Mechanical arm capable of flexibly clamping workpiece

Abstract

The utility model discloses a mechanical arm capable of flexibly clamping a workpiece, which comprises a mounting plate, a clamping plate and a clamping plate, the supporting column is used for supporting the overall structure of the mechanical arm, and the supporting column is fixedly connected to the top of the outer wall of the mounting plate; the clamping mechanism is used for clamping and fixing a workpiece; the mechanical arm body is used for adjusting the position of the clamping mechanism, and the utility model relates to the technical field of mechanical arms. According to the device, by arranging the fixing assembly, when the surface of the clamping jaw makes contact with the surface of the workpiece, the clamping jaw can deflect in the horizontal direction and the vertical direction under the action of the cross shaft, so that the contact area of the clamping jaw and the surface of the workpiece is increased, and the surface of the clamping jaw is attached to the workpiece to the maximum extent; and the compression spring is compressed by the thrust of the clamping block and the counter-acting force of the workpiece after being attached, so that the damage to the die in the clamping process of the clamping jaw can be avoided by utilizing the elasticity of the compression spring.

Description

Technical Field

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

[0002] For industrial robots, material handling is one of the more important applications of their gripping operations. As a highly versatile operating device, whether an industrial robot can successfully complete its operating tasks directly depends on the clamping mechanism installed on the robotic arm. Therefore, the clamping mechanism at the end of the robotic arm should be designed in combination with the actual operating tasks and the requirements of the working environment, which leads to the diversification of the clamping mechanism structure.

[0003] In the prior art, when a clamping mechanism is used to fix a workpiece, if the workpiece is fragile, if the clamping force of the clamp is too large, it will cause clamping marks on the surface of the workpiece or direct damage, thereby affecting the production and sales of the workpiece. If the workpiece is hard, if the clamping force of the clamp is too large, it will directly cause the clamp to be damaged during the clamping operation. Utility Model Content

[0004] In view of the deficiencies of the prior art, the technical solution adopted by the utility model to solve the technical problems is: a mechanical arm capable of flexibly clamping a workpiece, comprising:

[0005] A mounting plate, which is used to fix the overall structure of the robotic arm;

[0006] A support column, which is used to support the overall structure of the robotic arm and is fixedly connected to the top of the outer wall of the mounting plate;

[0007] A clamping mechanism, which is used to clamp and fix a workpiece;

[0008] A mechanical arm body, wherein the mechanical arm body is used to adjust the position of the clamping mechanism;

[0009] The clamping mechanism comprises a fixed frame, a hydraulic rod is fixedly connected to the left side of the inner wall of the fixed frame, the output end of the hydraulic rod is fixedly connected to the wheel frame, the inner wall of the wheel frame is rotatably connected to a rotating wheel, the outer surface of the rotating wheel is rollingly connected to a clamping block, the inner wall on the right side of the clamping block is slidably connected to a fixed component, and the outer wall of the clamping block is fixedly connected to a torsion spring. When clamping, the output end of the hydraulic rod located inside the fixed frame drives the wheel frame to move rightward, at which time the rotating wheel rolls along the surface of the clamping block and forces the clamping block to rotate along the inner surface of the fixed frame, and the torsion spring is twisted under force, at which time the right ends of the two clamping blocks drive the fixed components to approach each other to clamp and fix the workpiece;

[0010] The fixing assembly includes a fixing block, the inner wall of the fixing block is rotatably connected to a cross shaft, the outer wall of the cross shaft is rotatably connected to a clamping jaw, when the surface of the clamping jaw contacts the surface of the workpiece, under the action of the cross shaft rotatably connected to the fixing block, the clamping jaw can be deflected in the horizontal and vertical directions, thereby increasing the contact area between the clamping jaw and the surface of the workpiece.

[0011] Preferably, the top of the support column is rotatably connected to the left side of the outer wall of the robot body, the right side of the outer wall of the robot body is fixedly connected to the top of the outer wall of the fixing frame, the right side of the inner wall of the fixing frame is fixedly connected to the end of the torsion spring away from the clamping block, and the right side of the inner wall of the fixing frame is rotatably connected to the outer wall of the clamping block. The entire robot arm can be fixed by the mounting plate, and then the position of the clamping mechanism can be adjusted by the robot body installed on the surface of the support column to facilitate clamping and carrying of workpieces at different positions.

[0012] Preferably, the fixing assembly also includes a sliding column, an outer wall of the sliding column is fixedly connected to the outer wall of the fixing block, and the outer wall of the fixing block is fixedly connected with a compression spring, and one end of the compression spring away from the fixing block contacts the outer wall of the clamping block, and the sliding column can slide out of the clamping block together with the sliding rod to facilitate replacement of the entire fixing assembly.

[0013] Preferably, the inner wall of the clamping block is slidably connected with a sliding rod, the outer wall of the sliding rod is fixedly connected to the outer wall of the fixed block, the outer wall of the sliding column is slidably connected to the inner wall of the clamping block, the inner wall of the sliding column is fixedly connected with a return spring, the end of the return spring away from the sliding column is fixedly connected to a limiting plate, the inner surface of the limiting plate is slidably connected with a clamping block, the outer wall of the clamping block is slidably connected to the inner wall of the sliding column, when the limiting plate rotates, the return spring is twisted by force, and the clamping block is retracted into the sliding column as the limiting plate rotates, and then the sliding column can be slid out of the clamping block together with the sliding rod.

[0014] Preferably, the inner wall of the sliding column is rotatably connected to a rotating shaft, and a knob is fixedly connected to one end of the rotating shaft away from the sliding column. The outer wall of the knob is rotatably connected to the inner wall of the sliding column, and the inner wall of the sliding column is rotatably connected to the outer wall of the limit plate. The inner wall of the limit plate is fixedly connected to the outer wall of the rotating shaft, and the rotating shaft is rotated by turning the knob to drive the limit plate to rotate.

[0015] The beneficial effects of the utility model are as follows:

[0016] 1. The utility model sets a fixing component. When the surface of the clamping jaw contacts the surface of the workpiece, the clamping jaw can deflect in the horizontal and vertical directions under the action of the cross axis, thereby increasing the contact area between the clamping jaw and the surface of the workpiece, so that the surface of the clamping jaw and the workpiece fit together as much as possible. After fitting together, the compression spring is compressed by the thrust of the clamping block and the reaction force of the workpiece. In this way, the elasticity of the compression spring can be used to prevent the clamping jaw from causing damage to the mold during the clamping process.

[0017] 2. The utility model provides a fixing assembly. When the surface of the clamping jaw is seriously damaged after long-term use, it is only necessary to rotate the shaft through the knob to make the shaft drive the limit plate to rotate. The clamping block is retracted into the sliding column as the limit plate rotates. Then the sliding column together with the sliding rod can be slid out of the clamping block, thereby replacing the entire fixing assembly. The operation process is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is the front view of the utility model;

[0019] Figure 2 It is a structural schematic diagram of the clamping mechanism of the utility model;

[0020] Figure 3 It is a schematic diagram of the structure of the utility model at A;

[0021] Figure 4 It is a structural schematic diagram of the fixing assembly of the utility model;

[0022] Figure 5 It is a structural schematic diagram of B of the utility model.

[0023] In the figure: 1. mounting plate; 2. support column; 3. robot arm body; 4. clamping mechanism; 41. fixed frame; 42. hydraulic rod; 43. clamping block; 44. fixing assembly; 45. wheel frame; 46. rotating wheel; 47. torsion spring; 441. sliding column; 442. fixed block; 443. cross shaft; 444. clamping claw; 445. compression spring; 446. sliding rod; 447. reset spring; 448. rotating shaft; 449. limit plate; 4410. block; 4411. knob. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and design various embodiments with various modifications suitable for specific purposes.

[0025] Example: See Figure 1 - Figure 5 The utility model provides a technical solution: a mechanical arm capable of flexibly clamping a workpiece, comprising:

[0026] Mounting plate 1, which is used to fix the overall structure of the robotic arm;

[0027] A support column 2, which is used to support the overall structure of the robot arm, and is fixedly connected to the top of the outer wall of the mounting plate 1;

[0028] The clamping mechanism 4 is used for clamping and fixing the workpiece;

[0029] A mechanical arm body 3, the mechanical arm body 3 is used to adjust the position of the clamping mechanism 4;

[0030] The clamping mechanism 4 includes a fixed frame 41, a hydraulic rod 42 is fixedly connected to the left side of the inner wall of the fixed frame 41, a wheel frame 45 is fixedly connected to the output end of the hydraulic rod 42, the inner wall of the wheel frame 45 is rotatably connected to a rotating wheel 46, the outer surface of the rotating wheel 46 is rollingly connected to a clamping block 43, the inner wall of the right side of the clamping block 43 is slidably connected to a fixed component 44, the outer wall of the clamping block 43 is fixedly connected to a torsion spring 47, the fixed component 44 includes a fixed block 442, the inner wall of the fixed block 442 is rotatably connected to a cross shaft 443, and the outer wall of the cross shaft 443 is rotatably connected to a clamping block 43. Claw 444, the top of the support column 2 is rotatably connected to the left side of the outer wall of the robot body 3, the right side of the outer wall of the robot body 3 is fixedly connected to the top of the outer wall of the fixing frame 41, the right side of the inner wall of the fixing frame 41 is fixedly connected to the end of the torsion spring 47 away from the clamping block 43, and the right side of the inner wall of the fixing frame 41 is rotatably connected to the outer wall of the clamping block 43. When in use, the robot arm can be fixed as a whole by the mounting plate 1, and then the position of the clamping mechanism 4 is adjusted by the robot body 3 installed on the surface of the support column 2, so as to clamp and carry workpieces at different positions;

[0031] During clamping, the output end of the hydraulic rod 42 located inside the fixed frame 41 drives the wheel frame 45 to move to the right. At this time, the rotating wheel 46 rolls along the surface of the clamping block 43 and forces the clamping block 43 to rotate along the inner surface of the fixed frame 41. The torsion spring 47 is twisted under force. At this time, the right ends of the two clamping blocks 43 drive the fixing components 44 to approach each other to clamp and fix the workpiece. When the surface of the clamping jaw 444 contacts the surface of the workpiece, under the action of the cross shaft 443 rotatably connected to the fixed block 442, the clamping jaw 444 can be deflected in the horizontal and vertical directions, thereby increasing the contact area between the clamping jaw 444 and the surface of the workpiece, so that the surface of the clamping jaw 444 and the workpiece fit as much as possible.

[0032] The fixing assembly 44 also includes a sliding column 441, the outer wall of the sliding column 441 is fixedly connected to the outer wall of the fixing block 442, the outer wall of the fixing block 442 is fixedly connected with a compression spring 445, the end of the compression spring 445 away from the fixing block 442 is in contact with the outer wall of the clamping block 43, the inner wall of the clamping block 43 is slidably connected with a sliding rod 446, the outer wall of the sliding rod 446 is fixedly connected to the outer wall of the fixing block 442, the outer wall of the sliding column 441 is slidably connected to the inner wall of the clamping block 43, after fitting, the compression spring 445 is compressed by the thrust of the clamping block 43 and the reaction force of the workpiece, so that the elasticity of the compression spring 445 can be used to prevent the clamping jaws 444 from causing damage to the mold during the clamping process.

[0033] The inner wall of the sliding column 441 is fixedly connected with a return spring 447, and the end of the return spring 447 away from the sliding column 441 is fixedly connected with a limit plate 449, and the inner surface of the limit plate 449 is slidably connected with a clamping block 4410, and the outer wall of the clamping block 4410 is slidably connected to the inner wall of the sliding column 441, and the inner wall of the sliding column 441 is rotatably connected with a rotating shaft 448, and the end of the rotating shaft 448 away from the sliding column 441 is fixedly connected with a knob 4411, and the outer wall of the knob 4411 is rotatably connected to the inner wall of the sliding column 441, and the inner wall of the sliding column 441 is connected to the limit plate 449. The outer wall of the limit plate 449 is rotatably connected, and the inner wall of the limit plate 449 is fixedly connected to the outer wall of the rotating shaft 448. When the surface of the clamping jaw 444 is seriously damaged due to long-term use, it is only necessary to rotate the rotating shaft 448 through the knob 4411 to make the rotating shaft 448 drive the limit plate 449 to rotate. At this time, the reset spring 447 is twisted by force, and the block 4410 is retracted into the sliding column 441 as the limit plate 449 rotates. Then, the sliding column 441 can be slid out of the clamping block 43 together with the sliding rod 446, so that the entire fixing assembly 44 can be replaced, and the operation process is simple.

[0034] Working principle:

[0035] When in use, the entire robot arm can be fixed by the mounting plate 1, and then the position of the clamping mechanism 4 can be adjusted by the robot arm body 3 mounted on the surface of the support column 2, so as to facilitate clamping and carrying of workpieces at different positions;

[0036] When clamping, the output end of the hydraulic rod 42 located inside the fixed frame 41 drives the wheel frame 45 to move to the right, at which time the rotating wheel 46 rolls along the surface of the clamping block 43 and forces the clamping block 43 to rotate along the inner surface of the fixed frame 41, and the torsion spring 47 is twisted by force, at which time the right ends of the two clamping blocks 43 drive the fixing components 44 to approach each other, and the workpiece is clamped and fixed;

[0037] When the surface of the clamping jaw 444 contacts the surface of the workpiece, the clamping jaw 444 can deflect in the horizontal and vertical directions under the action of the cross shaft 443 rotatably connected to the fixed block 442, thereby increasing the contact area between the clamping jaw 444 and the surface of the workpiece, so that the surface of the clamping jaw 444 and the workpiece fit together as much as possible. After the fit, the compression spring 445 is compressed by the thrust of the clamping block 43 and the reaction force of the workpiece, so that the elasticity of the compression spring 445 can be used to prevent the clamping jaw 444 from causing damage to the mold during the clamping process;

[0038] When the surface of the clamping jaw 444 is seriously damaged due to long-term use, it is only necessary to rotate the shaft 448 through the knob 4411 to make the shaft 448 drive the limit plate 449 to rotate. At this time, the reset spring 447 is twisted under force, and the clamping block 4410 retracts into the sliding column 441 as the limit plate 449 rotates. Then, the sliding column 441 can be slid out of the clamping block 43 together with the sliding rod 446, so that the entire fixing assembly 44 can be replaced. The operation process is simple.

[0039] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. Structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to conventional means in the field unless otherwise specified and limited.

Claims

1. A mechanical arm capable of flexibly clamping a workpiece, comprising: A mounting plate (1), wherein the mounting plate (1) is used to fix the overall structure of the robotic arm; A support column (2), the support column (2) being used to support the overall structure of the robotic arm, the support column (2) being fixedly connected to the top of the outer wall of the mounting plate (1); A clamping mechanism (4), wherein the clamping mechanism (4) is used to clamp and fix a workpiece: A mechanical arm body (3), wherein the mechanical arm body (3) is used to adjust the position of the clamping mechanism (4); The clamping mechanism (4) comprises a fixed frame (41), a hydraulic rod (42) is fixedly connected to the left side of the inner wall of the fixed frame (41), an output end of the hydraulic rod (42) is fixedly connected to a wheel frame (45), an inner wall of the wheel frame (45) is rotatably connected to a rotating wheel (46), an outer surface of the rotating wheel (46) is rollingly connected to a clamping block (43), a fixed component (44) is slidably connected to the inner wall of the right side of the clamping block (43), and a torsion spring (47) is fixedly connected to the outer wall of the clamping block (43); The fixing assembly (44) comprises a fixing block (442), the inner wall of the fixing block (442) being rotatably connected to a cross shaft (443), and the outer wall of the cross shaft (443) being rotatably connected to a clamping claw (444).

2. A mechanical arm capable of flexibly clamping a workpiece according to claim 1, characterized in that: The top end of the support column (2) is rotatably connected to the left side of the outer wall of the robot body (3), the right side of the outer wall of the robot body (3) is fixedly connected to the top of the outer wall of the fixing frame (41), the right side of the inner wall of the fixing frame (41) is fixedly connected to an end of the torsion spring (47) away from the clamping block (43), and the right side of the inner wall of the fixing frame (41) is rotatably connected to the outer wall of the clamping block (43).

3. A mechanical arm capable of flexibly clamping a workpiece according to claim 1, characterized in that: The fixing assembly (44) further comprises a sliding column (441), the outer wall of the sliding column (441) being fixedly connected to the outer wall of the fixing block (442), the outer wall of the fixing block (442) being fixedly connected to a compression spring (445), and one end of the compression spring (445) away from the fixing block (442) being in contact with the outer wall of the clamping block (43).

4. A mechanical arm capable of flexibly clamping a workpiece according to claim 3, characterized in that: The inner wall of the clamping block (43) is slidably connected to a sliding rod (446), the outer wall of the sliding rod (446) is fixedly connected to the outer wall of the fixed block (442), and the outer wall of the sliding column (441) is slidably connected to the inner wall of the clamping block (43).

5. The mechanical arm capable of flexibly clamping a workpiece according to claim 3, characterized in that: A return spring (447) is fixedly connected to the inner wall of the sliding column (441); one end of the return spring (447) away from the sliding column (441) is fixedly connected to a limit plate (449); a clamping block (4410) is slidably connected to the inner surface of the limit plate (449); and an outer wall of the clamping block (4410) is slidably connected to the inner wall of the sliding column (441).

6. A mechanical arm capable of flexibly clamping a workpiece according to claim 5, characterized in that: The inner wall of the sliding column (441) is rotatably connected to a rotating shaft (448); one end of the rotating shaft (448) away from the sliding column (441) is fixedly connected to a knob (4411); the outer wall of the knob (4411) is rotatably connected to the inner wall of the sliding column (441); the inner wall of the sliding column (441) is rotatably connected to the outer wall of the limiting plate (449); and the inner wall of the limiting plate (449) is fixedly connected to the outer wall of the rotating shaft (448).

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