Adjustable grabbing mechanical arm

Abstract

The utility model relates to the technical field of stone machining, and discloses an adjustable grabbing mechanical arm which comprises a main body mechanism and an adjusting mechanism, the adjusting mechanism is located above the main body mechanism, and the main body mechanism comprises a mechanical arm body, a grabbing arm and a mounting plate. According to the adjustable grabbing mechanical arm, by installing the main body mechanism, when the mechanical arm body is used for grabbing operation of stone machining, good clamping force can be provided for machined stone through the arrangement of the grabbing arm, and the auxiliary supporting arm can be driven to rotate by cooperating with the design of the overturning motor; the auxiliary supporting arm can support the bottom of grabbed stone, the mechanical arm body grabs the stone more stably, the situation that the stone slides off from the clamping face under the influence of gravity can be avoided, meanwhile, the auxiliary supporting effect is achieved for clamping of the grabbing arm, abrasion to the grabbing arm in the stone grabbing operation is reduced, and the working efficiency is improved. And the use stability and protection performance of the mechanical arm body are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of stone processing, in particular to an adjustable grasping robotic arm. Background Technique

[0002] As a high-grade building decoration material, stone is widely used in interior decoration design, curtain wall decoration and public facility construction. During the processing of stone, a robotic arm is usually used to grasp the processed stone.

[0003] The existing patent document with the publication number CN210210429U provides a robotic hand device that can be used to grasp stones. After the cylinder enters the working state, it pulls the left clamping arm, causing the gear to mesh with the first rack and the second rack, and at the same time drives the slider to move in the chute, so that the left clamping arm moves to the right and cooperates with the right clamping arm to clamp the stone slab, achieving the beneficial effect of being able to clamp and grasp the stone during stone processing or handling, saving manpower and material resources.

[0004] However, when the existing grasping robotic arm performs the grasping operation of stones, the single-side clamping structure is not convenient for ensuring the stability of stone grasping. Since the processed stones are usually heavy, during the grasping process of the stones, the clamping surface of the robotic arm is easily worn under the influence of gravity. And the existing grasping robotic arm is not convenient for providing bottom support for the grasped stones, and thus the phenomenon of stone slipping is likely to occur, affecting the stability and safety of the use of the robotic arm. Summary of the Utility Model

[0005] The purpose of the utility model is to provide an adjustable grasping robotic arm to solve the problem that the single-side clamping structure of the existing grasping robotic arm is not convenient for ensuring the stability of stone grasping as mentioned in the above background technique.

[0006] To achieve the above purpose, the utility model provides the following technical solution: an adjustable grasping robotic arm, including a main body mechanism and an adjusting mechanism. The adjusting mechanism is located above the main body mechanism. The main body mechanism includes a robotic arm body, a grasping arm and a mounting plate. The grasping arm is located below the robotic arm body, and the mounting plate is fixedly installed at the outer end of the grasping arm.

[0007] The main body mechanism further includes a flipping motor, a rotating shaft and an auxiliary support arm. The flipping motor is fixedly installed at the front end of the mounting plate, the transmission end at the rear of the flipping motor extends to the middle of the mounting plate, the rotating shaft is fixedly installed at the transmission end at the rear of the flipping motor, and the auxiliary support arm is fixedly installed at the outer end of the rotating shaft.

[0008] Preferably, the adjusting mechanism includes an assembly through groove and a driving motor. The assembly through groove is fixedly arranged at the front end of the upper end of the robotic arm body, and the driving motor is fixedly installed at the right end of the inner end of the assembly through groove.

[0009] Preferably, the adjusting mechanism further includes a double-sided threaded rod and a support disk. The double-sided threaded rod is fixedly installed at the transmission end of the left end of the driving motor, the support disk is fixedly installed at the left end of the inner end of the assembly through groove, and the left end of the double-sided threaded rod is rotatably connected to the support disk.

[0010] Preferably, the adjusting mechanism further includes threaded sleeves. The threaded sleeves are threadedly connected to the left and right ends of the outer end of the double-sided threaded rod, and the grasping arm is located at the lower end of the threaded sleeves.

[0011] Preferably, the adjusting mechanism further includes a support block and a support through groove. The support block is fixedly installed at the rear end of the upper end of the grasping arm, and the support through groove is fixedly arranged at the rear end of the upper end of the robotic arm body.

[0012] Preferably, the adjusting mechanism further includes a support rod. The support rod is fixedly installed inside the support through groove, and the support block is slidably connected to the support rod.

[0013] Preferably, the adjusting mechanism further includes a bearing seat. The bearing seat is fixedly installed at the rear end of the inner end of the mounting plate, and the rear end of the rotating shaft is rotatably connected to the bearing seat.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0015] 1. For this adjustable grasping robotic arm, by installing the main body mechanism, when using the robotic arm body to perform the grasping operation for stone processing, the grasping arm can provide good clamping force for the processed stone. With the design of the flipping motor, it can drive the auxiliary support arm to rotate, so that the auxiliary support arm can support the bottom of the grasped stone, making the grasping of the stone by the robotic arm body more stable, avoiding the situation that the stone slides off from the clamping surface due to gravity, and at the same time playing an auxiliary support effect for the clamping of the grasping arm, reducing the wear on the grasping arm during the stone grasping operation, and improving the stability and protection of the use of the robotic arm body.

[0016] 2. For this adjustable grasping robotic arm, by installing the adjusting mechanism, when the robotic arm body is in use, the staff can appropriately adjust the positions of the two grasping arms by operating the driving motor, so that the robotic arm body can grasp stones of different specifications. With the design of the support block and the support rod, it provides a supporting effect for the grasping arm, making the grasping arm more stable during use, and improving the applicability and practicality of the robotic arm body. Description of the Drawings

[0017] Figure 1 Schematic diagram of the three-dimensional structure of the present utility model;

[0018] Figure 2 Schematic diagram of the three-dimensional structure of the main body mechanism of the present utility model;

[0019] Figure 3 Schematic diagram of the three-dimensional structure of the adjusting mechanism of the present utility model;

[0020] Figure 4 Schematic diagram of the enlarged partial details of the rotating shaft of the present utility model.

[0021] In the figure: 1. Main body mechanism; 101. Manipulator body; 102. Gripping arm; 103. Mounting plate; 104. Tipping motor; 105. Rotating shaft; 106. Auxiliary support arm; 2. Adjusting mechanism; 201. Assembly through groove; 202. Driving motor; 203. Double-sided threaded rod; 204. Support disc; 205. Threaded sleeve; 206. Support block; 207. Support through groove; 208. Support rod; 209. Bearing seat. Specific implementation manners

[0022] 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 creative efforts shall fall within the protection scope of the present utility model.

[0023] Please refer to Figure 1 - Figure 4 , the present utility model provides a technical solution: An adjustable gripping manipulator, including a main body mechanism 1 and an adjusting mechanism 2. The adjusting mechanism 2 is located above the main body mechanism 1. The main body mechanism 1 includes a manipulator body 101, a gripping arm 102, and a mounting plate 103. The gripping arm 102 is located below the manipulator body 101, and the mounting plate 103 is fixedly installed at the outer end of the gripping arm 102;

[0024] The main body mechanism 1 further includes a flipping motor 104, a rotating shaft 105 and an auxiliary support arm 106. The flipping motor 104 is fixedly installed at the front end of the mounting plate 103. The transmission end at the rear of the flipping motor 104 extends to the middle of the mounting plate 103. The rotating shaft 105 is fixedly installed at the transmission end at the rear of the flipping motor 104. The auxiliary support arm 106 is fixedly installed at the outer end of the rotating shaft 105. By operating the driving device, the staff drives the manipulator body 101 to move upward, so that the stone is lifted. The flipping motor 104 works to drive the rotating shaft 105 to rotate, and the rotating shaft 105 drives the auxiliary support arm 106 to rotate, so that the bottom surface of the auxiliary support arm 106 is in full contact with the bottom of the stone, supporting the stone and ensuring the stability during the stone grabbing process.

[0025] The adjusting mechanism 2 includes an assembly through groove 201 and a driving motor 202. The assembly through groove 201 is fixedly arranged at the front end of the upper end of the manipulator body 101. The driving motor 202 is fixedly installed at the right end of the inner end of the assembly through groove 201. The adjusting mechanism 2 further includes a double-sided threaded rod 203 and a support disk 204. The double-sided threaded rod 203 is fixedly installed at the transmission end of the left end of the driving motor 202. The support disk 204 is fixedly installed at the left end of the inner end of the assembly through groove 201. The left end of the double-sided threaded rod 203 is rotatably connected to the support disk 204. The adjusting mechanism 2 further includes a threaded sleeve 205. The threaded sleeve 205 is threadedly connected to the left and right ends of the outer end of the double-sided threaded rod 203. The grasping arm 102 is located at the lower end of the threaded sleeve 205. The adjusting mechanism 2 further includes a support block 206 and a support through groove 207. The support block 206 is fixedly installed at the rear end of the upper end of the grasping arm 102. The support through groove 207 is fixedly arranged at the rear end of the upper end of the manipulator body 101. The adjusting mechanism 2 further includes a support rod 208. The support rod 208 is fixedly installed inside the support through groove 207. The support block 206 is slidably connected to the support rod 208. The adjusting mechanism 2 further includes a bearing seat 209. The bearing seat 209 is fixedly installed at the rear end of the inner end of the mounting plate 103. The rear end of the rotating shaft 105 is rotatably connected to the bearing seat 209. When using the manipulator body 101 to perform the grasping operation for stone processing, the staff installs the manipulator body 101 on a driving device such as a machine tool head or a stone hoisting machine, and adjusts the manipulator body 101 to a position suitable for grasping the stone, so that the manipulator body 101 is located above the stone and the grasping arms 102 are located on both sides of the stone. The driving motor 202 works to drive the threaded sleeve 205 to move towards each other on the double-sided threaded rod 203. The threaded sleeve 205 drives the grasping arm 102 to move. The grasping arm 102 drives the support block 206 to slide on the support rod 208, appropriately adjusting the positions of the two groups of grasping arms 102 so that the grasping arms 102 are in full contact with the processed stone and clamping and fixing the stone.

[0026] Working principle: When using the manipulator body 101 for the grasping operation of stone processing, the staff installs the manipulator body 101 on a driving device such as a machine tool head or a stone hoisting machine, and adjusts the manipulator body 101 to a position suitable for grasping the stone, so that the manipulator body 101 is located above the stone and the grasping arms 102 are located on both sides of the stone. The driving motor 202 works to drive the threaded sleeve 205 to move towards each other on the double-sided threaded rod 203. The threaded sleeve 205 drives the grasping arms 102 to move, and the grasping arms 102 drive the support blocks 206 to slide on the support rods 208, appropriately adjusting the positions of the two groups of grasping arms 102, so that the grasping arms 102 are in full contact with the processed stone, clamping and fixing the stone. Then, by operating the driving device, the manipulator body 101 is driven to move upward, so that the stone is lifted. The turning motor 104 works to drive the rotating shaft 105 to rotate, and the rotating shaft 105 drives the auxiliary support arm 106 to rotate, so that the bottom surface of the auxiliary support arm 106 is in full contact with the bottom of the stone, supporting the stone and ensuring the stability during the stone grasping process.

[0027] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than a limitation on the protection scope of the present invention. Any simple modification or equivalent replacement of the technical solution of the present invention by those of ordinary skill in the art shall not depart from the essence and scope of the technical solution of the present invention.

Claims

1. An adjustable grasping robotic arm, comprising a main body mechanism (1) and an adjusting mechanism (2), characterized in that: The adjustment mechanism (2) is located above the main body mechanism (1). The main body mechanism (1) includes a robotic arm body (101), a grasping arm (102), and a mounting plate (103). The grasping arm (102) is located below the robotic arm body (101), and the mounting plate (103) is fixedly installed at the outer end of the grasping arm (102). The main body mechanism (1) further includes a flipping motor (104), a rotating shaft (105), and an auxiliary support arm (106). The flipping motor (104) is fixedly installed at the front end of the mounting plate (103). The transmission end at the rear of the flipping motor (104) extends to the middle of the mounting plate (103). The rotating shaft (105) is fixedly installed at the transmission end at the rear of the flipping motor (104), and the auxiliary support arm (106) is fixedly installed at the outer end of the rotating shaft (105).

2. The adjustable grasping robotic arm according to claim 1, wherein: The adjustment mechanism (2) includes an assembly through groove (201) and a driving motor (202). The assembly through groove (201) is fixedly arranged at the front end of the upper end of the robotic arm body (101), and the driving motor (202) is fixedly installed at the right end of the inner end of the assembly through groove (201).

3. The adjustable grasping robotic arm according to claim 2, wherein: The adjustment mechanism (2) further includes a double-sided threaded rod (203) and a support disk (204). The double-sided threaded rod (203) is fixedly installed at the transmission end at the left end of the driving motor (202). The support disk (204) is fixedly installed at the left end of the inner end of the assembly through groove (201), and the left end of the double-sided threaded rod (203) is rotatably connected to the support disk (204).

4. The adjustable grasping robotic arm according to claim 3, wherein: The adjustment mechanism (2) further includes threaded sleeves (205). The threaded sleeves (205) are threadedly connected to the left and right ends of the outer end of the double-sided threaded rod (203), and the grasping arm (102) is located below the threaded sleeves (205).

5. The adjustable grasping robotic arm according to claim 4, characterized in that: The adjustment mechanism (2) further includes a support block (206) and a support through groove (207). The support block (206) is fixedly installed at the rear end of the upper end of the grasping arm (102), and the support through groove (207) is fixedly arranged at the rear end of the upper end of the robotic arm body (101).

6. The adjustable grasping robotic arm according to claim 5, wherein: The adjustment mechanism (2) further includes a support rod (208). The support rod (208) is fixedly installed inside the support through groove (207), and the support block (206) is slidably connected to the support rod (208).

7. The adjustable grasping robotic arm according to claim 6, wherein: The adjustment mechanism (2) further includes a bearing seat (209). The bearing seat (209) is fixedly installed at the rear end of the inner end of the mounting plate (103), and the rear end of the rotating shaft (105) is rotatably connected to the bearing seat (209).

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