Clamping mechanism of mechanical arm

Abstract

The utility model relates to the field of mechanical arm clamping, in particular to a mechanical arm clamping mechanism which comprises a mechanical arm, a fixing seat is installed at the lower end of the mechanical arm, connecting arms are symmetrically installed on the two sides of the front end of the fixing seat, and a limiting assembly is installed in the middle of the fixing seat. A supporting plate is hinged to the middle of the end, away from the fixing base, of the connecting arm, a base is installed at the lower end of the front face of the supporting plate, a lifting toothed plate is arranged in the middle of the base, and clamping assemblies are symmetrically installed on the two sides of the base. At the moment, the supporting plate can drive the base, the lifting toothed plate and the clamping assembly to be in a vertical or transverse state to clamp an object, when the supporting plate rotates to be in the vertical state, the clamping assembly can descend to clamp the object, and when the supporting plate rotates to be in the transverse state, the clamping assembly can clamp and fix the object from the side edge or the front end and the rear end of the object.

Description

Technical Field

[0001] The utility model relates to the field of manipulator clamping, in particular to a clamping mechanism of a manipulator. Background Technique

[0002] A manipulator refers to a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operation flexibility, it has been widely used in industrial assembly, safety explosion protection and other fields. In the prior art, a manipulator is composed of multiple rotating arm segments and has multi-directional adjustability. A fixture is provided at the end of the manipulator and can be used to clamp an object when the manipulator moves and adjusts. After the object is clamped, the manipulator can be moved again to conveniently transfer the object to the required position.

[0003] Most of the fixtures at the ends of existing multi-directional manipulators are only provided with one. In actual use, the fixture can only clamp an object with a specific shape, and the fixture can only be adjusted in direction as the manipulator moves and cannot adjust the angle according to the position of the object itself, which has certain limitations.

[0004] Therefore, it is necessary to invent a clamping mechanism for a manipulator. Content of the Utility Model

[0005] The purpose of the utility model is to solve the problems raised in the above background technique.

[0006] To achieve the above purpose, the utility model provides the following technical solution: A clamping mechanism of a manipulator, including a manipulator, a fixed seat is installed at the lower end of the manipulator, connecting arms are symmetrically installed on both sides of the front end of the fixed seat, a limiting component is installed in the middle of the fixed seat, a support plate is hinged in the middle of the end of the connecting arm away from the fixed seat, a base is installed at the lower end of the front surface of the support plate, a lifting rack is arranged in the middle of the base, and clamping components are symmetrically installed on both sides of the base.

[0007] Based on the above features: When it is necessary to clamp an object, the lifting rack can be moved upward. At this time, the two symmetric clamping components will move closer to the middle to clamp and fix the object. When the lifting rack moves downward, the two symmetric clamping components will open to both sides to release the object. In addition, the support plate can rotate and adjust in the middle of the connecting arm. When the support plate rotates downward to a vertical state, the base, the lifting rack and the clamping components will also be in a vertical downward state. At this time, the clamping components can be used to descend to clamp the object. When the support plate rotates to a horizontal state, the base, the lifting rack and the clamping components will also be in a horizontal state. At this time, the clamping components can clamp and fix the object from the side or the front and rear ends of the object to meet the clamping requirements of different objects. At the same time, after the support plate is adjusted, the limiting component can support and fix the support plate to improve the stability of the support plate.

[0008] Preferably, a protective box is installed at the lower end of the fixed seat. A rotating motor is installed inside the protective box. A rotating shaft is installed at the output end of the rotating motor. One end of the rotating shaft is installed with a pulley A.

[0009] Based on the above features: When the rotating motor is started, the support plate can drive the base, the lifting toothed plate and the clamping assembly to become vertical or horizontal states to clamp objects.

[0010] Preferably, a through hole is opened on one side of the connecting arm away from the fixed seat. A bearing is installed inside the through hole.

[0011] Based on the above features: It is convenient for the support plate to be rotationally adjusted in the middle of the connecting arm.

[0012] Preferably, the limiting assembly includes a telescopic cylinder and a piston rod installed at the movable end of the telescopic cylinder. One end of the piston rod is installed with a positioning plate. Two limit insertion rods are symmetrically installed on both sides of the end of the positioning plate away from the piston rod.

[0013] Based on the above features: When the telescopic cylinder is started, the positioning plate can be driven by the piston rod to be telescopically adjusted. After the support plate is adjusted to the vertical or horizontal state, the positioning plate can use the limit insertion rods to limit and fix the support plate.

[0014] Preferably, connecting shafts are symmetrically installed on both sides of the support plate. One end of each connecting shaft is installed with a pulley B. First insertion holes are symmetrically opened on the end face of the support plate. Second insertion holes are symmetrically opened on the surface of the support plate.

[0015] Based on the above features: When the support plate rotates to the vertical state, the limit insertion rods can be inserted into the inside of the second insertion holes for limit support. When the support plate rotates to the horizontal state, the limit insertion rods can be inserted into the inside of the first insertion holes for limit support, improving the overall stability.

[0016] Preferably, a groove is opened in the middle of the front surface of the base. An anti - detachment baffle is fixedly installed at the upper end of the groove. A lifting cylinder is installed at one end of the base.

[0017] Based on the above features: The lifting toothed plate is located inside the groove. The telescopic end of the lifting cylinder is connected to the lifting toothed plate, facilitating the reciprocating movement of the lifting toothed plate, so that the clamping assembly can clamp or release objects.

[0018] Preferably, the clamping assembly includes a driving gear. One side of the driving gear is connected with a movable rod. One end of the movable rod away from the driving gear is movably hinged with a clamping plate. An arc - shaped groove is opened on the surface of the end of the clamping plate away from the movable rod.

[0019] Based on the above features: When the lifting tooth plate moves downward to drive the driving gear pair to rotate in opposite directions, the driving gear will drive the two clamping plates to move away from each other and open through the movable rod. When the distance between the two clamping plates can accommodate an item, stop moving the lifting tooth plate. When the item is located between the two clamping plates, the lifting tooth plate can be moved back. At this time, the driving gear will also rotate back and drive the two clamping plates to move closer to clamp the item.

[0020] The beneficial effects of the present utility model are as follows:

[0021] 1. It is convenient to adjust the angle of the clamping assembly. When the rotating motor is started, the belt pulley A can be driven to rotate through the rotating shaft. The belt pulley B is connected to the belt pulley A through the connecting belt. At this time, the connecting shaft will drive the support plate to rotate in the middle of the connecting arm. At this time, the support plate can drive the base, the lifting tooth plate and the clamping assembly to become vertical or horizontal states to clamp the item. When the support plate rotates to the vertical state, the clamping assembly can be used to descend to clamp the item. When the support plate rotates to the horizontal state, the clamping assembly can clamp and fix the item from the side or the front and rear ends of the item.

[0022] 2. When the lifting tooth plate moves downward to drive the driving gear pair to rotate in opposite directions, the driving gear will drive the two clamping plates to move away from each other and open through the movable rod. When the distance between the two clamping plates can accommodate an item, stop moving the lifting tooth plate. When the item is located between the two clamping plates, the lifting tooth plate can be moved back. At this time, the driving gear will also rotate back and drive the two clamping plates to move closer to clamp the item. When the item is tubular or sheet-shaped, the clamping plates can use the arc-shaped grooves to limit the two sides of the tubular or sheet-shaped item, and try to avoid the situation of the item slipping when the clamping plates clamp and move the item.

[0023] 3. When the telescopic cylinder is started, the positioning plate can be driven to expand and contract through the piston rod. When the support plate rotates to the vertical state, the limit insertion rod can be inserted into the interior of the second jack for limit support. When the support plate rotates to the horizontal state, the limit insertion rod can be inserted into the interior of the first jack for limit support, improving the stability of the support plate. Description of the Drawings

[0024] Figure 1 It is a diagram showing the extended state of the limit component of the clamping mechanism of a robotic arm provided by the present utility model;

[0025] Figure 2 It is a diagram showing the retracted state of the limit component of the clamping mechanism of a robotic arm provided by the present utility model;

[0026] Figure 3 It is a schematic diagram of the structure of the fixed seat and the limit component of the clamping mechanism of a robotic arm provided by the present utility model;

[0027] Figure 4Schematic diagram of the clamping mechanism base and clamping assembly of a robotic arm provided by the present utility model.

[0028] In the figure: 1, robotic arm; 2, fixed seat; 21, protective box; 22, rotary motor; 23, rotating shaft; 24, pulley A; 3, connecting arm; 31, bearing; 4, limiting assembly; 41, telescopic cylinder; 42, piston rod; 43, positioning plate; 44, limiting insertion rod; 5, support plate; 51, connecting shaft; 52, pulley B; 53, first jack; 54, second jack; 6, base; 61, groove; 62, anti - detachment baffle; 63, lifting cylinder; 7, lifting rack; 8, clamping assembly; 81, driving gear; 82, movable rod; 83, clamping plate; 84, arc groove. Detailed implementation manners

[0029] The following describes the preferred embodiments of the present utility model with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present utility model, and are not used to limit the present utility model.

[0030] Refer to the attached Figures 1-4 , a clamping mechanism of a robotic arm provided by the present utility model includes a robotic arm 1. A fixed seat 2 is installed at the lower end of the robotic arm 1. Connecting arms 3 are symmetrically installed on both sides of the front end of the fixed seat 2. A limiting assembly 4 is installed in the middle of the fixed seat 2. One end of the connecting arm 3 far from the fixed seat 2 is hinged with a support plate 5 in the middle. A base 6 is installed at the lower end of the front side of the support plate 5. A lifting rack 7 is arranged in the middle of the base 6. Clamping assemblies 8 are symmetrically installed on both sides of the base 6.

[0031] When it is necessary to clamp an object, the lifting rack 7 can be moved upward. At this time, the two symmetric clamping assemblies 8 will move closer to the middle to clamp and fix the object. When the lifting rack 7 moves downward, the two symmetric clamping assemblies 8 will open to both sides to release the object. In addition, the support plate 5 can rotate and adjust in the middle of the connecting arm 3. When the support plate 5 rotates downward to a vertical state, the base 6, the lifting rack 7 and the clamping assembly 8 will also be in a vertically downward state. At this time, the clamping assembly 8 can be lowered to clamp the object. When the support plate 5 rotates to a horizontal state, the base 6, the lifting rack 7 and the clamping assembly 8 will also be in a horizontal state. At this time, the clamping assembly 8 can clamp and fix the object from the side or the front and rear ends of the object, meeting the clamping requirements of different objects. At the same time, after the support plate 5 is adjusted, the limiting assembly 4 can support and fix the support plate 5 to improve the stability of the support plate 5.

[0032] Preferably, a protective box 21 is installed at the lower end of the fixed seat 2. A rotary motor 22 is installed inside the protective box 21. The output end of the rotary motor 22 is installed with a rotating shaft 23. One end of the rotating shaft 23 is installed with a pulley A24.

[0033] The protective box 21 can provide protection outside the rotating motor 22. When the rotating motor 22 starts, it can drive the pulley A24 to rotate through the rotating shaft 23. At this time, the pulley A24 can drive the support plate 5 to rotate through the connecting belt, so that the support plate 5 can drive the base 6, the lifting rack 7 and the clamping assembly 8 to clamp items in a vertical or horizontal state.

[0034] Preferably, a through hole is formed on the side of the connecting arm 3 away from the fixed seat 2, and a bearing 31 is installed inside the through hole.

[0035] It is convenient for the support plate 5 to rotate and adjust in the middle of the connecting arm 3.

[0036] Preferably, the limiting assembly 4 includes a telescopic cylinder 41 and a piston rod 42 installed at the movable end of the telescopic cylinder 41. One end of the piston rod 42 is installed with a positioning plate 43, and two sides of the end of the positioning plate 43 away from the piston rod 42 are symmetrically installed with limiting insertion rods 44.

[0037] The telescopic cylinder 41 is located in the inner cavity of the fixed seat 2. A hole is formed on one side surface of the fixed seat 2 to facilitate the movable penetration of the piston rod 42 through the fixed seat 2. When the telescopic cylinder 41 starts, it can drive the positioning plate 43 to expand and contract through the piston rod 42. After the support plate 5 is adjusted to a vertical or horizontal state, the positioning plate 43 can use the limiting insertion rods 44 to limit and fix the support plate 5.

[0038] Preferably, connecting shafts 51 are symmetrically installed on both sides of the support plate 5. One end of the connecting shaft 51 is installed with a pulley B52. First insertion holes 53 are symmetrically formed on the end face of the support plate 5, and second insertion holes 54 are symmetrically formed on the surface of the support plate 5.

[0039] The connecting shafts 51 on both sides of the support plate 5 are inserted into the inside of the bearing 31, and the pulley B52 and the pulley A24 are connected by a connecting belt, which is convenient for the support plate 5 to rotate in the middle of the connecting arm 3. When the support plate 5 rotates to a vertical state, the limiting insertion rods 44 can be inserted into the inside of the second insertion holes 54 for limiting support. When the support plate 5 rotates to a horizontal state, the limiting insertion rods 44 can be inserted into the inside of the first insertion holes 53 for limiting support, improving the overall stability.

[0040] Preferably, a groove 61 is formed in the middle of the front surface of the base 6. An anti - detachment baffle 62 is fixedly installed at the upper end of the groove 61. A lifting cylinder 63 is installed at one end of the base 6.

[0041] The lifting tooth plate 7 is located inside the groove 61. The anti - detachment baffle 62 can provide protection outside the groove 61 to prevent the lifting tooth plate 7 from disengaging from the groove 61 as much as possible. At the same time, a slide rail is installed on the surface of the lifting tooth plate 7, and a chute is provided on the inner wall of the anti - detachment baffle 62 to facilitate the sliding connection between the lifting tooth plate 7 and the anti - detachment baffle 62. The telescopic end of the lifting cylinder 63 is connected to the lifting tooth plate 7 to facilitate the reciprocating movement of the lifting tooth plate 7, so as to drive the clamping assembly 8 to clamp or release an object.

[0042] Preferably, the clamping assembly 8 includes a driving gear 81. One side of the driving gear 81 is connected to a movable rod 82. The end of the movable rod 82 away from the driving gear 81 is movably hinged to a clamping plate 83. An arc - shaped groove 84 is provided on the surface of the clamping plate 83 away from the movable rod 82.

[0043] Two driving gears 81 are meshed and connected to both sides of the lifting tooth plate 7, and the two driving gears 81 are movably connected to both side surfaces of the base 6. When the lifting tooth plate 7 moves downward to drive the driving gears 81 to rotate towards each other, the driving gears 81 will drive the two clamping plates 83 to move away from each other and open through the movable rods 82. When the distance between the two clamping plates 83 can accommodate an object, stop moving the lifting tooth plate 7. When the object is located between the two clamping plates 83, the lifting tooth plate 7 can be moved back. At this time, the driving gears 81 will also rotate back and drive the two clamping plates 83 to move closer to clamp the object. When the object is tubular or sheet - shaped, the clamping plates 83 can use the arc - shaped grooves 84 to limit the two sides of the tubular or sheet - shaped object, so as to prevent the object from slipping when the clamping plates 83 clamp and move the object.

[0044] The usage process of the present utility model is as follows: When it is necessary to clamp an item, the lifting air cylinder 63 can drive the lifting toothed plate 7 to move downward. At this time, the lifting toothed plate 7 will drive the two driving gears 81 to rotate towards each other, and the driving gears 81 will drive the two clamping plates 83 to move away from each other and open through the movable rods 82. When the distance between the two clamping plates 83 can accommodate the item, stop moving the lifting toothed plate 7. When the item is located between the two clamping plates 83, the lifting toothed plate 7 can be moved back. At this time, the driving gears 81 will also rotate back and drive the two clamping plates 83 to move closer to clamp the item. In addition, the support plate 5 can rotate and adjust in the middle of the connecting arm 3. When the rotating motor 22 is started, it can drive the pulley A 24 to rotate through the rotating shaft 23. The pulley B 52 is connected to the pulley A 24 through a connecting belt. At this time, the connecting shaft 51 will drive the support plate 5 to rotate. At this time, the support plate 5 can drive the base 6, the lifting toothed plate 7 and the clamping assembly 8 to become vertical or horizontal states to clamp the item. When the support plate 5 rotates to the vertical state, the limit insertion rod 44 can be inserted into the interior of the second jack 54 for limit support. At this time, the clamping assembly 8 can be lowered to clamp the item. When the support plate 5 rotates to the horizontal state, the limit insertion rod 44 can be inserted into the interior of the first jack 53 for limit support. At this time, the clamping assembly 8 can clamp and fix the item from the side or the front and rear ends of the item.

[0045] The above are only the preferred embodiments of the present utility model. Any person skilled in the art may modify the present utility model by using the technical solutions described above or modify it into equivalent technical solutions. Therefore, any simple modification or equivalent replacement made according to the technical solutions of the present utility model falls within the scope of protection required by the present utility model.

Claims

1. A clamping mechanism for a robot arm, comprising a robot arm (1), characterized in that: A fixing seat (2) is installed at the lower end of the mechanical arm (1), connecting arms (3) are symmetrically installed on both sides of the front end of the fixing seat (2), a limiting component (4) is installed in the middle of the fixing seat (2), a support plate (5) is hinged in the middle of one end of the connecting arm (3) away from the fixing seat (2), a base (6) is installed at the lower end of the front side of the support plate (5), a lifting tooth plate (7) is arranged in the middle of the base (6), and clamping components (8) are symmetrically installed on both sides of the base (6).

2. The clamping mechanism of a robot arm according to claim 1, characterized in that: A protection box (21) is installed at the lower end of the fixing seat (2), a rotating motor (22) is installed inside the protection box (21), a rotating shaft (23) is installed at the output end of the rotating motor (22), and a pulley A (24) is installed at one end of the rotating shaft (23).

3. The clamping mechanism of a robot arm according to claim 1, characterized in that: A through hole is provided on a side of the connecting arm (3) away from the fixing seat (2), and a bearing (31) is installed inside the through hole.

4. The clamping mechanism of a robot arm according to claim 1, characterized in that: The limit assembly (4) comprises a telescopic cylinder (41) and a piston rod (42) mounted on the movable end of the telescopic cylinder (41); a positioning plate (43) is mounted on one end of the piston rod (42); and limit rods (44) are symmetrically mounted on both sides of an end of the positioning plate (43) away from the piston rod (42).

5. The clamping mechanism of a robot arm according to claim 1, characterized in that: Connecting shafts (51) are symmetrically mounted on both sides of the support plate (5), a pulley B (52) is mounted on one end of the connecting shaft (51), a first plug hole (53) is symmetrically opened on the end surface of the support plate (5), and a second plug hole (54) is symmetrically opened on the surface of the support plate (5).

6. The clamping mechanism of a robot arm according to claim 1, characterized in that: A groove (61) is provided in the middle of the front side of the base (6), an anti-slip baffle (62) is fixedly mounted on the upper end of the groove (61), and a lifting cylinder (63) is mounted on one end of the base (6).

7. The clamping mechanism of a robot arm according to claim 1, characterized in that: The clamping assembly (8) comprises a driving gear (81), one side of the driving gear (81) is connected to a movable rod (82), one end of the movable rod (82) away from the driving gear (81) is movably hinged to a clamping plate (83), and an arc groove (84) is formed on the surface of one end of the clamping plate (83) away from the movable rod (82).

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