Multifunctional clamping mechanical arm

Abstract

The utility model discloses a multifunctional clamping mechanical arm which comprises a base, the top of the base is rotationally connected with a first rotating arm rod, the first rotating arm rod is rotationally connected with a rotating rod, a second rotating arm rod is rotationally arranged on the rotating rod and driven by a third motor, and the second rotating arm rod is rotationally connected with a fourth rotating arm rod. A mounting plate is arranged at the bottom of the fourth rotating arm rod, at least two clamping plates are arranged at the bottom of the mounting plate in a relatively sliding mode, a driving assembly for driving the two clamping plates to relatively slide is arranged in the mounting plate, and the driving assembly comprises a seventh motor, a gear and two racks. A multi-joint structure is driven by multiple motors, the mechanical arm is endowed with high-degree-of-freedom movement capacity, the movement is flexible, and the mechanical arm can accurately reach a target point in a complex space layout.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of mechanical arm, concretely relates to a multifunctional clamping mechanical arm. BACKGROUND

[0002] With the rapid development of manufacturing industry and the in-depth practice of industrial concept, the precision, efficiency and multifunctional adaptability of automatic equipment for factory production line are put forward very high requirement, the traditional single function clamping device has been difficult to meet the complex and varied parts processing, assembly process, in practical application, the existing multifunctional mechanical arm in the process of using, cannot realize the effective angle adjustment of the clamped part, will cause the angle of the mechanical arm clamping part is single, can't reasonably adjust the angle of the part, at the same time, also can't adapt to different size parts, because the mechanical arm needs to fix different size products in the actual use process, increases the operation difficulty also can make the device have locality.

[0003] The Chinese patent with patent publication number CN219882530U discloses a multifunctional mechanical arm, the device drives the receiving rod to move vertically through the hydraulic rod, so that the fixed plate deflects around the rotary rod as the center, thereby driving the parts clamped above the fixed plate to deflect, at the same time, the bidirectional screw rod is driven to rotate through the servo motor, so that the two groups of sliding blocks connected by screw threads on the surface of the bidirectional screw rod move reversely along the inner wall of the first sliding groove, thereby driving the two groups of receiving blocks fixedly connected to the upper surface of the sliding block to move reversely, so as to fix the parts through the clamping block, improve the work efficiency, also can improve the functionality of the mechanical arm in actual use, however, the rotary range of the fixed plate along the first connecting block of the device is limited, and usually two clamping blocks need to be in horizontal or vertical direction to facilitate the clamping and positioning of the object, which further reduces the activity range of the fixed plate and affects the universality of the device. UTILITY MODEL CONTENTS

[0004] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art, provide a multifunctional clamping mechanical arm, which solves the problems raised in the background.

[0005] To solve the above technical problems, the utility model provides a multifunctional clamping mechanical arm, which comprises a base and a second rotary arm rod, the top of the base is rotatably connected with a first rotary arm rod, a first motor for driving the rotation of the first rotary arm rod is installed on the base, a rotary rod is rotatably connected to the first rotary arm rod, and a second motor for driving the rotation of the rotary rod is fixedly installed on the first rotary arm rod.

[0006] The second rotating arm rod is rotatably arranged on the rotating rod, a third motor for driving the second rotating arm rod is mounted on the rotating rod, a fourth rotating arm rod is rotatably connected to the second rotating arm rod, and the fourth rotating arm rod is driven by a fifth motor.

[0007] Further, the driving assembly comprises a seventh motor, a gear and two racks, the seventh motor is fixedly mounted in the mounting plate, the gear is sleeved on the driving shaft of the seventh motor, the two racks are movably arranged in the mounting plate relative to the gear, the two racks are engaged with the gear, and the two racks are respectively fixedly connected with the two clamping plates.

[0008] Further, a third rotating arm rod is rotatably connected to the second rotating arm rod, a fourth motor for driving the third rotating arm rod to rotate is fixedly mounted on the second rotating arm rod, and the fourth rotating arm rod is rotatably arranged at one end of the third rotating arm rod away from the second rotating arm rod.

[0009] Further, the fifth motor is fixedly mounted on the third rotating arm rod.

[0010] Further, a groove for the rotation of the fourth rotating arm rod is provided through the third rotating arm rod.

[0011] Further, the mounting plate is rotatably arranged on the fourth rotating arm rod, and a sixth motor for driving the mounting plate to rotate is fixedly mounted on the fourth rotating arm rod.

[0012] Further, a slide rail is fixedly mounted at the bottom of the mounting plate, and the two clamping plates are movably arranged on the slide rail.

[0013] Further, a connecting plate in an L-shaped structure is fixedly connected between the rack and the clamping plate.

[0014] Further, the two racks arranged opposite to the two sides of the gear are oppositely and dislocatedly arranged on the mounting plate.

[0015] Further, anti-skid lines are fixedly connected to the end faces of the two clamping plates facing each other.

[0016] The utility model discloses technical scheme is provided with first rotary arm lever, second rotary arm lever, rotary lever, clamping plate, through the multi -motor drive multi -joint structure, give the high degree of freedom movement ability of mechanical arm, flexible, can reach target point accurately in complex space layout, the relative sliding design of clamping plate makes it can snatch the article of multiple width size, and the versatility is strong, need not frequent replacement of the tool of clamping to different size articles, promote operation efficiency, reduce equipment cost and operation complexity. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in the prior art, the drawings needed in the specific embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can obtain other drawings according to these drawings without creating labor.

[0018] Figure 1 It is a structural schematic diagram of the utility model embodiment;

[0019] Figure 2 It is another structural schematic diagram of the utility model embodiment;

[0020] Figure 3 It is a structural schematic diagram of the utility model embodiment connecting plate and anti -skid line;

[0021] Figure 4 It is the overhead view of the utility model embodiment Figure 3 ;

[0022] Figure 5 It is the structural schematic diagram of the utility model embodiment drive assembly.

[0023] In the drawing: 1, base;2, first motor;3, first rotary arm lever;4, second motor;5, rotary lever;6, second rotary arm lever;7, third motor;8, fourth motor;9, drive assembly;91, seventh motor;92, gear;93, rack;10, groove body;11, fourth rotary arm lever;12, fifth motor;13, sixth motor;14, mounting plate;15, third rotary arm lever;16, clamping plate;17, anti -skid line;18, slide rail;19, connecting plate. DETAILED DESCRIPTION

[0024] The technical scheme of the utility model will be described below in conjunction with the embodiments, obviously, the described embodiments are a part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creating labor belong to the protection scope of the utility model.

[0025] In the description of the utility model, it needs to understand that the orientation or position relation indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are the orientation or position relation based on the orientation or position relation shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0026] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise explicitly and specifically limited. In addition, the terms "mounting", "connecting", "connecting" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0027] Embodiment 1

[0028] As Figures 1-5 shown, a multifunctional clamping mechanical arm, including base 1, its top rotatably connected with first rotating arm rod 3, base 1 is installed with first motor 2 of driving first rotating arm rod 3 rotation, first rotating arm rod 3 is rotatably connected with rotating rod 5, rotating rod 5 is installed with third motor 7 of driving second rotating arm rod 6, first rotating arm rod 3 is fixedly installed with second motor 4 of driving rotating rod 5 rotation, second rotating arm rod 6 is rotatably arranged on rotating rod 5, second rotating arm rod 6 is rotatably connected with fourth rotating arm rod 11, fourth rotating arm rod 11 is driven by fifth motor 12, fourth rotating arm rod 11 bottom is equipped with mounting plate 14, mounting plate 14 bottom is relatively slidably equipped with at least two clamping plates 16, mounting plate 14 is equipped with drive assembly 9 of driving two clamping plates 16 relative sliding, drive assembly 9 includes seventh motor 91, gear 92 and two racks 93, seventh motor 91 is fixedly installed in mounting plate 14, gear 92 is sleeved on the drive shaft of seventh motor 91, two racks 93 are movably arranged in mounting plate 14 relative to gear 92, two racks 93 are engaged with gear 92, two racks 93 are fixedly connected with two clamping plates 16 respectively.

[0029] Specifically, the base 1 serves as the root of the entire mechanical arm, the first motor 2 drives the first rotating arm rod 3 to rotate around the top of the base 1, realizing large-range angle adjustment of the mechanical arm in the horizontal direction, and changing the working radius range. The second motor 4 drives the rotating rod 5 to rotate relative to the first rotating arm rod 3, further enriching the activity dimension of the mechanical arm joint and changing the subsequent arm rod stretching direction. At the same time, the third motor 7 is installed on the rotating rod 5, and the third motor 7 drives the second rotating arm rod 6 to rotate with the rotating rod 5, so that the mechanical arm action posture is continuously extended on the basis of its structure. The fourth rotating arm rod 11 is driven by the fifth motor 12 and can rotate relative to the second rotating arm rod 6 to accurately position the target grabbing position. When the driving assembly 9 at the bottom of the mounting plate 14 works, the seventh motor 91 drives the gear 92 to rotate. Since the two racks 93 are engaged with the gear 92 and are fixedly connected with the two clamping plates 16 respectively, the rotation of the gear 92 causes the two racks 93 to move in opposite directions, thereby driving the two clamping plates 16 to slide relative to each other, realizing the clamping action of different size objects. By adjusting the spacing between the clamping plates 16 to adapt to the size of the object, compared with the transmission of the threaded rod driving the sliding block in the patent with the publication number CN219882530U, the cooperation of the gear 92 and the rack 93 makes the clamping plate 16 move more efficiently and accurately, improves the clamping efficiency and effect of the object, and the overall operation is highly automated. The multi-motor driven multi-joint structure gives the mechanical arm high degree of freedom of movement, flexible movement, and can accurately reach the target point in a complex space layout. The relative sliding design of the clamping plate 16 allows it to grasp objects of various widths, has strong versatility, and does not need to frequently replace the clamping tool for different sizes of objects, improving work efficiency and reducing equipment cost and operation complexity.

[0030] In the embodiment, three groups of clamping plates 16 are arranged opposite to each other at the bottom of the mounting plate 14, and the two clamping plates 16 in each group are driven by the driving assembly 9. Therefore, three groups of driving assemblies 9 are installed on the mounting plate 14, and the arrangement of multiple groups of clamping plates 16 and driving assemblies 9 facilitates the device to simultaneously grasp multiple objects, improving the working efficiency of the device. Of course, in other embodiments, the number of clamping plates 16 and driving assemblies 9 can be adjusted according to actual conditions, which is not limited herein.

[0031] In the embodiment, as shown in Figure 1 and Figure 2As shown, a third rotating arm 15 is rotatably connected to the second rotating arm 6. A fourth motor 8, which drives the third rotating arm 15 to rotate, is fixedly installed on the second rotating arm 6. The fourth rotating arm 11 is rotatably positioned at the end of the third rotating arm 15 opposite to the second rotating arm 6. A fifth motor 12 is fixedly installed on the third rotating arm 15. A slot 10, through which the fourth rotating arm 11 can rotate, is provided on the third rotating arm 15. Specifically, the fourth motor 8 is fixed to the second rotating arm 6, driving the third rotating arm 15 to rotate relative to the second rotating arm 6, changing the angle between the joints of the robotic arm, adjusting the position and posture of the fourth rotating arm 11 and the end effector (clamping plate 16), and coordinating with the first motor 2 and the second motor 4 to refine the robotic arm's motion trajectory planning. The fifth motor 12 drives the fourth rotating arm 11 to rotate at the end of the third rotating arm 15. Combined with the movements of the preceding joints, it achieves more precise positioning and approaches the target to be gripped. The sequential transmission and coordinated movements of multiple joints accurately transmit power and motion commands to the series of mechanical joint chains. The added third rotating arm 15 and its matching motor expand the movement dimension of the robotic arm, making its movement path more complex and varied. It can avoid obstacles in the workspace and reach positions that are difficult for conventional robotic arms to reach. This enhances the robotic arm's ability to work in narrow and complex spaces, expands the range of applicable scenarios, and improves the overall work flexibility and adaptability. For example, it can accurately grip objects in production lines with compact equipment layouts or in areas with dense warehouse shelves.

[0032] In this embodiment, as Figure 1 and Figure 2 As shown, the mounting plate 14 is rotatably mounted on the fourth rotating arm 11. A sixth motor 13, which drives the mounting plate 14 to rotate, is fixedly mounted on the fourth rotating arm 11. Specifically, the sixth motor 13 drives the mounting plate 14 to rotate around the fourth rotating arm 11, thereby further finely adjusting the angle of the mounting plate 14. This, along with the rotation of the clamping plate 16 below, precisely aligns the object to be clamped with irregular shapes or at special angles, allowing the clamping surface to fit against the object surface at the optimal angle. Combined with the relative sliding function of the clamping plate 16, a stable grip is achieved. From coarse positioning to fine adjustment, the clamping posture is controlled in all aspects, giving the mounting plate 14 the ability to adjust its angle. This greatly improves the success rate of the robotic arm in clamping complex shapes and irregularly placed items, such as gripping curved pipes and tilted parts. It reduces the risk of items slipping or being damaged due to poor clamping angles, improves operational accuracy, and ensures smooth material flow on the production line and safe handling of warehouse goods.

[0033] In this embodiment, as Figure 4 and Figure 5As shown, a slide rail 18 is fixedly mounted on the bottom of the mounting plate 14, and two clamping plates 16 are slidably mounted on the slide rail 18. Specifically, the slide rail 18 improves the motion accuracy and stability of the clamping plates 16, making the robotic arm's gripping action reliable and highly repeatable, with minimal error in each gripping operation. It performs excellently in scenarios with stringent gripping accuracy requirements, such as high-precision assembly and microelectronic product processing, ensuring consistent product quality, reducing scrap rates, and improving production efficiency. Furthermore, an L-shaped connecting plate 19 is fixedly connected between the rack 93 and the clamping plate 16. Two racks 93, which are positioned opposite each other on both sides of the gear 92, are offset relative to each other on the mounting plate 14. The L-shaped connecting plate 19 enhances transmission reliability, reduces force transmission loss, and improves the accuracy of gripping force control. The offset racks 93 improve the compactness and reliability of the drive assembly 9, reduce failure points, extend the maintenance cycle of the robotic arm, and are suitable for long-term, high-intensity continuous operation scenarios, reducing equipment maintenance costs and downtime.

[0034] In this embodiment, as Figure 1 and Figure 3 As shown, the two clamping plates 16 are fixedly connected to the opposite end faces with anti-slip textures 17. Specifically, the anti-slip textures 17 effectively enhance the gripping stability of the robotic arm, especially for items with smooth surfaces, heavy weight, or changes in acceleration during handling, such as wet glass products or metal castings with a certain weight. The anti-slip textures 17 reduce the risk of slippage, improve the safety and operational quality of production and logistics, and reduce the risk of damage to items, compensation losses, and production interruptions.

[0035] When using this utility model:

[0036] The base 1 serves as the foundation of the entire robotic arm. The first motor 2 drives the first rotating arm 3 to rotate around the top of the base 1, enabling the robotic arm to adjust its angle in a wide range in the horizontal direction and change its working radius. The second motor 4 drives the rotating rod 5 to rotate relative to the first rotating arm 3, further enriching the movement dimensions of the robotic arm joints and changing the subsequent extension direction of the arm. The third motor 7 drives the second rotating arm 6 and the rotating rod 5 to rotate, further extending the robotic arm's movement posture based on its structure. The fourth motor 8 is fixed to the second rotating arm 6, driving the third rotating arm 15 to rotate relative to the second rotating arm 6, changing the angle between the joints of the robotic arm, adjusting the position and posture of the fourth rotating arm 11 and the end effector (clamping plate 16), and coordinating with the first motor 2 and the second motor 4 to refine the robotic arm's motion trajectory planning; the fifth motor 12 drives the fourth rotating arm 11 to rotate at the end of the third rotating arm 15, combining with the previous joint movements to achieve more precise positioning and approach the target to be gripped. The fourth rotating arm 11, driven by the fifth motor 12, can rotate relative to the second rotating arm 6, accurately positioning itself to the target gripping position. When the drive assembly 9 at the bottom of the mounting plate 14 is working, the seventh motor 91 drives the gear 92 to rotate, due to the two The rack 93 meshes with the gear 92 and is fixedly connected to two clamping plates 16. The rotation of the gear 92 causes the two racks 93 to move in opposite directions, thereby driving the two clamping plates 16 to slide relative to each other, realizing the clamping action of objects of different sizes. By adjusting the spacing of the clamping plates 16 to adapt to the shape and size of the objects, the clamping efficiency and effect of the objects are improved. The overall operation has a high degree of automation. The multi-motor driven multi-joint structure gives the robotic arm a high degree of freedom of movement, making it flexible and able to accurately reach the target point in complex spatial layouts. The relative sliding design of the clamping plates 16 allows it to grasp objects of various widths, making it highly versatile. It eliminates the need to frequently change clamping tools for different sized items, improving work efficiency and reducing equipment costs and operational complexity.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A multifunctional gripping robotic arm, characterized in that, It includes a base and a second rotating arm. The top of the base is rotatably connected to the first rotating arm. A first motor that drives the first rotating arm to rotate is installed on the base. A rotating rod is rotatably connected to the first rotating arm. A second motor that drives the rotating rod to rotate is fixedly installed on the first rotating arm. The second rotating arm is rotatably mounted on the rotating rod, and a third motor that drives the second rotating arm is mounted on the rotating rod. A fourth rotating arm is rotatably connected to the second rotating arm, and the fourth rotating arm is driven by a fifth motor. The bottom of the fourth rotating arm is provided with a mounting plate, and at least two clamping plates are slidably provided on the bottom of the mounting plate. A drive assembly that drives the two clamping plates to slide relative to each other is provided inside the mounting plate. The drive assembly includes a seventh motor, a gear, and two racks. The seventh motor is fixedly mounted inside the mounting plate. The gear is sleeved on the drive shaft of the seventh motor. The two racks are movably disposed inside the mounting plate relative to the gear and mesh with the gear. The two racks are respectively fixedly connected to two clamping plates. A third rotating arm is rotatably connected to the second rotating arm. A fourth motor for driving the third rotating arm is fixedly mounted on the second rotating arm. The fourth rotating arm is rotatably disposed at the end of the third rotating arm opposite to the second rotating arm.

2. The multifunctional gripping robotic arm according to claim 1, characterized in that, The fifth motor is fixedly mounted on the third rotating arm.

3. The multifunctional gripping robotic arm according to claim 1, characterized in that, The third rotating arm has a slot through which the fourth rotating arm can rotate.

4. A multifunctional gripping robotic arm according to claim 1, characterized in that, The mounting plate is rotatably mounted on the fourth rotating arm, and a sixth motor that drives the mounting plate to rotate is fixedly mounted on the fourth rotating arm.

5. A multifunctional gripping robotic arm according to claim 1, characterized in that, The mounting plate is fixedly mounted on a slide rail at its bottom, and the two clamping plates are slidably mounted on the slide rail.

6. A multifunctional gripping robotic arm according to claim 5, characterized in that, An L-shaped connecting plate is fixedly connected between the rack and the clamping plate.

7. A multifunctional gripping robotic arm according to claim 6, characterized in that, The two racks, which are positioned opposite each other on the gear, are staggered and arranged on the mounting plate.

8. A multifunctional gripping robotic arm according to claim 6, characterized in that, The two clamping plates are fixedly connected on opposite end faces with anti-slip texture.

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