Grabbing mechanical arm structure

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a grabbing mechanical arm structure which comprises a frame and a sliding rod, the sliding rod is fixedly connected into the frame, the outer wall of the sliding rod is connected with a sliding block in a sliding mode, and the frame is rotationally connected with the outer walls of the two ends of a double-end stud through bearings. And the outer wall of the double-end stud is in threaded connection with two threaded blocks, the outer walls of the threaded blocks are fixedly connected with the sliding blocks, a stabilizing mechanism is arranged in the vertical plate, and a rotating mechanism is arranged above the frame. The first air cylinder drives the moving frame to move so as to drive the two clamping blocks to move, when the end of the clamping block on one side makes contact with an object, the clamping block on the side does not move any more, the wedge-shaped block is driven to move towards the clamping block on the other side, the clamping block on the other side moves towards the direction of the object, and when the ends of the two clamping blocks make contact with the object, the first air cylinder is closed; and the clamping blocks on the two sides are used for clamping the upper positions of the articles, and the stability of the articles in the lifting process after being grabbed is good.

Description

Technical Field

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

[0002] A gripping robot arm is a device that clamps and grabs workpieces. The gripping effect is achieved by clamping the workpiece with the clamping teeth fixedly installed on the outer wall of the gripping arm.

[0003] For example, a grabbing mechanical arm with patent number CN219426810U includes a hydraulic lifting rod, a weight sensor, a mounting frame, a screw and a grabbing assembly, and the grabbing assembly includes a mounting block, a suspension rod, a movable rod, a grab hook and a spring. The screw is driven to rotate by a motor, and the rotation of the screw drives the two mounting blocks to move toward each other to grab the rim. The above document still has shortcomings. When in use, the grab hook can grasp the rim by the deformation of the spring, while avoiding leaving an indentation on the surface of the rim. The weight sensor is used to calculate and measure the weight of the rim, which can avoid the rim weight exceeding the qualified range. The movable rod is set on the suspension rod through and the grab hook is threadedly connected to the movable rod. However, when grabbing an object, the grabbing mechanical arm in the above document only drags the bottom of the object through the grab hook, and the stability of the object in the lifting process after grabbing is poor. At the same time, the grabbing mechanical arm in the above document can only grab the object in a single direction. In actual use, it is not convenient to change the angle of grabbing according to the placement of the object. Utility Model Content

[0004] The utility model aims to solve the problem of poor stability of objects during the lifting process after they are grabbed, and proposes a grabbing mechanical arm structure.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A grabbing robot arm structure is designed, including a frame and a sliding rod, the sliding rod is fixedly connected to the inside of the frame, the outer wall of the sliding rod is slidably connected to a sliding block, the frame and the outer walls of both ends of the stud are rotatably connected through bearings, the outer wall of the stud is threadedly connected to two threaded blocks, the outer wall of the threaded block is fixedly connected to the sliding block, a vertical plate is fixedly connected to the bottom of the threaded block, a stabilizing mechanism is arranged inside the vertical plate, and a rotating mechanism is arranged above the frame.

[0007] Preferably, the stabilizing mechanism includes a first bracket, an outer wall of the first bracket is fixedly connected to the vertical plate, a first cylinder is fixedly connected to the interior of the first bracket, a moving frame is fixedly connected to the output end of the first cylinder, the outer wall of the moving frame is slidably connected to the first bracket, a wedge block and a clamp block are slidably connected to the interior of the moving frame, the outer wall of the wedge block is fitted with two clamp blocks, a slide groove provided in the wedge block is slidably connected to the outer wall of the first pin rod, a slide groove provided in the clamp block is slidably connected to the outer wall of the second pin rod, and the first pin rod and the second pin rod are both fixedly connected to the interior of the moving frame.

[0008] Preferably, the rotating mechanism includes a semi-cylinder, which is fixed to the upper surface of the frame, the outer wall of the semi-cylinder is slidably connected to the second bracket, the second cylinder is fixed inside the second bracket, the output end of the second cylinder is fixed to a rack, the outer wall of the rack is slidably connected to the second bracket, the rack is meshed with an incomplete gear, and the outer wall of the incomplete gear is fixedly connected to the frame and the semi-cylinder.

[0009] Preferably, a motor is fixedly connected to the outer wall of the frame, and the output shaft of the motor is fixedly connected to a stud.

[0010] Preferably, a movable rod is slidably connected inside the vertical plate, a grab hook is fixedly connected to the end of the movable rod, a spring is sleeved on the outer wall of the movable rod, and both ends of the spring are fixedly connected to the vertical plate and the grab hook respectively.

[0011] Preferably, the second bracket is fixedly connected to the output end of the hydraulic lifting rod.

[0012] The utility model proposes a grabbing mechanical arm structure, which has the beneficial effects of: through the cooperation between the first bracket, the first cylinder, the moving frame, the wedge block, the clamping block, the first pin and the second pin, the first cylinder drives the moving frame to move, and then drives the two clamping blocks to move, when the end of the clamping block on one side contacts the object, the clamping block on this side stops moving, and drives the wedge block to move toward the clamping block on the other side, and the clamping block on the other side moves toward the direction of the object, when the ends of the two clamping blocks are in contact with the object, the first cylinder is closed, and the clamping blocks on both sides clamp the upper position of the object, and the stability of the object is better during the lifting and lowering process after grabbing.

[0013] Through the cooperation between the semi-cylinder, the second bracket, the second cylinder, the rack and the incomplete gear, the second cylinder drives the rack to slide, the rack drives the incomplete gear to rotate, and the incomplete gear drives the semi-cylinder and the frame to rotate. The semi-cylinder supports and guides the movement of the frame, the inclination angle of the frame changes, and then the inclination angle of the vertical board changes. In actual use, it is convenient to change the angle of grabbing according to the placement of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the utility model;

[0015] Figure 2 It is a structural sectional view of the utility model;

[0016] Figure 3 It is a structural schematic diagram of the connection between the semi-cylinder, the second bracket and the second cylinder in the utility model;

[0017] Figure 4 This is a schematic diagram of the structure of the connection between the threaded block, the vertical plate and the motor in the utility model;

[0018] Figure 5 It is a structural schematic diagram of the connection between the first bracket, the first cylinder and the moving frame in the utility model;

[0019] Figure 6 It is a schematic structural diagram of the connection between the second bracket, the pointer and the scale line in the utility model.

[0020] In the figure: 1, frame, 2, sliding rod, 3, stabilizing mechanism, 301, first bracket, 302, first cylinder, 303, moving frame, 304, wedge block, 305, clamping block, 306, first pin, 307, second pin, 4, rotating mechanism, 401, semi-cylinder, 402, second bracket, 403, second cylinder, 404, rack, 405, incomplete gear, 4a1, pointer, 4a2, scale line, 5, slider, 6, stud, 7, threaded block, 8, vertical plate, 9, motor, 10, movable rod, 11, grab hook, 12, spring, 13, hydraulic lifting rod. DETAILED DESCRIPTION

[0021] The utility model is further described below in conjunction with the accompanying drawings:

[0022] Embodiment 1:

[0023] Refer to the attached Figure 1-6 : In this embodiment, a grabbing robot arm structure includes a frame 1 and a slide bar 2, the slide bar 2 is fixedly connected to the inside of the frame 1, the outer wall of the slide bar 2 is slidably connected to a slide block 5, the slide block 5 slides on the outer wall of the slide bar 2, the frame 1 and the outer walls of both ends of the stud 6 are rotatably connected through bearings, the outer wall of the stud 6 is threadedly connected to two thread blocks 7, the stud 6 drives the two thread blocks 7 to move, the outer wall of the thread block 7 is fixedly connected to the slide block 5, the slide bar 2 and the slide block 5 guide the movement of the thread block 7, the lower part of the thread block 7 is fixedly connected to a vertical plate 8, the thread block 7 drives the vertical plate 8 to move;

[0024] A stabilizing mechanism 3 is provided inside the vertical plate 8, and the stabilizing mechanism 3 clamps and stabilizes the objects. A rotating mechanism 4 is provided above the frame 1, and the rotating mechanism 4 adjusts the inclination angle of the two vertical plates 8. A motor 9 is fixedly connected to the outer wall of the frame 1, and the output shaft of the motor 9 is fixedly connected to the stud 6. The motor 9 drives the stud 6 to rotate. A movable rod 10 is slidably connected inside the vertical plate 8, and a grab hook 11 is fixedly connected to the end of the movable rod 10. A spring 12 is sleeved on the outer wall of the movable rod 10. The model of the spring 12 is selected according to actual use requirements to meet work needs. The two ends of the spring 12 are respectively fixedly connected to the vertical plate 8 and the grab hook 11.

[0025] The stabilizing mechanism 3 includes a first bracket 301, a first cylinder 302, a moving frame 303, a wedge block 304, a clamping block 305, a first pin 306 and a second pin 307. The outer wall of the first bracket 301 is fixedly connected to the vertical plate 8, and the vertical plate 8 drives the first bracket 301 to move. The first cylinder 302 is fixedly connected to the interior of the first bracket 301, and the moving frame 303 is fixedly connected to the output end of the first cylinder 302. The first cylinder 302 drives the moving frame 303 to move. The outer wall of the moving frame 303 is slidably connected to the first bracket 301, and the moving frame 303 slides inside the first bracket 301. The interior of the moving frame 303 is slidably connected to the wedge block 304 and the clamping block 305, and the moving frame 303 drives the wedge block 304 and the two clamping blocks 305 to move.

[0026] The outer wall of the wedge block 304 fits with the two clamping blocks 305, and the wedge block 304 and the two clamping blocks 305 can drive each other. The sliding groove provided in the wedge block 304 is slidably connected to the outer wall of the first pin 306, and the first pin 306 limits the movement range of the wedge block 304. The sliding groove provided in the clamping block 305 is slidably connected to the outer wall of the second pin 307, and the second pin 307 limits the movement range of the clamping block 305. The first pin 306 and the second pin 307 are both fixedly connected to the inside of the moving frame 303.

[0027] The first cylinder 302 drives the moving frame 303 to move, which in turn drives the two clamping blocks 305 to move. When the end of the clamping block 305 on one side contacts the object, the clamping block 305 on this side stops moving and drives the wedge block 304 to move toward the clamping block 305 on the other side, and the clamping block 305 on the other side moves toward the direction of the object. When the ends of the two clamping blocks 305 both contact the object, the first cylinder 302 is closed, and the clamping blocks 305 on both sides clamp the upper position of the object, so that the stability of the object is better during the lifting process after grabbing.

[0028] The rotating mechanism 4 includes a semi-cylinder 401, a second bracket 402, a second cylinder 403, a rack 404 and an incomplete gear 405. The semi-cylinder 401 is fixedly connected to the upper surface of the frame 1. The semi-cylinder 401 supports and guides the movement of the frame 1. The outer wall of the semi-cylinder 401 is slidably connected to the second bracket 402. The semi-cylinder 401 slides inside the second bracket 402. The second bracket 402 is fixedly connected to the inside of the second cylinder 403. The output end of the second cylinder 403 is fixedly connected to the rack 404. The second cylinder 403 drives the rack 404 to slide. The outer wall of the rack 404 is slidably connected to the second bracket 402.

[0029] The rack 404 is meshed and connected with the incomplete gear 405, and the rack 404 drives the incomplete gear 405 to rotate. The outer wall of the incomplete gear 405 is fixedly connected with the frame 1 and the semi-cylinder 401, and the incomplete gear 405 drives the frame 1 to rotate. Two semi-cylinders 401 are provided, which are respectively arranged on the front and rear sides of the incomplete gear 405. The second bracket 402 is fixedly connected to the output end of the hydraulic lifting rod 13, and the hydraulic lifting rod 13 drives the second bracket 402. The model of the hydraulic lifting rod 13 and the connection method with the external structure are the same as those in a grabbing mechanical arm with patent number CN219426810U;

[0030] The second cylinder 403 drives the rack 404 to slide, and the rack 404 drives the incomplete gear 405 to rotate. The incomplete gear 405 drives the semi-cylinder 401 and the frame 1 to rotate. The semi-cylinder 401 supports and guides the movement of the frame 1. The inclination angle of the frame 1 changes, and then the inclination angle of the vertical plate 8 changes. In actual use, it is convenient to change the angle of grabbing according to the placement of the items.

[0031] Working principle:

[0032] When the grabbing mechanical arm structure is used to grab the object, the hydraulic cylinder lifting rod 13 controls the descent of the vertical plate 8;

[0033] Stages of adjusting the angle of the vertical plate:

[0034] The tilt angle of the vertical board 8 is adjusted according to the actual placement of the items, and the second cylinder 403 is started. The second cylinder 403 drives the rack 404 to slide, and the rack 404 drives the incomplete gear 405 to rotate. The incomplete gear 405 drives the semi-cylinder 401 and the frame 1 to rotate. The semi-cylinder 401 supports and guides the movement of the frame 1. The tilt angle of the frame 1 changes, and then the tilt angle of the vertical board 8 changes. In actual use, it is convenient to change the angle of grabbing according to the placement of the items;

[0035] Item grabbing stage:

[0036] The hydraulic cylinder lifting rod 13 controls the vertical plate 8 to descend to a height where the object can be grabbed, and the motor 9 is started. The motor 9 drives the stud 6 to rotate, and the stud 6 drives the two threaded blocks 7 to move. The threaded block 7 drives the vertical plate 8 to move, and then drives the clamping block 304 and the grab hook 11 to move. The grab hook 11 contacts the bottom of the object. The movement process of the movable rod 10, the grab hook 11 and the spring 12 is the same as that of a grabbing mechanical arm with patent number CN219426810U. The first cylinder 302 is started, and the first cylinder 302 drives the moving frame 303 to move, thereby driving the two The clamping blocks 305 move, and when the end of the clamping block 305 on one side contacts the article, the clamping block 305 on this side stops moving, and drives the wedge block 304 to move toward the clamping block 305 on the other side, and the clamping block 305 on the other side moves toward the direction of the article (at this time, the clamping block 305 on the other side moves together with the drive of the first cylinder 302 and the drive of the wedge block 304). After the ends of the two clamping blocks 305 are pressed tightly against the article, the first cylinder 302 is closed, and the clamping blocks 305 on both sides clamp the upper position of the article, and the stability of the article during the lifting and lowering process after being grasped is better.

[0037] Embodiment 2:

[0038] Refer to the attached Figure 1-6 : In this embodiment, a grabbing mechanical arm structure, the rotating mechanism 4 also includes a pointer 4a1 and a scale line 4a2, the pointer 4a1 is fixedly connected to the surface of the semi-cylinder 401, the semi-cylinder 401 drives the pointer 4a1 to move, and the scale line 4a2 is arranged on the surface of the second bracket 402, and the scale line 4a2 is convenient for displaying the angle of the pointer 4a1;

[0039] Through the cooperation between the pointer 4a1 and the scale line 4a2, the semi-cylinder 401 drives the pointer 4a1 to rotate when rotating, and the scale line 4a2 is convenient for displaying the angle of the pointer 4a1, and then the inclination angle of the vertical plate 8 is displayed.

[0040] Working principle:

[0041] When the semi-cylinder 401 rotates, the pointer 4a1 is driven to rotate, and the scale line 4a2 is convenient for displaying the angle of the pointer 4a1, and then the inclination angle of the vertical plate 8 is displayed.

[0042] Although the present invention has been shown and described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein within the scope of the claims.

Claims

1. A grabbing robot arm structure, comprising a frame (1) and a slide bar (2), wherein the slide bar (2) is fixedly connected to the inside of the frame (1), characterized in that: The outer wall of the slide rod (2) is slidably connected to a slider (5); the outer walls of the frame (1) and both ends of the stud bolt (6) are rotatably connected via bearings; the outer wall of the stud bolt (6) is threadedly connected to two threaded blocks (7); the outer wall of the threaded block (7) is fixedly connected to the slider (5); a vertical plate (8) is fixedly connected to the bottom of the threaded block (7); a stabilizing mechanism (3) is arranged inside the vertical plate (8); and a rotating mechanism (4) is arranged above the frame (1).

2. A grabbing mechanical arm structure according to claim 1, characterized in that: The stabilizing mechanism (3) comprises a first bracket (301), the outer wall of the first bracket (301) is fixedly connected to the vertical plate (8), the first bracket (301) is fixedly connected to the inside of the first cylinder (302), the output end of the first cylinder (302) is fixedly connected to the moving frame (303), the outer wall of the moving frame (303) is slidably connected to the first bracket (301), the inside of the moving frame (303) is slidably connected to a wedge block (304) and a clamp block (305), the outer wall of the wedge block (304) is fitted with the two clamp blocks (305), the sliding groove arranged in the wedge block (304) is slidably connected to the outer wall of the first pin rod (306), the sliding groove arranged in the clamp block (305) is slidably connected to the outer wall of the second pin rod (307), and the first pin rod (306) and the second pin rod (307) are both fixedly connected to the inside of the moving frame (303).

3. A grabbing mechanical arm structure according to claim 1, characterized in that: The rotating mechanism (4) comprises a semi-cylinder (401), the semi-cylinder (401) is fixedly connected to the upper surface of the frame (1), the outer wall of the semi-cylinder (401) is slidably connected to the second bracket (402), the second bracket (402) is fixedly connected to the inside of a second cylinder (403), the output end of the second cylinder (403) is fixedly connected to a rack (404), the outer wall of the rack (404) is slidably connected to the second bracket (402), the rack (404) is meshedly connected to an incomplete gear (405), and the outer wall of the incomplete gear (405) is fixedly connected to the frame (1) and the semi-cylinder (401).

4. A grabbing mechanical arm structure according to claim 1, characterized in that: A motor (9) is fixedly connected to the outer wall of the frame (1), and an output shaft of the motor (9) is fixedly connected to a stud bolt (6).

5. The grabbing mechanical arm structure according to claim 1, characterized in that: The interior of the vertical plate (8) is slidably connected to a movable rod (10), the end of the movable rod (10) is fixedly connected to a grab hook (11), the outer wall of the movable rod (10) is sleeved with a spring (12), and the two ends of the spring (12) are respectively fixedly connected to the vertical plate (8) and the grab hook (11).

6. A grabbing mechanical arm structure according to claim 3, characterized in that: The second bracket (402) is fixedly connected to the output end of the hydraulic lifting rod (13).

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