Manipulator capable of adjusting grabbing distance

Abstract

The utility model is applicable to the technical field of manipulators, and provides a manipulator capable of adjusting grabbing spacing, which comprises a manipulator support, a manipulator component, a multi-angle component and a spacing adjusting component, the manipulator support is provided with the multi-angle component and the spacing adjusting component, and the spacing adjusting component rotates relative to the manipulator support through the multi-angle component. The multi-angle assembly is arranged on the distance adjusting assembly, the manipulator assembly comprises a fixing plate, through the arrangement of the multi-angle assembly, the distance adjusting assembly and the manipulator assembly, grabbing, transferring and overturning of workpieces are achieved through cooperation of the multiple assemblies, then the workpiece machining efficiency is improved, meanwhile, accurate grabbing of the workpieces is achieved, and the machining efficiency is improved. In order to meet the machining requirements of different workpieces, the workpieces can be properly overturned in different machining stages through the overturning action designed by the manipulator, it is ensured that the workpieces can be machined from different angles, the machining precision is improved, the efficiency is greatly improved, and manual intervention and errors are reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of mechanical hand, especially relates to a mechanical hand of adjustable snatch spacing. BACKGROUND

[0002] Mechanical hand is a kind of some action functions that can imitate human hand and arm, to grasp, transport object or operate tool according to fixed program, and automatic operation device, characteristic is can complete various expected work by programming, and it has the advantages of human and mechanical hand machine respectively in structure and performance, can be divided into hydraulic type, pneumatic type, electric type, mechanical type according to driving mode, and mechanical hand is usually used as the additional device of machine tool or other machine, such as loading and unloading and transferring workpiece in automatic machine tool or automatic production line, replacing tool in machining center etc.

[0003] The freedom degree of the three-axis or four-axis mechanical hand of prior art is poor for workpiece snatch movement, so it cannot meet the flexible production and processing demand, and the multi-joint mechanical hand is driven by multiple joints, and the free end of working range is large, but the execution part needs to be connected by wire for power supply, which will interfere with the movement of the mechanical hand, and it is difficult to snatch workpieces of different sizes, and the overall structure is complex, increasing the maintenance cost. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of mechanical hand of adjustable snatch spacing, by the setting of multi-angle component, spacing adjustment component and mechanical hand component, snatch, transfer and overturn to workpiece are realized by the cooperation of multiple components, and then the efficiency of workpiece processing is improved, simultaneously, accurate snatch of workpiece is realized, to cope with the processing demand of different workpieces, the overturning action of the mechanical hand is designed so that workpiece can be appropriately overturned in different processing stages, ensure that workpiece can be processed from different angles, not only improve the accuracy of processing, also greatly improve efficiency, reduce manual intervention and error occurrence, aim at solving the freedom degree of the three-axis or four-axis mechanical hand of prior art is poor for workpiece snatch movement, so it cannot meet the flexible production and processing demand, and the multi-joint mechanical hand is driven by multiple joints, and the free end of working range is large, but the execution part needs to be connected by wire for power supply, which will interfere with the movement of the mechanical hand, and it is difficult to snatch workpieces of different sizes, and the overall structure is complex, increasing the maintenance cost existing problem.

[0005] The utility model is realized in this way, a kind of mechanical hand of adjustable snatch spacing, comprising:

[0006] Mechanical hand support, the multi-angle component and the spacing adjustment component are installed on the mechanical hand support, the spacing adjustment component is rotated relative to the mechanical hand support by the multi-angle component;

[0007] A mechanical hand assembly is arranged on the distance adjusting assembly, and the mechanical hand assembly comprises:

[0008] A fixed plate is arranged on the distance adjusting assembly.

[0009] A turnover cylinder is fixedly installed on the fixed plate, and a fixed frame is arranged on an output shaft of the turnover cylinder.

[0010] A support frame is rotationally fitted on the fixed plate, and a support plate is fixedly installed on an end face of the support frame.

[0011] A grabbing cylinder is fixedly installed on the support plate, and a grabbing clamp is fixedly installed on an output shaft of the grabbing cylinder, and the grabbing clamp is slidingly fitted with the support plate.

[0012] An installation plate is fixedly installed on the support plate.

[0013] A transmission plate is rotationally fitted on the installation plate, and the transmission plate is hingedly connected with the fixed frame, and is used for overturning the support plate.

[0014] As a further scheme of the utility model, a second limiting hole and a second limiting groove for limiting the moving stroke of the grabbing clamp are arranged on the support plate.

[0015] As a further scheme of the utility model, the number of the grabbing cylinders is two, and the two grabbing cylinders are symmetrically distributed along the central axis of the support plate, each grabbing cylinder is fitted with a grabbing clamp, and each grabbing clamp is slidingly fitted with the support plate.

[0016] As a further scheme of the utility model, the multi-angle assembly comprises:

[0017] A motor is fixedly installed on the mechanical hand support, and an output shaft is installed on the motor.

[0018] An output gear is fixedly installed on the output shaft of the motor.

[0019] An input gear is meshingly connected with the output gear, an inner wall of the input gear is fixedly installed with a driving shaft, and the driving shaft is rotationally fitted with the mechanical hand support.

[0020] An electric slip ring is fixedly installed on the mechanical hand support close to the motor, and a rotary output end of the electric slip ring is connected with the driving shaft.

[0021] As a further scheme of the utility model, the distance adjusting assembly comprises:

[0022] A fixed box is fixedly installed on the shaft end of the driving shaft.

[0023] The electric telescopic column is fixedly installed on the fixed box, an adjusting frame is fixedly installed on an output shaft of the electric telescopic column, the adjusting frame is in sliding fit with the fixed box, and the fixed plate is fixedly connected with the adjusting frame.

[0024] The weight pressing block is fixedly installed on the adjusting frame.

[0025] As a further scheme of the utility model, a first limiting slot and a first limiting hole for limiting the moving stroke of the adjusting frame are formed in the fixed box.

[0026] The utility model provides a kind of mechanical hand of adjustable grab spacing, by the setting of multi-angle component, spacing adjustment component and mechanical hand component, the cooperation of multiple components is cooperated to realize the grabbing, transfer and overturning of workpiece, to improve the efficiency of workpiece processing, simultaneously, accurate grabbing of workpiece is realized, to cope with the processing needs of different workpieces, the overturning action of the mechanical hand designed makes workpiece can be properly overturned in different processing stages, ensure that workpiece can be processed from different angles, not only improve the precision of processing, greatly improve efficiency, reduce manual intervention and error occurrence, and the design of the mechanical hand, the freedom of workpiece grabbing is better, to improve the practicality of mechanical hand. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a kind of mechanical hand of adjustable grab spacing that the utility model provides a kind of mechanical hand of adjustable grab spacing for utility model embodiment stereoscopic structure schematic diagram;

[0028] Figure 2 It is a kind of mechanical hand of adjustable grab spacing that the utility model provides a kind of mechanical hand of adjustable grab spacing for utility model embodiment internal structure diagram;

[0029] Figure 3 It is a kind of mechanical hand of adjustable grab spacing that the utility model provides a kind of mechanical hand of adjustable grab spacing for utility model embodiment mechanical hand component one direction stereogram schematic diagram;

[0030] Figure 4 It is a kind of mechanical hand of adjustable grab spacing that the utility model provides a kind of mechanical hand of adjustable grab spacing for utility model embodiment mechanical hand component another direction stereogram schematic diagram.

[0031] In the drawing, 1, mechanical hand support; 2, multi-angle component; 21, motor; 22, output gear; 23, input gear; 24, electric slip ring; 25, drive shaft; 3, spacing adjustment component; 31, fixed box; 311, first limiting slot; 312, first limiting hole; 32, electric telescopic column; 33, adjusting frame; 34, weight pressing block; 4, mechanical hand component; 41, fixed plate; 42, overturning cylinder; 421, fixed frame; 43, support frame; 44, support plate; 441, second limiting hole; 442, second limiting slot; 45, grabbing cylinder; 46, grabbing clamp; 47, mounting plate; 48, transmission plate. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0033] It is understood that the terms “first” and “second” as used herein may be used to describe various elements, but unless otherwise stated, these elements are not limited by these terms. These terms are used only to distinguish one element from another.

[0034] The specific implementation of this utility model will be described in detail below with reference to specific embodiments.

[0035] like Figures 1 to 4 As shown, an adjustable gripping distance robotic arm is provided according to one embodiment of the present invention, comprising:

[0036] The robotic arm support 1 is equipped with a multi-angle component 2 and a spacing adjustment component 3. The spacing adjustment component 3 rotates relative to the robotic arm support 1 through the multi-angle component 2.

[0037] Robotic arm component 4, mounted on spacing adjustment component 3, includes:

[0038] The fixing plate 41 is mounted on the spacing adjustment component 3;

[0039] A tilting cylinder 42 is fixedly mounted on a fixed plate 41, and a fixed bracket 421 is fixedly mounted on the output shaft of the tilting cylinder 42;

[0040] The support frame 43 is rotatably fitted onto the fixed plate 41, and the support plate 44 is fixedly installed on the end face of the support frame 43;

[0041] A gripping cylinder 45 is fixedly mounted on a support plate 44. A gripping clamp 46 is fixedly mounted on the output shaft of the gripping cylinder 45. The gripping clamp 46 is slidably engaged with the support plate 44.

[0042] Mounting plate 47 is fixedly mounted on support plate 44;

[0043] The transmission plate 48 is rotatably fitted on the mounting plate 47. The transmission plate 48 is also hinged to the fixing frame 421 for flipping the support plate 44.

[0044] Specifically, as a further embodiment of this utility model, the support plate 44 is provided with a second limiting hole 441 and a second limiting groove 442 for limiting the movement of the gripper 46.

[0045] Specifically, as a further embodiment of this utility model, there are two gripping cylinders 45, which are symmetrically distributed along the central axis of the support plate 44. Each gripping cylinder 45 is equipped with a gripping clamp 46, and each gripping clamp 46 is slidably engaged with the support plate 44.

[0046] In this embodiment of the utility model, during practical application, the robot arm support 1 is fixedly installed by the connecting plates on both sides of the robot arm support 1. The multi-angle component 2 and the spacing adjustment component 3 adjust the angle and height spacing of the robot arm component 4. The gripping cylinder 45 is activated to drive the gripping clamp 46. Through the cooperation of the two gripping clamps 46, the workpiece is gripped and its position is transferred. At this time, according to the workpiece processing requirements, the flipping cylinder 42 drives the fixing frame 421 to move, so that the transmission plate 48 pulls the support plate 44 through the mounting plate 47, and then the support plate 44 rotates relative to the fixing plate 41 through the support frame 43, flipping the gripped workpiece, which facilitates the processing of the workpiece in other steps and improves the efficiency of workpiece processing.

[0047] By setting up the multi-angle component 2, the spacing adjustment component 3, and the robot arm component 4, multiple components work together to grasp, transfer, and flip the workpiece, thereby improving the efficiency of workpiece processing. At the same time, it achieves precise grasping of the workpiece. In order to meet the processing requirements of different workpieces, the flipping action designed by the robot arm allows the workpiece to be flipped appropriately in different processing stages, ensuring that the workpiece can be processed from different angles. This not only improves the processing accuracy but also greatly improves efficiency and reduces human intervention and the occurrence of errors.

[0048] It should be noted that the synchronous drive of multiple cylinders is a mature solution in the existing technology and is common knowledge in this field, so it will not be described in detail here.

[0049] like Figures 1 to 4 As shown, in a further embodiment of this utility model, the multi-angle component 2 includes:

[0050] Motor 21 is fixedly mounted on robot arm support 1, and an output shaft is mounted on motor 21;

[0051] The output gear 22 is fixedly mounted on the output shaft of the motor 21;

[0052] The input gear 23 meshes with the output gear 22. A drive shaft 25 is fixedly installed on the inner wall of the input gear 23. The drive shaft 25 rotates with the robot arm support 1.

[0053] The electric slip ring 24 is fixedly installed on the robot arm support 1 near the motor 21, and the rotation output end of the electric slip ring 24 is connected to the drive shaft 25.

[0054] Specifically, as a further embodiment of this utility model, the spacing adjustment component 3 includes:

[0055] The fixed housing 31 is fixedly installed on the shaft end of the drive shaft 25;

[0056] An electric telescopic column 32 is fixedly installed on a fixed box 31. An adjusting frame 33 is fixedly installed on the output shaft of the electric telescopic column 32. The adjusting frame 33 is slidably engaged with the fixed box 31. The fixed plate 41 is fixedly connected to the adjusting frame 33.

[0057] The counterweight 34 is fixedly installed on the adjusting frame 33;

[0058] Specifically, as a further embodiment of this utility model, the fixed box 31 is provided with a first limiting groove 311 and a first limiting hole 312 for limiting the movement stroke of the adjusting frame 33;

[0059] In this embodiment of the invention, during practical application, the motor 21 drives the output gear 22 to rotate, which in turn drives the input gear 23 to rotate through meshing force, thereby causing the drive shaft 25 and the fixed box 31 to rotate synchronously. Since the electric slip ring 24 is connected to the drive shaft 25, it can keep the electric telescopic column 32 energized during rotation, thus ensuring that the degree of freedom of the robot arm assembly 4 is not interfered with by the connecting wire. At the same time, the electric telescopic column 32 adjusts the height of the adjusting frame 33, thereby adjusting the gripping distance of the robot arm assembly 4, allowing the robot arm assembly 4 to grip workpieces of different sizes. The first limiting groove 311 and the first limiting hole 312 restrict the adjusting frame 33, further increasing the stability of the robot arm assembly 4 during movement.

[0060] It should be noted that the electric slip ring 24 and the electric telescopic column 32 are both mature solutions of the prior art and are common knowledge in the field, so they will not be described in detail here.

[0061] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic arm with adjustable gripping spacing, characterized in that, include: A robotic arm support (1) is provided, on which a multi-angle component (2) and a spacing adjustment component (3) are installed. The spacing adjustment component (3) rotates relative to the robotic arm support (1) via the multi-angle component (2). A robotic arm assembly (4) is disposed on the spacing adjustment assembly (3), the robotic arm assembly (4) comprising: A fixing plate (41) is mounted on the spacing adjustment assembly (3); A tilting cylinder (42) is fixedly mounted on a fixed plate (41), and a fixed bracket (421) is fixedly mounted on the output shaft of the tilting cylinder (42). The support frame (43) is rotatably fitted on the fixed plate (41), and the end face of the support frame (43) is fixedly installed with the support plate (44). A gripping cylinder (45) is fixedly mounted on a support plate (44). A gripping clamp (46) is fixedly mounted on the output shaft of the gripping cylinder (45). The gripping clamp (46) is slidably engaged with the support plate (44). Mounting plate (47) is fixedly mounted on support plate (44); The transmission plate (48) is rotatably fitted on the mounting plate (47), and the transmission plate (48) is also hinged to the fixing frame (421) for flipping the support plate (44).

2. The adjustable gripping spacing robotic arm according to claim 1, characterized in that, The support plate (44) is provided with a second limiting hole (441) and a second limiting groove (442) for limiting the movement of the gripper (46).

3. The adjustable gripping spacing robotic arm according to claim 2, characterized in that, There are two gripping cylinders (45), which are symmetrically distributed along the central axis of the support plate (44). Each gripping cylinder (45) is equipped with a gripping clamp (46), and each gripping clamp (46) is slidably engaged with the support plate (44).

4. The adjustable gripping spacing robotic arm according to claim 1, characterized in that, The multi-angle component (2) includes: The motor (21) is fixedly mounted on the robot arm support (1), and the motor (21) is equipped with an output shaft; The output gear (22) is fixedly mounted on the output shaft of the motor (21); An input gear (23) meshes with an output gear (22). A drive shaft (25) is fixedly installed on the inner wall of the input gear (23). The drive shaft (25) rotates with the robot arm support (1). An electric slip ring (24) is fixedly installed on a robotic arm support (1) near the motor (21), and the rotation output end of the electric slip ring (24) is connected to the drive shaft (25).

5. The adjustable gripping spacing robotic arm according to claim 4, characterized in that, The spacing adjustment component (3) includes: The fixed box (31) is fixedly installed on the shaft end of the drive shaft (25); An electric telescopic column (32) is fixedly installed on a fixed box (31). An adjusting frame (33) is fixedly installed on the output shaft of the electric telescopic column (32). The adjusting frame (33) is slidably engaged with the fixed box (31). The fixed plate (41) is fixedly connected to the adjusting frame (33). The counterweight (34) is fixedly installed on the adjusting frame (33).

6. The adjustable gripping spacing robotic arm according to claim 5, characterized in that, The fixed box (31) is provided with a first limiting groove (311) and a first limiting hole (312) for limiting the movement of the adjusting frame (33).

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