Multi-degree-of-freedom material clamping mechanical arm

Abstract

The utility model discloses a multi-degree-of-freedom material clamping mechanical arm, which belongs to the technical field of mechanical arms, and comprises a base, the top of the base is connected with a mechanical arm main body, one side of the mechanical arm main body is provided with a multi-angle adjusting mechanism, and one side of the multi-angle adjusting mechanism is provided with a clamping mechanism; according to the mechanical arm, the clamping mechanism is arranged, the moving blocks and the clamping rods are driven to move through the sliding blocks, so that the positions of the multiple clamping rods on the two sides can be adjusted, compared with a clamping part of a traditional mechanical arm, the adjusting range of the adjusting mode is larger, then materials with larger sizes can be clamped, the applicability is higher, and the mechanical arm is convenient to use. When the clamping rods clamp materials with irregular surfaces, the multiple clamping rods can be adjusted to be in the shape attached to the surfaces of the materials in a self-adaptive mode, so that the clamping rods can make full contact with the surfaces of the materials, and then the materials can be better clamped.

Description

Technical Field

[0001] The utility model belongs to the technical field of robotic arms, and particularly relates to a multi-degree-of-freedom material clamping robotic arm. Background Art

[0002] A robotic arm generally refers to a programmable mechanical arm with functions similar to those of a human arm. The arm can be a complete mechanical device or a part of a more complex robot. This robotic arm can perform rotational or translational motions through joint connections.

[0003] Robotic arms are commonly used to clamp materials on production lines. However, traditional robotic arms can usually only perform some simple linear motions and cannot be adjusted at multiple angles, resulting in a low degree of freedom of the robotic arm. As a result, they can only complete some simple clamping tasks and have low applicability. In addition, the adjustable range of the clamping part of traditional robotic arms is limited. Therefore, they cannot clamp larger-sized materials, and when the surface of the material is irregular, the clamping part cannot contact the surface of the material well, thus making it impossible to clamp the material well. Summary of the Utility Model

[0004] The purpose of the utility model is to propose a multi-degree-of-freedom material clamping robotic arm to solve the problems in the prior art that traditional robotic arms have a low degree of freedom and can only complete some simple clamping tasks, and the adjustable range of the clamping part of traditional robotic arms is limited, making it impossible to clamp larger-sized materials, and when the surface of the material is irregular, it is impossible to clamp the material well.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme:

[0006] A multi-degree-of-freedom material clamping robotic arm includes a base. A robotic arm main body is connected to the top of the base. A multi-angle adjustment mechanism is arranged on one side of the robotic arm main body. A clamping mechanism is arranged on one side of the multi-angle adjustment mechanism. The multi-angle adjustment mechanism includes a fixed block and a fixed plate. The top of the fixed plate is connected to one side of the robotic arm main body;

[0007] The clamping mechanism includes a sliding sleeve and a motor. The top of the sliding sleeve is connected to the bottom of the fixed block. One side of the motor is connected to the top of the fixed block. Two sliding blocks are slidably connected to the inner wall of the sliding sleeve. One side of the sliding block is connected to a moving block. A plurality of moving grooves are formed on one side of the moving block. A clamping rod is slidably connected to the inner wall of the moving groove. One end of the clamping rod is connected to a spring, and the other end of the spring is connected to the inner wall of the moving groove.

[0008] As a further description of the above technical solution:

[0009] One side of the sliding block is provided with a stroke groove. One side of the sliding block is connected with a rack, and the same toothed ring meshes with one sides of the two racks.

[0010] As a further description of the above technical solution:

[0011] The output shaft of the motor extends into the sliding sleeve and is connected with a rotating rod. The other end of the rotating rod is rotationally connected with the inner wall of the sliding sleeve, and the outer wall of the rotating rod is connected with the inner wall of the toothed ring.

[0012] As a further description of the above technical solution:

[0013] A plurality of first universal balls are connected to the bottom of the fixing plate, and a connecting rod is connected to one side of the first universal ball.

[0014] As a further description of the above technical solution:

[0015] One end of the connecting rod is connected with an electric push rod, and a plurality of second universal balls are connected to the ejector rod of the electric push rod.

[0016] As a further description of the above technical solution:

[0017] One side of the second universal ball is connected with a mounting seat, and the other side of the mounting seat is connected with the outer wall of the fixed block.

[0018] To sum up, due to the adoption of the above technical solution, the beneficial effects of the present utility model are as follows:

[0019] 1. In the present utility model, by setting the clamping mechanism, the rotation of the output shaft of the motor drives the rotation of the rotating rod and the toothed ring. The rotation of the toothed ring drives the movement of the rack, thereby being able to drive the sliding block, the moving block and the clamping rod to move, and further being able to adjust the positions of the plurality of clamping rods on both sides. Compared with the clamping part of the traditional robotic arm, the adjustment range of this adjustment method is larger, and thus it can clamp materials with larger sizes, and has higher applicability. When the clamping rod clamps a material with an irregular surface, the clamping rod that first contacts the surface of the material will contract into the moving groove, so that the clamping rod that has not contacted the material can continue to move forward and clamp one side of the material, thereby being able to make the clamping rod fully contact the surface of the material, and further being able to better clamp the material.

[0020] 2. In the present utility model, by setting the multi-angle adjustment mechanism, through the independent movement of the ejector rods of the four electric push rods, the fixing block can be driven to rotate at multiple angles through the first universal ball and the second universal ball, and further the sliding sleeve, the sliding block, the moving block and the clamping rod can be driven to rotate at multiple angles together, so that the clamping angle can be adjusted in multiple directions, enabling the robotic arm to complete more complex clamping operations, and further improving the degree of freedom and applicability of the robotic arm. Description of the Drawings

[0021] Figure 1 is a three-dimensional structural schematic diagram of the present utility model;

[0022] Figure 2 is a cross-sectional structural schematic diagram of the sliding sleeve of the present utility model;

[0023] Figure 3 is an exploded structural schematic diagram of the clamping rod of the present utility model;

[0024] Figure 4 is an exploded structural schematic diagram of the fixing plate of the present utility model;

[0025] Figure 5 is the present utility model Figure 4 magnified structural schematic diagram of part A;

[0026] Figure 6 is the present utility model Figure 4 magnified structural schematic diagram of part B.

[0027] Legend: 1. Base; 2. Main body of the robotic arm; 3. Multi-angle adjustment mechanism; 301. Fixing plate; 302. Electric push rod; 303. Fixed block; 304. First universal ball; 305. Connecting rod; 306. Second universal ball; 4. Clamping mechanism; 401. Motor; 402. Sliding sleeve; 403. Sliding block; 404. Moving block; 405. Clamping rod; 406. Rack; 407. Rotating rod; 408. Tooth ring; 409. Stroke groove; 410. Moving groove; 411. Spring. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0029] Please refer to Figures 1-6 , the present utility model provides a technical solution: a multi-degree-of-freedom material clamping robotic arm, including a base 1, a main body of the robotic arm 2 is connected to the top of the base 1, a multi-angle adjustment mechanism 3 is arranged on one side of the main body of the robotic arm 2, a clamping mechanism 4 is arranged on one side of the multi-angle adjustment mechanism 3, the multi-angle adjustment mechanism 3 includes a fixed block 303 and a fixing plate 301, and the top of the fixing plate 301 is connected to one side of the main body of the robotic arm 2;

[0030] The clamping mechanism 4 includes a sliding sleeve 402 and a motor 401. The top of the sliding sleeve 402 is connected to the bottom of the fixed block 303, and one side of the motor 401 is connected to the top of the fixed block 303. Two sliding blocks 403 are slidably connected to the inner wall of the sliding sleeve 402. One side of the sliding block 403 is connected to a moving block 404. A plurality of moving grooves 410 are formed in one side of the moving block 404. A clamping rod 405 is slidably connected to the inner wall of the moving groove 410. One end of the clamping rod 405 is connected to a spring 411, and the other end of the spring 411 is connected to the inner wall of the moving groove 410. A stroke groove 409 is formed in one side of the sliding block 403. One side of the sliding block 403 is connected to a rack 406, and the same gear ring 408 meshes with one side of the two racks 406. The output shaft of the motor 401 extends into the sliding sleeve 402 and is connected to a rotating rod 407. The other end of the rotating rod 407 is rotatably connected to the inner wall of the sliding sleeve 402. The outer wall of the rotating rod 407 is connected to the inner wall of the gear ring 408.

[0031] The specific implementation method is as follows: By setting the clamping mechanism 4, the rotation of the output shaft of the motor 401 drives the rotation of the rotating rod 407. The rotation of the rotating rod 407 drives the rotation of the gear ring 408. The rotation of the gear ring 408 drives the movement of the two racks 406, so as to drive the sliding blocks 403 on both sides to move in the sliding sleeve 402. The movement of the sliding block 403 drives the movement of the moving block 404. The moving block 404 drives the clamping rod 405 to move through the spring 411, so as to adjust the positions of the plurality of clamping rods 405 on both sides. Compared with the clamping part of the traditional robotic arm, the adjustment range of this adjustment method is larger, and thus larger-sized materials can be clamped, with higher applicability. When the plurality of clamping rods 405 clamp materials with irregular surfaces, the clamping rod 405 that first contacts the material surface will be squeezed by the material surface and contract into the moving groove 410. When the clamping rod 405 contracts into the moving groove 410, it will drive the spring 411 to compress, causing the spring 411 to generate elastic force. The clamping rod 405 can then clamp the material through the elastic force of the spring 411. The contraction of the clamping rod 405 that first contacts the material enables the clamping rods 405 that have not contacted the material to continue to move forward and clamp one side of the material, so that the clamping rod 405 can be in full contact with the material surface, and thus the material can be clamped better. By setting the stroke groove 409, the rack 406 has a certain moving space when moving.

[0032] A plurality of first universal balls 304 are connected to the bottom of the fixed plate 301. One side of the first universal ball 304 is connected to a connecting rod 305. One end of the connecting rod 305 is connected to an electric push rod 302. The ejector rod of the electric push rod 302 is connected to a plurality of second universal balls 306. One side of the second universal ball 306 is connected to a mounting seat, and the other side of the mounting seat is connected to the outer wall of the fixed block 303.

[0033] The specific implementation mode is as follows: By setting the multi-angle adjustment mechanism 3, the ejector rods of the four electric push rods 302 move independently, so that the electric push rod 302 can drive the fixed block 303 to rotate at multiple angles through the first universal ball 304 and the second universal ball 306. The rotation of the fixed block 303 drives the rotation of the sliding sleeve 402, the rotation of the sliding sleeve 402 drives the rotation of the sliding block 403, the rotation of the sliding block 403 drives the rotation of the moving block 404, and the moving block 404 drives the clamping rod 405 to rotate at multiple angles through the spring 411, so that the clamping angle can be adjusted in multiple directions, enabling the robotic arm to complete more complex clamping operations, thereby improving the degree of freedom and applicability of the robotic arm.

[0034] Working principle: When in use, start the motor 401. The output shaft of the motor 401 rotates to drive the rotating rod 407 and the toothed ring 408 to rotate. The toothed ring 408 drives the sliding block 403 to move in the sliding sleeve 402 through the rack 406, thereby driving the moving block 404 to move. The moving block 404 drives the clamping rod 405 to move through the spring 411, so that the positions of the multiple clamping rods 405 on both sides can be adjusted. When the multiple clamping rods 405 clamp the irregularly shaped material on the surface, the clamping rod 405 that first contacts the material surface will be squeezed by the material surface and contract into the moving groove 410. While the clamping rod 405 contracts into the moving groove 410, it will drive the spring 411 to compress, causing the spring 411 to generate elastic force. The clamping rod 405 can then clamp the material through the elastic force of the spring 411. The contraction of the clamping rod 405 that first contacts the material enables the clamping rod 405 that has not contacted the material to continue to move forward and clamp one side of the material, so that the clamping rod 405 can be in full contact with the material surface, and thus the material can be clamped better. When it is necessary to change the clamping angle, start the four electric push rods 302. The ejector rods of the four electric push rods 302 move independently, so that the electric push rod 302 can drive the fixed block 303 to rotate at multiple angles through the first universal ball 304 and the second universal ball 306. The rotation of the fixed block 303 drives the rotation of the sliding sleeve 402, the sliding block 403, and the moving block 404. The moving block 404 drives the clamping rod 405 to rotate at multiple angles through the spring 411, so that the clamping angle can be adjusted in multiple directions.

[0035] The above is only a preferred specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and the inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom material clamping robotic arm, comprising a base (1), characterized in that: The top of the base (1) is connected to the main body of the robotic arm (2). A multi-angle adjustment mechanism (3) is arranged on one side of the main body of the robotic arm (2). A clamping mechanism (4) is arranged on one side of the multi-angle adjustment mechanism (3). The multi-angle adjustment mechanism (3) includes a fixed block (303) and a fixing plate (301). The top of the fixing plate (301) is connected to one side of the main body of the robotic arm (2). The clamping mechanism (4) includes a sliding sleeve (402) and a motor (401). The top of the sliding sleeve (402) is connected to the bottom of the fixed block (303). One side of the motor (401) is connected to the top of the fixed block (303). Two sliding blocks (403) are slidably connected to the inner wall of the sliding sleeve (402). One side of the sliding block (403) is connected to a moving block (404). A plurality of moving grooves (410) are formed in one side of the moving block (404). A clamping rod (405) is slidably connected to the inner wall of the moving groove (410). One end of the clamping rod (405) is connected to a spring (411). The other end of the spring (411) is connected to the inner wall of the moving groove (410).

2. The multi-degree-of-freedom material gripping robotic arm according to claim 1, characterized in that: A travel groove (409) is formed in one side of the sliding block (403). One side of the sliding block (403) is connected to a rack (406). And the same toothed ring (408) is engaged with one side of the two racks (406).

3. The multi-degree-of-freedom material clamping robotic arm according to claim 1, wherein: The output shaft of the motor (401) extends into the sliding sleeve (402) and is connected to a rotating rod (407). The other end of the rotating rod (407) is rotatably connected to the inner wall of the sliding sleeve (402). The outer wall of the rotating rod (407) is connected to the inner wall of the toothed ring (408).

4. A multi-degree-of-freedom material gripping robotic arm according to claim 1, characterized in that: A plurality of first universal balls (304) are connected to the bottom of the fixing plate (301). One side of the first universal ball (304) is connected to a connecting rod (305).

5. A multi-degree-of-freedom material gripping robotic arm according to claim 4, characterized in that: One end of the connecting rod (305) is connected to an electric push rod (302). The ejector rod of the electric push rod (302) is connected to a plurality of second universal balls (306).

6. The multi-degree-of-freedom material clamping robotic arm according to claim 5, characterized in that: One side of the second universal ball (306) is connected to a mounting seat. And the other side of the mounting seat is connected to the outer wall of the fixed block (303).

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