Carrying mechanical arm grabbing mechanism

Abstract

The utility model belongs to the technical field of industrial carrying, and discloses a carrying mechanical arm grabbing mechanism which comprises a mechanical arm body, a fixing plate is fixedly mounted at one end of the mechanical arm body, a plurality of mounting holes are formed in the side wall of the fixing plate in an array penetrating mode, and a grabbing device is mounted at the end, away from the fixing plate, of the mechanical arm body. The grabbing device comprises a mounting box mounted at the end, away from the fixing plate, of the mechanical arm body and a supporting frame fixedly arranged at the end, away from the mechanical arm body, of the mounting box, a rotating groove is formed in the supporting frame, and the grabbing device further comprises two grabbing pieces rotationally arranged in the rotating groove. The device has the effect of reducing the sliding probability of the workpiece.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial handling, in particular to a grasping mechanism of a handling robotic arm. Background Technique

[0002] In the process of automated production operations, it is often necessary to use a robotic arm to handle workpieces. During the handling process, the product needs to be grasped first before it can be handled.

[0003] Regarding the above-mentioned related technologies, the inventor believes that there are the following defects: When the existing grasping mechanism grasps, it only relies on two arc-shaped plates to grasp the workpiece. During this process, the workpiece cannot be closely attached to the two arc-shaped plates, resulting in insufficient firmness during grasping, thereby increasing the probability of the workpiece slipping during grasping. Summary of the Utility Model

[0004] In order to solve the above problems, the utility model provides a grasping mechanism of a handling robotic arm.

[0005] The above technical purpose of the utility model is achieved through the following technical solutions: A grasping mechanism of a handling robotic arm includes a robotic arm main body. One end of the robotic arm main body is fixedly installed with a fixing plate. A plurality of mounting holes are arrayed and penetrated through the side wall of the fixing plate. The end of the robotic arm main body far from the fixing plate is installed with a grasping device. The grasping device includes a mounting box installed at the end of the robotic arm main body far from the fixing plate, and a support frame fixedly arranged at the end of the mounting box far from the robotic arm main body. A rotating groove is provided on the support frame. The grasping device further includes two grasping members rotatably arranged in the rotating groove.

[0006] Furthermore, a cylinder is fixedly arranged in the mounting box. The piston rod of the cylinder penetrates through the mounting box and extends outside the mounting box. An installation block is fixedly arranged at the end of the piston rod of the cylinder. A pressing member is fixedly arranged on the side wall of the installation block far from the mounting box. The pressing member is slidably connected with the rotating groove. Connecting members are rotatably arranged on two opposite side walls of the installation block. The other ends of the two connecting members are respectively fixed to the adjacent grasping members.

[0007] By adopting the above technical solution, when the staff needs to grasp an object, the staff needs to control the grasping device to a suitable position through the main body of the robotic arm. Subsequently, the staff needs to start the air cylinder, so that the piston rod of the air cylinder extends, so that the mounting block moves under the action of the piston rod of the air cylinder, so that the connecting rod rotates under the action of the mounting block, so that the grasping member rotates under the action of the connecting rod, so that the grasping member grasps the object. During this process, the pressing member moves under the action of the mounting block, so that the pressing block presses against the side wall of the object, thereby reducing the probability of the object shaking during the process of grasping the object, and further reducing the probability of the object slipping during the process of grasping the object.

[0008] Further, rotating grooves are symmetrically formed on two opposite inner walls of the rotating groove, rotating rods are rotatably arranged in the four rotating grooves, and the side walls of two adjacent rotating rods close to each other are respectively fixed to the adjacent grasping members, and the rotating rods are located above the connecting member.

[0009] By adopting the above technical solution, when the grasping member rotates under the action of the connecting rod, the grasping member rotates along the axis of the rotating rod under the action of the connecting rod, so that the rotating rod rotates. During this process, the rotating rod limits the grasping member, thereby reducing the probability of the grasping member shaking during rotation, and further improving the stability of the device. In addition, the rotating rod is located above the connecting member, so that when the pressing member moves upward, the grasping members rotate towards each other, and when the pressing member moves downward, the grasping members rotate away from each other, thereby improving the firmness of grasping.

[0010] Further, first mounting grooves are formed on two opposite side walls of the pressing member, fixing bolts are rotatably arranged in the plurality of first mounting grooves, and one end of the connecting member away from the grasping member is sleeved on the adjacent fixing bolt.

[0011] By adopting the above technical solution, when the connecting member rotates, the connecting member rotates along the axis of the fixing bolt. During this process, the fixing bolt limits the connecting member, thereby reducing the probability of the connecting member shaking during rotation, and thus improving the stability of the device.

[0012] Further, a first rubber gasket is fixedly arranged at one end of the pressing member away from the mounting block, and a second rubber gasket is jointly installed on the side walls of the two grasping members close to each other.

[0013] By adopting the above technical solution, the first rubber gasket and the second rubber gasket reduce the probability of the object being damaged when grasping the object, thereby improving the safety of the device.

[0014] Further, a receiving groove is formed at one end of the pressing member away from the mounting block. A pressure sensor is installed in the receiving groove. The pressure sensor is in contact with the first rubber gasket, and the pressure sensor is electrically connected to the air cylinder.

[0015] By adopting the above technical solution, when the pressing member presses against an object, the pressure sensor is triggered. During this process, when the pressure received by the pressure sensor reaches the set threshold value, the air cylinder stops working, thereby reducing the probability of damage to the object.

[0016] Further, limiting plates are fixedly arranged on the side walls of the plurality of fixing bolts close to each other. The side wall of the limiting plate is in contact with the side wall of the connecting member.

[0017] By adopting the above technical solution, the limiting plate reduces the probability of the separation between the connecting member and the fixing bolt, thereby improving the stability of the device.

[0018] In summary, the utility model has the following beneficial effects:

[0019] 1. In this application, when a staff member needs to grasp an object, the staff member needs to control the grasping device to a suitable position through the main body of the robotic arm. Subsequently, the staff member needs to start the air cylinder, so that the piston rod of the air cylinder extends, so that the mounting block moves under the action of the piston rod of the air cylinder, so that the connecting rod rotates under the action of the mounting block, so that the grasping member rotates under the action of the connecting rod, so that the grasping member grasps the object. During this process, the pressing member moves under the action of the mounting block, so that the pressing block presses against the side wall of the object, thereby reducing the probability of the object shaking during the process of grasping the object, and further reducing the probability of the object slipping during the process of grasping the object;

[0020] 2. In this application, when the grasping member rotates under the action of the connecting rod, the grasping member rotates along the axis of the rotating rod under the action of the connecting rod, so that the rotating rod rotates. During this process, the rotating rod limits the grasping member, thereby reducing the probability of the grasping member shaking during the rotation process, and further improving the stability of the device. In addition, the rotating rod is located above the connecting member, so that when the pressing member moves upward, the grasping members rotate towards each other, and when the pressing member moves downward, the grasping members rotate away from each other, thereby improving the firmness of grasping;

[0021] 3. In this application, when the connecting member rotates, the connecting member rotates along the axis of the fixing bolt. During this process, the fixing bolt limits the connecting member, thereby reducing the probability of the connecting member shaking during the rotation process, and thus improving the stability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of the main body of the robotic arm in the embodiment of the utility model;

[0023] Figure 2 is a schematic structural diagram of the grasping device in the embodiment of the present utility model;

[0024] Figure 3 is a schematic structural diagram of the grasping device and the installation box in the embodiment of the present utility model;

[0025] Figure 4 is a schematic cross-sectional structural diagram of the grasping device and the installation box in the embodiment of the present utility model;

[0026] Figure 5 is a schematic structural diagram of the support frame and the installation box in the embodiment of the present utility model;

[0027] Figure 6 is a schematic structural diagram of the support frame in the embodiment of the present utility model.

[0028] In the figure: 1. Main body of the robotic arm; 11. Fixed plate; 12. Grasping device; 121. Installation box; 122. Support frame; 123. Grasping member; 2. Installation hole; 21. Rotation groove; 22. Rotation slot; 23. First installation slot; 24. Accommodation groove; 3. Cylinder; 31. Installation block; 32. Tightening member; 33. Connecting member; 4. Rotating rod; 5. Fixing bolt; 6. First rubber gasket; 61. Second rubber gasket; 7. Pressure sensor; 8. Limiting plate. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application; obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0030] Such as Figure 1-6As shown in the figure, an embodiment of the present application discloses a grasping mechanism for a handling robotic arm, including a robotic arm main body 1, a fixing plate 11, a grasping device 12, a cylinder 3, a mounting block 31, a pressing member 32, a connecting member 33, a rotating rod 4, and a fixing bolt 5. The robotic arm main body 1 is used to control the movement of the grasping device 12. The fixing plate 11 is a rectangular plate-like structure, and the fixing plate 11 is fixedly installed at one end of the robotic arm main body 1. A plurality of mounting holes 2 are arrayed and penetrated through the side wall of the fixing plate 11. The grasping device 12 is installed at the end of the robotic arm main body 1 away from the fixing plate 11 and is used to grasp an object. The grasping device 12 includes a mounting box 121, a support frame 122, and a grasping member 123. The mounting box 121 is a hollow cuboid-shaped structure, and the mounting box 121 is installed at the end of the robotic arm main body 1 away from the fixing plate 11. The support frame 122 is fixedly arranged at the end of the mounting box 121 away from the robotic arm main body 1. A rotating groove 21 is formed on the support frame 122, and two grasping members 123 are provided and rotatably arranged in the rotating groove 21.

[0031] The cylinder 3 is fixedly arranged in the mounting box 121, and the axis of its piston rod is vertical. The piston rod of the cylinder 3 penetrates through the mounting box 121 and extends outside the mounting box 121. The mounting block 31 is a rectangular block-like structure, and the mounting block 31 is fixedly arranged at the end of the piston rod of the cylinder 3. The pressing member 32 is fixedly arranged on the side wall of the mounting block 31 away from the mounting box 121, and the pressing member 32 is slidably connected with the rotating groove 21. Two connecting members 33 are provided and rotatably arranged on two opposite side walls of the mounting block 31, and the other ends of the two connecting members 33 are respectively fixed to the adjacent grasping members 123.

[0032] When a worker needs to grasp an object, the worker needs to control the grasping device 12 to a suitable position through the robotic arm main body 1. Subsequently, the worker needs to start the cylinder 3, so that the piston rod of the cylinder 3 extends, thereby causing the mounting block 31 to move under the action of the piston rod of the cylinder 3, and then causing the connecting rod to rotate under the action of the mounting block 31, so that the grasping member 123 rotates under the action of the connecting rod, and then the grasping member 123 grasps the object. During this process, the pressing member 32 moves under the action of the mounting block 31, and then the pressing block presses against the side wall of the object, thereby reducing the probability of the object shaking during the process of grasping the object, and further reducing the probability of the object slipping during the process of grasping the object.

[0033] Rotating grooves 22 are symmetrically formed on two opposite inner walls of the rotating groove 21. The rotating rod 4 is a round rod-like structure, and its axis is horizontal. Four rotating rods 4 are provided and respectively rotatably arranged in the four rotating grooves 22. The side walls of the adjacent two rotating rods 4 close to each other are respectively fixed to the adjacent grasping members 123. The rotating rod 4 is located above the connecting member 33.

[0034] When the gripper 123 rotates under the action of the connecting rod, the gripper 123 rotates along the axis of the rotating rod 4 under the action of the connecting rod, thereby causing the rotating rod 4 to rotate. During this process, the rotating rod 4 limits the gripper 123, thereby reducing the probability of the gripper 123 shaking during rotation, and further improving the stability of the device. In addition, the rotating rod 4 is located above the connecting member 33, so that when the pressing member 32 moves upward, the gripper 123 rotates in the direction of approaching each other, and when the pressing member 32 moves downward, the gripper 123 rotates in the direction of moving away from each other, thereby improving the firmness of grasping.

[0035] First mounting grooves 23 are formed on both opposite side walls of the pressing member 32. The fixing bolts 5 are in the shape of round rods with horizontal axes. A plurality of fixing bolts 5 are provided and are respectively rotatably arranged in the plurality of first mounting grooves 23. One end of the connecting member 33 away from the gripper 123 is sleeved on the adjacent fixing bolt 5.

[0036] When the connecting member 33 rotates, the connecting member 33 rotates along the axis of the fixing bolt 5. During this process, the fixing bolt 5 limits the connecting member 33, thereby reducing the probability of the connecting member 33 shaking during rotation, and thus improving the stability of the device.

[0037] To improve the safety of the device, a first rubber gasket 6 is fixedly arranged at one end of the pressing member 32 away from the mounting block 31. Second rubber gaskets 61 are commonly installed on the side walls of the two grippers 123 close to each other. The first rubber gasket 6 and the second rubber gaskets 61 reduce the probability of the item being damaged when grasping the item, thereby improving the safety of the device.

[0038] To reduce the probability of the item being damaged, a receiving groove 24 is formed at one end of the pressing member 32 away from the mounting block 31. A pressure sensor 7 is installed in the receiving groove 24. The pressure sensor 7 is in mutual contact with the first rubber gasket 6, and the pressure sensor 7 is electrically connected to the air cylinder 3. When the pressing member 32 presses against the item, the pressure sensor 7 is triggered. During this process, when the pressure received by the pressure sensor 7 reaches the set threshold value, the air cylinder 3 stops working, thereby reducing the probability of the item being damaged.

[0039] To improve the stability of the device, limiting plates 8 are fixedly arranged on the side walls of the plurality of fixing bolts 5 close to each other. The side wall of the limiting plate 8 is in contact with the side wall of the connecting member 33. The limiting plate 8 reduces the probability of the connecting member 33 and the fixing bolt 5 being separated from each other, thereby improving the stability of the device.

[0040] In this embodiment, the working principle of the grasping mechanism of a handling robotic arm is as follows: When the staff needs to grasp an item, the staff needs to control the grasping device 12 to an appropriate position through the robotic arm main body 1. Subsequently, the staff needs to start the air cylinder 3, so that the piston rod of the air cylinder 3 extends, thereby causing the mounting block 31 to move under the action of the piston rod of the air cylinder 3, and then causing the connecting rod to rotate under the action of the mounting block 31, so that the grasping member 123 rotates under the action of the connecting rod, and then the grasping member 123 grasps the item. During this process, the pressing member 32 moves under the action of the mounting block 31, and then the pressing block presses against the side wall of the item, thereby reducing the probability of the item shaking during the grasping process, and further reducing the probability of the item slipping during the grasping process.

[0041] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, several improvements and refinements made without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A handling robot arm grasping mechanism, comprising a robot arm body (1), characterized in that: A fixing plate (11) is fixedly mounted on one end of the robot arm body (1), and a plurality of mounting holes (2) are arranged in an array on the side wall of the fixing plate (11). A gripping device (12) is mounted on the end of the robot arm body (1) away from the fixing plate (11), and the gripping device (12) comprises a mounting box (121) mounted on the end of the robot arm body (1) away from the fixing plate (11), and a support frame (122) fixedly arranged on the end of the mounting box (121) away from the robot arm body (1), and a rotating groove (21) is arranged on the support frame (122), and the gripping device (12) also comprises two gripping members (123) rotatably arranged in the rotating groove (21).

2. A handling robot arm grasping mechanism according to claim 1, characterized in that: A cylinder (3) is fixedly arranged in the installation box (121), and a piston rod of the cylinder (3) penetrates the installation box (121) and extends outside the installation box (121). A mounting block (31) is fixedly arranged at the end of the piston rod of the cylinder (3). A clamping member (32) is fixedly arranged on a side wall of the installation block (31) away from the installation box (121), and the clamping member (32) is slidably connected to the rotating groove (21). Connecting members (33) are rotatably arranged on two opposite side walls of the installation block (31), and the other ends of the two connecting members (33) are respectively fixed to the adjacent grabbing members (123).

3. A handling robot arm grasping mechanism according to claim 2, characterized in that: The rotating groove (22) is symmetrically provided on two opposite inner walls of the rotating groove (21), and a rotating rod (4) is rotatably provided in each of the four rotating grooves (22). The side walls of two adjacent rotating rods (4) that are close to each other are respectively fixed to adjacent grabbing members (123), and the rotating rod (4) is located above the connecting member (33).

4. A handling robot arm grasping mechanism according to claim 2, characterized in that: The two opposite side walls of the abutting member (32) are each provided with a first mounting groove (23), a plurality of first mounting grooves (23) are each rotatably provided with a fixing bolt (5), and one end of the connecting member (33) away from the grabbing member (123) is sleeved on an adjacent fixing bolt (5).

5. The handling robot arm grasping mechanism according to claim 2, characterized in that: A first rubber gasket (6) is fixedly provided at one end of the pressing member (32) away from the mounting block (31), and a second rubber gasket (61) is commonly installed on the side walls of the two grabbing members (123) that are close to each other.

6. A handling robot arm grasping mechanism according to claim 5, characterized in that: An accommodating groove (24) is provided at one end of the abutting member (32) away from the mounting block (31), a pressure sensor (7) is installed in the accommodating groove (24), the pressure sensor (7) and the first rubber gasket (6) are in abutment with each other, and the pressure sensor (7) is electrically connected to the cylinder (3).

7. A handling robot arm grabbing mechanism according to claim 4, characterized in that: A limiting plate (8) is fixedly arranged on the side walls of the plurality of fixing bolts (5) that are close to each other, and the side wall of the limiting plate (8) abuts against the side wall of the connecting member (33).

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