Mechanical arm suitable for grabbing objects at multiple angles

Abstract

The utility model discloses a mechanical arm suitable for grabbing an object at multiple angles, which belongs to the technical field of mechanical arms and comprises a fixed disc, a sixth motor for providing power for grabbing the object is mounted in the fixed disc, the output end of the sixth motor is fixedly connected with a circular gear, the side edge of the circular gear is meshed with a rack, and the rack is fixedly connected with the fixed disc. The side edge of the moving block is fixedly connected with a first clamping plate used as a mechanical arm grabbing hook, a fourth motor is installed on the side edge of the first clamping plate, and the output end of the fourth motor is fixedly connected with a third clamping plate. And meanwhile, a fourth motor is started to drive a third clamping plate to rotate so as to clamp and reinforce the article, meanwhile, a fifth motor is started to drive a third rotating shaft to rotate so as to loosen a connecting belt, and a second clamping plate is driven to rotate through rebounding of a reset spring so as to fix the article.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, in particular to a mechanical arm suitable for grasping objects at multiple angles. Background Art

[0002] The robotic arm is the most widely used automated mechanical device in the technical field. It can be seen in industrial manufacturing, medical treatment, military and space exploration.

[0003] The current robotic arms that are suitable for grasping objects at multiple angles usually have claws made of metal materials that are relatively hard. When grasping objects with soft surfaces, the clamping of the claws can easily cause deformation and damage to the outer surface of the soft objects.

[0004] For example, a multi-DOF manipulator grasping mechanism in a prior art Chinese patent document (application announcement number CN211073635U) realizes the axial movement of the grasping mechanism by driving the extending screw rod to move the extending rod through the extending motor, and can also realize the movement and rotation of the grasping mechanism in the up and down directions through the rising mechanism and the rotating mechanism. This prior art has the following problem: the clamping jaws are usually made of metal materials, and the hardness itself is relatively high. When it is necessary to grasp an object with a relatively soft surface, the clamping of the clamping jaws easily causes deformation and damage to the outer surface of the object with a relatively soft surface.

[0005] Therefore, in view of this situation, there is an urgent need to design and produce a robotic arm suitable for grasping objects at multiple angles to meet the needs of practical use. Utility Model Content

[0006] The utility model aims to provide a mechanical arm suitable for grasping objects at multiple angles, so as to solve the problems raised in the background technology.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robotic arm suitable for grasping objects at multiple angles, comprising a fixed plate, a sixth motor for providing power for grasping objects is installed inside the fixed plate, the output end of the sixth motor is fixedly connected to a circular gear, the side of the circular gear is meshed with a rack, the side of the rack is fixedly connected to a moving block slidably connected to the fixed plate, the side of the moving block is fixedly connected to a first clamping plate used as a grab hook of the robotic arm, a fourth motor is installed on the side of the first clamping plate, and the output end of the fourth motor is fixedly connected to a third clamping plate.

[0008] Preferably, the side edge of the first clamping plate is rotatably connected to the second clamping plate, and the side edge of the second clamping plate is welded with a return spring for assisting in grasping objects.

[0009] Preferably, a third fixing plate is fixedly connected to a side edge of the first clamping plate, and a fifth motor is installed on a side edge of the third fixing plate.

[0010] Preferably, the output end of the fifth motor is fixedly connected to a third rotating shaft, and the side of the third rotating shaft is connected to a connecting belt connected to the second clamping plate.

[0011] Preferably, the side of the fixed plate is rotatably connected to a connecting rod, and the side of the connecting rod is installed with a third motor that provides power for the multi-angle rotation of the robotic arm.

[0012] Preferably, a side edge of the connecting rod is rotatably connected to a second fixed plate, a second motor is installed on a side edge of the second fixed plate, and a rotating disk is fixedly connected to a side edge of the second fixed plate.

[0013] Preferably, a second rotating shaft is fixedly connected to a side of the rotating disk away from the second fixed plate, a rotating belt is sleeved on a side of the second rotating shaft, and the first rotating shaft is sleeved on a side of the rotating belt.

[0014] Preferably, a first fixing plate is sleeved on a side of the first rotating shaft, and a first motor is installed on a side of the first fixing plate.

[0015] Preferably, a fixing block is fixedly connected to a side edge of the first fixing plate, and a telescopic rod is fixedly connected to a side of the fixing block away from the first fixing block.

[0016] Compared with the prior art, the technical effects and advantages of the utility model are as follows:

[0017] The mechanical arm, which is suitable for grasping objects at multiple angles, drives the rack and the moving block to move through the sixth motor, drives the first clamping plate to move, and simultaneously starts the fourth motor to drive the third clamping plate to rotate, so as to clamp and reinforce the object. Meanwhile, the fifth motor is started to drive the third rotating shaft to rotate, loosens the connecting belt, and drives the second clamping plate to rotate through the rebound of the reset spring, so as to fix the object. When grasping softer objects, the wider first clamping plate is not easy to damage the objects, and the third clamping plate and the second clamping plate can clamp and reinforce the objects, and can clamp objects of different sizes and with uneven surfaces.

[0018] The mechanical arm suitable for grasping objects at multiple angles realizes vertical movement of the fixed plate by driving the fixed block to move through the telescopic rod, starts the first motor to drive the first rotating shaft and the second rotating shaft to rotate, starts the second motor to drive the connecting rod to rotate, and simultaneously starts the third motor to drive the fixed plate to rotate, so that the fixed plate can be rotated at multiple angles to realize grasping of objects at multiple angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a structural schematic diagram of the utility model;

[0021] Figure 2 It is a structural schematic diagram of the connecting rod of the utility model;

[0022] Figure 3 It is a structural schematic diagram of the rotating disc of the utility model;

[0023] Figure 4 It is a structural schematic diagram of the circular gear of the utility model.

[0024] Description of reference numerals:

[0025] In the figure: 1, telescopic rod; 2, fixed block; 3, first fixed plate; 4, first motor; 5, first rotating shaft; 6, rotating belt; 7, second rotating shaft; 8, rotating disk; 9, second fixed plate; 10, second motor; 11, connecting rod; 12, third motor; 13, fixed disk; 14, moving block; 15, first clamping plate; 16, second clamping plate; 17, return spring; 18, fourth motor; 19, third clamping plate; 20, third fixed plate; 21, fifth motor; 22, third rotating shaft; 23, connecting belt; 24, sixth motor; 25, circular gear; 26, rack. DETAILED DESCRIPTION

[0026] In the following description, a large number of specific details are given to provide a more thorough understanding of the utility model. However, it is obvious to those skilled in the art that the utility model can be implemented without one or more of these details. In other examples, in order to avoid confusion with the utility model, some technical features known in the art are not described.

[0027] Unless otherwise defined, the directions of up, down, left, right, front, back, inside and outside involved in this document are based on the directions of up, down, left, right, front, back, inside and outside in the figures shown in the present utility model, and are explained here together.

[0028] The connection method can be bonding, welding, bolt connection, etc., depending on actual needs.

[0029] In order to solve the problem that the clamping jaws are usually made of metal materials and have high hardness, when it is necessary to grasp objects with soft surfaces, the clamping of the clamping jaws may easily cause deformation and damage to the outer surface of the soft objects, such as Figures 1 to 4 A mechanical arm suitable for grasping objects at multiple angles is shown, comprising a fixed plate 13, wherein the fixed plate 13 is provided with a groove for convenient sliding connection with a moving block 14, wherein a sixth motor 24 for providing power for grasping objects is installed inside the fixed plate 13, wherein an output end of the sixth motor 24 is fixedly connected with a circular gear 25, wherein a rack 26 is meshed on the side of the circular gear 25, wherein a moving block 14 slidably connected with the fixed plate 13 is fixedly connected on the side of the rack 26, wherein a T-shaped slider is arranged on both sides of the moving block 14 for convenient sliding connection with a rotating disk 8, wherein a first splint 15 used as a mechanical arm grabbing hook is fixedly connected on the side of the moving block 14, wherein an anti-skid pad is arranged on the side of the first splint 15, and the anti-skid pad is arranged on the side of the first splint 15, and the anti-skid pad is arranged on the side of the third splint 19 and the second splint 16, and the anti-skid pad is arranged on the side of the first splint 15 ... There is a fourth motor 18, and the output end of the fourth motor 18 is fixedly connected to the third clamping plate 19, the side of the first clamping plate 15 is rotatably connected to the second clamping plate 16, and the side of the second clamping plate 16 is welded with a reset spring 17 for assisting in grabbing items. The first clamping plate 15 is provided with a groove for convenient rotation connection with the third clamping plate 19, and the side of the first clamping plate 15 is fixedly connected to the third fixed plate 20, and the side of the first clamping plate 15 is provided with a rubber sheet to provide friction for the rotation of the first clamping plate 15 and the second clamping plate 16, and the side of the third fixed plate 20 is installed with a fifth motor 21, and the output end of the fifth motor 21 is fixedly connected to the third rotating shaft 22, and the third rotating shaft 22 can drive two connecting belts 23 to synchronously reel and unreel by rotation, and the side of the third rotating shaft 22 is connected to the connecting belt 23 connected to the second clamping plate 16.

[0030] The side of the fixed disk 13 is rotatably connected to the connecting rod 11, and the side of the connecting rod 11 is installed with a third motor 12 that provides power for the multi-angle rotation of the robot arm. The third motor 12 can drive the fixed disk 13 to rotate horizontally, and the second motor 10 can drive the connecting rod 11 to rotate vertically. The side of the connecting rod 11 is rotatably connected to the second fixed plate 9, and the side of the second fixed plate 9 is installed with a second motor 10. The side of the second fixed plate 9 is fixedly connected with a rotating disk 8, and the side of the rotating disk 8 away from the second fixed plate 9 is fixedly connected with a second rotating shaft 7. The first rotating shaft 5 and the second rotating shaft 7 are both provided with placement grooves, and rubber pads are provided inside to assist the rotating belt 6 to rotate.

[0031] The side of the second rotating shaft 7 is rotatably connected to the fixed block 2, the side of the second rotating shaft 7 is sleeved with a rotating belt 6, the side of the rotating belt 6 is sleeved with the first rotating shaft 5, the side of the first rotating shaft 5 is sleeved with a first fixed plate 3, the first fixed plate 3 can support the first rotating shaft 5, the side of the first fixed plate 3 is installed with a first motor 4, the side of the first fixed plate 3 is fixedly connected to the fixed block 2, and the side of the fixed block 2 away from the first fixed block 2 is fixedly connected to the telescopic rod 1.

[0032] All structures and instruments are heat-resistant and waterproof.

[0033] The telescopic rod 1, the first motor 4, the second motor 10, the third motor 12, the fourth motor 18, the fifth motor 21 and the sixth motor 24 are all conventional instruments. The working principle, size and model are irrelevant to the function of the present application, so they are not described in detail. They are all controlled by a remote control switch. The control circuit of the controller can be realized by simple programming by technicians in this field. The provision of power is also common knowledge in this field. The utility model is mainly used to protect mechanical devices, so the utility model will no longer explain the control method and circuit connection in detail.

[0034] How it works

[0035] The mechanical arm suitable for grasping objects at multiple angles, during use, starts the telescopic rod 1 to drive the fixed block 2 to move, starts the first motor 4 to drive the first rotating shaft 5 to rotate, drives the rotating belt 6 to rotate through the rotation of the first rotating shaft 5, drives the second rotating shaft 7 to rotate through the rotation of the rotating belt 6, drives the rotating disk 8 to rotate synchronously, starts the second motor 10 to drive the connecting rod 11 to rotate, starts the third motor 12 to drive the fixed disk 13 to rotate, starts the sixth motor 24 to drive the circular gear 25 to rotate, drives the rack 26 to move through the rotation of the circular gear 25, drives the moving block 14 and the first clamping plate 15 to move through the movement of the rack 26, realizes clamping of the object, starts the fourth motor 18 to drive the third clamping plate 19 to rotate, can strengthen the clamping of the object, starts the fifth motor 21 to drive the third rotating shaft 22 to rotate, drives the connecting belt 23 to unwind through the rotation of the third rotating shaft 22, drives the second clamping plate 16 to rotate through the reset spring 17, can strengthen the clamping of the object.

[0036] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0037] Secondly: In the drawings of the embodiments disclosed in the present utility model, only the structures related to the embodiments disclosed in the present utility model are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present utility model can be combined with each other;

[0038] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A mechanical arm suitable for grasping objects at multiple angles, comprising a fixed plate (13), characterized in that: A sixth motor (24) for providing power for grasping objects is installed inside the fixed disk (13); a circular gear (25) is fixedly connected to the output end of the sixth motor (24); a rack (26) is meshed on the side of the circular gear (25); a moving block (14) slidably connected to the fixed disk (13) is fixedly connected to the side of the rack (26); a first clamping plate (15) used as a mechanical arm grabbing hook is fixedly connected to the side of the moving block (14); a fourth motor (18) is installed on the side of the first clamping plate (15); and a third clamping plate (19) is fixedly connected to the output end of the fourth motor (18).

2. A robotic arm suitable for grasping objects at multiple angles according to claim 1, characterized in that: The side edge of the first clamping plate (15) is rotatably connected to the second clamping plate (16), and the side edge of the second clamping plate (16) is welded with a return spring (17) for assisting in grasping objects.

3. A robotic arm suitable for grasping objects at multiple angles according to claim 2, characterized in that: A third fixing plate (20) is fixedly connected to the side of the first clamping plate (15), and a fifth motor (21) is installed on the side of the third fixing plate (20).

4. The mechanical arm suitable for grasping objects at multiple angles according to claim 3, characterized in that: The output end of the fifth motor (21) is fixedly connected to a third rotating shaft (22), and the side edge of the third rotating shaft (22) is connected to a connecting belt (23) connected to the second clamping plate (16).

5. The mechanical arm suitable for grasping objects at multiple angles according to claim 4, characterized in that: The side of the fixed plate (13) is rotatably connected to a connecting rod (11), and the side of the connecting rod (11) is installed with a third motor (12) for providing power for the multi-angle rotation of the mechanical arm.

6. The mechanical arm suitable for grasping objects at multiple angles according to claim 5, characterized in that: The side edge of the connecting rod (11) is rotatably connected to a second fixed plate (9), the side edge of the second fixed plate (9) is mounted with a second motor (10), and the side edge of the second fixed plate (9) is fixedly connected to a rotating disc (8).

7. The mechanical arm suitable for grasping objects at multiple angles according to claim 6, characterized in that: A second rotating shaft (7) is fixedly connected to a side of the rotating disc (8) away from the second fixed plate (9); a rotating belt (6) is sleeved on a side of the second rotating shaft (7); and a first rotating shaft (5) is sleeved on a side of the rotating belt (6).

8. The mechanical arm suitable for grasping objects at multiple angles according to claim 7, characterized in that: A first fixing plate (3) is sleeved on the side of the first rotating shaft (5), and a first motor (4) is mounted on the side of the first fixing plate (3).

9. The mechanical arm suitable for grasping objects at multiple angles according to claim 8, characterized in that: A fixing block (2) is fixedly connected to the side of the first fixing plate (3), and a telescopic rod (1) is fixedly connected to the side of the fixing block (2) away from the first fixing block (2).

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