Flexible grabbing mechanical arm

Abstract

The utility model discloses a flexible grabbing mechanical arm, which belongs to the field of mechanical arms and comprises a base, and a rotating seat is arranged on the base. The clamping structure is composed of a connecting frame, a movable plate, a fixing base, an elastic limiting assembly, a clamping assembly, a sliding groove and a movable groove, the clamping assembly and the movable plate are installed in an inserted connection mode, the clamping assembly and the movable plate are used in cooperation with the elastic limiting assembly, the clamping assembly can be rapidly installed and disassembled, and the use stability of the installed clamping assembly can be guaranteed; an abutting spring and a limiting rod with an inclined face are arranged in the elastic limiting assembly, the clamping assembly can be directly moved upwards during installation, the limiting rod is pulled through a connecting rod to give way during disassembly, operation is convenient and fast, an adjusting block is arranged on a threaded connector and used in cooperation with an adjusting spring, the initial position of the limiting rod can be adjusted, and the clamping assembly can be conveniently disassembled. A clamping plate in the clamping assembly is installed on an inserting plate through a guide rod and used in cooperation with a fixing screw, and the relative position of the clamping plate can be changed.

Description

Technical Field

[0001] The utility model relates to the field of robotic arms, and particularly to a flexible grasping robotic arm. Background Art

[0002] A flexible grasping robotic arm is a commonly used robotic arm that mimics the structure of a biological arm to grasp and transport items. Different from a rigid grasping robotic arm, a flexible grasping robotic arm has higher flexibility and adaptability, and can grasp items more precisely. Flexible grasping robotic arms are widely used in industrial production, medical care, and service robot fields.

[0003] Existing flexible grasping robotic arms mainly consist of multiple rotating arms, rotating seats, and grippers. The rotating arms cooperate with the rotating seats to achieve flexible movement in space, while the grippers are used to grasp items. However, in existing flexible grasping robotic arms, the grippers are installed and fixed with multiple screws. When installing, multiple screws need to be operated, which is time-consuming and laborious. Similarly, when disassembling, multiple screws also need to be operated, and the operation is extremely inconvenient. Moreover, in the gripper, the relative positions of the clamping plates cannot be adjusted. For items of different models, the stroke of the clamping plates is the same. For larger items, a relatively large force will be applied, which is likely to cause damage to the items. For smaller items, the applied force will be relatively small, resulting in an insecure clamping situation and easy dropping of the items, and the use effect is generally average. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide a flexible grasping robotic arm, which can effectively solve the problems in the background art.

[0005] To achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0006] A flexible grasping robotic arm includes a base. A rotating seat is provided on the base, and a first rotating arm is connected to the rotating seat. A second rotating arm with a rotary connection mechanism is arranged at the end of the first rotating arm. A gripper body is provided on the rotary connection mechanism, and a clamping structure is installed on the gripper body. The clamping structure includes a movable plate, a fixed seat, an elastic limiting component, and a clamping component. The fixed seat is fixed on the movable plate. The elastic limiting component is arranged in the movable plate and the fixed seat. The clamping component is inserted into the movable plate.

[0007] Preferably, a first auxiliary arm is provided on the rotating seat and the first rotating arm. A second auxiliary arm is connected to the first rotating arm, and the end of the second auxiliary arm is connected to the rotary connection mechanism.

[0008] Preferably, the clamping structure further includes a connecting frame, a sliding groove and a movable groove. The connecting frame is fixed on the movable plate, and the movable plate is connected to the jaw body through the connecting frame. The sliding groove is formed in the movable plate, and the clamping assembly is located in the sliding groove on the movable plate. The movable groove is formed in the movable plate and the fixed seat.

[0009] Preferably, the elastic limiting assembly includes a limiting rod, a threaded joint, an adjusting block, a connecting rod, a pressing spring, a round block, a connecting piece and an adjusting spring. The limiting rod is arranged in the movable groove, and one end of the limiting rod is provided with a downward inclined surface. A threaded hole is provided at the end of the limiting rod. The threaded joint is fixed on the fixed seat. The adjusting block is threadedly connected to the threaded joint. The connecting rod passes through the fixed seat, the threaded joint and the adjusting block, and a connecting head is provided at the end of the connecting rod. The connecting head is threadedly installed in the threaded hole at the end of the limiting rod.

[0010] Preferably, the pressing spring is located in the movable groove, and the pressing spring is sleeved on the connecting rod. The round block is fixed to the end of the connecting rod through a connecting piece. The adjusting spring is sleeved on the connecting rod near the round block, and the adjusting spring contacts the adjusting block.

[0011] Preferably, the clamping assembly includes a plug-in board, a limiting groove, a threaded hole, a clamping plate, a guiding rod, a fixing screw and an anti-slip pad. The limiting groove is formed in the plug-in board. The threaded hole is formed at the lower end of the plug-in board. The clamping plate is installed on the plug-in board through the guiding rod. The fixing screw is threadedly connected to the threaded hole, and the end of the fixing screw abuts against the guiding rod. The anti-slip pad is fixed on the clamping plate.

[0012] Compared with the prior art, the present utility model has the following beneficial effects: for this flexible grasping robotic arm, the clamping structure consists of a connecting frame, a movable plate, a fixed seat, an elastic limiting assembly, a clamping assembly, a sliding groove and a movable groove. The clamping assembly and the movable plate are installed in a plug-in manner and used in conjunction with the elastic limiting assembly, which can not only quickly install and disassemble the clamping assembly, but also ensure the use stability of the clamping assembly after installation. In the elastic limiting assembly, a pressing spring and a limiting rod with an inclined surface are provided. During installation, the clamping assembly can be directly moved upward. During disassembly, the limiting rod can be pulled by the connecting rod to make way, and the operation is convenient and fast. An adjusting block is provided on the threaded joint and used in conjunction with the adjusting spring to adjust the initial position of the limiting rod. The clamping plate in the clamping assembly is installed on the plug-in board through the guiding rod and used in conjunction with the fixing screw to change the relative position of the clamping plate, further improving the use flexibility and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0014] Figure 2This is a schematic structural diagram of the clamping structure of the present utility model;

[0015] Figure 3 This is a schematic structural diagram of the chute of the present utility model;

[0016] Figure 4 This is the present utility model Figure 3 An enlarged view of part A in;

[0017] Figure 5 This is a schematic structural diagram of the clamping assembly of the present utility model.

[0018] In the figure: 1, base; 2, rotating seat; 3, first rotating arm; 4, second rotating arm; 5, rotary connection mechanism; 6, jaw body; 7, clamping structure; 701, connecting frame; 702, movable plate; 703, fixed seat; 704, elastic limiting component; 7041, limiting rod; 7042, threaded joint; 7043, adjusting block; 7044, connecting rod; 7045, pressing spring; 7046, round block; 7047, connecting piece; 7048, adjusting spring; 705, clamping assembly; 7051, plug-in board; 7052, limiting groove; 7053, threaded hole; 7054, clamping plate; 7055, guiding rod; 7056, fixing screw; 7057, anti-slip pad; 706, chute; 707, movable groove; 8, first auxiliary arm; 9, second auxiliary arm. Detailed implementation manners

[0019] To make the technical means, creative features, achieved purposes and functions of the present utility model easy to understand, the present utility model will be further described below in conjunction with specific implementation manners.

[0020] As Figures 1 - 5 shown, a flexible grasping robotic arm includes a base 1, a rotating seat 2 is provided on the base 1, and a first rotating arm 3 is connected to the rotating seat 2. A second rotating arm 4 with a rotary connection mechanism 5 is arranged at the end of the first rotating arm 3. A jaw body 6 is provided on the rotary connection mechanism 5, and a clamping structure 7 is installed on the jaw body 6. A first auxiliary arm 8 is provided on the rotating seat 2 and the first rotating arm 3. A second auxiliary arm 9 is connected to the first rotating arm 3, and the end of the second auxiliary arm 9 is connected to the rotary connection mechanism 5.

[0021] When using the flexible grasping robotic arm, after starting the robotic arm, the rotating seat 2 on the base 1 operates in cooperation with the first rotating arm 3, the second rotating arm 4 and the rotary connection mechanism 5, so as to drive the jaw body 6 to move arbitrarily within a certain space range. During this process, the first auxiliary arm 8 and the second auxiliary arm 9 play an auxiliary operation role to ensure the operation stability of the robotic arm. When the jaw body 6 moves in place, start the clamping structure 7 to grasp the item, and then the robotic arm operates to carry the item to a suitable place for placement.

[0022] Through the above implementation solutions, the clamping structure 7 includes a movable plate 702, a fixed seat 703, an elastic limiting component 704 and a clamping component 705. The fixed seat 703 is fixed on the movable plate 702. The elastic limiting component 704 is arranged inside the movable plate 702 and the fixed seat 703. The clamping component 705 is inserted on the movable plate 702. The clamping structure 7 further includes a connecting frame 701, a sliding groove 706 and a movable groove 707. The connecting frame 701 is fixed on the movable plate 702, and the movable plate 702 is connected to the jaw body 6 through the connecting frame 701. The sliding groove 706 is opened on the movable plate 702, and the clamping component 705 is located in the sliding groove 706 on the movable plate 702. The movable groove 707 is opened inside the movable plate 702 and the fixed seat 703. The elastic limiting component 704 includes a limiting rod 7041, a threaded joint 7042, an adjusting block 7043, a connecting rod 7044, a pressing spring 7045, a round block 7046, a connecting piece 7047 and an adjusting spring 7048. The limiting rod 7041 is arranged in the movable groove 707, and one end of the limiting rod 7041 is provided with a downward inclined surface. A threaded hole is provided at the end of the limiting rod 7041. The threaded joint 7042 is fixed on the fixed seat 703. The adjusting block 7043 is threadedly connected to the threaded joint 7042. The connecting rod 7044 passes through the fixed seat 703, the threaded joint 7042 and the adjusting block 7043, and a connecting head is provided at the end of the connecting rod 7044. The connecting head is threadedly installed in the threaded hole at the end of the limiting rod 7041. The pressing spring 7045 is located in the movable groove 707, and the pressing spring 7045 is sleeved on the connecting rod 7044. The round block 7046 is fixed to the end of the connecting rod 7044 through the connecting piece 7047. The adjusting spring 7048 is sleeved on the connecting rod 7044 at a position close to the round block 7046, and the adjusting spring 7048 contacts the adjusting block 7043. The clamping component 705 includes a plug-in plate 7051, a limiting groove 7052, a threaded hole 7053, a clamping plate 7054, a guiding rod 7055, a fixing screw 7056 and an anti-slip pad 7057. The limiting groove 7052 is opened on the plug-in plate 7051. The threaded hole 7053 is opened at the lower end of the plug-in plate 7051. The clamping plate 7054 is installed on the plug-in plate 7051 through the guiding rod 7055. The fixing screw 7056 is threadedly connected in the threaded hole 7053, and the end of the fixing screw 7056 abuts against the guiding rod 7055. The anti-slip pad 7057 is fixed on the clamping plate 7054. The clamping structure 7 is composed of the connecting frame 701, the movable plate 702, the fixed seat 703, the elastic limiting component 704, the clamping component 705, the sliding groove 706 and the movable groove 707. The clamping component 705 is installed on the movable plate 702 in a plug-in manner and used in cooperation with the elastic limiting component 704, which can not only quickly install and disassemble the clamping component 705, but also ensure the use stability of the clamping component 705 after installation. The pressing spring 7045 and the limiting rod 7041 with an inclined surface are arranged in the elastic limiting component 704. During installation, the clamping component 705 can be directly moved upward.During disassembly, the limiting rod 7041 is pulled by the connecting rod 7044 to make way, which is convenient and fast. An adjusting block 7043 is provided on the threaded joint 7042 and used in conjunction with the adjusting spring 7048 to adjust the initial position of the limiting rod 7041. The clamping plate 7054 in the clamping assembly 705 is installed on the plug-in plate 7051 through the guiding rod 7055 and used in conjunction with the fixing screw 7056 to change the relative position of the clamping plate 7054, further improving the flexibility and adaptability of use.

[0023] When installing the clamping structure 7, the plug-in plate 7051 in the clamping assembly 705 is inserted into the sliding groove 706 on the movable plate 702. During this process, after the plug-in plate 7051 contacts the inclined surface at the end of the limiting rod 7041 in the movable groove 707, the limiting rod 7041 is forced to move and make way in the movable groove 707 and compress the abutting spring 7045. During this process, the connecting rod 7044 moves together. When the plug-in plate 7051 is in place, under the action of the abutting spring 7045, the end of the limiting rod 7041 is inserted into the limiting groove 7052 to limit the plug-in plate 7051. After the plug-in plate 7051 is installed, the entire clamping structure 7 is assembled and can be used. During use, the jaw body 6 runs and drives the movable plate 702 to move through the connecting frame 701, and the clamping plate 7054 in the clamping assembly 705 is used to grab items. The anti-slip pad 7057 plays an anti-slip role. When needed, the relative position of the clamping plate 7054 can be adjusted. During adjustment, after loosening the fixing screw 7056 in the threaded hole 7053, the clamping plate 7054 is moved and adjusted through the guiding rod 7055. After adjustment, the fixing screw 7056 is rotated to lock and fix the guiding rod 7055. If the clamping assembly 705 needs to be disassembled, the connecting rod 7044 is pulled by the round block 7046, and the connecting rod 7044 drives the limiting rod 7041 to move and make way. When the limiting rod 7041 is removed from the limiting groove 7052, the plug-in plate 7051 can be disassembled, and the staff can perform the disassembly work of the clamping assembly 705. If the initial position of the limiting rod 7041 needs to be adjusted, the adjusting block 7043 on the threaded joint 7042 is rotated. The adjusting block 7043 moves and drives the round block 7046 and the connecting rod 7044 to move through the adjusting spring 7048, thereby changing the initial position of the limiting rod 7041, improving the use adaptability and flexibility. When the adjusting spring 7048 needs to be replaced, the connecting piece 7047 is disassembled to remove the round block 7046, and then the adjusting spring 7048 can be replaced.

[0024] The above content describes the working principle, features and beneficial effects of the present utility model. Those skilled in the art can understand from the above content that the above content does not limit the present utility model. The above embodiments and descriptions in the specification describe the basic principles and features of the present utility model. On the premise of conforming to the concept of the present utility model, various changes and improvements can be made to the present utility model, and these improvements should fall within the scope of protection required by the present utility model.

Claims

1. A flexible grasping robot arm, comprising a base (1), a rotating base (2) being provided on the base (1), a first rotating arm (3) being connected to the rotating base (2), a second rotating arm (4) having a rotating connection mechanism (5) being provided at the end of the first rotating arm (3), characterized in that: The rotating connection mechanism (5) is provided with a clamping jaw body (6), and a clamping structure (7) is installed on the clamping jaw body (6), the clamping structure (7) comprises a movable plate (702), a fixed seat (703), an elastic limiting component (704) and a clamping component (705), the fixed seat (703) is fixed on the movable plate (702), the elastic limiting component (704) is arranged in the movable plate (702) and the fixed seat (703), and the clamping component (705) is plugged into the movable plate (702).

2. A flexible grasping robot arm according to claim 1, characterized in that: The rotating seat (2) and the first rotating arm (3) are provided with a first auxiliary arm (8), the first rotating arm (3) is connected to a second auxiliary arm (9), and the end of the second auxiliary arm (9) is connected to the rotating connection mechanism (5).

3. A flexible grasping robot arm according to claim 2, characterized in that: The clamping structure (7) also includes a connecting frame (701), a sliding groove (706) and a movable groove (707); the connecting frame (701) is fixed on the movable plate (702), and the movable plate (702) is connected to the clamping claw body (6) through the connecting frame (701); the sliding groove (706) is provided on the movable plate (702); the clamping assembly (705) is located in the sliding groove (706) on the movable plate (702); and the movable groove (707) is provided in the movable plate (702) and the fixed seat (703).

4. A flexible grasping robot arm according to claim 3, characterized in that: The elastic limiting assembly (704) comprises a limiting rod (7041), a threaded joint (7042), an adjusting block (7043), a connecting rod (7044), a pressing spring (7045), a round block (7046), a connecting piece (7047) and an adjusting spring (7048); the limiting rod (7041) is arranged in the movable groove (707); one end of the limiting rod (7041) is provided with a downward inclined surface; the end of the limiting rod (7041) is provided with a screw hole; the threaded joint (7042) is fixed on the fixing seat (703); the adjusting block (7043) is threadedly connected to the threaded joint (7042); the connecting rod (7044) passes through the fixing seat (703), the threaded joint (7042) and the adjusting block (7043); and the end of the connecting rod (7044) is provided with a connecting head, and the connecting head is threadedly installed in the screw hole at the end of the limiting rod (7041).

5. A flexible grasping robot arm according to claim 4, characterized in that: The pressing spring (7045) is located in the movable groove (707), and the pressing spring (7045) is sleeved on the connecting rod (7044). The round block (7046) is fixed to the end of the connecting rod (7044) through a connecting piece (7047). The adjusting spring (7048) is sleeved on the connecting rod (7044) at a position close to the round block (7046), and the adjusting spring (7048) contacts the adjusting block (7043).

6. The flexible grasping robot arm according to claim 5, characterized in that: The clamping assembly (705) comprises a plug-in board (7051), a limiting groove (7052), a threaded hole (7053), a clamping plate (7054), a guide rod (7055), a fixing screw (7056) and an anti-skid pad (7057), wherein the limiting groove (7052) is provided on the plug-in board (7051), the threaded hole (7053) is provided at the lower end of the plug-in board (7051), the clamping plate (7054) is mounted on the plug-in board (7051) via the guide rod (7055), the fixing screw (7056) is threadedly connected in the threaded hole (7053), and the end of the fixing screw (7056) abuts against the guide rod (7055), and the anti-skid pad (7057) is fixed on the clamping plate (7054).

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