Mechanical arm clamp and mechanical arm

Abstract

The utility model relates to the technical field of robots, and discloses a mechanical arm clamp and a mechanical arm. The mechanical arm comprises a mounting base and a grabbing assembly, and the mounting base is used for being connected with the mechanical arm; the grabbing assembly comprises a grabbing arm and a grabbing piece, one end of the grabbing arm is rotationally connected to the mounting base, the other end of the grabbing arm is connected with the grabbing piece, the grabbing piece is used for grabbing the to-be-carried object, and the grabbing arm can stretch into the grabbing space where the to-be-carried object is located and drive the grabbing piece to rotate and move in the preset plane so as to move the to-be-carried object out of the grabbing space. According to the mechanical arm clamp, under the condition that the grabbing space is narrow, the grabbing arm can drive the grabbing piece to rotate or move so that the grabbing piece can enter the grabbing space and move out the to-be-carried object, the mechanical arm clamp can be suitable for the grabbing spaces of different sizes, and the use range of the mechanical arm is widened.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a mechanical arm clamp and a mechanical arm. Background Art

[0002] With the rapid development of e-commerce, the warehousing and logistics industry is facing huge challenges. The traditional manual handling method is inefficient, costly, and prone to errors, and can no longer meet the growing demand for warehousing and logistics. In order to solve this problem, improve warehousing efficiency, reduce costs, and reduce errors, robotic arms are now used to carry items.

[0003] Existing robotic arms usually have a clamp installed directly at the end of the robotic arm. During the process of moving items, the clamp can only grab the items from above, so there must be enough space above the items to be grabbed. However, for some items stored on shelves, the storage space for the items is usually relatively small, and the above-mentioned robotic arms cannot achieve the purpose of picking up and placing items in a small space, which limits the scope of use of the robotic arms.

[0004] Therefore, there is an urgent need for a robotic arm fixture and a robotic arm to solve the above problems. Utility Model Content

[0005] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a mechanical arm clamp and a mechanical arm, which improve the handling efficiency of the mechanical arm and expand the application scope of the mechanical arm.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] In one aspect, a robotic arm fixture is provided, comprising:

[0008] A mounting base, the mounting base is used to connect with the robot arm;

[0009] The grabbing assembly includes a grabbing arm and a grabbing piece. One end of the grabbing arm is rotatably connected to a mounting seat, and the other end of the grabbing arm is connected to the grabbing piece. The grabbing piece is used to grab the object to be transported. The grabbing arm can extend into the grabbing space where the object to be transported is located, and drive the grabbing piece to rotate and move within a preset plane to move the object to be transported out of the grabbing space.

[0010] Optionally, the robotic arm clamp further includes an identifier, a mounting bracket is detachably provided on the mounting seat, the identifier is detachably mounted on the mounting bracket, and the identifier is configured to identify the object to be transported.

[0011] Optionally, the mounting bracket includes a first clamping member and a second clamping member that are detachably connected, and the first clamping member and the second clamping member are each provided with a first groove on one side facing each other, and the two first grooves are arranged to form a first mounting groove, and a first connecting portion is provided on the mounting seat, and the first connecting portion can be inserted into the first mounting groove, and the first clamping member and the second clamping member can clamp and fix the first connecting portion to the first mounting groove.

[0012] Optionally, the mounting bracket further comprises a fastener, and the fastener is used to fasten the first clamping member and the second clamping member in a clamping direction.

[0013] Optionally, the mounting bracket includes a first clamping member and a second clamping member that are detachably connected, the first clamping member and the second clamping member are both provided with a second groove on one side facing each other, the two second grooves are surrounded to form a second mounting groove, the identifier is provided with a mounting member, the mounting member at least partially extends into the second mounting groove, and the first clamping member and the second clamping member can clamp and fix the mounting member in the second mounting groove;

[0014] Alternatively, the robotic arm fixture further includes a mounting piece, a mounting hole is provided on the mounting bracket, the mounting piece passes through the mounting hole and is axially limited in the mounting hole, and the identifier is detachably mounted on the mounting piece.

[0015] Optionally, the robotic arm fixture further includes a driving member and a transmission assembly, wherein the driving member is fixed on the mounting seat, and an output end of the driving member is connected to the grabbing arm through the transmission assembly to drive the grabbing arm to rotate within a preset plane.

[0016] Optionally, the transmission assembly includes a limit sleeve and a rotating member coaxially rotatably arranged in the limit sleeve, the limit sleeve is fixed on the mounting seat, one end of the rotating member is connected to the output end of the driving member, and the other end of the rotating member is fixedly connected to the grabbing arm.

[0017] Optionally, a supporting portion is provided on the mounting seat, and a second connecting portion is provided on the driving member, and the second connecting portion is fixedly connected to the supporting portion.

[0018] Optionally, the end of the grabbing arm rotatably connected to the mounting seat is the first end, the end of the grabbing arm connected to the grabbing member is the second end, and the thickness of the grabbing arm gradually decreases from the first end to the second end.

[0019] On the other hand, a robotic arm is provided, comprising an upper arm, a lower arm and the above-mentioned robotic arm clamp, wherein the upper arm is rotatably connected to the lower arm, and the robotic arm clamp is arranged at one end of the lower arm away from the upper arm.

[0020] Compared with the prior art, the beneficial effects of the utility model are:

[0021] The utility model provides a mechanical arm fixture and a mechanical arm. Since the grabbing arm can rotate and move within a preset plane, the grabbing arm can be extended into the grabbing space by translation, and then the grabbing member is used to grab the object to be transported and move the object to be transported out of the grabbing space by translation or rotation, which reduces the vertical size requirements of the grabbing space. Therefore, in the case of a relatively narrow grabbing space, the grabbing arm and the grabbing member can also smoothly extend into the grabbing and transfer the object to be transported. That is, the mechanical arm fixture translates into the grabbing space to grab and transfer the object to be transported, which can reduce the size requirements of the grabbing space, thereby adapting to grabbing spaces of different sizes and expanding the scope of application of the mechanical arm. In addition, since the grabbing arm enters and exits the grabbing space by translation, the mechanical arm can save part of the moving distance in the vertical direction during the process of grabbing and transferring the object to be transported, and the moving distance of the mechanical arm in the horizontal direction can at least reduce the length of one grabbing arm, thereby shortening the overall moving path of the mechanical arm, thereby shortening the transport time and improving the transport efficiency. At the same time, the setting of the grabbing arm does not affect the robot arm driving the grabbing arm and the grabbing member to move in the vertical direction to grab the object to be transported, making the use of the robot arm clamp more flexible and further expanding the scope of application of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the structure of the mechanical arm clamp provided by the utility model;

[0023] Figure 2 A schematic diagram of the mechanical arm clamp provided by the utility model grabbing the object to be transported (with the mounting seat hidden);

[0024] Figure 3 A side view of the grabbing arm of the mechanical arm clamp provided by the utility model

[0025] Figure 4 A schematic diagram of a mounting bracket for a mechanical arm fixture provided by the utility model;

[0026] Figure 5 A schematic diagram of a first clamping member of the mechanical arm clamp provided by the utility model;

[0027] Figure 6 for Figure 2 Enlarged view of point A in the middle.

[0028] in:

[0029] 100. Objects to be transported;

[0030] 1. Grabbing arm; 11. Connection hole 1; 12. Connection hole 2;

[0031] 2. Grab the parts;

[0032] 3. Mounting bracket; 31. First clamping member; 311. First groove; 312. Connecting ear plate; 313. Second groove; 32. Second clamping member; 33. First mounting groove; 34. Second mounting groove;

[0033] 4. Mounting seat;

[0034] 5. Driving parts. DETAILED DESCRIPTION

[0035] It should be understood that, in the description of the present invention, the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0036] It should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0037] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0038] Embodiment 1

[0039] like Figures 1 to 6 As shown, this embodiment provides a robotic arm clamp, which belongs to the field of robot technology and can improve the handling efficiency of the robotic arm and expand the application scope of the robotic arm.

[0040] See also Figure 1 and Figure 2The mechanical arm fixture provided in this embodiment includes a mounting seat 4 and a grabbing assembly. The mounting seat 4 is used to connect with the mechanical arm; the grabbing assembly includes a grabbing arm 1 and a grabbing member 2. One end of the grabbing arm 1 is rotatably connected to the mounting seat 4, and the other end of the grabbing arm 1 is connected to the grabbing member 2. The grabbing member 2 is used to grab the object 100 to be transported. The grabbing arm 1 can extend into the grabbing space where the object 100 to be transported is located, and drive the grabbing member 2 to rotate and move within the preset plane to move the object 100 to be transported out of the grabbing space. Among them, when the preset plane is a horizontal plane, the grabbing arm 1 extends into the grabbing space in the horizontal direction, and the grabbing member 2 rotates around the vertical direction; when the preset plane is a vertical plane, the grabbing arm 1 extends into the grabbing space in the vertical direction, and the grabbing member 2 rotates around the horizontal direction.

[0041] For example, Figure 1 As shown, a bump is protruding from the left side of the mounting seat 4, and the bump is used to connect with the robot arm, for example, by fastening with bolts.

[0042] The mechanical arm fixture provided in this embodiment, because the grabbing arm 1 can rotate and move within a preset plane, the grabbing arm 1 can be extended into the grabbing space by translation, and then the grabbing member 2 grabs the object 100 to be transported and moves the object 100 out of the grabbing space by translation or rotation, which reduces the vertical size requirements of the grabbing space. Therefore, in the case of a relatively narrow grabbing space, the grabbing arm 1 and the grabbing member 2 can also smoothly extend into the grabbing and transfer the object 100 to be transported. That is, the way in which the mechanical arm fixture translates into the grabbing space to grab and transfer the object 100 to be transported can reduce the size requirements of the grabbing space, thereby adapting to grabbing spaces of different sizes and expanding the scope of application of the mechanical arm. In addition, since the grabbing arm 1 moves in and out of the grabbing space in a translational manner, the robot arm can save part of the vertical movement distance during the process of grabbing and transferring the object to be transported 100, and the horizontal movement distance of the robot arm can at least reduce the length of the grabbing arm 1, thereby shortening the overall movement path of the robot arm, thereby shortening the transport time and improving the transport efficiency. At the same time, the setting of the grabbing arm 1 does not affect the robot arm driving the grabbing arm 1 and the grabbing member 2 to move in the vertical direction to grab the object to be transported 100, making the use of the robot arm clamp more flexible and further expanding the scope of application of the robot arm.

[0043] In this embodiment, the grabbing arm 1 is arranged in the horizontal direction ( Figure 2 The X direction in the grasping space, the preset plane is the horizontal plane of the grasping arm 1, and the grasping member 2 is around the vertical direction ( Figure 2The gripping member 2 can grip the object 100 in the horizontal direction, i.e., by gripping the side of the object 100 to remove the object 100 from the gripping space; it can also grip in the vertical direction, i.e., by gripping the top of the object 100 to move the object 100 out of the gripping space. The adsorption member can adsorb the object 100 in the vertical direction; the adsorption member can also adsorb the object 100 in the horizontal direction. In other embodiments, the gripping arm 1 extends into the gripping space in the vertical direction, and the gripping member 2 rotates around the horizontal direction. The gripping member 2 can still grip the object 100 in the horizontal direction or the vertical direction.

[0044] When continuously grabbing multiple objects 100 to be transported, the present embodiment extends into the grabbing space along the horizontal direction to grab the objects 100 to be transported, which can not only significantly reduce the horizontal movement distance of the forearm of the robot arm, but also reduce the movement distance of the upper arm of the robot arm, thereby shortening the movement time of the forearm of the robot arm, that is, shortening the idling and waiting time of the upper arm of the robot arm, shortening the overall time of the robot arm to transport items, and improving the transport efficiency of the robot arm.

[0045] Exemplarily, the gripping member 2 includes an adsorption member, such as a suction nozzle, and the suction nozzle grasps the object to be transported 100 by vacuum adsorption. Furthermore, the robotic arm fixture also includes an air pipe and a vacuum pump, and the air pipe is used to connect the suction nozzle and the vacuum pump. The vacuum pump controls the suction nozzle to evacuate or release the vacuum, so as to achieve adsorption and grasping of the object to be transported 100 or release of the object to be transported 100. Furthermore, in order to ensure stability during grasping, a plurality of suction nozzles may be provided, and the plurality of suction nozzles are arranged at intervals. In the present embodiment, a nut position is provided on the grasping arm 1, and the nut is clamped in the nut position and is threadedly connected to the end of the suction nozzle to fix the suction nozzle to the grasping arm 1.

[0046] In other embodiments, the gripping member 2 includes a clamping claw, which grips the object 100 to be transported by clamping, and the gripping angle of the clamping claw is adjustable.

[0047] Optionally, see Figure 1 and Figure 3 The end of the grabbing arm 1 that is rotatably connected to the mounting seat 4 is the first end, the end of the grabbing arm 1 that is connected to the grabbing member 2 is the second end, and the thickness of the grabbing arm 1 from the first end to the second end ( Figure 3 That is, the gripping arm 1 is designed with a gradual thickness, and the thickness of the end of the gripping arm 1 extending into the gripping space is the thinnest. Such a setting is more conducive to the gripping arm 1 smoothly extending into and out of the gripping space, and for a narrow gripping space with a small vertical dimension, the end of the gripping arm 1 with a thinner thickness can be controlled to extend into the gripping space to grip the object 100 to be transported, further improving the versatility of the robot arm clamp.

[0048] Exemplarily, the grabbing arm 1 is 168 mm long, the thickness of the first end of the grabbing arm 1 is 10 mm, and the thickness of the second end of the grabbing arm 1 is 6 mm.

[0049] In other embodiments, the thickness of the grabbing arm 1 along its extension direction may also remain unchanged, so as to increase the rigidity of the grabbing arm 1 itself and ensure the grabbing stability during the grabbing process.

[0050] Optionally, see Figure 1 and Figure 2 The mechanical arm fixture also includes an identifier. A mounting bracket 3 is detachably provided on the mounting seat 4. The identifier is detachably mounted on the mounting bracket 3. The identifier can identify the QR code or other marks on the object 100 to be transported, so as to assist the grasping member 2 to accurately grasp the object 100 to be transported. The identifier is connected to the mounting seat 4 through the mounting bracket 3. When the grasping member 2 grasps the object 100 to be transported, the identifier will not enter the grasping space, so that the size adaptability of the identifier in this embodiment is increased, thereby expanding the range of the identifier to be recognized, and preventing the identifier from colliding with the grasping space, thereby improving the grasping safety. In addition, the detachable connection between the mounting bracket 3 and the mounting seat 4 and the identifier and the mounting bracket 3 can be more conveniently replaced after the identifier fails or the mounting bracket 3 is damaged.

[0051] Specifically, the identifier is electrically connected to the image recognition system of the robotic arm so as to send the recognized image data to the image recognition system of the robotic arm. The image recognition system recognizes the image data and sends the recognition result to the control system of the robotic arm. The control system can determine whether the grasped object is the target object to be grasped based on the object recognition result.

[0052] Exemplarily, the identifier is a video camera or a still camera.

[0053] Optionally, see Figure 1 , Figure 4 and Figure 5 The mounting bracket 3 includes a first clamping member 31 and a second clamping member 32 that are detachably connected. The first clamping member 31 and the second clamping member 32 are both provided with a first groove 311 on one side facing each other. The two first grooves 311 surround and form a first mounting groove 33. The mounting seat 4 is provided with a first connecting portion that can be inserted into the first mounting groove 33. The first clamping member 31 and the second clamping member 32 can clamp and fix the first connecting portion in the first mounting groove 33. The displacement of the first connecting portion in the first mounting groove 33 can be limited by clamping, so that the mounting seat 4 and the mounting bracket 3 are firmly connected together, and the connection method is simple, fast, and easy to operate.

[0054] In this embodiment, the first connecting portion is a U-shaped structure, the first clamping member 31 and the second clamping member 32 have the same structure, and the two first grooves 311 are also the same in shape, both of which are U-shaped structures, so that the first connecting portion can be clamped in the first mounting groove 33, and the force is evenly distributed in the first mounting groove 33, thereby ensuring the stability of the connection between the mounting seat 4 and the mounting bracket 3.

[0055] Optionally, the mounting bracket 3 further includes a fastener, which is used to fasten the first clamping member 31 and the second clamping member 32 in a clamping direction to firmly connect the mounting bracket 3 and the mounting seat 4. Figure 4 The X direction in FIG. 1 is the moving direction when the first clamping member 31 and the second clamping member 32 are connected to the first connecting portion.

[0056] Specifically, first insert the first connection part into the first groove 311 of the first clamping member 31, then align the second clamping member 32 with the first clamping member 31, so that the first connection part is inserted into the first groove 311 of the second clamping member 32, and finally install the fastener, so that the first clamping member 31 and the second clamping member 32 clamp the first connection part, and complete the installation of the mounting bracket 3 on the mounting seat 4. When the mounting bracket 3 is removed from the mounting seat 4, loosen the fastener, separate the first clamping member 31 and the second clamping member 32, and take the first connection part out of the two first grooves 311.

[0057] Further, see Figure 4 The first clamping member 31 and the second clamping member 32 are both provided with connecting ear plates 312, and the fastener is provided along the clamping direction to connect the two connecting ear plates 312. A plurality of connecting ear plates 312 are arranged at intervals along the circumferential direction of the first clamping member 31 and the second clamping member 32, and the plurality of connecting ear plates 312 on the first clamping member 31 and the plurality of connecting ear plates 312 on the second clamping member 32 are arranged one by one to enhance the stability of clamping.

[0058] Exemplarily, the fastener is a bolt and a nut, the shank of the bolt passes through two corresponding connection ear plates 312 , and the nut is tightened on the bolt to fasten the first clamping member 31 and the second clamping member 32 .

[0059] In an optional embodiment, the mounting bracket 3 includes a first clamping member 31 and a second clamping member 32 that are detachably connected, and the first clamping member 31 and the second clamping member 32 are each provided with a second groove 313 on one side facing each other, and the two second grooves 313 are arranged to form a second mounting groove 34, and a mounting member is provided on the identifier, and the mounting member at least partially extends into the second mounting groove 34, and the first clamping member 31 and the second clamping member 32 can clamp the mounting member to the second mounting groove 34 to firmly mount the identifier on the mounting bracket 3, and the clamping connection is simple, fast, and easy to operate.

[0060] Specifically, while the first connecting portion is inserted into the first mounting groove 33, the mounting piece is extended into the second mounting groove 34, and then the first clamping piece 31 and the second clamping piece 32 are clamped in the clamping direction by the fastener, so as to limit the mounting piece axially in the second mounting groove 34, and the mounting bracket 3 is also installed on the mounting seat 4. When the identifier is removed from the mounting bracket 3, the fastener is loosened, the first clamping piece 31 and the second clamping piece 32 are separated, and the mounting piece is taken out from the second mounting groove 34.

[0061] For example, see Figure 4 and Figure 5 The cross-sectional shape of the mounting piece is circular, and correspondingly, the cross-sectional shapes of the two second grooves 313 are both semicircular, and the cross-sectional shape of the second mounting groove 34 is circular, that is, the cross-sectional shapes of the two second grooves 313 can be assembled into the cross-sectional shape of the mounting piece and the second mounting groove 34; in other embodiments, the cross-sectional shape of the mounting piece can also be rectangular, and correspondingly, the cross-sectional shapes of the two second grooves 313 are also rectangular, and the cross-sectional shape of the second mounting groove 34 is rectangular.

[0062] In this embodiment, the depth direction of the second mounting groove 34 is parallel to the axial direction of the grabbing arm 1 ( Figure 4 In this case, the recognition screen of the identifier is arranged on the side of the identifier, and the mounting member is arranged at the bottom of the identifier, that is, the shooting direction of the recognition screen is perpendicular to the extension direction of the mounting member; in other embodiments, the depth direction of the second mounting groove 34 is parallel to the extension direction of the grabbing arm 1 ( Figure 4 The recognition screen of the identifier is arranged at the top of the identifier, and the mounting member is arranged at the bottom of the identifier, that is, the shooting direction of the recognition screen is parallel to the extending direction of the mounting member.

[0063] In another optional embodiment, the mechanical arm fixture further includes a mounting piece, a mounting hole is provided on the mounting bracket 3, and the mounting piece passes through the mounting hole and is axially limited in the mounting hole. In this way, the connection between the identifier and the mounting bracket 3 and the connection between the mounting bracket 3 and the mounting seat 4 do not affect each other, and the connection and disassembly are more convenient.

[0064] Exemplarily, the mounting member is a bolt, and a hole matching the bolt thread is provided on the identifier. The rod of the bolt passes through the mounting hole and is threadedly fastened in the identifier to firmly mount the identifier on the mounting bracket 3, and the connection and disassembly operations are convenient and quick.

[0065] In this embodiment, refer to Figure 4The mounting bracket 3 is L-shaped, and the identifier can be installed in the L-shaped mounting space formed by the L-shaped mounting bracket 3 by the above two optional methods; in other embodiments, the identifier can also be installed at the end of the L-shaped mounting bracket 3 close to one end of the grasping space by the above two optional methods, as long as the recognition screen of the identifier can be set toward the grasping space and recognize the object 100 to be transported.

[0066] In an optional embodiment, the mechanical arm fixture further includes a driving member 5 and a transmission assembly. The driving member 5 is fixed on the mounting seat 4. The output end of the driving member 5 is connected to the grabbing arm 1 through the transmission assembly to drive the grabbing arm 1 to rotate within a preset plane. The provision of the transmission assembly can increase the distance between the grabbing arm 1 and the mounting seat 4, prevent the grabbing arm 1 from colliding with the driving member 5 during the rotation process, and reduce the failure rate; it can also reduce the mechanical arm as a whole in the axial direction of the grabbing arm 1 ( Figure 2 The moving distance in the Y direction (in the middle) can shorten the transportation time and improve the transportation efficiency.

[0067] In another optional embodiment, the output end of the driving member 5 can be directly connected to the grabbing arm 1 to drive the grabbing arm 1 to rotate within a preset plane.

[0068] Exemplarily, the driving member 5 is a steering gear having the functions of driving rotation and controllable rotation speed.

[0069] Optionally, the transmission assembly includes a limit sleeve and a rotating member coaxially rotatably arranged in the limit sleeve, the limit sleeve is fixed on the mounting seat 4, one end of the rotating member is connected to the output end of the driving member 5, and the other end of the rotating member is fixedly connected to the grabbing arm 1, and the rotating member can drive the grabbing arm 1 to rotate under the drive of the driving member 5. The limit sleeve can play a limiting support role on the axial direction of the rotating member, so that the rotating member can rotate more stably relative to the mounting seat, thereby improving the rotation stability of the grabbing arm, and grabbing and transferring the object to be transported 100 is more stable. Exemplarily, the rotating member is a vertically extending shaft.

[0070] Furthermore, the limiting sleeve is fixed on the mounting seat 4 by bolts, screws and other parts, a bearing is arranged in the limiting sleeve, and the rotating member is rotatably connected to the limiting sleeve through the bearing.

[0071] In this embodiment, refer to Figure 6The end of the grab arm 1 is provided with a connection hole 11, a connection ring is clamped in the connection hole 11, an external thread is provided at one end of the rotating member connected to the grab arm 1, and the inner wall of the connection ring is matched with the thread of the rotating member to fix the rotating member and the connection ring. The grab arm 1 is also provided with two connection rods and two connection holes 12 both connected to the connection hole 11, and the two connection holes 12 are symmetrically arranged on both sides of the connection hole 11. The two connection rods are respectively fastened in the two connection holes 12 in a one-to-one correspondence, and can be pressed against the outer wall of the connection ring, so as to fix the connection ring in the connection hole 11, that is, to fix the rotating member to the grab arm 1.

[0072] Exemplarily, the connecting rod is a bolt, the rod of the bolt is fastened in the connecting hole 12, the connecting ring is a nut, the rod of the bolt is pressed against the connecting ring along its extension direction, and the cross-sectional shape of the connecting hole 11 matches the cross-sectional shape of the nut.

[0073] Optionally, a support portion is provided on the mounting seat 4, and a second connecting portion is provided on the driving member 5, and the second connecting portion is fixedly connected to the support portion to fix the driving member 5 on the mounting seat 4 to ensure the installation stability of the driving member 5 when working.

[0074] Exemplarily, a threaded hole is provided in one of the support part or the second connection part, and a connection hole three is provided in one of the support part or the second connection part. The rod of a part such as a bolt or a screw passes through the connection hole three and is threadedly fastened in the threaded hole to fix the second connection part and the support part.

[0075] In this embodiment, the support part is also a U-shaped structure, which is symmetrically arranged with the first connection part on the mounting seat 4, and two second connection parts are symmetrically arranged on the driving member 5. The two second connection parts are connected and fixed to the support part and the first connection part in a one-to-one correspondence, so that both sides of the driving member 5 are supported and fixed, and the installation is more secure. That is, the first connection part has the function of connecting and fixing the mounting bracket 3, and also has the function of supporting and fixing the driving member 5.

[0076] like Figure 4 and Figure 5 As shown, the first mounting groove 33 is U-shaped and has two notches. After the U-shaped first connecting portion is inserted into the first mounting groove 33, the upper end of the first connecting portion is exposed from the notch above the first mounting groove 33 (refer to Figure 4 Such arrangement can facilitate avoiding the second connection part on the driving member 5 connected to the upper end of the first connection part, prevent the mounting bracket 3 from interfering with the driving member 5, and make the structural layout more reasonable.

[0077] Embodiment 2

[0078] This embodiment provides a robotic arm, including an upper arm, a lower arm, and a robotic arm clamp as described in the first embodiment, wherein the upper arm is rotatably connected to the lower arm, and the robotic arm clamp is disposed at one end of the lower arm away from the upper arm.

[0079] Specifically, by controlling the rotation of the upper arm and the lower arm and the overall movement of the robot arm, the robot arm clamp gradually approaches the grasping space. At this time, the rotation of the upper arm and the lower arm and / or the rotation of the grasping arm 1 is further controlled to allow the grasping member 2 to enter the grasping space to grasp the object 100 to be transported and transport the object 100 to be transported out of the grasping space.

[0080] Optionally, the robotic arm also includes a control system, which is electrically connected to the upper arm, lower arm and robotic arm clamp, and is used to control the overall movement of the robotic arm, the relative rotation of the upper arm and lower arm, the opening and closing of the driving member 5 and the grasping state of the grasping member 2, etc.

[0081] The above description is only a specific implementation method of the present utility model, but the protection scope of the present utility model is not limited thereto. Technicians in the relevant technical field should understand that any changes or substitutions that can be easily thought of by technicians in the relevant technical field within the technical scope disclosed in the present utility model fall within the protection scope and disclosure scope of the present utility model.

Claims

1. A mechanical arm fixture, characterized in that: include: A mounting seat (4), wherein the mounting seat (4) is used to be connected to a robotic arm; A gripping assembly comprises a gripping arm (1) and a gripping member (2), wherein one end of the gripping arm (1) is rotatably connected to the mounting seat (4), and the other end of the gripping arm (1) is connected to the gripping member (2), and the gripping member (2) is used to grip an object to be transported (100). The gripping arm (1) can extend into a gripping space where the object to be transported (100) is located, and drive the gripping member (2) to rotate and move within a preset plane, so as to move the object to be transported (100) out of the gripping space.

2. The mechanical arm fixture according to claim 1, characterized in that: The mechanical arm clamp further comprises an identifier, a mounting bracket (3) is detachably provided on the mounting seat (4), the identifier is detachably mounted on the mounting bracket (3), and the identifier is configured to identify the object to be transported (100).

3. The mechanical arm fixture according to claim 2, characterized in that: The mounting bracket (3) comprises a first clamping member (31) and a second clamping member (32) which are detachably connected, the first clamping member (31) and the second clamping member (32) are both provided with a first groove (311) on one side facing each other, the two first grooves (311) are arranged to form a first mounting groove (33), the mounting seat (4) is provided with a first connecting portion, the first connecting portion can be inserted into the first mounting groove (33), and the first clamping member (31) and the second clamping member (32) can clamp and fix the first connecting portion to the first mounting groove (33).

4. The mechanical arm fixture according to claim 3, characterized in that: The mounting bracket (3) further comprises a fastener, which is used to fasten the first clamping member (31) and the second clamping member (32) in a clamping direction.

5. The mechanical arm fixture according to claim 2, characterized in that: The mounting bracket (3) comprises a first clamping member (31) and a second clamping member (32) which are detachably connected, the first clamping member (31) and the second clamping member (32) are both provided with a second groove (313) on one side facing each other, the two second grooves (313) are arranged to form a second mounting groove (34), the identifier is provided with a mounting member, the mounting member at least partially extends into the second mounting groove (34), and the first clamping member (31) and the second clamping member (32) can clamp and fix the mounting member in the second mounting groove (34); Alternatively, the mechanical arm clamp further comprises a mounting piece, the mounting bracket (3) is provided with a mounting hole, the mounting piece passes through the mounting hole and is axially limited in the mounting hole, and the identifier is detachably mounted on the mounting piece.

6. The mechanical arm fixture according to claim 1, characterized in that: The mechanical arm clamp also includes a driving member (5) and a transmission assembly, wherein the driving member (5) is fixed on the mounting seat (4), and the output end of the driving member (5) is connected to the grabbing arm (1) through the transmission assembly to drive the grabbing arm (1) to rotate within the preset plane.

7. The mechanical arm fixture according to claim 6, characterized in that: The transmission assembly comprises a limit sleeve and a rotating member coaxially rotatably arranged inside the limit sleeve, the limit sleeve is fixed on the mounting seat (4), one end of the rotating member is connected to the output end of the driving member (5), and the other end of the rotating member is fixedly connected to the grabbing arm (1).

8. The mechanical arm fixture according to claim 6, characterized in that: The mounting seat (4) is provided with a supporting portion, and the driving member (5) is provided with a second connecting portion, wherein the second connecting portion is fixedly connected to the supporting portion.

9. The mechanical arm clamp according to any one of claims 1 to 8, characterized in that: The end of the grabbing arm (1) that is rotatably connected to the mounting seat (4) is the first end, and the end of the grabbing arm (1) that is connected to the grabbing member (2) is the second end. The thickness of the grabbing arm (1) gradually decreases from the first end to the second end.

10. A robotic arm, characterized in that: It comprises an upper arm, a lower arm and the mechanical arm clamp as described in any one of claims 1 to 9, wherein the upper arm is rotatably connected to the lower arm, and the mechanical arm clamp is arranged at one end of the lower arm away from the upper arm.

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