See also Figure 1-5A robot arm grasping mechanism includes an external plate 1, an adjustment mechanism is arranged on the external plate 1, the adjustment mechanism includes a rotating shaft 2, a fixing sleeve 3, a spring 4, an insertion sleeve 5, an insertion rod 6, a fixing mechanism, a contact head 7, a telescopic mechanism, a vertical rod 8 and a fixing plate 9, the rotating shaft 2 is mounted on the side wall of the fixing sleeve 3, the rotating shaft 2 is rotatably connected to the external plate 1, the spring 4 is mounted on the fixing sleeve 3, the fixing mechanism is cooperatively connected to the fixing sleeve 3 and the insertion rod 6, the insertion sleeve 5 is mounted on the spring 4, the insertion rod 6 is sleeved on the insertion sleeve 5, the contact head 7 is mounted on the other end of the spring 4, and a plurality of vertical rods 8 are arranged, and the plurality of vertical rods 8 are respectively connected to the fixing plate 9 and the external plate 1 The telescopic mechanism is connected to the external plate 1, and a plurality of insertion sleeves 5 are provided, and the plurality of insertion sleeves 5 are equidistantly installed on the spring 4, and a fillet 10 is provided in each insertion sleeve 5. The fixing mechanism includes a one-way sheet 11 and a round head 12. A plurality of one-way sheets 11 are provided, and the plurality of one-way sheets 11 are respectively installed on the inner wall of the fixing sleeve 3, and a round head 12 is installed on each one-way sheet 11. A spiral groove 13 is provided on the side wall of the insertion rod 6, and the plurality of one-way sheets 11 are arranged along the spiral groove 13, and the round head 12 abuts against the spiral groove 13. A threaded sleeve 14 is threadedly provided on the fixing sleeve 3, and the insertion rod 6 is slidably connected in the threaded sleeve 14, and a handle 15 is provided on the insertion rod 6.

[0027] In this embodiment, when it is necessary to adjust the fixing conditions of the spring 4 at different positions according to different situations, first select an insertion rod 6 of corresponding length, and then pass the insertion rod 6 through the fixing sleeve 3, so that the insertion rod 6 is sleeved in the insertion sleeve 5, and the spring 4 at the connected position cannot bend, and only the spring 4 whose lower end contacts the object can be stretched and retracted, so corresponding adjustments can be made to adapt to the corresponding situation. When the fixing rod is inserted, due to the unidirectional setting of the multiple one-way sheets 11, the insertion rod 6 can pass through the multiple one-way sheets 11 and be inserted into the fixing sleeve 3 when inserted. When the round head 12 is abutted against the spiral groove 13, it can be limited, similar to the connection between a bolt and a nut. When it needs to be pulled out, it only needs to be rotated to disengage the connection between the round head 12 and the spiral groove 13.

[0028] See also Figure 1 As an implementation method of the telescopic mechanism: the telescopic mechanism includes a clamping cylinder 16, a folding plate 17 and a follower seat 18, the clamping cylinder 16 is installed on the external plate 1, the follower seat 18 is installed on the fixed sleeve 3, the two ends of the folding plate 17 are respectively connected to the protruding end of the clamping cylinder 16 and the follower seat 18, a plurality of transverse grooves 19 are opened on the fixed plate 9, the fixed sleeve 3 is slidably connected in the transverse grooves 19, and a telescopic cylinder 20 is provided on the external equipment, and the protruding end of the telescopic cylinder 20 is connected to the fixed plate 9.

[0029] More specifically, when the adjustment of the spring 4 is completed, the expansion and contraction of the clamping cylinder 16 can drive the folding plate 17 to push the rotating shaft 2 on the fixing sleeve 3 to rotate along the external plate 1, and multiple springs 4 move synchronously and then make the spring 4 stuck on the corresponding object, thereby completing the fixing process.

[0030] In summary, when the overall device is in use or running: when it is necessary to adjust the fixing situation of the spring 4 at different positions according to different situations, first select an insertion rod 6 of corresponding length, and then pass the insertion rod 6 through the fixing sleeve 3, so that the insertion rod 6 is sleeved in the insertion sleeve 5, and the spring 4 at the connected position cannot bend, and only the spring 4 whose lower end contacts the object can be extended and retracted, so corresponding adjustments can be made to adapt to the corresponding situation. When the fixing rod is inserted, due to the unidirectional setting of the multiple one-way sheets 11, the insertion rod 6 can pass through the multiple one-way sheets 11 and be inserted into the fixing sleeve 3 when inserted. When the round head 12 is abutted in the spiral groove 13, it can be limited, similar to the connection between a bolt and a nut. When it needs to be pulled out, it only needs to be rotated to disengage the connection between the round head 12 and the spiral groove 13.

[0031] When the adjustment of the spring 4 is completed, the expansion and contraction of the clamping cylinder 16 can drive the folding plate 17 to push the rotating shaft 2 on the fixing sleeve 3 to rotate along the external plate 1. Multiple springs 4 move synchronously and then make the springs 4 stuck on the corresponding objects, thereby completing the fixing process.

[0032] In all the schemes mentioned above, the connection between two parts can be selected according to actual conditions by welding, bolt and nut matching connection, bolt or screw connection or other well-known connection methods, which are not described here one by one. In the above, all fixed connections are preferably welded. Although the embodiments of the utility model have been shown and described, it can be understood by ordinary technicians in this field that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the utility model. The scope of the utility model is defined by the attached claims and their equivalents.

Claims

1. A robotic arm grasping mechanism, comprising an external plate (1), characterized in that: The external plate (1) is provided with an adjustment mechanism, which comprises a rotating shaft (2), a fixing sleeve (3), a spring (4), an insertion sleeve (5), an insertion rod (6), a fixing mechanism, a contact head (7), a telescopic mechanism, a vertical rod (8) and a fixing plate (9). The rotating shaft (2) is mounted on the side wall of the fixing sleeve (3), the rotating shaft (2) is rotatably connected to the external plate (1), the spring (4) is mounted on the fixing sleeve (3), the fixing mechanism is cooperatively connected to the fixing sleeve (3) and the insertion rod (6), the insertion sleeve (5) is mounted on the spring (4), the insertion rod (6) is sleeved on the insertion sleeve (5), the contact head (7) is mounted on the other end of the spring (4), a plurality of vertical rods (8) are provided, and the plurality of vertical rods (8) are respectively connected to the fixing plate (9) and the external plate (1), and the telescopic mechanism is cooperatively connected to the external plate (1).

2. A mechanical arm grasping mechanism according to claim 1, characterized in that: A plurality of the insertion sleeves (5) are provided, and the plurality of the insertion sleeves (5) are respectively installed on the spring (4) at equal distances, and each of the insertion sleeves (5) is provided with a rounded corner (10).

3. A mechanical arm grasping mechanism according to claim 2, characterized in that: The fixing mechanism comprises a one-way sheet (11) and a round head (12); a plurality of the one-way sheets (11) are provided, and the plurality of the one-way sheets (11) are respectively mounted on the inner wall of the fixing sleeve (3); and a round head (12) is mounted on each of the one-way sheets (11).

4. A mechanical arm grasping mechanism according to claim 3, characterized in that: A spiral groove (13) is provided on the side wall of the insertion rod (6), a plurality of one-way sheets (11) are arranged along the spiral groove (13), and the round head (12) abuts against the spiral groove (13).

5. A mechanical arm grasping mechanism according to claim 4, characterized in that: The fixing sleeve (3) is threadedly provided with a threaded sleeve (14), the insertion rod (6) is slidably connected in the threaded sleeve (14), and the insertion rod (6) is provided with a handle (15).

6. The mechanical arm grasping mechanism according to claim 1, characterized in that: The telescopic mechanism comprises a clamping cylinder (16), a folding plate (17) and a follower seat (18); the clamping cylinder (16) is mounted on an external plate (1), the follower seat (18) is mounted on a fixed sleeve (3), and two ends of the folding plate (17) are respectively connected to the protruding end of the clamping cylinder (16) and the follower seat (18).

7. A mechanical arm grasping mechanism according to claim 6, characterized in that: The fixing plate (9) is provided with a plurality of transverse grooves (19), and the fixing sleeve (3) is slidably connected in the transverse grooves (19).

8. A mechanical arm grasping mechanism according to claim 7, characterized in that: The external equipment is provided with a telescopic cylinder (20), and the extended end of the telescopic cylinder (20) is connected to the fixed plate (9).

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