Angle keeping mechanism and clamping device
By setting an angle-maintaining mechanism in the robotic arm that is parallel to the swing arm and satisfies a specific geometric relationship, the problem of changing gripping angle of the end effector of the robotic arm is solved, thus achieving the effects of simplifying operation and improving efficiency.
Patent Information
- Application Number
- CN202520144429.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-20
- Publication Date
- 2026-02-13
- Estimated Expiration
- 2035-01-20
AI Technical Summary
When the robotic arm swings, the gripping angle of the end effector changes accordingly, requiring the addition of an adjustment mechanism for another degree of freedom, which results in cumbersome operation steps and low efficiency.
An angle-holding mechanism was designed. By setting the swing arm and the swing rod to be parallel to each other, satisfying the relationship L1=L2 and L1//L2, the actuator can maintain its orientation during the swing process, simplifying the operation steps and improving efficiency.
The clamping angle of the actuator can be maintained without the need for an additional adjustment mechanism, simplifying the operation and improving efficiency.
Smart Images
Figure CN223903974U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to mechanical arm technical field especially relates to a kind of angle keeping mechanism and clamping device. BACKGROUND
[0002] In automated industrial production, mechanical arm is widely used, mainly used to solve the flow problem of product between different stations, play the role of flow connection.
[0003] The main feature of mechanical arm is that multi-dimensional motion mechanism is integrated in a structure to realize multi-angle and multi-direction motion drive, the specific execution mechanism of execution end can be changed to change the specific function of mechanical arm, which makes the adaptability of mechanical arm very wide, and a large number of repetitive actions can be accurately and efficiently completed.
[0004] In the prior art, the mechanical arm can adjust the clamping direction or angle of the execution mechanism at the end of the mechanical arm by changing the motion of one dimension during use, but in most cases, the angle of the end execution mechanism will change when the mechanical arm swings, and another degree of freedom adjustment mechanism needs to be added when the clamping angle of the execution mechanism needs to be maintained, the whole operation process is complicated and the clamping efficiency of the execution mechanism is low. UTILITY MODEL CONTENT
[0005] The utility model embodiment aims to provide an angle keeping mechanism, to solve the problem that in most cases, the angle of the end execution mechanism will change when the mechanical arm swings, and another degree of freedom adjustment mechanism needs to be added when the clamping angle of the execution mechanism needs to be maintained, the whole operation process is complicated and the clamping efficiency of the execution mechanism is low.
[0006] The utility model embodiment is realized as follows, an angle keeping mechanism, the angle keeping mechanism comprises:
[0007] Base, the base is used for the installation of swing arm device;
[0008] Swing arm device, the swing arm device is provided with power piece and drives swing arm to swing;
[0009] Swing rod, the swing rod is rotationally connected with the base, the swing rod is connected with the swing arm through mounting piece, the mounting piece is used for installing execution mechanism, the swing rod and swing arm are arranged side by side in parallel and the swing length of both is equal;
[0010] The swing rod and the swing arm satisfy L1=L2 and L1 / / L2 to realize the orientation of the actuator during swing of the swing arm, wherein L1 is a line connecting the swing center of the swing rod and the swing center of the swing arm, and L2 is a line connecting a first connecting point and a second connecting point of the mounting piece, the first connecting point being the center of the connecting position of the mounting piece and the swing arm, and the second connecting point being the center of the connecting position of the mounting piece and the swing rod.
[0011] Preferably, the power piece is mounted on the base, the swing arm is rotationally connected with the base through a rotating shaft, and the rotating shaft is in transmission connection with the power piece to enable the power piece to drive the rotating shaft to rotate and thus enable the swing arm to swing.
[0012] Preferably, two swing arms are provided, the two swing arms are parallel and arranged side by side at two ends of the rotating shaft, and the two swing arms move synchronously during swing.
[0013] Preferably, the swing arm is provided in a plate shape, the swing arm is provided with a first mounting hole and a second mounting hole, the first mounting hole is used for mounting the rotating shaft, and the second mounting hole is used for mounting the mounting piece.
[0014] Preferably, the mounting piece is provided in a plate shape, the mounting piece is provided with a first connecting hole and a second connecting hole, the first connecting hole is rotationally connected with the second mounting hole of the swing arm through a first connecting rod, and the second connecting hole is rotationally connected with the swing rod through a second connecting rod.
[0015] Preferably, the swing rod is provided in a plate shape, the swing rod is provided with a third connecting hole and a fourth connecting hole, the third connecting hole is rotationally connected with the base, and the fourth connecting hole is rotationally connected with the mounting piece.
[0016] Preferably, the base is provided with a mounting plate and a connecting plate, the mounting plate is connected with the connecting plate, the mounting plate is used for mounting the angle maintaining mechanism on equipment, the connecting plate is perpendicular to the mounting plate, the connecting plate is provided with a third mounting hole and a connecting protrusion, the third mounting hole is used for mounting the swing arm device, and the connecting protrusion is used for rotationally connecting with the swing rod.
[0017] Another purpose of the embodiment of the utility model is a clamping device, the clamping device comprises an actuator and an angle maintaining mechanism, the actuator is arranged at one end of the swing arm away from the swing arm device, and the actuator is provided with a connecting frame connected with a mounting piece.
[0018] The actuator comprises a rotating piece and a clamping piece, the rotating piece is connected with the clamping piece to facilitate the rotating piece to drive the clamping piece to rotate, and the clamping piece adopts a holding or adsorbing mode to grasp materials.
[0019] This utility model provides an angle maintaining mechanism and a clamping device. The utility model includes a base for mounting a swing arm device, which has a power component and a swing arm driven by the power component to swing. The swing arm is rotatably connected to the base and connected to the swing arm via a mounting component. When the power component drives the swing arm to swing, the swing arm and the actuator mounted on the mounting component also swing. However, because the line connecting the swing center of the swing arm and the swing center of the swing arm is always the same as and parallel to the line connecting the first connection point and the second connection point of the mounting component, the orientation of the actuator on the mounting component is always maintained during the swing of the swing arm and swing arm. Throughout the entire operation, there is no need to add another dimension adjustment mechanism after the swing to maintain the orientation of the actuator, simplifying the operation steps and improving the execution efficiency of the actuator. Attached Figure Description
[0020] Figure 1 A three-dimensional structural diagram of an angle-maintaining mechanism provided for an embodiment of this utility model;
[0021] Figure 2 A front view of a clamping device provided in an embodiment of this utility model;
[0022] Figure 3 This is a schematic diagram of the internal structure of a clamping device provided in an embodiment of the present invention.
[0023] In the attached diagram: 1. Angle holding mechanism; 11. Base; 111. Mounting plate; 112. Connecting plate; 12. Swing arm device; 121. Power component; 122. Swing arm; 13. Swing rod; 131. Mounting component; 2. Actuating mechanism; 21. Rotating component; 22. Clamping component. Detailed Implementation
[0024] 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.
[0025] The specific implementation of this utility model will be described in detail below with reference to specific embodiments.
[0026] like Figure 1 The figure shown is a structural diagram of an angle holding mechanism 1 provided in an embodiment of the present utility model, including: a base 11, the base 11 being used for mounting the swing arm device 12;
[0027] The swing arm device 12 is provided with a power component 121 to drive the swing arm 122 to swing.
[0028] A swing lever 13 is rotatably connected with the base 11, and the swing lever 13 is connected with the swing arm 122 through a mounting piece 131 for mounting the actuating mechanism 2, and the swing lever 13 is arranged in parallel with the swing arm 122 side by side and the swing lengths of the two are equal;
[0029] The swing lever 13 and the swing arm 122 satisfy L1=L2 and L1 / / L2 to realize the orientation of the actuating mechanism 2 during the swing of the swing arm 122, wherein L1 is the line connecting the swing center of the swing lever 13 and the swing center of the swing arm 122, and L2 is the line connecting the first connecting point and the second connecting point of the mounting piece 131, the first connecting point is the center of the connecting position of the mounting piece 131 and the swing arm 122, and the second connecting point is the center of the connecting position of the mounting piece 131 and the swing lever 13.
[0030] In the embodiment of the utility model, preferably, an angle keeping mechanism 1 is mainly composed of a base 11, a swing arm device 12 and a swing rod 13, the swing arm device 12 is installed on the base 11, the swing rod 13 is rotationally connected with the base 11, the swing arm device 12 is mainly provided with a power piece 121 and a swing arm 122, the swing arm 122 is driven to swing through the power piece 121, the swing arm 122 and the swing rod 13 are connected through a mounting piece 131, and the swing rod 13 and the swing arm 122 are side by side and parallel, and the swing lengths of the swing rod 13 and the swing arm 122 are equal, the executing mechanism 2 is installed on the mounting piece 131, so that when the swing arm 122 is driven to swing by the power piece 121, the swing rod 13 also swings with the executing mechanism 2 on the mounting piece 131, but because the swing rod 13 and the swing arm 122 satisfy L1=L2 and L1 / / L2, no matter how long the swing rod 13 and the swing arm 122 swing, the orientation of the executing mechanism 2 is kept, the connecting line between the swing center of the swing rod 13 and the swing center of the swing arm 122 can be equal to and parallel with the connecting line between the first connecting point and the second connecting point of the mounting piece 131, the mounting piece 131 is provided with two mounting pieces and is connected to the ends of the swing rod 13 and the swing arm 122 respectively, the executing mechanism 2 can be installed on the mounting piece 131, and the relative position relationship and the orientation of the mounting piece 131 and the executing mechanism 2 remain unchanged, the rotation of the connecting positions of the swing rod 13 and the swing arm 122 with the mounting piece 131 can be understood as the rotation of a certain point on a parallelogram, when the swing arm 122 and the swing rod 13 swing, the relative relationship of the executing mechanism 2 and the mounting piece 131 remains unchanged, so the orientation of the executing mechanism 2 remains unchanged, this is the geometric property of a parallelogram, when the initial orientation of the executing mechanism 2 is vertically downward, when the executing mechanism 2 is swung around the base 11 by the swing rod 13 and the swing arm 122, the orientation of the executing mechanism 2 remains vertically downward, so the swing arm device 12 drives the executing mechanism 2 to swing by the swing rod 13 and the mounting piece 131 to change the position in one degree of freedom, but the orientation of the executing mechanism 2 is not changed by swinging, when the executing mechanism 2 clamps an article, another adjusting mechanism for keeping the orientation of the executing mechanism 2 is not needed, so that the whole operation process is more convenient, and the execution efficiency of the executing mechanism 2 is improved by keeping the orientation.
[0031] In one example of the utility model, the utility model sets up base 11 for installing swing arm device 12, swing arm device 12 is provided with power element 121 and swing arm 122 driven by power element 121, swing lever 13 is rotatably connected with base 11 and is connected with swing arm 122 through mounting piece 131 to facilitate swing lever 13 and the execution mechanism 2 of mounting piece 131 when power element 121 drives swing arm 122 to swing, but because swing lever 13 and swing arm 122 always keep the line of swing center of swing lever 13 and swing center of swing arm 122 with the line of first connecting point and second connecting point of mounting piece 131 not only same and parallel make swing arm 122 and swing lever 13 always keep the orientation of execution mechanism 2 on mounting piece 131 during swinging, the whole operation process, without adding another dimension adjusting mechanism after swinging to keep the orientation of execution mechanism 2, simplify its operation steps and improve the execution efficiency of execution mechanism 2.
[0032] As Figure 1 Indicated, as a preferred embodiment of the utility model, the power element 121 is installed on the base 11, the swing arm 122 is rotatably connected with the base 11 through the pivot, and the pivot is in transmission connection with the power element 121 to enable the power element 121 to drive the pivot to rotate, thereby making the swing arm 122 swing.
[0033] In the embodiment of the utility model, preferably, the power element 121 for driving the swing arm 122 to swing can be selected as a motor, which is installed on the base 11 by swinging, and drives the swing arm 122 to swing through the pivot, so as to adjust the execution position of the execution mechanism 2 and drive the swing lever 13 connected with the swing arm 122 to swing.
[0034] As Figure 1 Indicated, as a preferred embodiment of the utility model, the swing arm 122 is provided with two, and the two swing arms 122 are arranged in parallel and side by side at both ends of the pivot, and the two swing arms 122 act synchronously during swinging.
[0035] In the embodiment of the utility model, preferably, the swing arm 122 can be provided with two and arranged at both ends of the pivot rotatably connected with the swing arm 122, and the swing lever 13 can be located between the two swing arms 122 to make the two swing arms 122 and the swing lever 13 act synchronously during swinging, and the two swing arms 122 can make the swinging action more stable to prevent the execution action of the execution mechanism 2 from being affected by the too small force arm.
[0036] As Figure 1 Indicated, as a preferred embodiment of the utility model, the swing arm 122 is provided as a plate, the swing arm 122 is provided with a first mounting hole and a second mounting hole, the first mounting hole is used for mounting the pivot, and the second mounting hole is used for mounting the mounting piece 131.
[0037] In the embodiment of the utility model, preferably, the swing arm 122 can be a plate with a certain thickness and length, the swing arm 122 can be a strip-shaped plate, the first mounting hole and the second mounting hole can be arranged on the swing arm 122, the first mounting hole is used for mounting the rotating shaft so that the swing arm 122 swings around the rotating shaft, and the second mounting hole is used for mounting the mounting piece 131 so that the swing arm 122 drives the mounting piece 131 and the actuating mechanism 2 mounted on the mounting piece 131 to adjust the position of the actuating mechanism 2 through swinging.
[0038] As Figure 1 shown, as a preferred embodiment of the utility model, the mounting piece 131 is a plate, the mounting piece 131 is provided with the first connecting hole and the second connecting hole, the first connecting hole is rotatably connected with the second mounting hole of the swing arm 122 through the first connecting rod, and the second connecting hole is rotatably connected with the swing lever 13 through the second connecting rod.
[0039] In the embodiment of the utility model, preferably, the mounting piece 131 can be a plate with a certain length and thickness, the first connecting hole for connecting with the swing arm 122 can be arranged on the front surface of the mounting piece 131 so as to be rotatably connected with the swing arm 122 through the first connecting rod, the second connecting hole is connected with the swing lever 13, and the second connecting rod is used for rotatably connecting the swing lever 13, the first connecting hole and the second connecting hole can be arranged at two ends of the mounting piece 131 with a certain spacing, and the mounting hole for mounting the actuating mechanism 2 can be arranged on the side surface of the mounting piece 131.
[0040] As Figure 1 shown, as a preferred embodiment of the utility model, the swing lever 13 is a plate, the swing lever 13 is provided with the third connecting hole and the fourth connecting hole, the third connecting hole is rotatably connected with the base 11, and the fourth connecting hole is rotatably connected with the mounting piece 131.
[0041] In the embodiment of the utility model, preferably, the swing lever 13 is a plate with a certain length and thickness, the third connecting hole and the fourth connecting hole with a certain spacing can be arranged on the front surface of the swing lever 13, the third connecting hole is connected with the base 11 and rotatably connected between the swing lever 13 and the base 11, and the fourth connecting hole is connected with the mounting piece 131 through the second connecting rod and rotatably connected between the mounting piece 131 and the swing lever 13.
[0042] As Figure 1As shown in the preferred embodiment of the present invention, the base 11 is provided with a mounting plate 111 and a connecting plate 112. The mounting plate 111 is connected to the connecting plate 112. The mounting plate 111 is used to mount the angle holding mechanism 1 on the device. The connecting plate 112 is perpendicular to the mounting plate 111. The connecting plate 112 is provided with a third mounting hole and a connecting protrusion. The third mounting hole is used to mount the swing arm device 12, and the connecting protrusion is used to rotatably connect with the swing rod 13.
[0043] In this embodiment of the present invention, preferably, the base 11 may be composed of a mounting plate 111 and a connecting plate 112. The connecting plate 112 is vertically mounted on the front side of the mounting plate 111, and the back side of the mounting plate 111 can be used to fix the entire angle holding mechanism 1. The swing arm device 12 and the swing rod 13 can be mounted on the front side of the mounting plate 111. The power component 121 and the rotating shaft of the swing arm device 12 are mounted on the connecting plate 112 using the third mounting hole, and a columnar connecting protrusion is provided to connect with the swing rod 13 so that the swing rod 13 can rotate around the connecting protrusion.
[0044] like Figures 1-2 As shown, this utility model embodiment also provides a clamping device, including: an actuator 2 and an angle holding mechanism 1. The actuator 2 is disposed at one end of the swing arm 122 away from the swing arm device 12. The actuator 2 is provided with a connecting frame and connected to the mounting member 131.
[0045] The actuator 2 includes a rotating component 21 and a gripping component 22. The rotating component 21 is connected to the gripping component 22 so that the rotating component 21 drives the gripping component 22 to rotate. The gripping component 22 grips the material by means of holding or adsorption.
[0046] In this embodiment of the present invention, preferably, the clamping device mainly consists of an execution mechanism 2 and an angle holding mechanism 1. The execution mechanism 2 is mounted on the angle holding mechanism 1 at one end of the swing arm 122 away from the power component 121, and is mounted on the side of the mounting component 131 through a connecting bracket. The execution mechanism 2 mainly consists of a rotating component 21 and a clamping component 22. The rotating component 21 is used to rotate the clamping component 22 so that the clamping component 22 can clamp the material by clamping or adsorption. The angle holding mechanism 1 can adjust the clamping position of the clamping component 22 and maintain the orientation of the clamping component 22 so that the clamping component 22 can also face the material and clamp the material after swinging the swing arm 122.
[0047] 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. An angle holding mechanism, characterized by, The angle maintaining mechanism comprises: a base for mounting the swing arm device; a swing arm device provided with a power member to drive the swing arm to swing; a swing lever rotatably connected with the base, the swing lever being connected with the swing arm through a mounting member for mounting an actuating mechanism, the swing lever and the swing arm being arranged side by side in parallel and having equal swing lengths; the swing lever and the swing arm satisfy L1=L2 and L1 / / L2 to maintain the orientation of the actuating mechanism during the swing of the swing arm, wherein L1 is the line connecting the swing center of the swing lever with the swing center of the swing arm, and L2 is the line connecting the first connecting point of the mounting member with the second connecting point of the mounting member, the first connecting point being the center of the connecting position of the mounting member with the swing arm, and the second connecting point being the center of the connecting position of the mounting member with the swing lever.
2. The angle retention mechanism of claim 1, wherein, The power member is mounted on the base, the swing arm is rotatably connected with the base through a rotating shaft, and the rotating shaft is in transmission connection with the power member to enable the power member to drive the rotating shaft to rotate and thus drive the swing arm to swing.
3. The angle retention mechanism of claim 2, wherein, The swing arm is provided with two swing arms arranged in parallel and side by side at two ends of the rotating shaft, and the two swing arms move synchronously during the swing.
4. The angle retention mechanism of claim 2, wherein, The swing arm is provided in the form of a plate, the swing arm is provided with a first mounting hole and a second mounting hole, the first mounting hole is used for mounting the rotating shaft, and the second mounting hole is used for mounting the mounting member.
5. The angle retention mechanism of claim 4, wherein, The mounting member is provided in the form of a plate, the mounting member is provided with a first connecting hole and a second connecting hole, the first connecting hole is rotatably connected with the second mounting hole of the swing arm through a first connecting rod, and the second connecting hole is rotatably connected with the swing lever through a second connecting rod.
6. The angle retention mechanism of claim 1, wherein, The swing lever is provided in the form of a plate, the swing lever is provided with a third connecting hole and a fourth connecting hole, the third connecting hole is rotatably connected with the base, and the fourth connecting hole is rotatably connected with the mounting member.
7. The angle retention mechanism of claim 1, wherein, The base is provided with a mounting plate and a connecting plate, the mounting plate is connected with the connecting plate, the mounting plate is used for mounting the angle maintaining mechanism on equipment, the connecting plate is perpendicular to the mounting plate, the connecting plate is provided with a third mounting hole and a connecting lug, the third mounting hole is used for mounting the swing arm device, and the connecting lug is used for rotatable connection with the swing lever.
8. A gripping device, characterized in that The gripping device comprises an actuating mechanism and the angle maintaining mechanism according to any one of claims 1-7, the actuating mechanism being arranged at one end of the swing arm away from the swing arm device, and the actuating mechanism being provided with a connecting frame connected with the mounting member; The actuating mechanism comprises a rotating member and a gripping member, the rotating member being connected with the gripping member to facilitate the rotating member to drive the gripping member to rotate, and the gripping member being used to grasp materials in the form of clamping or adsorption.