Adjustable mechanical arm electric grabbing device

Abstract

The utility model discloses an adjustable mechanical arm electric grabbing device which comprises a bearing table, mounting plates mounted at the top end and the bottom end of the bearing table, a containing groove formed in the middle of the outer wall of the bearing table, a driving structure arranged at the ends, away from the bearing table, of the mounting plates and side grabbing and clamping structures. The side grabbing and clamping structure is arranged in the containing groove. The side grabbing and clamping structure comprises a main rotating column arranged in the containing groove, a side plate rotationally connected to the outer wall of the main rotating column, an auxiliary rotating column rotationally connected to the end, away from the main rotating column, of the side plate, and a side clamping plate rotationally connected to the outer wall of the auxiliary rotating column. The semicircular penetrating rings are fixedly connected to the side walls of the side plates and the side clamping plates; and the pull ropes penetrate through the semicircular penetrating rings. According to the side grabbing and clamping structure, after the main grabbing and clamping structure grabs an object, the pull rope is stressed and pulls the two sides of the side plate and the two sides of the side clamping plate, so that the side plate and the side clamping plate are unfolded, the side clamping plate clamps the object, and the side face of the object is clamped again.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to an adjustable electric grabbing device for mechanical arms. Background Art

[0002] With the progress of the times, science and technology are constantly developing, and the advancement of machinery has played an excellent role in all aspects of human beings. The invention of the robotic arm can complete tasks that are difficult to complete by manpower in the processing of large metal components, improve production efficiency and product quality, and is also very convenient and fast when carrying heavy objects. Therefore, it is particularly important to propose an adjustable robotic arm electric grasping device.

[0003] The Chinese utility model patent with application number CN208663811U discloses a mechanical arm grasping device, which adopts the principle of electromagnet adsorption technology. The grasping component includes a main body, a telescopic mechanism, a connecting rod, a supporting plate and a plurality of clamping claws. The telescopic mechanism includes a first electromagnet, a second electromagnet, a third electromagnet, a fourth electromagnet, a first insulating elastic part, a second insulating elastic part, a first insulating sleeve, a second insulating sleeve and a fixed plate. The clamping claw includes a rear connecting section connected to a torsion spring of a bottom plate at one end and a front claw section connected to a torsion spring at the other end of the rear connecting section. The technical scheme generates magnetic attraction between the first electromagnet and the third electromagnet and between the second electromagnet and the fourth electromagnet respectively, and the elastic force of the first insulating elastic part and the second insulating elastic part to realize the retraction grasping and extension unfolding of the clamping claw, which can meet the grasping and use needs of different workpieces or objects. Compared with the prior art, it has the characteristics of simple structure, light weight and low cost, and is suitable for popularization and application.

[0004] Although the robot arm grasping device is light and low in cost, it still has the following defects in actual use: 1. When the grasped object is irregular, the grasping in a single direction is not stable enough, which can easily cause the grasped object to slip sideways; 2. The grasping angles of the two-stage grasping clamp are not diverse enough, and when faced with some uneven objects, it cannot grasp the object more carefully and stably. Summary of the invention

[0005] The utility model aims to solve the problems that the grasping of irregular objects in a single direction is unstable and easy to slip sideways, and the grasping angles of the two-stage grasping clamp are not diversified enough and cannot grasp uneven objects more carefully and stably.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] An adjustable mechanical arm electric grasping device comprises a bearing platform, a mounting plate mounted on the top and bottom ends of the bearing platform, a storage slot provided at the middle position of the outer wall of the bearing platform, and a driving structure provided at an end of the mounting plate away from the bearing platform, and further comprises:

[0008] A side gripping and clamping structure, the side gripping and clamping structure comprising a main rotating column arranged inside the storage groove, a side plate rotatably connected to the outer wall of the main rotating column, a secondary rotating column rotatably connected to one end of the side plate away from the main rotating column, a side clamping plate rotatably connected to the outer wall of the secondary rotating column, a semicircular through-ring fixedly connected to the side plate and the side wall of the side clamping plate, and a pull rope passing through the semicircular through-ring;

[0009] The main gripping structure is arranged on one side of the driving structure and is used to grip objects.

[0010] In a preferred embodiment of the utility model, the top-view cross-section of the storage slot is "U"-shaped, the main rotating column is arranged on one side of the opening of the storage slot, and both ends of the main rotating column extend to the interior of the supporting platform.

[0011] In a preferred embodiment of the utility model, the main cross-section of the mounting plate is "L"-shaped, the mounting plates are symmetrically distributed at both ends of the bearing platform, and the longer end of the mounting plate is connected to the outer wall of the bearing platform.

[0012] In a preferred embodiment of the utility model, the driving structure includes a cylinder push rod box fixed to the top of the mounting plate, a cylinder push rod slidably connected to the inside of the cylinder push rod box, a connecting block installed at one end of the cylinder push rod, a connecting plate fixedly installed on the side of the mounting plate away from the supporting platform, and a first rotating block arranged on both sides of the connecting plate.

[0013] In a preferred embodiment of the utility model, one end of the push rod in the cylinder passes through the cylinder push rod box and is connected to the connecting block. The main cross-section of the first rotating block is an isosceles triangle, and the side of the connecting plate away from the supporting platform is in an oblique cut shape.

[0014] In a preferred embodiment of the utility model, the main gripping structure includes a main push-pull rod installed on both sides of the connecting block, a rotating groove opened on the side of the connecting plate away from the mounting plate, a first rotating rod rotatably connected to the inside of the rotating groove, a second rotating rod rotatably connected to the inner side of the first rotating block, a second rotating block rotatably connected to the bottom end of the first rotating rod, a third rotating rod rotatably connected to both sides of the bottom end of the first rotating rod, and a main clamping plate rotatably connected to the bottom end of the second rotating block.

[0015] In a preferred embodiment of the utility model, the bottom end of the second rotating rod is rotatably connected to the second rotating block, the third rotating rod is rotatably connected to the top end of the main splint, wherein the length of the main push-pull rod is longer than that of the second rotating rod, and the top end of the second rotating block is rotatably connected to the bending part of the first rotating rod.

[0016] The utility model solves the problems in the prior art that the grasping of irregular grasping objects in a single direction is unstable and easy to slip sideways, and the grasping angles of the two-stage grasping clamp are not diversified enough and cannot grasp uneven objects more carefully and stably. The utility model has the following beneficial effects:

[0017] 1. The utility model provides an adjustable mechanical arm electric grasping device, which is provided with a side grasping clamp structure. After the main grasping clamp structure grasps the object, the pull rope is respectively subjected to force and pulls the two sides of the side plate and the side clamp, so that the side plate and the side clamp are unfolded and the side clamp clamps the object, thereby re-clamping the side of the object.

[0018] 2. The utility model provides an adjustable mechanical arm electric grasping device, which is provided with a main grasping clamp structure. The main push-pull rod drives the rotating groove, the first rotating rod, the second rotating rod, the second rotating block and the third rotating rod to rotate, so that the main clamping plate can clamp the object, thereby achieving the clamping of the object.

[0019] 3. The utility model provides an adjustable mechanical arm electric grasping device, which is provided with a driving structure. When it is necessary to clamp an object, the push rod in the cylinder is pushed by the cylinder, so that the connecting block pushes the main push-pull rod to drive the first rotating block to rotate, thereby realizing the driving of the main grasping structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The utility model is further described below in conjunction with the accompanying drawings and embodiments;

[0021] Figure 1 It is a three-dimensional structural diagram of a preferred embodiment of the utility model;

[0022] Figure 2 It is a front cross-sectional view of a preferred embodiment of the utility model;

[0023] Figure 3 It is a front cross-sectional view of the driving structure and the main gripping structure of the preferred embodiment of the utility model;

[0024] Figure 4 It is a top view of a side gripping structure of a preferred embodiment of the utility model;

[0025] Figure 5 It is a diagram showing the unfolding effect of the side grabbing clamp structure of the preferred embodiment of the utility model.

[0026] In the figure: 1. load-bearing platform; 2. mounting plate; 3. storage slot; 4. side gripping clamp structure; 401. main rotating column; 402. side plate; 403. auxiliary rotating column; 404. side clamp plate; 405. semicircular ring; 406. pull rope; 5. driving structure; 501. cylinder push rod box; 502. push rod in cylinder; 503. connecting block; 504. connecting plate; 505. first rotating block; 6. main gripping clamp structure; 601. main push-pull rod; 602. rotating slot; 603. first rotating rod; 604. second rotating rod; 605. second rotating block; 606. third rotating rod; 607. main clamp plate. DETAILED DESCRIPTION

[0027] The present invention will now be further described in detail in conjunction with the accompanying drawings and embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0028] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, an adjustable mechanical arm electric grasping device includes a load-bearing platform 1, a mounting plate 2 mounted on the top and bottom ends of the load-bearing platform 1, a storage slot 3 opened at the middle position of the outer wall of the load-bearing platform 1, and a driving structure 5 arranged at one end of the mounting plate 2 away from the load-bearing platform 1, and also includes: a side grasping clamp structure 4, the side grasping clamp structure 4 is arranged inside the storage slot 3, the side grasping clamp structure 4 includes a main rotating column 401 arranged inside the storage slot 3, a side plate 402 rotatably connected to the outer wall of the main rotating column 401, and a side plate 402 rotatably connected to the side plate 402 away from the main rotating column The auxiliary rotating column 403 at one end of 401, the side clamping plate 404 rotatably connected to the outer wall of the auxiliary rotating column 403, the semicircular ring 405 fixedly connected to the side plate 402 and the side wall of the side clamping plate 404, and the pull rope 406 passing through the semicircular ring 405, the top view cross-section of the storage groove 3 is designed in a "U" shape, the main rotating column 401 is arranged on one side of the opening of the storage groove 3, both ends of the main rotating column 401 extend to the inside of the supporting platform 1, the main view cross-section of the mounting plate 2 is designed in an "L" shape, and the mounting plates 2 are symmetrically distributed at both ends of the supporting platform 1.

[0029] It should be noted that when there is a risk of slipping due to one-way clamping of the object to be grasped, after the main clamping structure 6 grasps the object, the pull rope 406 is subjected to force and pulls both sides of the side plate 402 and the side clamping plate 404, so that the side plate 402 and the side clamping plate 404 are unfolded and the side clamping plate 404 clamps the object, thereby clamping the side of the object again.

[0030] like Figure 1 , Figure 2 and Figure 3As shown, the main gripping structure 6 is arranged on one side of the driving structure 5 and is used to grip objects. The main gripping structure 6 includes a main push-pull rod 601 installed on both sides of the connecting block 503, a rotating groove 602 opened on the side of the connecting plate 504 away from the mounting plate 2, a first rotating rod 603 rotatably connected to the inside of the rotating groove 602, a second rotating rod 604 rotatably connected to the inner side of the first rotating block 505, a second rotating block 605 rotatably connected to the bottom end of the first rotating rod 603, a third rotating rod 606 rotatably connected to both sides of the bottom end of the first rotating rod 603, and a main splint 607 rotatably connected to the bottom end of the second rotating block 605, the bottom end of the second rotating rod 604 is rotatably connected to the second rotating block 605, and the third rotating rod 606 is rotatably connected to the top of the main splint 607.

[0031] It should be noted that when facing uneven objects, the splint needs to have more clamping angles for the objects. The main push-pull rod 601 drives the rotating groove 602, the first rotating rod 603, the second rotating rod 604, the second rotating block 605 and the third rotating rod 606 to rotate, so that the main splint 607 can clamp the objects. The multi-angle adjustment of the splint makes the splint fit the objects better and achieve the clamping of the objects.

[0032] like Figure 1 , Figure 2 and Figure 3 As shown, the driving structure 5 includes a cylinder push rod box 501 fixed to the top of the mounting plate 2, a cylinder push rod 502 slidably connected to the inside of the cylinder push rod box 501, a connecting block 503 installed at one end of the cylinder push rod 502, a connecting plate 504 fixedly installed on the side of the mounting plate 2 away from the supporting platform 1, and a first rotating block 505 arranged on both sides of the connecting plate 504. One end of the cylinder push rod 502 passes through the cylinder push rod box 501 and is connected to the connecting block 503. The main view section of the first rotating block 505 is designed as an isosceles triangle.

[0033] It should be noted that the gripping of the splint requires drive. When an object needs to be clamped, the push rod 502 in the cylinder is pushed by the cylinder, so that the connecting block 503 pushes the main push-pull rod 601 to drive the first rotating block 505 to rotate, thereby driving the main gripping structure 6.

[0034] When the utility model is in use, by providing the side grasping and clamping structure 4, after the main grasping and clamping structure 6 grasps the object, the pull rope 406 is respectively subjected to force and pulls the two sides of the side plate 402 and the side clamping plate 404, so that the side plate 402 and the side clamping plate 404 are unfolded and the side clamping plate 404 clamps the object, thereby clamping the side of the object again. By providing the main grasping and clamping structure 6, the main push-pull rod 601 drives the rotating groove 602, the first rotating rod 603, the second rotating rod 604, the second rotating block 605 and the third rotating rod 606 to rotate, so that the main clamping plate 607 can clamp the object. The multi-angle adjustment of the clamping plate makes the clamping plate more suitable for clamping the object, thereby clamping the object. By providing the driving structure 5, when it is necessary to clamp the object, the push rod 502 in the cylinder is pushed by the cylinder, so that the connecting block 503 pushes the main push-pull rod 601 to drive the first rotating block 505 to rotate, thereby driving the main grasping and clamping structure 6.

[0035] The above is based on the ideal embodiment of the utility model. Through the above description, relevant personnel can make various changes and modifications without deviating from the technical concept of the utility model. The technical scope of this utility model is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. An adjustable mechanical arm electric grasping device, comprising a carrying platform (1), a mounting plate (2) mounted on the top and bottom ends of the carrying platform (1), a receiving groove (3) provided at the middle position of the outer wall of the carrying platform (1), and a driving structure (5) arranged at one end of the mounting plate (2) away from the carrying platform (1), characterized in that: Also includes: A side gripping and clamping structure (4), the side gripping and clamping structure (4) comprising a main rotating column (401) arranged inside the storage groove (3), a side plate (402) rotatably connected to the outer wall of the main rotating column (401), a secondary rotating column (403) rotatably connected to one end of the side plate (402) away from the main rotating column (401), a side clamping plate (404) rotatably connected to the outer wall of the secondary rotating column (403), a semicircular through-ring (405) fixedly connected to the side wall of the side plate (402) and the side clamping plate (404), and a pull rope (406) passing through the semicircular through-ring (405); A main gripping structure (6), wherein the main gripping structure (6) is arranged on one side of the driving structure (5) and is used for gripping objects.

2. The adjustable mechanical arm electric grasping device according to claim 1, characterized in that: The top-view cross-section of the receiving groove (3) is U-shaped, the main rotating column (401) is arranged on one side of the opening of the receiving groove (3), and both ends of the main rotating column (401) extend to the interior of the supporting platform (1).

3. The adjustable mechanical arm electric grasping device according to claim 1, characterized in that: The main cross-section of the mounting plate (2) is in an "L" shape, and the mounting plate (2) is symmetrically distributed at both ends of the supporting platform (1).

4. The adjustable mechanical arm electric grasping device according to claim 1, characterized in that: The driving structure (5) comprises a cylinder push rod box (501) fixed to the top of the mounting plate (2), a cylinder push rod (502) slidably connected to the inside of the cylinder push rod box (501), a connecting block (503) installed at one end of the cylinder push rod (502), a connecting plate (504) fixedly installed on the side of the mounting plate (2) away from the supporting platform (1), and a first rotating block (505) arranged on both sides of the connecting plate (504).

5. The adjustable mechanical arm electric grasping device according to claim 4, characterized in that: One end of the push rod (502) in the cylinder passes through the cylinder push rod box (501) and is connected to the connecting block (503). The main cross-section of the first rotating block (505) is an isosceles triangle.

6. The adjustable mechanical arm electric grasping device according to claim 1, characterized in that: The main gripping structure (6) comprises a main push-pull rod (601) mounted on both sides of the connecting block (503), a rotating groove (602) provided on the side of the connecting plate (504) away from the mounting plate (2), a first rotating rod (603) rotatably connected to the inside of the rotating groove (602), a second rotating rod (604) rotatably connected to the inside of the first rotating block (505), a second rotating block (605) rotatably connected to the bottom end of the first rotating rod (603), a third rotating rod (606) rotatably connected to both sides of the bottom end of the first rotating rod (603), and a main clamping plate (607) rotatably connected to the bottom end of the second rotating block (605).

7. The adjustable mechanical arm electric grasping device according to claim 6, characterized in that: The bottom end of the second rotating rod (604) is rotatably connected to the second rotating block (605), and the top end of the third rotating rod (606) is rotatably connected to the main splint (607).

Images