Lightweight simulation mechanical arm multi-degree-of-freedom grabbing device

Abstract

The utility model discloses a lightweight simulation mechanical arm multi-degree-of-freedom gripping device, which comprises a base, a first adjusting mechanism, a second adjusting mechanism and a gripping mechanism, the outer side of the base is provided with a connecting assembly, the bottom of the base is provided with an auxiliary mechanism, the top end of the base is provided with the first adjusting mechanism and a motor, and the second adjusting mechanism is provided with a second adjusting mechanism. A fixing plate is mounted on the right side of the first adjusting mechanism, a rotating shaft is rotatably connected to the side, away from the first adjusting mechanism, of the fixing plate, a fixing block is fixedly mounted on the outer side of the rotating shaft, a grabbing mechanism is mounted at the bottom of the fixing block, a second adjusting mechanism is mounted on the front side of the fixing plate, and the connecting assembly comprises a fixing ring and a bolt. And a bolt is in threaded connection with the interior of the fixing ring. According to the light-weight simulation mechanical arm multi-degree-of-freedom grabbing device, the direction of the grabbing mechanism is convenient to adjust, meanwhile, the height and the angle of the grabbing mechanism are convenient to adjust, grabbing is convenient, and grabbing is stable.

Description

Technical Field

[0001] The utility model relates to the technical field of lightweight simulation robotic arm multi-degree-of-freedom grasping devices, and specifically relates to a lightweight simulation robotic arm multi-degree-of-freedom grasping device. Background Technique

[0002] With the rapid development of technology, the degree of automation and intelligence in people's life and work is getting higher and higher. In various fields such as industrial manufacturing, medical treatment, entertainment services, military, and aerospace, more and more robotic arms are serving humans. In many working environments, the operation content is relatively complex, such as construction operations in roadways. In order to improve the degree of mechanized operation, reduce manual labor intensity and operation risks, it is necessary to introduce a lightweight simulation robotic arm multi-degree-of-freedom grasping device to replace manual operation.

[0003] Referring to the Chinese patent invention announcement number CN111618826A, the invention announcement date is September 4, 2020, which discloses a multi-degree-of-freedom movable arm, a rotating box, a grasping mechanism, a base, and a vibration-proof fixing seat mechanism. The top of the vibration-proof fixing seat mechanism is fixedly connected to the bottom of the base. The top of the base is fixedly connected to the bottom end of the multi-degree-of-freedom movable arm. The top end of the multi-degree-of-freedom movable arm is movably connected to the bottom side of the rotating box. The left side of the rotating box is fixedly connected to the right side of the grasping mechanism. The grasping mechanism includes a first caliper. A multi-degree-of-freedom robotic arm for grasping can, through the provided first caliper, second caliper, first grasping platform, and second grasping platform, realize the grasping of an item with a curvature by the first caliper and the second caliper driven by a hydraulic moving cylinder. At the same time, through the clamping of the convex platform of the claw and the clamping grooves of the first clamping pin and the second clamping pin, it is convenient to install and disassemble the first grasping platform and the second grasping platform, so as to realize the grasping of square objects and plate-shaped objects.

[0004] However, the existing lightweight simulation robotic arm multi-degree-of-freedom grasping device is not convenient for adjusting the direction of the grasping mechanism and is not convenient for adjusting the height of the grasping mechanism. Therefore, we propose a lightweight simulation robotic arm multi-degree-of-freedom grasping device to solve the problems raised above. Content of the Utility Model

[0005] The purpose of the utility model is to provide a lightweight simulation robotic arm multi-degree-of-freedom grasping device to solve the problems in the above background technique that the existing lightweight simulation robotic arm multi-degree-of-freedom grasping device is not convenient for adjusting the direction of the grasping mechanism and is not convenient for adjusting the height of the grasping mechanism.

[0006] To achieve the above object, the present utility model provides the following technical solutions: A lightweight simulation robotic arm multi-degree-of-freedom grasping device, including a base, a first adjustment mechanism, a second adjustment mechanism, and a grasping mechanism. A connection component is installed on the outer side of the base, an auxiliary mechanism is arranged at the bottom of the base, a first adjustment mechanism and a motor are installed at the top of the base. A fixing plate is installed on the right side of the first adjustment mechanism. A rotating shaft is rotatably connected to one side of the fixing plate away from the first adjustment mechanism. A fixing block is fixedly installed on the outer side of the rotating shaft. A grasping mechanism is installed at the bottom of the fixing block. A second adjustment mechanism is installed on the front side of the fixing plate.

[0007] Preferably, the connection component includes a fixing ring and a bolt. The fixing ring is fixedly installed on the outer side of the base, and the bolt is threadedly connected inside the fixing ring.

[0008] Preferably, the auxiliary mechanism includes an installation groove and a roller assembly. The roller assembly is rotatably connected inside the installation groove, and the installation groove is opened on the inner side of the bottom of the base.

[0009] Preferably, the first adjustment mechanism includes a first gear, a toothed ring, a first automatic telescopic rod, and a connecting plate. The first gear is meshed with the toothed ring, and a first automatic telescopic rod is fixedly installed inside the toothed ring.

[0010] Preferably, the output end of the first automatic telescopic rod is fixedly installed with a connecting plate. One end of the connecting plate away from the first automatic telescopic rod is fixedly installed with a fixing plate. The bottom of the first gear is fixedly connected to a motor.

[0011] Preferably, the second adjustment mechanism includes a second automatic telescopic rod, a toothed plate, and a second gear. The output end of the second automatic telescopic rod is fixedly connected to the toothed plate. The toothed plate is meshed with the second gear. A rotating shaft is fixedly installed inside the second gear. The second automatic telescopic rod is fixedly installed on the front side of the fixing plate.

[0012] Preferably, the grasping mechanism includes a third automatic telescopic rod, a fixing disk, a fixing rod, a first connection block, a grasping clip, a second connection block, and a fixing shell. The output end of the third automatic telescopic rod is fixedly connected to the fixing disk. The fixing rods are fixedly installed at equal angles at the bottom of the fixing disk. The bottom of the fixing rod is rotatably connected to a first connection block.

[0013] Preferably, one end of the first connection block away from the fixing rod is rotatably connected to the grasping clip. One end of the grasping clip away from the first connection block is rotatably connected to the second connection block. The second connection block is fixedly installed on the outer side of the bottom of the fixing shell. The third automatic telescopic rod is fixedly installed at the top inside the fixing shell.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows: The lightweight simulation robotic arm multi-degree-of-freedom grasping device facilitates adjusting the direction of the grasping mechanism, and at the same time facilitates adjusting the height, facilitating adjusting the angle of the grasping mechanism, facilitating grasping, and having a firm grasp.

[0015] 1. A first adjustment mechanism is provided. The first adjustment mechanism includes a first gear, a toothed ring, a first automatic telescopic rod, and a connecting plate. This mechanism drives the grasping mechanism to rotate through the meshing connection of the first gear and the toothed ring, and adjusts the height of the grasping mechanism through the first automatic telescopic rod;

[0016] 2. A second adjustment mechanism is provided. The second adjustment mechanism includes a second automatic telescopic rod, a toothed plate, and a second gear. The toothed plate is driven to move left and right by the second automatic telescopic rod. The toothed plate is meshed with the second gear, so that the moving toothed plate drives the second gear to rotate, thereby driving the grasping mechanism to rotate, thus facilitating adjusting its angle;

[0017] 3. A grasping mechanism is provided. The third automatic telescopic rod of this mechanism drives three equally angled fixing rods at the bottom of the fixed disk to lift and lower. The fixing rods are rotatably connected to a first connecting block, and the gripper is rotatably connected to a second connecting block and the first connecting block, so that the third automatic telescopic rod drives the three grippers to contract inward for clamping, and the three grippers make the grasping more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a front view structural schematic diagram of the present utility model;

[0019] Figure 2 is a top view structural schematic diagram of the present utility model;

[0020] Figure 3 is a bottom view structural schematic diagram of the present utility model;

[0021] Figure 4 is a front view sectional structural schematic diagram of the present utility model;

[0022] Figure 5 is a structural schematic diagram of the grasping mechanism of the present utility model.

[0023] In the figure: 1, base; 2, connection assembly; 201, fixing ring; 202, bolt; 3, auxiliary mechanism; 301, installation groove; 302, roller assembly; 4, first adjustment mechanism; 401, first gear; 402, toothed ring; 403, first automatic telescopic rod; 404, connecting plate; 5, fixing plate; 6, second adjustment mechanism; 601, second automatic telescopic rod; 602, toothed plate; 603, second gear; 7, rotating shaft; 8, grasping mechanism; 801, third automatic telescopic rod; 802, fixed disk; 803, fixing rod; 804, first connecting block; 805, gripper; 806, second connecting block; 807, fixed shell; 9, motor; 10, fixing block. Detailed implementation mode

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0025] Please refer to Figures 1-5 , the present invention provides a technical solution: a lightweight simulation robotic arm multi-degree-of-freedom grasping device, including a base 1, a connection component 2, a fixing ring 201, a bolt 202, an auxiliary mechanism 3, a mounting groove 301, a roller assembly 302, a first adjusting mechanism 4, a first gear 401, a toothed ring 402, a first automatic telescopic rod 403, a connecting plate 404, a fixing plate 5, a second adjusting mechanism 6, a second automatic telescopic rod 601, a toothed plate 602, a second gear 603, a rotating shaft 7, a grasping mechanism 8, a third automatic telescopic rod 801, a fixing disk 802, a fixing rod 803, a first connecting block 804, a gripper 805, a second connecting block 806, a fixing shell 807, a motor 9 and a fixing block 10;

[0026] The lightweight simulation robotic arm multi-degree-of-freedom grasping device is provided with an auxiliary mechanism 3, as Figure 3 shown. The auxiliary mechanism 3 includes a mounting groove 301 and a roller assembly 302. The mounting groove 301 is opened on the inner side of the bottom of the base 1. The roller assembly 302 is rotatably connected in the mounting groove 301. The roller assembly 302 contacts the ground. When the device is pushed to move, the roller assembly 302 rotates, reducing the friction between the bottom of the base 1 and the ground and reducing the wear of its bottom, making the device easy to move. The lightweight simulation robotic arm multi-degree-of-freedom grasping device is provided with a connection component 2. The connection component 2 includes a fixing ring 201 and a bolt 202. The fixing ring 201 is fixedly installed on the outer side of the base 1. When the device is moved to the required position, threaded holes are equiangularly arranged in the fixing ring 201. The bolt 202 is screwed into it to fix the fixing ring 201 to the plane and fix the device. When disassembling, just unscrew the bolt 202;

[0027] The first adjusting mechanism 4 provided in the lightweight simulation robotic arm multi-degree-of-freedom grasping device can adjust the direction of the grasping mechanism 8, as Figure 1 and Figure 4As shown in the figure, the first adjustment mechanism 4 includes a first gear 401, a toothed ring 402, a first automatic telescopic rod 403, and a connecting plate 404. When adjusting the direction, the motor 9 fixedly installed on the left side of the top of the base 1 is started. The output end of the motor 9 is fixedly installed with the first gear 401. The motor 9 drives the first gear 401 to rotate. The first gear 401 is meshed and connected with the toothed ring 402. The first gear 401 drives the toothed ring 402 to rotate. The first automatic telescopic rod 403 is fixedly installed inside the toothed ring 402. The toothed ring 402 drives the first automatic telescopic rod 403 to rotate. The output end of the first automatic telescopic rod 403 is fixedly installed with the connecting plate 404. The rotating first automatic telescopic rod 403 drives the connecting plate 404 to rotate. One end of the connecting plate 404 away from the first automatic telescopic rod 403 is fixedly installed with a fixing plate 5. The connecting plate 404 drives the fixing plate 5 to rotate. The fixing plate 5 is connected with a grasping mechanism 8 through a rotating shaft 7 and a fixing block 10. The fixing plate 5 drives the grasping mechanism 8 to rotate. When it is necessary to adjust the height of the grasping mechanism 8, the first automatic telescopic rod 403 is started. The first automatic telescopic rod 403 drives the connecting plate 404 to lift and lower. The connecting plate 404 drives the fixing plate 5 to lift and lower. The fixing plate 5 drives the fixing block 10 to lift and lower. The fixing block 10 drives the grasping mechanism 8 to lift and lower;

[0028] The second adjustment mechanism 6 provided in the lightweight simulation robotic arm multi-degree-of-freedom grasping device can adjust the angle of the grasping mechanism 8, such as Figure 1 and Figure 2 As shown in the figure, the second adjustment mechanism 6 includes a second automatic telescopic rod 601, a toothed plate 602, and a second gear 603. The second automatic telescopic rod 601 fixedly installed on the front side of the fixing plate 5 is started. The output end of the second automatic telescopic rod 601 is fixedly connected with the toothed plate 602. The second automatic telescopic rod 601 drives the toothed plate 602 to move back and forth. The toothed plate 602 is meshed and connected with the second gear 603. The moving toothed plate 602 drives the second gear 603 to rotate. A rotating shaft 7 is fixedly installed inside the second gear 603. The rotating shaft 7 is rotatably connected to one end of the fixing plate 5 away from the second automatic telescopic rod 601. The rotating second gear 603 drives the rotating shaft 7 to rotate. A fixing block 10 is fixedly installed on the outside of the rotating shaft 7. The rotating shaft 7 drives the fixing block 10 to rotate. The grasping mechanism 8 is installed at the bottom of the fixing block 10. The fixing block 10 drives the grasping mechanism 8 to rotate;

[0029] The grasping mechanism 8 provided in the lightweight simulation robotic arm multi-degree-of-freedom grasping device includes a third automatic telescopic rod 801, a fixed disk 802, a fixed rod 803, a first connecting block 804, a gripper 805, a second connecting block 806, and a fixed shell 807, such as Figure 5As shown, when in use, the third automatic telescopic rod 801 fixedly installed at the top inside the fixed housing 807 is activated. A fixed disk 802 is fixedly connected to the output end of the third automatic telescopic rod 801. The third automatic telescopic rod 801 drives the fixed disk 802 to move in its direction. Fixed rods 803 are fixedly installed at equal angles on the bottom of the fixed disk 802. The fixed rods 803 are connected through the bottom wall of the fixed housing 807. The fixed disk 802 drives the fixed rods 803 to move. A first connection block 804 is rotatably connected to the bottom of the fixed rod 803. A gripper 805 is rotatably connected to one end of the first connection block 804 away from the fixed rod 803. A second connection block 806 is rotatably connected to one end of the gripper 805 away from the first connection block 804. So that the fixed rod 803 drives the three grippers 805 to contract inward simultaneously to grab an object. When the output end of the third automatic telescopic rod 801 moves outward, the object is released.

[0030] The above completes a series of operations of the lightweight simulation robotic arm multi-degree-of-freedom grasping device. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0031] The standard parts used in the present utility model can all be purchased from the market. The special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machines, parts, and equipment all adopt conventional models in the prior art. Coupled with the circuit connection adopting the conventional connection method in the prior art, it will not be elaborated here.

[0032] Although the present utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A lightweight simulated robotic arm multi-degree-of-freedom grasping device, comprising a base (1), a first adjustment mechanism (4), a second adjustment mechanism (6) and a grasping mechanism (8), characterized in that: A connecting assembly (2) is installed on the outside of the base (1), an auxiliary mechanism (3) is arranged at the bottom of the base (1), a first adjustment mechanism (4) and a motor (9) are installed on the top of the base (1), a fixing plate (5) is installed on the right side of the first adjustment mechanism (4), a side of the fixing plate (5) away from the first adjustment mechanism (4) is rotatably connected to a rotating shaft (7), a fixing block (10) is fixedly installed on the outside of the rotating shaft (7), a grabbing mechanism (8) is installed at the bottom of the fixing block (10), and a second adjustment mechanism (6) is installed on the front side of the fixing plate (5).

2. A lightweight simulation robot arm multi-degree-of-freedom grasping device according to claim 1, characterized in that: The connection assembly (2) comprises a fixing ring (201) and a bolt (202); the fixing ring (201) is fixedly mounted on the outside of the base (1); and the fixing ring (201) is internally threadedly connected to the bolt (202).

3. A lightweight simulated robotic arm multi-degree-of-freedom grasping device according to claim 1, characterized in that: The auxiliary mechanism (3) comprises a mounting groove (301) and a roller assembly (302); the roller assembly (302) is rotatably connected in the mounting groove (301); and the mounting groove (301) is provided on the inner side of the bottom of the base (1).

4. The lightweight simulation robot arm multi-degree-of-freedom grasping device according to claim 1, characterized in that: The first adjustment mechanism (4) comprises a first gear (401), a gear ring (402), a first automatic telescopic rod (403) and a connecting plate (404); the first gear (401) is meshingly connected to the gear ring (402); and the first automatic telescopic rod (403) is fixedly mounted inside the gear ring (402).

5. A lightweight simulation robot arm multi-degree-of-freedom grasping device according to claim 4, characterized in that: A connecting plate (404) is fixedly mounted on the output end of the first automatic telescopic rod (403), a fixing plate (5) is fixedly mounted on one end of the connecting plate (404) away from the first automatic telescopic rod (403), and a motor (9) is fixedly connected to the bottom of the first gear (401).

6. The lightweight simulation robot arm multi-degree-of-freedom grasping device according to claim 1, characterized in that: The second adjustment mechanism (6) comprises a second automatic telescopic rod (601), a toothed plate (602) and a second gear (603); the output end of the second automatic telescopic rod (601) is fixedly connected to the toothed plate (602); the toothed plate (602) is meshingly connected to the second gear (603); a rotating shaft (7) is fixedly mounted inside the second gear (603); and the second automatic telescopic rod (601) is fixedly mounted on the front side of the fixed plate (5).

7. The lightweight simulation robot arm multi-degree-of-freedom grasping device according to claim 1, characterized in that: The gripping mechanism (8) comprises a third automatic telescopic rod (801), a fixed disk (802), a fixed rod (803), a first connecting block (804), a gripping clamp (805), a second connecting block (806) and a fixed shell (807); the output end of the third automatic telescopic rod (801) is fixedly connected to the fixed disk (802); the bottom of the fixed disk (802) is fixedly mounted with a fixed rod (803) at an equal angle; the bottom of the fixed rod (803) is rotatably connected to the first connecting block (804).

8. The lightweight simulation robot arm multi-degree-of-freedom grasping device according to claim 7, characterized in that: One end of the first connection block (804) away from the fixed rod (803) is rotatably connected to a grabbing clamp (805), and one end of the grabbing clamp (805) away from the first connection block (804) is rotatably connected to a second connection block (806). The second connection block (806) is fixedly mounted on the outside of the bottom of the fixed shell (807), and a third automatic telescopic rod (801) is fixedly mounted on the top of the fixed shell (807).

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