Multi-shaft clamping jaw mechanical arm

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a multi-shaft clamping jaw mechanical arm which comprises a mounting base, the upper side of the mounting base is rotationally connected with a first rotating arm, the top of the first rotating arm is rotationally connected with a second rotating arm, the top of the second rotating arm is rotationally connected with a U-shaped support, and the top of the U-shaped support is provided with a clamping mechanism. According to the multi-shaft clamping jaw mechanical arm, through the use of the clamping mechanism, an output shaft of a clamping jaw steering engine rotates, a clamping block can be driven to clamp a clamped object, in the process, when a positioning plate is attached to the clamped object and in the process that the clamping block continues to approach the clamped object, the positioning plate is gradually extruded into a groove, and after the positioning plate enters the groove, the clamping block can be driven to clamp the clamped object. The clamping block is attached to a clamped object, the reset spring is compressed, the connecting rod makes contact with the contact switch, closing of the clamping jaw steering engine is achieved, and the situation that the clamping block excessively clamps the clamped object due to the fact that an output shaft of the clamping jaw steering engine continuously applies rotating force to the first rotating rod is prevented.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field, concretely is a kind of multi-axis gripper mechanical arm. BACKGROUND

[0002] Mechanical arm is the mechanical device that imitates human arm, and its end is usually equipped with mechanical gripper and other executing mechanism, and the mechanical gripper is the mechanical device that imitates human finger to grasp object, and different mechanical gripper is needed for different objects.

[0003] At present, the design of existing mechanical gripper mostly tends to adopt rigid material, and this selection is mainly based on its high strength, durability and stable clamping performance. However, when dealing with objects with soft or brittle texture, the strong clamping force of rigid mechanical gripper can cause these objects to be excessively compressed, resulting in deformation or even damage. Similarly, for objects with brittle texture, such as glass products, ceramics or certain hard plastics, since these objects are sensitive to pressure, the clamping of rigid gripper can cause scratches, cracks or even direct breakage on their surfaces. In view of this, a multi-axis gripper mechanical arm is proposed. SUMMARY

[0004] The main purpose of the utility model is to provide a kind of multi-axis gripper mechanical arm, can solve the problem proposed in the above background art.

[0005] To achieve the above purpose, the multi-axis gripper mechanical arm provided by the utility model comprises a mounting seat, a rotating arm one is rotatably connected to the upper side of the mounting seat, a rotating arm two is rotatably connected to the top of the rotating arm one, a U-shaped bracket is rotatably connected to the top of the rotating arm two, and a gripping mechanism is arranged on the top of the U-shaped bracket.

[0006] A mounting plate is rotatably connected to the top of the U-shaped bracket, and a gripper servo motor is fixedly connected to the outer wall of the mounting plate.

[0007] A rotating rod one is fixedly connected to the output end of the gripper servo motor, and a clamping rod one is hinged to the rotating rod one.

[0008] A rotating rod two is rotatably connected to the side of the mounting plate away from the gripper servo motor, and a clamping rod two is hinged to the rotating rod two.

[0009] A positioning assembly is arranged at the end of the clamping rod one and the clamping rod two away from the mounting plate, and a hinge rod is hinged to the middle part of the clamping rod one and the clamping rod two.

[0010] Preferably, the end part of the rotating rod one and the rotating rod two is fixedly connected with a tooth on the outer wall, and the teeth are engaged with each other.

[0011] Preferably, the first clamping rod is parallel to the hinge rod thereon, the second clamping rod is parallel to the hinge rod thereon, and the output shaft of the clamping jaw steering engine is rotated to drive the rotating rod one to rotate, and then the rotating rod two is rotated under the meshing effect of the clamping teeth, and the first clamping rod and the second clamping rod can move towards or away from each other under the action of the hinge rod, so that the clamping and releasing operations of the clamped object are realized.

[0012] Preferably, the rotating arm one, the rotating arm two, the U-shaped support and the mounting plate are all controlled by the steering engine to rotate at a certain angle.

[0013] Preferably, the positioning assembly comprises a clamping block, a recess and a through groove are formed in the outer wall of the clamping block, a guide sleeve is fixedly connected to the inner wall of the clamping block, a connecting rod is sleeved on the guide sleeve, a positioning plate is fixedly connected to the end of the connecting rod away from the guide sleeve, and a contact switch is fixedly installed on the outer wall of the clamping block.

[0014] Preferably, the depth of the recess is matched with the thickness of the positioning plate, the inner wall of the clamping block and the positioning plate are elastically connected through a return spring, the positioning plate is gradually pressed into the recess in the process that the clamping block continues to approach the clamped object when the positioning plate is in close contact with the clamped object, the clamping block is in close contact with the clamped object after the positioning plate is completely entered into the recess, the return spring is compressed, the connecting rod is in contact with the contact switch, the clamping jaw steering engine is closed, the output shaft of the clamping jaw steering engine is prevented from continuously applying a rotating force to the rotating rod one to cause the clamping block to excessively clamp the clamped object, and the clamping effect of the clamped object is improved.

[0015] The utility model provides a kind of multi-axis clamping jaw mechanical arm.It has the following beneficial effects:

[0016] (1), the multi-axis clamping jaw mechanical arm is used by clamping mechanism, the output shaft of clamping jaw steering engine is rotated, clamping block can be driven to clamp clamped object, in this process, the positioning plate is gradually pressed into the recess in the process that the clamping block continues to approach the clamped object when the positioning plate is in close contact with the clamped object, the clamping block is in close contact with the clamped object after the positioning plate is completely entered into the recess, the return spring is compressed, the connecting rod is in contact with the contact switch, the clamping jaw steering engine is closed, the output shaft of the clamping jaw steering engine is prevented from continuously applying a rotating force to the rotating rod one to cause the clamping block to excessively clamp the clamped object, and the clamping effect of the clamped object is improved.

[0017] (2), the multi-axis clamping jaw mechanical arm is used by rotating arm one, rotating arm two, U-shaped support and mounting plate, these components are accurately controlled by steering engine, can flexibly rotate its angle, so that the working range of clamping mechanism is greatly expanded, and the use effect of clamping mechanism is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description, obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative labor.

[0019] Figure 1 The whole three-dimensional structure of the present application Figure 1 ;

[0020] Figure 2 The whole three-dimensional structure of the present application Figure 2 ;

[0021] Figure 3 The present application Figure 2 A structure diagram of the present application;

[0022] Figure 4 The present application is a positioning assembly structure diagram.

[0023] Explanation of the drawings:

[0024] 1, mounting seat; 2, rotating arm one; 3, rotating arm two; 4, U-shaped support; 5, clamping mechanism; 51, mounting plate; 52, clamping jaw servo; 53, rotating rod one; 54, rotating rod two; 55, clamping rod one; 56, clamping rod two; 57, hinged rod; 58, positioning assembly; 581, clamping block; 582, groove; 583, guide sleeve; 584, connecting rod; 585, positioning plate; 586, through slot; 587, contact switch.

[0025] The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application, obviously, the described embodiments are only some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0027] Please refer to Figures 1-4 , the present application provides a kind of multi-axis clamping jaw mechanical arm, including mounting seat 1, the upper side of the mounting seat 1 is rotatably connected with rotating arm one 2, the top of the rotating arm one 2 is rotatably connected with rotating arm two 3, the top of the rotating arm two 3 is rotatably connected with U-shaped support 4, the top of the U-shaped support 4 is provided with clamping mechanism 5.

[0028] In the embodiment of the utility model, in order to be able to clamp the object, specifically, clamping mechanism 5 includes mounting plate 51, rotating rod one 53, rotating rod two 54 and positioning assembly 58, mounting plate 51 is rotatably connected at the top of U-shaped support 4, the outer wall of mounting plate 51 is fixedly connected with clamping jaw steering machine 52, rotating rod one 53 is fixedly connected with the output end of clamping jaw steering machine 52, rotating rod one 53 is hinged with clamping rod one 55, rotating rod two 54 is rotatably connected at the side of mounting plate 51 away from clamping jaw steering machine 52, the end outer wall of rotating rod one 53 and rotating rod two 54 close is fixedly connected with the pawl, and the pawl is engaged, rotating rod two 54 is hinged with clamping rod two 56, the end of clamping rod one 55 and clamping rod two 56 away from mounting plate 51 is provided with positioning assembly 58, the middle part of clamping rod one 55 and clamping rod two 56 is hinged with hinge rod 57, clamping rod one 55 and the hinge rod 57 on it are parallel, the hinge rod 57 on clamping rod two 56 is parallel, through the rotation of the output shaft of clamping jaw steering machine 52, rotating rod one 53 is driven to rotate, then under the meshing effect of the pawl, rotating rod two 54 is rotated, under the action of hinge rod 57, clamping rod one 55 and clamping rod two 56 can move towards or away from each other, realize the clamping and loosening operation of the clamped object.

[0029] Further, in order to prevent damage to the clamped object, specifically, positioning assembly 58 includes clamping block 581, recess 582 and through slot 586 are formed on the outer wall of clamping block 581, guide sleeve 583 is fixedly connected on the inner wall of clamping block 581, connecting rod 584 is sleeved on guide sleeve 583, positioning plate 585 is fixedly connected on the end of connecting rod 584 away from guide sleeve 583, contact switch 587 is fixedly installed on the outer wall of clamping block 581, the depth of recess 582 and the thickness of positioning plate 585 are matched, the inner wall of clamping block 581 and positioning plate 585 are elastically connected through return spring, in the process that clamping block 581 clamps the clamped object, positioning plate 585 first conforms to the clamped object, in the process that clamping block 581 continues to approach the clamped object, positioning plate 585 is gradually extruded into recess 582, after positioning plate 585 is completely entered into recess 582, clamping block 581 conforms to the clamped object, return spring is compressed, connecting rod 584 contacts contact switch 587, realize the closing of clamping jaw steering machine 52, prevent the output shaft of clamping jaw steering machine 52 from continuously exerting rotating force on rotating rod one 53 to cause the excessive clamping of clamping block 581 to the clamped object, thereby improving the clamping effect of the clamped object.

[0030] In addition, the rotating arm 2, the rotating arm 3, the U-shaped support 4 and the mounting plate 51 are all controlled by the steering engine to rotate at a certain angle, and the components can rotate at a certain angle flexibly through the accurate control of the steering engine, thereby greatly expanding the working range of the clamping mechanism 5 and improving the use effect of the clamping mechanism 5.

[0031] It should be noted that the above-mentioned electrical components are all products of the prior art, and a person skilled in the art can select, install and complete the circuit debugging operation according to the use requirement, ensure that each electrical appliance can work normally, and the components are all general standard components or components known to a person skilled in the art, the structure and principle of which can be known by a person skilled in the art through a technical manual or through a conventional experimental method, and the present applicant does not make specific limitations here.

[0032] In use, the clamping mechanism 5 is first controlled by the steering engine to approach the clamped object, the output shaft of the clamping jaw steering engine 52 is started to rotate, the rotating rod 53 is driven to rotate, the rotating rod 54 is driven to rotate under the meshing action of the clamping teeth, the clamping rod 55 and the clamping rod 56 can move towards each other under the action of the hinged rod 57, in this process, the positioning plate 585 first fits with the clamped object, the clamping block 581 continues to approach the clamped object, the positioning plate 585 is gradually pressed into the groove 582, after the positioning plate 585 is completely pressed into the groove 582, the clamping block 581 fits with the clamped object, the return spring is compressed, the connecting rod 584 contacts with the contact switch 587, and the clamping jaw steering engine 52 is closed to prevent the output shaft of the clamping jaw steering engine 52 from continuously applying a rotating force to the rotating rod 53 to cause the clamping block 581 to excessively clamp the clamped object.

[0033] The above-mentioned is only the preferred embodiment of the present application, and does not limit the patent range of the present application, and any equivalent structural transformation or direct / indirect application in other related technical fields under the utility model concept of the present application and the content of the present application specification and drawings are included in the patent protection range of the present application.

Claims

1. A multi-axis gripper robot comprising a mounting base (1), characterized in that: The upper side of the mounting base (1) is rotationally connected with a rotating arm one (2), the top of the rotating arm one (2) is rotationally connected with a rotating arm two (3), the top of the rotating arm two (3) is rotationally connected with a U-shaped support (4), the top of the U-shaped support (4) is provided with a clamping mechanism (5), the clamping mechanism (5) comprises: A mounting plate (51) is rotationally connected at the top of the U-shaped support (4), and the outer wall of the mounting plate (51) is fixedly connected with a jaw steering engine (52); A rotating rod one (53) is fixedly connected with the output end of the jaw steering engine (52), and the rotating rod one (53) is hingedly connected with a clamping rod one (55); A rotating rod two (54) is rotationally connected on the side of the mounting plate (51) away from the jaw steering engine (52), and the rotating rod two (54) is hingedly connected with a clamping rod two (56); And a positioning assembly (58) is arranged on the end of the clamping rod one (55) and the clamping rod two (56) away from the mounting plate (51), and the middle part of the clamping rod one (55) and the clamping rod two (56) is hingedly connected with a hinge rod (57).

2. The multi-axis gripper robotic arm of claim 1, wherein: The end part of the rotating rod one (53) and the rotating rod two (54) is fixedly connected with a tooth, and the teeth are engaged with each other.

3. The multi-axis gripper robotic arm of claim 2, wherein: The clamping rod one (55) and the hinge rod (57) thereon are parallel, and the clamping rod two (56) and the hinge rod (57) thereon are parallel.

4. The multi-axis gripper robotic arm of claim 1, wherein: The rotating arm one (2), the rotating arm two (3), the U-shaped support (4) and the mounting plate (51) are all controlled by steering engines to rotate at a certain angle.

5. The multi-axis gripper robotic arm of claim 1, wherein: The positioning assembly (58) comprises a clamping block (581), a recess (582) and a through groove (586) are formed in the outer wall of the clamping block (581), a guide sleeve (583) is fixedly connected to the inner wall of the clamping block (581), a connecting rod (584) is sleeved on the guide sleeve (583), a positioning plate (585) is fixedly connected to the end of the connecting rod (584) away from the guide sleeve (583), and a contact switch (587) is fixedly installed on the outer wall of the clamping block (581).

6. The multi-axis gripper robotic arm of claim 5, wherein: The depth of the recess (582) matches the thickness of the positioning plate (585), and the positioning plate (585) and the inner wall of the clamping block (581) are elastically connected by a return spring.

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