Adjustable grabbing mechanical arm

Abstract

The utility model discloses an adjustable grabbing mechanical arm. The adjustable grabbing mechanical arm comprises a vertical support; the vertical power source is mounted on the vertical support; the clamping jaw power source is connected with the vertical power source; the two clamping jaw frames are connected with a clamping jaw power source; the multiple adjusting power sources are arranged on the clamping jaw frame at intervals; and the flexible part is connected with the adjusting power source. Preferably, the number of the adjusting power sources is three, namely, the three adjusting power sources are arranged on one clamping jaw frame at intervals, the output end of the middle adjusting power source is connected to the middle of the flexible part, the output ends of the adjusting power sources on the two sides are connected to the two ends of the flexible part, and the output ends of the three adjusting power sources stretch out by different lengths. Therefore, the shape of the flexible part can be controlled to change so as to adapt to an object to be carried.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to an adjustable grabbing mechanical arm. Background Art

[0002] A gripper arm is an automated device capable of automatically or semi-automatically grasping, moving, or manipulating objects. It typically consists of a power source and grippers. Gripping arms play a vital role in smart manufacturing, automated warehousing, service robotics, and other fields, improving production efficiency and safety while reducing labor costs.

[0003] The existing robotic arms have fixed claw shapes, which makes it difficult to meet diverse demands, thus limiting the use scenarios of the gripping robotic arms. Utility Model Content

[0004] The technical problem to be solved by the present invention is: the present invention provides an adjustable grabbing robot arm to solve the problem that the shape of the gripping claws of the robot arm is fixed, which leads to limited usage scenarios of the grabbing robot arm.

[0005] The technical solution adopted by the utility model to solve the technical problem is: an adjustable grasping robot arm, including: a vertical support; a vertical power source, the vertical power source is installed on the vertical support; a claw power source, the claw power source is connected to the vertical power source; two claw frames, the two claw frames are connected to the claw power source; multiple adjustment power sources, the multiple adjustment power sources are arranged at intervals on the claw frames; and a flexible part, the flexible part is connected to the adjustment power source.

[0006] The beneficial effect of the present invention is that when performing a grasping operation, the output end of the vertical power source is connected to the clamping claw power source, thereby driving the clamping claw power source to move vertically along the vertical support, so that the two clamping claw frames move to the object to be transported, and the clamping claw power source drives the two clamping claw frames to move closer to each other, thereby driving the flexible members to move closer to each other to effectively clamp the object to be transported. The multiple adjustable power sources are preferably three, that is, three adjustable power sources are arranged on a clamping claw frame at intervals, the output end of the middle adjustable power source is connected to the middle of the flexible member, and the output ends of the adjustable power sources on both sides are connected to both ends of the flexible member. By making the output ends of the three adjustable power sources extend to different lengths, the shape of the flexible member can be controlled to change to adapt to the object to be transported.

[0007] Preferably, it further comprises: a connecting member, which is arranged between the regulating power source and the flexible member; and an anchoring member, one end of the anchoring member is connected to the connecting member, and the other end of the anchoring member is connected to the flexible member.

[0008] Preferably, it further comprises: grooves, which are spaced apart and arranged on a side of the flexible member away from the regulating power source.

[0009] Preferably, it also includes: a longitudinal movement support, the vertical support is movably installed on the longitudinal movement support; a longitudinal movement power source, the longitudinal movement power source is installed on the longitudinal movement support; a first screw, the first screw is rotatably installed on the longitudinal movement support and is connected to the longitudinal movement power source; a first nut block, the first nut block is movably arranged on the longitudinal movement support and is screwed to the first screw, and the first nut block is connected to the vertical support.

[0010] Preferably, it also includes: a transverse support, the longitudinal support is movably installed on the transverse support; a transverse moving force source, the transverse moving force source is installed on the transverse support; a second screw, the second screw is rotatably installed on the transverse support and is connected to the transverse moving force source; a second nut block, the second nut block is movably arranged on the transverse support and is screwed to the second screw, and the second nut block is connected to the longitudinal support.

[0011] Preferably, it also includes:

[0012] A first slide rail, the first slide rail is arranged on the transverse support;

[0013] A first sliding block is provided on the longitudinal support and is adapted to the first sliding rail;

[0014] A second slide rail, the second slide rail is arranged on the longitudinal support;

[0015] The second sliding block is arranged on the vertical support and is adapted to the second sliding rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional structural diagram of an adjustable grabbing robot arm;

[0017] Figure 2 for Figure 1 A partial enlarged view of point A in the middle;

[0018] Figure 3 A cross-sectional view of an adjustable gripping robot arm;

[0019] Figure 4 for Figure 3 A partial enlarged view of point B in the middle;

[0020] Figure 5 is another cross-sectional view of an adjustable gripping robot arm;

[0021] Figure 6 Schematic diagram of the structure of flexible parts and connecting parts.

[0022] In the figure: transverse movement support 1, second nut block 2, first slide rail 3, longitudinal movement power source 4, longitudinal movement support 5, second slide rail 6, vertical support 7, vertical power source 8, first screw 9, transverse movement power source 10, clamping jaw frame 11, adjustment power source 12, first nut block 13, connecting piece 14, flexible piece 15, groove 151, anchoring piece 16, clamping jaw power source 17, second slider 18. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific implementation methods.

[0024] In this article, terms such as "upper, lower, inside, outside" are established based on the positional relationships shown in the drawings. Depending on the different drawings, the corresponding positional relationships may also change accordingly. Therefore, they cannot be understood as absolute limitations on the scope of protection; moreover, relational terms such as "first" and "second" are only used to distinguish one component from another with the same name, and do not necessarily require or imply any actual relationship or order between these components.

[0025] Example

[0026] like Figure 1-6 As shown, an adjustable grasping robot arm includes: a vertical support 7; a vertical power source 8, which is installed on the vertical support 7; a clamping claw power source 17, which is connected to the vertical power source 8; two clamping claw frames 11, which are connected to the clamping claw power source 17; a plurality of adjustment power sources 12, which are arranged at intervals on the clamping claw frames 11; and a flexible member 15, which is connected to the adjustment power source 12.

[0027] Specifically, when performing a grasping operation, the output end of the vertical power source 8 is connected to the clamping power source 17, thereby driving the clamping power source 17 to move vertically along the vertical support 7, so that the two clamping frames 11 move to the object to be transported, and the clamping power source 17 drives the two clamping frames 11 to move closer to each other, thereby driving the flexible member 15 to move closer to each other to effectively clamp the object to be transported. The plurality of adjustable power sources 12 is preferably three, that is, three adjustable power sources 12 are spaced apart on one clamping frame 11, the output end of the middle adjustable power source 12 is connected to the middle of the flexible member 15, and the output ends of the adjustable power sources 12 on both sides are connected to the two ends of the flexible member 15. By extending the output ends of the three adjustable power sources 12 to different lengths, the shape of the flexible member 15 can be controlled to change to adapt to the object to be transported. The clamping jaw power source 17, the vertical power source 8 and the adjustment power source 12 in the present application are all power sources for outputting linear motion, and their specific structures are not limited. Preferably, the vertical power source 8 and the adjustment power source 12 are cylinders, and the clamping jaw power source 17 is a dual-output cylinder. The flexible member 15 is preferably made of rubber.

[0028] Furthermore, the device further includes: a connector 14, which is disposed between the adjustable power source 12 and the flexible member 15; and an anchoring member 16, one end of which is connected to the connector 14 and the other end of which is connected to the flexible member 15. The vertical height of the connector 14 is consistent with the vertical height of the flexible member 15. Multiple anchoring members 16 are spaced apart on the connector 14, one end of which is threadedly connected to the connector 14, and the other end of the connector 14 is pre-embedded within the flexible member 15. The provision of the connector 14 and the flexible member 15 makes the connection between the adjustable power source 12 and the flexible member 15 more stable, thereby increasing the success rate when adjusting the shape of the flexible member 15.

[0029] Furthermore, it further comprises grooves 151, which are spaced apart on a side of the flexible member 15 away from the regulating power source 12. The grooves 151 are used to increase the specific surface area of the flexible member 15 and to increase the force between the flexible member 15 and the object to be transported.

[0030] Furthermore, the system further includes: a longitudinal support 5, a vertical support 7 movably mounted on the longitudinal support 5; a longitudinal force source 4, a longitudinal force source 4 mounted on the longitudinal support 5; a first screw 9, a first screw 9 rotatably mounted on the longitudinal support 5 and connected to the longitudinal force source 4; a first nut block 13, a first nut block 13 movably disposed on the longitudinal support 5 and threadedly connected to the first screw 9, and a first nut block 13 connected to the vertical support 7. The longitudinal force source 4 drives the first screw 9 to rotate, thereby driving the first nut block 13 to move on the first screw 9, thereby driving the vertical support 7 to move along the longitudinal support 5, thereby expanding the handling range of the grabbing robot arm.

[0031] Furthermore, the system further comprises: a transverse support 1, to which a longitudinal support 5 is movably mounted; a transverse force source 10, which is mounted on the transverse support 1; a second screw, which is rotatably mounted on the transverse support 1 and connected to the transverse force source 10; and a second nut block 2, which is movably disposed on the transverse support 1 and threadedly connected to the second screw, and which is connected to the longitudinal support 5. The transverse force source 10 drives the second screw to rotate, thereby driving the second nut block 2 to move on the second screw, thereby driving the longitudinal support 5 to move along the transverse support 1, further expanding the handling range of the grabbing robot arm.

[0032] Furthermore, it also includes: a first slide rail 3, which is arranged on the transverse support 1; a first slider, which is arranged on the longitudinal support 5 and is adapted to the first slide rail 3; a second slide rail 6, which is arranged on the longitudinal support 5; and a second slider 18, which is arranged on the vertical support 7 and is adapted to the second slide rail 6. Through the cooperation of the first slider and the first slide rail 3, the movement of the longitudinal support 5 is more stable, and the first slider and the first slide rail 3 can bear most of the gravity of the longitudinal support 5, preventing the second screw from being easily damaged by a large amount of vertical force. Similarly, the cooperation of the second slide rail 6 and the second slider 18 allows the second slide rail 6 and the second slider 18 to bear most of the vertical force of the vertical support 7 and the object to be transported, preventing the first screw 9 from being easily damaged by a large amount of vertical force. The transverse moving power source 10 and the longitudinal moving power source 4 are power sources for outputting the rotational force. There is no limitation on their specific structures. Preferably, they are motors. Preferably, a displacement sensor is also included to monitor the position of the longitudinal support 5 and the transverse support 1, which is more conducive to the control of the grasping robot arm. In this application, the vertical direction is the height direction of the transverse support 1, the transverse direction is the length direction of the transverse support 1, and the longitudinal direction is the width direction of the transverse support 1.

[0033] The above-mentioned technical features can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. An adjustable grabbing robot arm, characterized in that: include: vertical support (7); A vertical power source (8), the vertical power source (8) being mounted on the vertical support (7); A gripper power source (17), the gripper power source (17) being connected to the vertical power source (8); Two clamping jaw frames (11), wherein the two clamping jaw frames (11) are connected to the clamping jaw power source (17); a plurality of regulating power sources (12), wherein the plurality of regulating power sources (12) are arranged at intervals on the clamping jaw frame (11); A flexible member (15), wherein the flexible member (15) is connected to the regulating power source (12).

2. The adjustable grabbing robot arm according to claim 1, characterized in that: Also includes: A connecting member (14), the connecting member (14) being arranged between the regulating power source (12) and the flexible member (15); An anchoring member (16), one end of the anchoring member (16) is connected to the connecting member (14), and the other end of the anchoring member (16) is connected to the flexible member (15).

3. The adjustable grabbing robot arm according to claim 1, characterized in that: Also includes: Grooves (151), the grooves (151) are spaced apart and arranged on a side of the flexible member (15) away from the regulating power source (12).

4. The adjustable grabbing robot arm according to claim 1, characterized in that: Also includes: A longitudinal support (5), wherein the vertical support (7) is movably mounted on the longitudinal support (5); A longitudinal movement power source (4), the longitudinal movement power source (4) being mounted on the longitudinal movement support (5); a first screw (9), the first screw (9) being rotatably mounted on the longitudinal movement support (5) and connected to the longitudinal movement power source (4); A first nut block (13) is movably arranged on the longitudinal support (5) and is screwed to the first screw rod (9). The first nut block (13) is connected to the vertical support (7).

5. The adjustable grabbing robot arm according to claim 4, characterized in that: Also includes: A transverse support (1), wherein the longitudinal support (5) is movably mounted on the transverse support (1); A transverse motion power source (10), the transverse motion power source (10) being mounted on the transverse motion support (1); a second screw, the second screw being rotatably mounted on the transverse support (1) and connected to the transverse force source (10); A second nut block (2) is movably arranged on the transverse support (1) and is screwed to the second screw rod. The second nut block (2) is connected to the longitudinal support (5).

6. The adjustable grabbing robot arm according to claim 5, characterized in that: Also includes: A first slide rail (3), the first slide rail (3) being arranged on the transverse support (1); a first sliding block, the first sliding block being arranged on the longitudinal movement support (5) and being adapted to fit the first sliding rail (3); A second slide rail (6), the second slide rail (6) being arranged on the longitudinal movement support (5); A second sliding block (18), the second sliding block (18) is arranged on the vertical support (7) and is adapted to fit the second sliding rail (6).

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