Mechanical arm combined grabbing device

Abstract

The utility model provides a mechanical arm combination gripping device, which relates to the field of mechanical arms, and comprises a mechanical gripper and a mechanical arm, the upper end of the mechanical gripper is connected with the mechanical arm through a clamping frame, a sliding table is welded on the right side surface of the mechanical gripper, the side end of the sliding table is connected with a transverse rotating piece through a sliding block, and the transverse rotating piece is connected with the mechanical gripper. The side end of the transverse rotating piece is connected with a universal movable rod through a longitudinal rotating piece, the right end of the universal movable rod is in shaft connection with a linkage push rod, the lower end of the linkage push rod is in shaft connection with a connecting side plate, and a spraying shielding plate is welded to the side face of the connecting side plate. The mechanical arm solves the problem that in the prior art, parts or parts need to be grabbed through two sets of grabbing assemblies, so that the number of mechanical parts of the mechanical arm is large, and troubleshooting is complex.

Description

Technical Field

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

[0002] In modern industrial production, the widespread use of robotic arms to replace manual grasping of parts can greatly improve production efficiency, thereby reducing production costs and speeding up modern industrial production. After searching, the prior art (application number: CN202321416727.9) robotic arm combined grasping device, the text records "the combined grasping device of the utility model is provided with a connecting plate connected to an external robotic arm and driven to move by the external robotic arm, a first grasping component mounted on the connecting plate and a second grasping component. Among them, the first grasping component includes a first driving member and a first grasping member connected to the first driving member, and the first driving member can drive at least one of the two gripping claws of the first grasping member toward each other Move in the direction of approaching or moving away from each other. The second grabbing assembly includes a second grabbing piece, which is connected to an external vacuum machine and can generate negative pressure under the action of the external vacuum machine to absorb the parts to be sprayed, and the mounting surfaces of the first grabbing assembly and the second grabbing assembly on the connecting plate are perpendicular to each other. Therefore, through the rotation of a robotic arm, the first grabbing assembly can be used to grab the parts or the second grabbing assembly can be used to grab the shielding plate, thereby saving the number of robotic arms used, reducing production costs, and reducing the floor space of the entire spraying device." However, in the prior art, the grabbing of parts or parts requires two sets of grabbing assemblies to achieve grabbing, resulting in a problem of more complicated fault inspection and repair of the robotic arm's mechanical parts. Utility Model Content

[0003] In order to overcome the defects of the prior art, a robot arm combined grasping device is now provided to solve the problem that in the prior art, grasping parts or parts requires two sets of grasping components to achieve grasping, resulting in more complicated fault inspection and maintenance of the robot arm mechanical parts.

[0004] In order to achieve the above object, a mechanical arm combined grasping device is provided, comprising: a mechanical gripper and a mechanical arm, wherein the upper end of the mechanical gripper is connected to the mechanical arm through a clamping frame,

[0005] A slide is welded on the right side of the mechanical gripper, and the side end of the slide is connected to a transverse rotating part through a slider, and the side end of the transverse rotating part is connected to a universal movable rod through a longitudinal rotating part. The right end of the universal movable rod is axially connected to a linkage push rod, and the lower end of the linkage push rod is axially connected to a connecting side plate, and a spray shielding plate is welded on the side of the connecting side plate.

[0006] Furthermore, the mechanical gripper is connected to the clamping frame through a driving mechanism, the upper end surface of the clamping frame is connected to a mechanical arm, and the lower end of the mechanical arm is provided with a base.

[0007] Furthermore, a rubber pad is bonded to the clamping surface of the mechanical gripper; and the surface of the rubber pad is provided with anti-slip grooves, and a sliding block is slidably connected to the groove on the right side of the slide table.

[0008] Furthermore, a limiting slide groove is provided on the outer side surface of the connecting side plate; and the connecting side plate is slidably connected to the parts spraying equipment through the limiting slide groove.

[0009] Furthermore, a limiting inclined block is provided at the right end of the linkage push rod, and the limiting inclined block is fixed on the upper surface of the spray shielding plate. The front and rear sides of the spray shielding plate are symmetrically welded with connecting side plates.

[0010] Furthermore, a limit frame is welded on the right side surface of the upper end of the linkage push rod; and the limit frame is distributed at the right end of the universal movable rod.

[0011] Furthermore, the universal movable rod, the sliding block, the transverse rotating member, the longitudinal rotating member and the linkage push rod constitute a combined linkage structure of the mechanical gripper and the spray shielding plate.

[0012] The beneficial effect of the utility model lies in that the mechanical arm combined grasping device of the utility model utilizes a universal movable rod, a transverse rotating part, a longitudinal rotating part and a linkage push rod to form a movable push-pull mechanism. When the mechanical arm leaves the spray shielding plate, the movable push-pull mechanism extends and pulls the spray shielding plate sideways to move it left for shielding. When the mechanical arm moves toward the spray shielding plate, the movable push-pull mechanism bends and pushes the spray shielding plate right to open, which is convenient for combining the linkage movable push-pull mechanism and the grasping device, and facilitates the grasping movement of the mechanical arm to drive the spray shielding plate switch, simplifies the driving parts of the mechanical arm combined grasping device, reduces the parts cost of the mechanical arm combined grasping device, and the simple mechanical mechanism facilitates daily fault inspection and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a front view structural schematic diagram of the mechanical arm combination grasping device of an embodiment of the utility model.

[0014] Figure 2 It is a schematic diagram of the front cross-sectional connection structure of the movable push-pull mechanism and the shielding plate of an embodiment of the utility model.

[0015] Figure 3 It is a front view structural schematic diagram of the universal movable rod according to an embodiment of the utility model.

[0016] Figure 4 It is a schematic diagram of the three-dimensional structure of the mechanical gripper according to an embodiment of the utility model.

[0017] In the figure: 1. Mechanical gripper; 11. Clamping frame; 12. Driving mechanism; 13. Slide; 14. Rubber pad; 2. Mechanical arm; 21. Base; 3. Universal movable rod; 31. Sliding block; 32. Horizontal rotating member; 33. Longitudinal rotating member; 4. Linkage push rod; 41. Limit frame; 5. Spray shielding plate; 51. Connecting side plate; 52. Limit slide groove; 53. Limit inclined block. DETAILED DESCRIPTION

[0018] Reference Figures 1 to 4 As shown, the utility model provides a mechanical arm combined grasping device, comprising: a mechanical gripper 1 and a mechanical arm 2, wherein the upper end of the mechanical gripper 1 is connected to the mechanical arm 2 via a clamping frame 11,

[0019] A slide 13 is welded on the right side of the mechanical gripper 1, and the side end of the slide 13 is connected to a transverse rotating member 32 through a slider 31. The side end of the transverse rotating member 32 is connected to a universal movable rod 3 through a longitudinal rotating member 33. The right end of the universal movable rod 3 is axially connected to a linkage push rod 4, and the lower end of the linkage push rod 4 is axially connected to a connecting side plate 51, and a spray shielding plate 5 is welded to the side of the connecting side plate 51.

[0020] The robot arm 2 is connected to the spray shielding plate 5 through an active push-pull mechanism composed of a universal movable rod, a transverse rotating part, a longitudinal rotating part and a linkage push rod at the side end of the robot gripper 1. When the robot arm 2 drives the robot gripper 1 to leave the position of the spray shielding plate 5, the active push-pull mechanism extends and pulls the spray shielding plate 5 to the left for shielding. When the robot arm 2 drives the robot gripper 1 to move toward the spray shielding plate 5, the active push-pull mechanism bends and pushes the spray shielding plate 5 to the right to open it, so that the grasping movement of the robot arm can drive the spray shielding plate switch, simplifying the driving parts of the robot arm combination grasping device, reducing the parts cost of the robot arm combination grasping device, and the simple mechanical mechanism facilitates daily fault inspection and maintenance.

[0021] In this embodiment, the mechanical gripper 1 is connected to the clamping frame 11 through the driving mechanism 12, the upper end surface of the clamping frame 11 is connected to the mechanical arm 2, and the lower end of the mechanical arm 2 is provided with a base 21. The clamping surface of the mechanical gripper 1 is bonded with a rubber pad 14; and the surface of the rubber pad 14 is provided with anti-slip grooves, and a slider 31 is slidably connected in the right groove of the slide table 13.

[0022] As a preferred embodiment, the robot arm 2 is used to drive the mechanical gripper 1 to shift, so that the mechanical gripper 1 moves from the position of the part to be sprayed to the spraying position. The mechanical gripper 1 firmly clamps the part to be sprayed through the rubber pad 14 to prevent it from falling during the movement and clamping. The slider 31 is located in the slide 13 and moves up and down, which facilitates the mechanical gripper 1 to move down to grab or place the part.

[0023] In this embodiment, a limited sliding groove 52 is provided on the outer side of the connecting side plate 51; and the connecting side plate 51 is slidably connected to the part spraying equipment through the limited sliding groove 52. A limited inclined block 53 is provided at the right end of the linkage push rod 4, and the limited inclined block 53 is fixed on the upper surface of the spray shielding plate 5. The connecting side plate 51 is symmetrically welded on the front and rear sides of the spray shielding plate 5. A limited frame 41 is welded on the right side of the upper end of the linkage push rod 4; and the limited frame 41 is limitedly distributed at the right end of the universal movable rod 3.

[0024] As a preferred embodiment, the spray shielding plate 5 is connected to the part spraying equipment by connecting the side plate 51, so that the spray shielding plate 5 is located above the spraying chamber and moves left and right. When it moves left, the spraying chamber is in a shielded state, and when it moves right, it is in an open state. The limiting inclined block 53 is used to contact the rotating and tilted linkage push rod 4. When the linkage push rod 4 is bent, the linkage push rod 4 rotates to the right and fits with the limiting inclined block 53. The mechanical gripper 1 continuously moves toward the spray shielding plate 5 and pushes the spray shielding plate 5 to move right and open, so that the mechanical gripper 1 can place the grasped parts in the spraying chamber.

[0025] In this embodiment, the universal movable rod 3, the sliding block 31, the transverse rotating member 32, the longitudinal rotating member 33 and the linkage push rod 4 constitute a combined linkage structure of the mechanical gripper 1 and the spray shielding plate 5.

[0026] As a preferred embodiment, the combined linkage structure of the robotic gripper 1 and the spray shielding plate 5 facilitates the combined linkage movable push-pull mechanism and the grasping device, facilitates the grasping movement of the robotic arm to drive the spray shielding plate switch, simplifies the driving parts of the robotic arm combined grasping device, reduces the parts cost of the robotic arm combined grasping device, and facilitates daily fault inspection and maintenance.

[0027] The robotic arm combined grasping device of the utility model can effectively solve the problem that the robotic arm has many mechanical parts and the fault inspection and repair is relatively complicated. It is convenient to combine the linkage movable push-pull mechanism and the grasping device, so that the grasping movement of the robotic arm drives the spray shielding plate switch, simplifies the driving parts of the robotic arm combined grasping device, reduces the parts cost of the robotic arm combined grasping device, and the simple mechanical mechanism facilitates daily fault inspection and repair, and is suitable for the robotic arm combined grasping device.

Claims

1. A mechanical arm combined grasping device, comprising: A mechanical gripper (1) and a mechanical arm (2), wherein the upper end of the mechanical gripper (1) is connected to the mechanical arm (2) via a clamping frame (11), and is characterized in that: A slide (13) is welded on the right side of the mechanical gripper (1); the side end of the slide (13) is connected to a transverse rotating member (32) via a slider (31); the side end of the transverse rotating member (32) is connected to a universal movable rod (3) via a longitudinal rotating member (33); the right end of the universal movable rod (3) is axially connected to a linkage push rod (4); the lower end of the linkage push rod (4) is axially connected to a connecting side plate (51); a spray shielding plate (5) is welded to the side of the connecting side plate (51).

2. A mechanical arm combined grasping device according to claim 1, characterized in that: The mechanical gripper (1) is connected to a clamping frame (11) via a driving mechanism (12); the upper end surface of the clamping frame (11) is connected to a mechanical arm (2); and the lower end of the mechanical arm (2) is provided with a base (21).

3. The mechanical arm combined grasping device according to claim 1, characterized in that: A rubber pad (14) is bonded to the clamping surface of the mechanical gripper (1); and the surface of the rubber pad (14) is provided with anti-skid grooves, and a sliding block (31) is slidably connected in the groove on the right side of the slide table (13).

4. The mechanical arm combined grasping device according to claim 1, characterized in that: The outer side surface of the connecting side plate (51) is provided with a limiting sliding groove (52); and the connecting side plate (51) is slidably connected to the parts spraying equipment through the limiting sliding groove (52).

5. The mechanical arm combined grasping device according to claim 1, characterized in that: A limiting inclined block (53) is provided at the right end of the linkage push rod (4), and the limiting inclined block (53) is fixed on the upper surface of the spray shielding plate (5). The front and rear sides of the spray shielding plate (5) are symmetrically welded with connecting side plates (51).

6. The mechanical arm combined grasping device according to claim 1, characterized in that: A limiting frame (41) is welded to the right side surface of the upper end of the linkage push rod (4); and the limiting frame (41) is limitedly distributed at the right end of the universal movable rod (3).

7. The mechanical arm combined grasping device according to claim 1, characterized in that: The universal movable rod (3), the sliding block (31), the transverse rotating member (32), the longitudinal rotating member (33) and the linkage push rod (4) constitute a combined linkage structure of the mechanical gripper (1) and the spray shielding plate (5).

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