Four-axis manipulator facilitating grabbing

Abstract

The utility model discloses a four-axis manipulator convenient to grab, which comprises a counterweight seat, a first hydraulic rod is arranged in the middle of the top end of the counterweight seat, the top end of the first hydraulic rod is fixedly connected with a connecting table, a first motor is arranged in the middle of the inside of the connecting table, and a supporting arm is arranged at the output shaft end of the first motor. Balls are rotationally connected to the interiors of the two sides of the bottom end of the supporting arm, and a second hydraulic rod is installed on one side of the supporting arm. The multiple sets of positioning holes are formed in one side of the clamping base, when the positioning rods in the fixing base are pulled out of the positioning holes in the clamping base, the second motor drives the clamping base to rotate, and the clamping base can drive the clamping mechanism to rapidly adjust the clamping angle; and the positioning rods in the fixing seat are inserted into the positioning holes in different positions of the clamping seat, so that the position fixation of the clamping mechanism after angle adjustment can be completed, and the use work of the manipulator can be stably carried out.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a four-axis robotic arm that facilitates grasping. Background Technology

[0002] A four-axis robot is a common type of industrial robot, typically consisting of four independent axes of motion, used to perform various automated tasks. Its basic structure includes a base, rotating arms, joints, and grippers. Each of the four axes corresponds to a different degree of freedom, allowing the robot to perform complex operations in three-dimensional space. Four-axis robots can perform tasks such as picking, placing, assembling, packaging, welding, and painting, offering high efficiency and are widely used in production lines.

[0003] A four-axis robotic arm for convenient grasping is disclosed in Chinese Patent Publication No. CN207373154U. By extending and retracting the electric telescopic rod inside the fixed rod, the clamping rod moves in cooperation with the first slider and the slide rail. As the clamping rod moves, the robotic arm can adjust its gripping position when picking up objects, making it more convenient to use. However, the use of a four-axis robotic arm has certain limitations. For different object gripping situations, it cannot quickly adjust the angle of the robotic arm, which may lead to unstable gripping and affect the overall convenience of grasping. Utility Model Content

[0004] The purpose of this invention is to provide a convenient four-axis robotic arm for grasping, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a four-axis robotic arm for convenient gripping, comprising a counterweight base, a first hydraulic rod installed at the middle position of the top of the counterweight base, a connecting platform fixedly connected to the top of the first hydraulic rod, a first motor installed at the middle position inside the connecting platform, a support arm installed at the output shaft end of the first motor, ball bearings rotatably connected to the two sides of the bottom end of the support arm, a second hydraulic rod installed on one side of the support arm, a connecting seat fixedly connected to one side of the second hydraulic rod, a third hydraulic rod installed at the middle position of the top of the connecting seat, a fixed seat fixedly connected to the bottom end of the third hydraulic rod, a limit mechanism provided on one side inside the fixed seat, a clamping seat rotatably connected to the bottom end of the fixed seat, a clamping mechanism provided inside the clamping seat, clamping blocks provided on both sides of the bottom end of the clamping mechanism, and a material layer provided inside the clamping blocks.

[0006] Preferably, the limiting mechanism includes a second motor installed inside one side of the fixed base, a clamping seat installed at the output shaft end of the second motor, a drive shaft installed inside one side of the fixed base, a pull rope fixedly connected to the outside side of the drive shaft, a movable block that slides inside the fixed base fixedly connected to one side of the pull rope, a spring fixedly connected to one side of the movable block, a positioning rod fixedly connected to the side of the movable block away from the spring, and positioning holes that engage with the positioning rods are evenly arranged at equal intervals on one side of the clamping seat.

[0007] Preferably, the clamping mechanism includes a servo motor mounted on one side of the clamping seat, a first gear plate with its bottom end rotatably connected to the clamping block mounted on the output shaft end of the servo motor, connecting rods with their bottom ends rotatably connected to the clamping block on both sides of the clamping seat, a second gear plate with one side meshing with the first gear plate rotatably connected to one side of the inside of the clamping seat, and a clamping block rotatably connected to the bottom end of the second gear plate.

[0008] Preferably, the material layer includes a wear-resistant layer disposed inside the clamping block, a strength layer disposed outside the wear-resistant layer, and an outer coating layer disposed outside the strength layer.

[0009] Preferably, the wear-resistant layer is made of S steel, the strength layer is made of carbon fiber composite material, and the outer coating is made of titanium nitride coating.

[0010] Compared with the prior art, the beneficial effects of this utility model are:

[0011] 1. This convenient four-axis robotic arm has multiple sets of positioning holes on one side of the gripper. When the positioning rod inside the fixed seat is pulled out from the positioning hole on the gripper, and the gripper is rotated by the second motor, the gripper can drive the gripping mechanism to quickly adjust the gripping angle. By inserting the positioning rod inside the fixed seat into the positioning hole at different positions on the gripper, the position of the gripping mechanism after the angle adjustment can be fixed, thereby stabilizing the use of the robotic arm and improving the overall flexibility and convenience of the robotic arm.

[0012] 2. This convenient four-axis robotic arm features a wear-resistant layer, a strength layer, and an outer coating within its gripper blocks. The innermost layer of the gripper blocks is equipped with a wear-resistant layer to withstand heavy-load impacts and wear, providing high hardness and impact toughness. The strength layer outside the wear-resistant layer provides strength and rigidity while maintaining lightweight design, reducing the overall weight of the gripper. The outer coating outside the strength layer enhances the surface hardness and wear resistance of the gripper, ensuring good gripping ability under high loads. This improves the stability of the gripper during use, significantly extends its service life, and reduces the frequency of maintenance and replacement. Attached Figure Description

[0013] Figure 1This is a schematic diagram of the overall structure of this utility model;

[0014] Figure 2 This is a front view structural diagram of the present utility model;

[0015] Figure 3 This is a side view of the fixing base of this utility model.

[0016] Figure 4 This is a schematic diagram of the overall structure of the clamping block of this utility model.

[0017] In the diagram: 1. Counterweight seat; 101. First hydraulic rod; 2. Connecting platform; 201. First motor; 3. Support arm; 301. Ball bearing; 4. Second hydraulic rod; 401. Connecting seat; 402. Third hydraulic rod; 5. Fixed seat; 501. Second motor; 6. Limiting mechanism; 601. Drive shaft; 602. Pull rope; 603. Movable block; 604. Spring; 605. Positioning rod; 7. Clamping seat; 701. Positioning hole; 702. Servo motor; 703. First gear plate; 704. Connecting rod; 705. Second gear plate; 8. Clamping mechanism; 9. Clamping block; 901. Wear-resistant layer; 902. Strength layer; 903. Outer coating layer; 10. Material layer. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Please see Figure 1-4 This utility model provides two technical solutions:

[0020] Example 1: A four-axis robotic arm for convenient gripping includes a counterweight 1. A first hydraulic rod 101 is installed at the middle of the top of the counterweight 1. A connecting platform 2 is fixedly connected to the top of the first hydraulic rod 101. A first motor 201 is installed at the middle of the interior of the connecting platform 2. A support arm 3 is installed at the output shaft end of the first motor 201. Ball bearings 301 are rotatably connected to the two sides of the bottom end of the support arm 3. A second hydraulic rod 4 is installed on one side of the support arm 3. A connecting seat 401 is fixedly connected to one side of the second hydraulic rod 4. A third hydraulic rod 402 is installed at the middle of the top of the connecting seat 401. A fixed seat 5 is fixedly connected to the bottom end of the third hydraulic rod 402. A limit mechanism 6 is provided on one side. A clamping seat 7 is rotatably connected to the bottom end of the fixed seat 5. A clamping mechanism 8 is provided inside the clamping seat 7. Clamping blocks 9 are provided on both sides of the bottom end of the clamping mechanism 8. A material layer 10 is provided inside the clamping blocks 9. The first hydraulic rod 101 can drive the robot to adjust its height when activated. At the same time, the first motor 201 can drive the robot to rotate through the support arm 3. The second hydraulic rod 4 can push the robot to adjust its gripping distance when activated. At the same time, the third hydraulic rod 402 can push the robot below to move up and down. The bottom end of the support arm 3 is provided with a ball bearing 301 to reduce the friction generated by the rotation of the support arm 3 on the connecting platform 2.

[0021] The limiting mechanism 6 includes a second motor 501 mounted inside one side of the fixed base 5. A clamping seat 7 is mounted on the output shaft end of the second motor 501. A drive shaft 601 is mounted inside one side of the fixed base 5. A pull rope 602 is fixedly connected to one side of the drive shaft 601. A movable block 603 that slides within the fixed base 5 is fixedly connected to one side of the pull rope 602. A spring 604 is fixedly connected to one side of the movable block 603. A positioning rod 605 is fixedly connected to the side of the movable block 603 away from the spring 604. Positioning holes 701, which engage with the positioning rods 605, are evenly spaced on one side of the clamping seat 7. When the second motor 501 is started, it can drive the clamping seat 7 to adjust the angle between itself and the clamping mechanism 8 at the bottom. Simultaneously, the clamping seat 7... Multiple sets of positioning holes 701 are evenly spaced on one side with the midpoint of the second motor 501 as the axis. By inserting the positioning rod 605 inside the fixed base 5 into the positioning hole 701 on the clamping base 7, the position of the clamping base 7 after the second motor 501 drives it to rotate can be fixed. At the same time, a motor is installed on one side of the drive shaft 601 inside the fixed base 5. The motor drives the drive shaft 601 to rotate, and the drive shaft 601 can pull the pull rope 602 to wind it up. At this time, the pull rope 602 can squeeze the spring 604 through the movable block 603 and drive the positioning rod 605 to move. When the motor on the side of the drive shaft 601 is turned off, the reaction force of the spring 604 being squeezed can push the positioning rod 605 to quickly reset through the movable block 603.

[0022] The clamping mechanism 8 includes a servo motor 702 mounted on one side of the clamping base 7. A first gear 703 with its bottom end rotatably connected to the clamping block 9 is mounted on the output shaft end of the servo motor 702. Connecting rods 704 with their bottom ends rotatably connected to the clamping block 9 are mounted on the bottom ends of both sides of the clamping base 7. A second gear 705 with one side meshing with the first gear 703 is mounted on one side of the inside of the clamping base 7. The clamping block 9 is rotatably connected to the bottom end of the second gear 705. When the servo motor 702 is started, it can drive the first gear 703 to rotate. At the same time, the first gear 703 can push the second gear 705 on one side to rotate. At this time, the first gear 703 and the second gear 705 can drive the clamping block 9 to perform clamping work respectively. At the same time, the connecting rods 704 with the clamping block 9 are provided on the bottom ends of both sides of the clamping base 7 to perform auxiliary limiting work on the clamping block 9.

[0023] Example 2 differs from Example 1 mainly in that:

[0024] A four-axis robotic arm for easy gripping, wherein the material layer 10 includes a wear-resistant layer 901 disposed inside the gripper 9, a strength layer 902 disposed outside the wear-resistant layer 901, and an outer coating layer 903 disposed outside the strength layer 902.

[0025] The wear-resistant layer 901 is made of S7 steel, which has extremely high hardness and wear resistance. It is very suitable for applications that require gripping hard objects and has high fracture resistance under impact, and can withstand high workloads.

[0026] The strength layer 902 is made of carbon fiber composite material, which has very high strength and rigidity while maintaining lightweight characteristics, reducing the overall weight of the gripper and having good fatigue resistance.

[0027] The outer coating 903 is made of titanium nitride, which has extremely high hardness, effectively preventing wear on the gripper surface, extending the service life of the gripper, and has strong corrosion resistance. In addition, the contents not described in detail in this specification are all prior art known to those skilled in the art.

[0028] In this embodiment of the application, when the drive shaft 601 inside the fixed base 5 is rotated, the pull rope 602 can be wound up. At this time, the pull rope 602 can squeeze the spring 604 through the movable block 603 and pull the positioning rod 605 into the interior of the fixed base 5. At this time, the second motor 501 is started, which can drive the clamping seat 7 to rotate to a suitable clamping angle and then close through the drive shaft 601. At this time, due to the reaction force of the spring 604 being squeezed, the positioning rod 605 can be pushed by the movable block 603 to insert into the positioning holes 701 at different positions on the clamping seat 7. At this time, the servo motor 702 on the clamping seat 7 can be started, which can drive the first toothed disc 703 and the second toothed disc 705 to rotate respectively, and cause the first toothed disc 703 and the second toothed disc 705 to drive the clamping block 9 to perform object clamping work.

[0029] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A four-axis robotic arm for convenient grasping, comprising a counterweight (1), characterized in that: A first hydraulic rod (101) is installed at the middle position of the top of the counterweight (1). A connecting platform (2) is fixedly connected to the top of the first hydraulic rod (101). A first motor (201) is installed at the middle position inside the connecting platform (2). A support arm (3) is installed at the output shaft end of the first motor (201). Ball bearings (301) are rotatably connected to the two sides of the bottom end of the support arm (3). A second hydraulic rod (4) is installed on one side of the support arm (3). A ball bearing (301) is fixedly connected to one side of the second hydraulic rod (4). A connecting seat (401) is provided with a third hydraulic rod (402) installed at the middle position of the top of the connecting seat (401). A fixed seat (5) is fixedly connected to the bottom end of the third hydraulic rod (402). A limit mechanism (6) is provided on one side inside the fixed seat (5). A clamping seat (7) is rotatably connected to the bottom end of the fixed seat (5). A clamping mechanism (8) is provided inside the clamping seat (7). Clamping blocks (9) are provided on both sides of the bottom end of the clamping mechanism (8). A material layer (10) is provided inside the clamping block (9).

2. The four-axis robotic arm for convenient grasping according to claim 1, characterized in that: The limiting mechanism (6) includes a second motor (501) installed inside one side of the fixed base (5), a clamping seat (7) installed on the output shaft end of the second motor (501), a drive shaft (601) installed inside one side of the fixed base (5), a pull rope (602) fixedly connected to the outside side of the drive shaft (601), a movable block (603) that slides inside the fixed base (5) fixedly connected to one side of the pull rope (602), a spring (604) fixedly connected to one side of the movable block (603), a positioning rod (605) fixedly connected to the side of the movable block (603) away from the spring (604), and positioning holes (701) that engage with the positioning rod (605) are evenly arranged at equal intervals on one side of the clamping seat (7).

3. The four-axis robotic arm for convenient grasping according to claim 1, characterized in that: The clamping mechanism (8) includes a servo motor (702) mounted on the outside of the clamping seat (7). The output shaft of the servo motor (702) is equipped with a first gear disk (703) whose bottom end is rotatably connected to the clamping block (9). The bottom ends of both sides of the clamping seat (7) are rotatably connected to connecting rods (704) whose bottom ends are rotatably connected to the clamping block (9). The inside of the clamping seat (7) is rotatably connected to a second gear disk (705) whose side is meshed with the first gear disk (703). The bottom end of the second gear disk (705) is rotatably connected to the clamping block (9).

4. A convenient four-axis robotic arm for grasping as described in claim 1, characterized in that: The material layer (10) includes a wear-resistant layer (901) disposed inside the clamping block (9), a strength layer (902) disposed outside the wear-resistant layer (901), and an outer coating layer (903) disposed outside the strength layer (902).

5. A convenient four-axis robotic arm for grasping as described in claim 4, characterized in that: The wear-resistant layer (901) is made of S7 steel, the strength layer (902) is made of carbon fiber composite material, and the outer coating (903) is made of titanium nitride coating.

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