Grabbing structure of sorting mechanical arm

Abstract

The utility model relates to the technical field of mechanical arm grabbing, in particular to a sorting mechanical arm grabbing structure which comprises a base, a mechanical arm mechanism is arranged outside the base, a fixing disc is arranged on the side, away from the base, of the mechanical arm mechanism, and an inner pipe used for pushing a second clamping device is arranged outside the fixing disc. According to the utility model, when the inner pipe is pushed to a certain position, the first clamping device does not deviate at an angle, at the moment, the inner pipe is pushed again, the first clamping device does not deviate at an angle, a second limiting hole is formed in the outer part of the inner pipe, and the inner pipe is clamped in the second limiting hole. Under the action of a second limiting hole, a spring conducts extrusion to drive a V-shaped pusher to move, then a pushing block is pushed, when the inner pipe slides to a certain angle, the pushing block pushes a second clamping device to move at an angle, and then under the condition that the first clamping device fixedly clamps, the second clamping device assists in clamping; and the grabbing flexibility and stability are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arm grasping, specifically, and particularly to a sorting robotic arm grasping structure. Background Art

[0002] In the process of automated continuous production of products such as photovoltaic and semiconductor products, when it is necessary to immerse workpieces into a chemical solution tank or transfer them centrally, it is often necessary to use a flower basket. The silicon wafers are centrally transported by the flower basket, and it is convenient to use a robotic arm to grasp and quickly transfer the silicon wafers. However, for the existing flower basket structure, the factory originally used the robotic arm to descend to an eccentric position and then translate along the width direction of the flower basket to buckle the limiting rod of the flower basket. The positioning of the robotic arm grasping action is relatively difficult and requires precise positioning to achieve. It is easy to lose balance during grasping, resulting in damage to the flower basket and silicon wafers.

[0003] After searching, the utility model patent with the patent number CN219971097U discloses a sorting robotic arm grasping structure, which relates to a sorting robotic arm grasping structure. The sorting robotic arm grasping structure includes a horizontal displacement component, a vertical displacement component arranged on the side of the horizontal displacement component and slidably connected to the distal end of the horizontal displacement component, and a grasping component connected to the proximal end of the vertical displacement component. The horizontal displacement component is used to drive the vertical displacement component to translate, the vertical displacement component is used to drive the grasping component to lift and lower, and the grasping component includes a fixing plate and air cylinders arranged on both sides of the distal end of the fixing plate. The output ends of the two air cylinders are respectively connected to clamping plates. The clamping plates include connecting parts and hook parts arranged on both sides of the proximal end of the connecting parts. The hook parts are used to hook the limiting rods at both ends of the flower basket.

[0004] Compared with the prior art, in the utility model patent with the patent number CN219971097U, the horizontal displacement component is used to drive the vertical displacement component to translate, the vertical displacement component is used to drive the grasping component to lift and lower, and the telescopic movement of the output end of the air cylinder completes the grasping or releasing of the flower basket. The structure is simple, the grasping is convenient, it is not easy to lose balance, and the transfer efficiency of the silicon wafers is improved.

[0005] However, in the above solution, the device drives the grasping component through the horizontal displacement component and the vertical displacement component. However, this grasping method is not flexible enough. A slight deviation in the grasping position of the part may result in the failure to grasp the part, and the grasping force is relatively large during use, which may easily damage the part. Therefore, a sorting robotic arm grasping structure is proposed. Summary of the Utility Model

[0006] Aiming at the deficiencies of the prior art, the utility model proposes a sorting robotic arm grasping structure, aiming to solve the technical problems in the prior art that parts are easily not grasped when there is a slight deviation in the grasping position, it is not flexible enough, and the clamping force is relatively large when grasping items during use, which may damage the parts to be grasped.

[0007] To achieve the above object, the utility model adopts the following technical solutions:

[0008] A sorting robotic arm grasping structure includes a base. A robotic arm mechanism is arranged outside the base. A fixed disk is arranged on the side of the robotic arm mechanism away from the base. An inner tube for pushing a second gripper is arranged outside the fixed disk. First grippers are symmetrically and rotatably connected to the outside of the fixed disk. The inner tube is meshed and connected with the first grippers.

[0009] A first limiting hole is slidably connected to the outside of the inner tube. A rotation stopping groove is fixedly connected to the outside of the first limiting hole. The rotation stopping groove is fixedly connected to the inner tube on the side away from the first limiting hole. A second gripper is rotatably connected to the outside of the first gripper. A V-shaped pusher is fixedly connected to the outside of the first limiting hole. A pushing block for controlling the rotation and clamping of the second gripper is rotatably connected to the outside of the V-shaped pusher.

[0010] Furthermore, the robotic arm mechanism includes a robotic arm turntable arranged outside the base. The inner tube is fixedly connected with a base. The robotic arm turntable is arranged outside the output end of the base. A fixed block is fixedly connected to the outside of the robotic arm turntable. A first support arm is rotatably connected to the outside of the fixed block. A second support arm is rotatably connected to the side of the first support arm away from the fixed block. A support small arm is rotatably connected to the side of the second support arm away from the first support arm. A slider is rotatably connected to the outside of the support small arm.

[0011] Furthermore, the slider is rotatably connected to the fixed disk, and the base is rotatably connected to the robotic arm turntable.

[0012] Furthermore, a second limiting hole is fixedly connected to the outside of the inner tube. The second limiting hole is fixedly connected to the rotation stopping groove.

[0013] Furthermore, a rotating shaft is fixedly connected to the outside of the first gripper. The rotating shaft is meshed and connected with the inner tube.

[0014] Furthermore, the fixed disk is slidably connected to the inner tube.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] 1. In the utility model, when the robotic arm grasps an object, the inner tube slides outside the first limiting hole. When the inner tube moves, it drives the rotating shaft to rotate. Under the action of the inner tube, the rotating shaft drives the first gripper to rotate, thereby pushing the first gripper to rotate and the angle to deviate, realizing the clamping of the product.

[0017] 2. In the present utility model, until the inner tube is pushed to a certain position, the first gripper does not deviate in angle. At this time, when the inner tube is further pushed, the first gripper no longer deviates in angle. There is a second limiting hole outside the inner tube. Under the action of the second limiting hole, the spring is compressed, driving the V-shaped pusher to move, and then pushing the pushing block. When the inner tube slides to a certain angle, the pushing block pushes the second gripper to rotate. Thus, when the first gripper has already fixed the gripping, the second gripper assists in gripping, improving the flexibility and stability of the grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] One or more embodiments are illustrated by way of example in the accompanying drawings, which illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the figures in the drawings do not constitute a proportional limitation.

[0019] Figure 1 is a schematic structural diagram of a sorting robotic arm grasping structure proposed by the present utility model;

[0020] Figure 2 is a schematic diagram of the first part of the structure of the present utility model;

[0021] Figure 3 is a schematic diagram of the second part of the structure of the present utility model;

[0022] Figure 4 is Figure 1 an enlarged schematic diagram of part A of

[0023] Figure 5 is a schematic diagram of the third part of the structure of the present utility model.

[0024] In the figure: 1. First support arm; 2. Second support arm; 3. Fixed block; 4. Robotic arm turntable; 5. Base; 6. Support forearm; 7. Fixator; 8. Short slider; 9. Long slider; 10. Compression plate; 11. Spring; 12. Rotator; 13. Second gripper; 14. First gripper; 15. Pushing block; 16. V-shaped pusher; 17. Rotation shaft; 18. Base; 19. Fixed disk. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] To make the objectives, technical solutions, and advantages of the present utility model clearer, the following will elaborate on each embodiment of the present utility model in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that in each embodiment of the present utility model, many technical details are provided to help readers better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in each claim of the present application can still be achieved.

[0026] Embodiment 1

[0027] As Figures 1 - 5 shown, a sorting robotic arm grasping structure proposed by the present utility model includes a base 18. A robotic arm mechanism is arranged outside the base 18. A fixed disk 19 is arranged on one side of the robotic arm mechanism away from the base 18. An inner tube 8 for pushing a second gripper 13 is arranged outside the fixed disk 19. First grippers 14 are symmetrically and rotatably connected outside the fixed disk 19. The inner tube 8 is meshed and connected with the first grippers 14. The inner tube 8 is arranged outside a cylinder for controlling the movement of the inner tube 8;

[0028] A first limiting hole 9 is slidably connected to the outside of the inner tube 8. A rotation stopping groove 11 is fixedly connected to the outside of the first limiting hole 9. A fixed connection is provided between one side of the rotation stopping groove 11 away from the first limiting hole 9 and the inner tube 8. A second gripper 13 is rotatably connected to the outside of the first gripper 14. A V-shaped pusher 16 is fixedly connected to the outside of the first limiting hole 9. A pushing block 15 for controlling the rotation and clamping of the second gripper 13 is rotatably connected to the outside of the V-shaped pusher 16;

[0029] A second limiting hole 10 is fixedly connected to the outside of the inner tube 8. A fixed connection is provided between the second limiting hole 10 and the rotation stopping groove 11. A rotating shaft 17 is fixedly connected to the outside of the first gripper 14. The rotating shaft 17 is meshed and connected with the inner tube 8;

[0030] The fixed disk 19 is slidably connected to the inner tube 8.

[0031] The working principle of the sorting robotic arm grasping structure proposed by the present utility model is that when the robotic arm grasps, the inner tube 8 slides outside the first limiting hole 9. When the inner tube 8 moves, the rotating shaft 17 is driven to rotate. Under the action of the inner tube 8, the rotating shaft 17 drives the first gripper 14 to rotate, thereby pushing the first gripper 14 to start offsetting the rotation angle. Until the inner tube 8 is pushed to a certain position, the first gripper 14 no longer offsets the angle. At this time, when the inner tube 8 is pushed again, the first gripper 14 no longer offsets the angle. A second limiting hole 10 is placed outside the inner tube 8. Under the action of the second limiting hole 10, the spring is squeezed to drive the V-shaped pusher 16 to move, thereby pushing the pushing block 15. When the inner tube 8 slides to a certain angle, the pushing block 15 pushes the second gripper 13 to rotate.

[0032] Embodiment 2

[0033] As Figures 1 - 5As shown, based on the first embodiment, the robotic arm mechanism includes a robotic arm turntable 4 disposed outside the base 18. A base 5 is fixedly connected to the outside of the inner tube 8. The robotic arm turntable 4 is disposed outside the output end of the base 5. A fixed block 3 is fixedly connected to the outside of the robotic arm turntable 4. A first support arm 1 is rotatably connected to the outside of the fixed block 3. A second support arm 2 is rotatably connected to the side of the first support arm 1 away from the fixed block 3. A support small arm 6 is rotatably connected to the side of the second support arm 2 away from the first support arm 1. A slider 7 is rotatably connected to the outside of the support small arm 6. A motor for controlling the rotation of the first support arm 1 is disposed outside the robotic arm turntable 4. A motor for controlling the rotation of the second support arm 2 is disposed outside the first support arm 1. A motor for controlling the rotation of the support small arm 6 is disposed outside the second support arm 2. A motor for controlling the rotation of the slider 7 is disposed outside the support small arm 6;

[0034] The slider 7 is rotatably connected to the fixed disk 19. The base 18 is rotatably connected to the robotic arm turntable 4. A motor for controlling the rotation of the fixed disk 19 is disposed outside the slider 7.

[0035] Sliders 7 for pushing the limit shaft to drive the support small arm 6 are symmetrically disposed inside the push button second support arm 2. The sliders facilitate the telescoping of the bidirectional telescopic tube. The push button second support arm 2 is slidably connected to the outside of the outer tube first support arm 1. The push button second support arm 2 controls the telescopic tube under the sliding of the outer tube first support arm 1.

[0036] The working principle of a sorting robotic arm grasping structure proposed by the present utility model is that when the robotic arm performs grasping, the angle of the robotic arm needs to be adjusted. A base 5 for controlling the operation of the robotic arm is placed on the side away from the base 18. When the base 5 is in the working state, the robotic arm turntable 4 rotates to adjust to the required angle. When adjusting the direction angle, the bending degree of the robotic arm is controlled by the control of the first support arm 1 and the second support arm 2 and the second support arm 2 and the support small arm 6. When the robotic arm needs to be adjusted in angle during grasping, it rotates to the required grasping angle by controlling the rotator 12 under the control of the slider 7.

[0037] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A sorting robotic arm grasping structure, comprising a base (18), characterized in that, A robotic arm mechanism is provided outside the base (18). A fixed disk (19) is provided on one side of the robotic arm mechanism away from the base (18). An inner tube (8) for pushing the second gripper (13) is provided outside the fixed disk (19). The first gripper (14) is symmetrically and rotatably connected to the outside of the fixed disk (19). The inner tube (8) is meshed with the first gripper (14). A first limit hole (9) is slidably connected to the outside of the inner tube (8). A rotation stop groove (11) is fixedly connected to the outside of the first limit hole (9). The rotation stop groove (11) is fixedly connected to the inner tube (8) on the side away from the first limit hole (9). The second gripper (13) is rotatably connected to the outside of the first gripper (14). A V-shaped pusher (16) is fixedly connected to the outside of the first limit hole (9). A pusher block (15) for controlling the rotation and clamping of the second gripper (13) is rotatably connected to the outside of the V-shaped pusher (16).

2. The grasping structure of the sorting robotic arm according to claim 1, wherein, The robotic arm mechanism includes a robotic arm turntable (4) provided outside the base (18). A base (5) is fixedly connected to the outside of the inner tube (8). The robotic arm turntable (4) is provided outside the output end of the base (5). A fixed block (3) is fixedly connected to the outside of the robotic arm turntable (4). A first support arm (1) is rotatably connected to the outside of the fixed block (3). A second support arm (2) is rotatably connected to the side of the first support arm (1) away from the fixed block (3). A support forearm (6) is rotatably connected to the side of the second support arm (2) away from the first support arm (1). A slider (7) is rotatably connected to the outside of the support forearm (6).

3. The grasping structure of the sorting robotic arm according to claim 2, characterized in that, A rotator (12) is rotatably connected to the outside of the slider (7). The rotator (12) is fixedly connected to the fixed disk (19). The base (18) is rotatably connected to the robotic arm turntable (4).

4. A sorting robotic arm grasping structure according to claim 1, characterized in that, A second limit hole (10) is fixedly connected to the outside of the inner tube (8). The second limit hole (10) is fixedly connected to the rotation stop groove (11).

5. The grasping structure of a sorting robotic arm according to claim 1, characterized in that, A rotating shaft (17) is fixedly connected to the outside of the first gripper (14). The rotating shaft (17) is meshed with the inner tube (8).

6. The grasping structure of the sorting robotic arm according to claim 1, characterized in that, The fixed disk (19) is slidably connected to the inner tube (8).

Images