Flexible manipulator grabbing device
By designing a flexible robot grasping device, including a dynamically adjusted clamping mechanism and an angle-controlled adjustment mechanism, the problem of unstable clamping of existing robot arms when operating with high precision is solved, and stable and precise clamping of different workpieces is achieved.
Patent Information
- Application Number
- CN202421479447.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-26
- Publication Date
- 2025-04-08
- Estimated Expiration
- 2034-06-26
AI Technical Summary
When performing high-precision operation, the rigid structure of existing robot arms is difficult to adapt to the arc shape and width of the workpiece, resulting in unstable clamping and difficult to achieve accurate clamping.
A flexible robot grasping device is designed, including a base, a robot arm, a control box, a clamping mechanism and an adjustment mechanism. The clamping mechanism is dynamically adjusted through a bidirectional cylinder and arm seat. The adjustment mechanism uses angle limiting columns and threaded rods to control the angle of the clamping arm to ensure that the clamping arm can adapt to workpieces of different sizes and shapes.
The stable clamping of workpieces of different widths and arcs is achieved, which improves the flexibility and accuracy of the robotic arm and avoids loosening and damage during the clamping process.
Smart Images
Figure CN222726745U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mechanical arms, in particular to a flexible mechanical arm grasping device. Background Art
[0002] Robotic arms have been widely used in welding equipment and assembly manufacturing equipment at home and abroad. At present, the structure of most robotic arms is driven by a rigid connecting rod combined with a motor at the shaft. This structure has strong rigidity and stability, but requires a large space during movement and has low flexibility.
[0003] The robotic arms of large manipulators are generally rigidly connected. Although the robotic arms can be controlled to move up, down, left and right through the manipulator's control system, when performing some operations that require relatively high precision, the rigid connection will inevitably cause damage to the equipment and devices grasped by the manipulator. The robotic arm can only be hard-adjusted according to the hydraulic cylinder, and it is difficult to adjust and rotate accordingly according to the arc and width of the workpiece, which reduces the accuracy of the workpiece clamping process. Summary of the invention
[0004] The purpose of the utility model is to provide a flexible manipulator grasping device to solve the above-mentioned defects caused by the prior art.
[0005] A flexible robotic gripping device comprises a base, a robotic arm is arranged directly above the base, an output end of the robotic arm is connected to the top of a control box, a clamping mechanism is arranged at the bottom of the control box, the clamping mechanism clamps workpieces of different widths and adjusts the spacing between the clamping parts, an adjustment mechanism is arranged inside the clamping mechanism, and the adjustment mechanism controls the clamping change angle of the robotic arm according to the edge width and curvature of the workpiece.
[0006] Preferably, the clamping mechanism includes a control box, a guide slot, a clamping arm, a bidirectional cylinder, an arm seat and a bearing shaft. The control box is arranged at one end of the mechanical arm. A guide slot is provided at the bottom end of the control box. The guide slot is connected through the clamping arm. The outer side of the clamping arm is connected through the bearing shaft. Both ends of the bearing shaft are connected to the inner end of the arm seat.
[0007] Preferably, the control box is connected to the two groups of arm seats via a bidirectional cylinder arranged inside.
[0008] Preferably, the adjustment mechanism includes a positioning hole, a threaded rod, an angle-limiting rubber column, a clamping arm and a slot. The positioning holes are symmetrically and evenly spaced at the top of the clamping arm. A threaded rod is connected to the outer side of the positioning hole. The bottom end of the threaded rod is connected to the angle-limiting rubber column. A slot is provided on one side of the clamping arm.
[0009] Preferably, the clamping arm is provided with a slot on one side to be engaged with the bottom end of the rubber block.
[0010] Compared with the prior art, the utility model has the following advantages:
[0011] 1. Use the angle-limiting rubber column set on one side to limit one side of the clamping arm to prevent the clamping arm from rotating too much or too little when passing through the bearing and the shaft. The small angle of the clamping arm will affect the stability of the equipment clamping, so that the clamping arms on both sides can be used to clamp both sides of the equipment effectively. The clamping arm is driven by the mechanical arm to move, and the top of the angle-limiting rubber column is positioned using the positioning holes set at equal intervals to prevent the clamping arm from loosening.
[0012] 2. Use the card slot to position one side of the rubber block, assemble the rubber block and the clamping arm, and use the rubber block to increase the clamping friction of the clamping arm to avoid the clamping arm being made of metal material. The clamping friction between the clamping arm and the equipment is too small, which causes the contact surface between the clamping arm and the workpiece to loosen. The flexible material of the rubber block can be deformed accordingly according to the size of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model.
[0014] Figure 2 It is a schematic diagram of the structure inside the control box of the utility model.
[0015] Figure 3 It is a schematic diagram of the structure of the control box in the utility model from a top view.
[0016] Figure 4 It is a schematic structural diagram of the side section of the control box in the utility model.
[0017] Figure 5 It is a schematic structural diagram of a side cross-section of the clamping arm in the utility model.
[0018] in:
[0019] 1. Base; 2. Robotic arm; 3. Control box; 4. Guide slide; 5. Clamping arm; 6. Clamping mechanism; 7. Bidirectional cylinder; 8. Arm seat; 9. Positioning hole; 10. Bearing shaft; 11. Threaded rod; 12. Angle limiting rubber column; 13. Rubber block; 14. Adjustment mechanism; 15. Slot. DETAILED DESCRIPTION
[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.
[0021] like Figures 1 to 5 As shown, the flexible manipulator grasping device includes a base 1, a manipulator arm 2 is arranged directly above the base 1, the output end of the manipulator arm 2 is connected to the top of a control box 3, a clamping mechanism 6 is arranged at the bottom of the control box 3, the clamping mechanism 6 clamps workpieces of different widths and adjusts the spacing between the clamping parts, an adjusting mechanism 14 is arranged inside the clamping mechanism 6, and the adjusting mechanism 14 controls the clamping change angle of the manipulator arm 2 according to the edge width and curvature of the workpiece.
[0022] In this embodiment, the clamping mechanism 6 includes a control box 3, a guide slot 4, a clamping arm 5, a bidirectional cylinder 7, an arm seat 8 and a bearing shaft 10. The control box 3 is arranged at one end of the robotic arm 2. A guide slot 4 is provided at the bottom end of the control box 3. The guide slot 4 is penetrated by the clamping arm 5. The outer side of the clamping arm 5 is penetrated by the bearing shaft 10. The two ends of the bearing shaft 10 are connected to the inner ends of the arm seat 8.
[0023] In this embodiment, the control box 3 is connected to the two groups of arm seats 8 via a bidirectional cylinder 7 disposed inside. The bidirectional cylinder 7 drives the arm seats 8 on both sides to move, thereby dynamically adjusting the spacing between the clamping arms 5.
[0024] In this embodiment, the adjustment mechanism 14 includes a positioning hole 9, a threaded rod 11, an angle-limiting rubber column 12, a clamping arm 5 and a slot 15. The positioning holes 9 are symmetrically and evenly spaced at the top of the clamping arm 5. The outer side of the positioning hole 9 is connected with a threaded rod 11. The bottom end of the threaded rod 11 is connected to the angle-limiting rubber column 12. A slot 15 is provided on one side of the clamping arm 5. The equipment is assembled through the slot 15, and the angle-limiting rubber column 12 is used to perform low-pressure limiting on one side of the clamping arm 5.
[0025] In this embodiment, the clamping arm 5 is provided with a slot 15 on one side to engage with the bottom end of the rubber block 13 , and the slot 15 is used to position the rubber block 13 , thereby increasing the friction force of the device clamping.
[0026] The practical application of this flexible manipulator grasping device includes the following work contents:
[0027] Step 1: The operator first installs the base 1 inside the operation workshop, and installs the robot arm 2 at one end of the base 1, and connects the output end of the robot arm 2 to the control box 3, and drives the control box 3 to extend and rotate through the robot arm 2, and clamps the two sides of the workpiece through the clamping arm 5 set at the bottom of the control box 3, and transfers or processes the workpiece;
[0028] Step 2: The operator selects a clamping arm 5 of corresponding size according to the size of the workpiece and the clamping force requirement, connects the top of the clamping arm 5 with the bottom groove of the arm seat 8, key-connects the top of the clamping arm 5 with the bottom groove of the arm seat 8 through the bearing through-shaft 10, and pulls the clamping arm 5 to ensure that the clamping arm 5 can be rotated and adjusted through the bearing through-shaft 10;
[0029] Step 3: Then, according to the width of the workpiece and the curvature and thickness of the edge, the threaded rod 11 is penetrated into the interior of the positioning hole 9, and the angle limiting rubber column 12 is aligned with the threaded rod 11. By rotating the threaded rod 11, the threaded rod 11 and the angle limiting rubber column 12 are connected, and the rotation direction of the clamping arm 5 is pressed and limited by the angle limiting rubber column 12;
[0030] Step 4: Then install the rubber block 13 of corresponding size into the inside of the card slot 15 set on the outside of the clamping arm 5, increase the friction of the workpiece by the rubber block 13, turn on the two-way cylinder 7 and adjust the distance between the arm seat 8 and the clamping arm 5 at the same time, and clamp the two sides of the workpiece by the clamping arm 5. When the clamping arm 5 clamps the two sides of the workpiece, the clamping arm 5 rotates according to the arc of the workpiece, and drives the clamping arms 5 on both sides to tighten inward by the two-way cylinder 7. At the same time, the angle limiting rubber column 12 applies low pressure to one side of the clamping arm 5 to control the clamping expansion angle of the clamping arm 5.
[0031] Therefore, the embodiments disclosed above are only illustrative in all aspects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.
Claims
1. Flexible manipulator grasping device, characterized in that: The invention comprises a base (1), a mechanical arm (2) is arranged directly above the base (1), an output end of the mechanical arm (2) is connected to the top of a control box (3), a clamping mechanism (6) is arranged at the bottom of the control box (3), the clamping mechanism (6) clamps workpieces of different widths and adjusts the spacing between clamping parts, an adjusting mechanism (14) is arranged inside the clamping mechanism (6), and the adjusting mechanism (14) controls the clamping change angle of the mechanical arm (2) according to the edge width and curvature of the workpiece.
2. The flexible manipulator grasping device according to claim 1, characterized in that: The clamping mechanism (6) comprises a control box (3), a guide slot (4), a clamping arm (5), a bidirectional cylinder (7), an arm seat (8) and a bearing shaft (10); the control box (3) is arranged at one end of the mechanical arm (2); a guide slot (4) is provided at the bottom end of the control box (3); the guide slot (4) is connected to the clamping arm (5); the outer side of the clamping arm (5) is connected to the bearing shaft (10); and the two ends of the bearing shaft (10) are connected to the inner end of the arm seat (8).
3. The flexible manipulator grasping device according to claim 2, characterized in that: The control box (3) is connected to the two groups of arm seats (8) via a bidirectional cylinder (7) arranged inside.
4. The flexible manipulator grasping device according to claim 1, characterized in that: The adjustment mechanism (14) comprises a positioning hole (9), a threaded rod (11), an angle limiting rubber column (12), a clamping arm (5) and a slot (15); the positioning holes (9) are symmetrically and evenly spaced at the top of the clamping arm (5); the outer side of the positioning hole (9) is connected to a threaded rod (11); the bottom end of the threaded rod (11) is connected to the angle limiting rubber column (12); and a slot (15) is provided on one side of the clamping arm (5).
5. The flexible manipulator grasping device according to claim 4, characterized in that: The clamping arm (5) is connected to the bottom end of the rubber block (13) by a clamping groove (15) provided on one side.