Automatic grabbing mechanical arm device with single sliding rail

Abstract

The utility model discloses an automatic grabbing mechanical arm device with a single sliding rail, and particularly relates to the technical field of mechanical arm grabbing, the automatic grabbing mechanical arm device comprises a sliding plate, a moving mechanism is arranged on the surface of the sliding plate, the bottom of the moving mechanism is fixedly connected with a grabbing mechanism, and the grabbing mechanism comprises a first motor installed on one side of the sliding plate; the bottom of the first motor is rotationally connected with a fixing barrel, a three-edge rack is slidably inserted into the bottom of the fixing barrel, an air cylinder used for driving the three-edge rack is arranged in the fixing barrel, and three sets of fixing strips are fixedly connected to the bottom of the fixing barrel. By arranging the grabbing mechanism, the grabbing process of the mechanical arm is more stable, objects can be grabbed more easily and more easily in a labor-saving mode, the grabbing effect is better, by arranging the movable sliding rail and the supporting plate, the sliding block moves within a certain range, the use scene of the device is expanded, the device is more stable in the use process, and the use effect of the device is improved. And the practicability of the device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arm grabbing, and more specifically, to a single-slide rail automatic grabbing mechanical arm. Background Art

[0002] A robotic arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection, and other fields.

[0003] Since robotic arms can be used for grasping work in a variety of processing and production, with the vigorous development of productivity in today's society, robotic arms are widely used in various fields. Among them, the main production organization method for mass production is assembly line production, which is based on a facility system composed of equipment, work sites and conveying devices, namely, assembly lines. Assembly lines are designed for specific products and predetermined production outlines.

[0004] A Chinese patent with authorization announcement number CN220614039U discloses an assembly line grabbing robot arm, including a mounting seat, a limit rod, a first guide plate, a second guide plate, a belt, a first connecting arm, a second connecting arm and a grabbing mechanism. The first connecting arm and the second connecting arm are used to connect the support arm, driving the support arm to adjust the displacement. The built-in driving device in the support arm drives the steering head to rotate and adjust, and the rotation of the steering head further drives the grabbing mechanism connected to the bottom to adjust the direction.

[0005] However, in actual use, the grabbing mechanism is driven by two gear wheels, and the force finally transmitted to the grabbing arm is small, grabbing is more laborious, and the two grabbing arms of the grabbing mechanism cannot grab objects well. Moreover, when the device is used on the assembly line, it is difficult to change its position according to changes in the use environment, which reduces the practicality and user experience. Utility Model Content

[0006] In order to overcome the above-mentioned defects of the prior art, the utility model provides a single-slide rail automatic grabbing mechanical arm device to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the utility model provides the following technical solutions: a single-slide rail automatic grabbing mechanical arm device, comprising a sliding plate, a moving mechanism is arranged on the surface of the sliding plate, and a grabbing mechanism is fixedly connected to the bottom of the moving mechanism;

[0008] The grabbing mechanism includes a first motor installed on one side of the sliding plate, the bottom of the first motor is rotatably connected to a fixed cylinder, the bottom of the fixed cylinder is slidably plugged with a triangular rack, a cylinder for driving the triangular rack is arranged inside the fixed cylinder, three groups of fixing mechanisms are fixedly connected to the bottom of the fixed cylinder, and the fixing mechanism is composed of two fixing bars, and a connecting column is rotatably connected between the fixing bars of each group of fixing mechanisms, a gear is fixedly connected to the surface of the connecting column, the gear is meshed with the triangular rack, and a grabbing arm is fixedly connected to the surface of the connecting column;

[0009] In order to enable the grabbing mechanism to achieve smooth movement, preferably, the moving mechanism comprises two rotating disks rotatably connected to the surface of the sliding plate, the surfaces of the two rotating disks are provided with extension disks, the center of the extension disk is fixedly connected to a transmission column, one end of the transmission column is fixedly connected to a transmission bar, and one end of the transmission bar is fixedly connected to a rotating column, a bearing bar is rotatably connected between the two rotating columns, and the bottom of the bearing bar is fixedly connected to the grabbing mechanism;

[0010] A second motor for driving one of the rotating disks to rotate is installed on one side of the sliding plate;

[0011] A synchronous belt is arranged on the surface of the sliding plate.

[0012] In order to ensure that the synchronous belt can rotate stably on the rotating disk, preferably, two limit rods are fixedly connected to the surface of the sliding plate, and limit plates are provided on the surfaces of the limit rods, and the diameter of the limit plates is larger than the diameter of the limit rods, and the synchronous belt is movably sleeved on the surface of the limit rods.

[0013] In order to prevent the grabbing claw from over-opening and damaging the device, preferably, the gear surface is provided with a limit strip, and the grabbing claw is fixedly connected to the bottom of the grabbing arm.

[0014] In order to expand the use scenarios of the device, preferably, a support plate is fixedly connected to one side of the sliding plate, a slide rail is provided at the bottom of the sliding plate, and the slide rail and the support plate are both slidably connected to the sliding plate.

[0015] In order to enable the device to operate with the expected effect, preferably, the center positions of the support bar, the first motor and the fixed cylinder are all on the same vertical line, the support bar is arranged on one side of the transmission bar, and the two transmission bars are arranged in parallel.

[0016] In order to enable the synchronous belt to work stably, preferably, fixed disks are provided on the surfaces of the two rotating disks, the top and bottom of the synchronous belt are movably sleeved on the surfaces of the two rotating disks, and the synchronous belt is arranged between the sliding plate and the fixed disk.

[0017] Technical effects and advantages of the utility model:

[0018] 1. By setting up a grabbing mechanism, compared with the prior art, the cylinder drives the triangular rack to slide up and down in the fixed cylinder, so that the gear drives the connecting column to rotate, thereby driving the grabbing arm to rotate, so that the grabbing and releasing of the grabbing arm can be easily realized, and three grabbing arms are set, so that the grabbing process is more stable and the grabbing effect is better. By setting a limit strip on the gear, the grabbing arm is prevented from being excessively retracted and unfolded, thereby improving the safety of the device.

[0019] 2. By setting up movable slide rails and support plates, compared with the prior art, the slide rails can enable the sliding block to move within a certain range, and the support plates make the device more stable during use. The practicability of the device is improved by setting up the slide rails and support plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0021] Figure 2 It is a schematic diagram of the grabbing structure of the grabbing mechanism of the utility model.

[0022] Figure 3 It is a schematic diagram of the release structure of the grabbing mechanism of the utility model.

[0023] Figure 4 It is a schematic diagram of the internal structure of the grabbing structure of the utility model.

[0024] Figure 5 It is a schematic diagram of the triangular rack and gear structure of the utility model.

[0025] Figure 6 It is a schematic diagram of the overall front structure of the utility model.

[0026] Figure 7 It is a schematic diagram of the side structure of the main body of the utility model.

[0027] Figure 8 It is a schematic diagram of the structure of the limiting plate and the fixing plate of the utility model.

[0028] The accompanying drawings are marked as follows: 1. sliding plate; 2. first motor; 3. fixed cylinder; 4. triangular rack; 6. fixed bar; 7. connecting column; 8. gear; 9. grabbing arm; 10. rotating disk; 11. extension disk; 12. transmission column; 13. transmission bar; 14. rotating column; 15. bearing bar; 16. second motor; 17. synchronous belt; 18. limit rod; 19. limit disk; 20. limit bar; 21. grabbing claw; 22. support plate; 23. slide rail; 24. fixed disk. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] As attached Figure 1-8 A single-slide rail automatic grabbing robot arm device shown includes a sliding plate 1, a moving mechanism is provided on the surface of the sliding plate 1, and a grabbing mechanism is fixedly connected to the bottom of the moving mechanism;

[0031] The grabbing mechanism includes a first motor 2 installed on one side of the sliding plate 1, the bottom of the first motor 2 is rotatably connected to a fixed cylinder 3, the bottom of the fixed cylinder 3 is slidably inserted with a triangular rack 4, a cylinder for driving the triangular rack 4 is arranged inside the fixed cylinder 3, three groups of fixing mechanisms are fixedly connected to the bottom of the fixed cylinder 3, and the fixing mechanism is composed of two fixing bars 6, and a connecting column 7 is rotatably connected between the fixing bars 6 of each group of fixing mechanisms, and a gear 8 is fixedly connected to the surface of the connecting column 7, and the gear 8 is meshed with the triangular rack 4, and a grabbing arm 9 is fixedly connected to the surface of the connecting column 7.

[0032] The surfaces of the gears 8 are provided with limit bars 20 , and the bottom of the grabbing arms 9 is fixedly connected with grabbing claws 21 .

[0033] The center positions of the bearing bar 15, the first motor 2, and the fixing tube 3 are all on the same vertical line. The bearing bar 15 is arranged on one side of the transmission bar 13, and the two transmission bars 13 are arranged in parallel.

[0034] Through the above operations, the grasping and releasing of the grasping arm 9 can be easily achieved, and the grasping process is more stable and the grasping effect is better.

[0035] Specifically, start the first motor 2 to rotate the grasping mechanism to adjust to a suitable grasping angle, start the cylinder to drive the triangular rack 4 to slide upward, thereby driving the three gears 8 to rotate, so that the gears 8 drive the connecting column 7 to rotate, thereby realizing the grasping of the three grasping arms 9 and the grasping claws 21, and realizing the grasping of the grasping mechanism. The whole process is simple and easy to implement, and the design of the three grasping arms enhances the practicality of the device.

[0036] In a specific embodiment, as shown in the attached Figure 1 , 6As shown in , 7 and 8, the moving mechanism comprises two rotating disks 10 rotatably connected to the surface of the sliding plate 1, and the surfaces of the two rotating disks 10 are provided with extension disks 11, and the center of the extension disk 11 is fixedly connected with a transmission column 12, one end of the transmission column 12 is fixedly connected with a transmission bar 13, and one end of the transmission bar 13 is fixedly connected with a rotating column 14, and a bearing bar 15 is rotatably connected between the two rotating columns 14, and the bottom of the bearing bar 15 is fixedly connected to the grasping mechanism;

[0037] A second motor 16 for driving one of the rotating disks 10 to rotate is installed on one side of the sliding plate 1;

[0038] A synchronous belt 17 is disposed on the surface of the sliding plate 1 .

[0039] Through the above operations, the grabbing mechanism can achieve smooth movement.

[0040] Specifically, by starting the second motor 16, the rotating disk 10, the extension disk 11 and the transmission column 12 are driven to rotate, thereby driving the transmission bar 13 and the rotating column 14 to move. Because the supporting bar 15 is affected by gravity, the supporting bar 15 always moves vertically to the ground, thereby driving the grasping mechanism to move, enabling the grasping mechanism to move smoothly.

[0041] In a specific embodiment, as shown in the attached Figure 6 , 7 As shown in FIG. 8 , two limit rods 18 are fixedly connected to the surface of the sliding plate 1, and limit plates 19 are arranged on the surfaces of the limit rods 18, and the diameter of the limit plates 19 is larger than the diameter of the limit rods 18, and the synchronous belt 17 is movably sleeved on the surface of the limit rods 18;

[0042] A fixed disk 24 is disposed on the surfaces of the two rotating disks 10 . The top and bottom of the synchronous belt 17 are movably sleeved on the surfaces of the two rotating disks 10 , and the synchronous belt 17 is disposed between the sliding plate 1 and the fixed disk 24 .

[0043] The above operation can prevent the synchronous belt 17 from slipping, making the device run more smoothly.

[0044] Specifically, under the restriction of the fixed plate 24 and the limiting plate 19 , the synchronous belt 17 can only slide on the surface of the rotating plate 10 and the limiting rod 18 , thereby preventing the synchronous belt 17 from sliding out of the rotating plate 10 and the limiting rod 18 .

[0045] In a specific embodiment, as shown in the attached Figure 6 , 7 As shown, a support plate 22 is fixedly connected to one side of the sliding plate 1 , a slide rail 23 is provided at the bottom of the sliding plate 1 , and both the slide rail 23 and the support plate 22 are slidably connected to the sliding plate 1 .

[0046] The above operations expand the usage scenarios of the device.

[0047] Specifically, when the device needs to be moved, the sliding plate 1 and the support plate 22 can be moved on the slide rail 23 by connecting to an external power device, and then the positions of the sliding plate 1 and the support plate 22 can be fixed, thereby expanding the use scenarios of the device.

[0048] Working principle of the utility model: place the device in a suitable place, slide the sliding plate 1 to a suitable position on the slide rail 23 and fix it, start the first motor 2, drive the fixing cylinder 3 to rotate, thereby driving the grabbing arm 9 and the grabbing claw 21 to rotate as a whole, so that the grabbing mechanism rotates and adjusts to a suitable grabbing angle, and the grabbing mechanism is in a folded state at this time;

[0049] The starting cylinder drives the triangular rack 4 to slide downward, thereby driving the three gears 8 to rotate, so that the gears 8 drive the connecting column 7 to rotate, so that the three grabbing arms 9 and the grabbing claws 21 are opened, so that the grabbing mechanism is opened. After the grabbing mechanism covers the object, the starting cylinder drives the triangular rack 4 to slide downward, and the grabbing mechanism is closed to grab the object, thereby realizing the grabbing operation of the grabbing mechanism;

[0050] After grabbing the item, start the second motor 16. The output end of the second motor 16 drives the rotating disk 10, the extension disk 11 and the transmission column 12 to rotate, thereby driving the transmission bar 13 and the rotating column 14 to move. Because the bearing bar 15 is affected by gravity, the bearing bar 15 always moves vertically to the ground. The bearing bar 15 drives the grasping mechanism and the grasped item to move. After moving to a suitable position, the cylinder is started to drive the triangular rack 4 to slide downward, thereby driving the three gears 8 to rotate, and the three grasping arms 9 and the grasping claws 21 are opened to realize the release operation of the grasping mechanism, and the item is transferred. The cylinder is started to drive the triangular rack 4 to slide upward, so that the grasping arm and the grasping claw are reset;

[0051] After the object is transferred, the second motor 16 is started to reset the gripping mechanism;

[0052] Repeat the above steps.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A single-slide rail automatic grasping robot arm device, comprising a sliding plate (1), characterized in that: The sliding plate (1) is provided with a moving mechanism on its surface, and a gripping mechanism is fixedly connected to the bottom of the moving mechanism; The grabbing mechanism comprises a first motor (2) mounted on one side of the sliding plate (1); the bottom of the first motor (2) is rotatably connected to a fixed cylinder (3); the bottom of the fixed cylinder (3) is slidably plugged with a triangular rack (4); a cylinder for driving the triangular rack (4) is arranged inside the fixed cylinder (3); the bottom of the fixed cylinder (3) is fixedly connected to three groups of fixing mechanisms, and the fixing mechanisms are composed of two fixing bars (6); a connecting column (7) is rotatably connected between the fixing bars (6) of each group of fixing mechanisms; a gear (8) is fixedly connected to the surface of the connecting column (7); the gear (8) is meshed with the triangular rack (4); and a grabbing arm (9) is fixedly connected to the surface of the connecting column (7).

2. The single-slide rail automatic grabbing robot arm device according to claim 1, characterized in that: The moving mechanism comprises two rotating disks (10) rotatably connected to the surface of the sliding plate (1), the surfaces of the two rotating disks (10) are each provided with an extension disk (11), a transmission column (12) is fixedly connected to the center of the extension disk (11), one end of the transmission column (12) is fixedly connected to a transmission bar (13), and one end of the transmission bar (13) is fixedly connected to a rotating column (14), a bearing bar (15) is rotatably connected between the two rotating columns (14), and the bottom of the bearing bar (15) is fixedly connected to a gripping mechanism; A second motor (16) for driving one of the rotating disks (10) to rotate is installed on one side of the sliding plate (1); A synchronous belt (17) is provided on the surface of the sliding plate (1).

3. The single-slide rail automatic grabbing robot arm device according to claim 2, characterized in that: Two limit rods (18) are fixedly connected to the surface of the sliding plate (1), and a limit disk (19) is arranged on the surface of the limit rod (18), and the diameter of the limit disk (19) is larger than the diameter of the limit rod (18), and the synchronous belt (17) is movably sleeved on the surface of the limit rod (18).

4. The single-slide rail automatic grabbing robot arm device according to claim 1, characterized in that: The surfaces of the gears (8) are provided with limit strips (20), and the bottom of the grabbing arms (9) is fixedly connected with grabbing claws (21).

5. The single-slide rail automatic grabbing robot arm device according to claim 1, characterized in that: A support plate (22) is fixedly connected to one side of the sliding plate (1), a sliding rail (23) is provided at the bottom of the sliding plate (1), and both the sliding rail (23) and the support plate (22) are slidably connected to the sliding plate (1).

6. The single-slide rail automatic grabbing robot arm device according to claim 2, characterized in that: The center positions of the bearing bar (15), the first motor (2), and the fixing cylinder (3) are all located on the same vertical line; the bearing bar (15) is arranged on one side of the transmission bar (13); and the two transmission bars (13) are arranged in parallel.

7. The single-slide rail automatic grabbing robot arm device according to claim 2, characterized in that: The surfaces of the two rotating disks (10) are both provided with fixed disks (24), the top and bottom of the synchronous belt (17) are movably sleeved on the surfaces of the two rotating disks (10), and the synchronous belt (17) is arranged between the sliding plate (1) and the fixed disk (24).

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