Full-automatic robot clamping arm

Abstract

The utility model discloses a full-automatic robot clamping arm, and belongs to the technical field of clamping arms. The full-automatic robot clamping arm comprises a fixing base, an adjusting mechanism and a clamping mechanism, the adjusting mechanism comprises a mounting frame, one end of the mounting frame is rotationally connected with one end of the fixing base, the clamping mechanism comprises a clamping base, and connecting pieces are installed on the two sides of the bottom end of the clamping base correspondingly; the outer sides of the pair of connecting pieces are rotationally connected with the two sides of the interior of the mounting frame correspondingly, a first clamping block is fixedly installed at one end of the clamping base, sliding rails are installed on the two sides of the clamping base, a moving block is slidably installed between the pair of sliding rails, and a second clamping block is fixedly installed at the upper end of the moving block. According to the clamping arm of the robot, the practicability of the clamping arm of the robot can be effectively improved, and the clamping arm of the robot has high practical value.

Description

TECHNICAL FIELD

[0001] The utility model relates to clamping arm technical field, concretely is a full -automatic robot clamping arm. BACKGROUND

[0002] In the process of industrial production towards intelligent, high -efficient, the figure of robot is more and more common, undertakes various complex production tasks. Clamping arm as the key terminal component of robot execution task, its performance advantage and disadvantage directly influence the efficiency and quality of robot operation.

[0003] Based on the above, the inventor found that there are the following problems: now most clamping arm function is relatively single, angle adjustment ability is poor, when grabbing workpieces of different positions, excessive dependence on mechanical arm cooperative operation, bring many inconvenience to production operation, seriously restrict the improvement of production efficiency.

[0004] Therefore, in view of the above, the existing structure and the loss are improved, and a full -automatic robot clamping arm is provided, so as to achieve the purpose of having more practical value. INVENTION CONTENTS

[0005] The utility model discloses a full -automatic robot clamping arm to solve the problem of the single function of most clamping arms and poor angle adjustment ability in the background art.

[0006] In view of the above problems, the technical scheme provided by the utility model is:

[0007] A full -automatic robot clamping arm, including fixed seat, adjusting mechanism and clamping mechanism, the adjusting mechanism includes the mounting bracket, one end of the mounting bracket is rotatably connected with one end of the fixed seat, the clamping mechanism includes the clamping seat, and the bottom end of the clamping seat is installed with the connecting piece on both sides, the outer side of a pair of connecting pieces is rotatably connected with the inside of the mounting bracket on both sides, the one end of the clamping seat is fixedly installed with the first clamping block, and the both sides of the clamping seat are installed with the slide rail, the slidingly installed with the moving block between a pair of slide rails, the upper end of the moving block is fixedly installed with the second clamping block, and the opposite faces of the first clamping block and the second clamping block are all provided with a plurality of antiskid grooves.

[0008] Further, the mounting bracket is fixedly installed with the power box on one side, the inside of the power box is rotatably connected with the worm wheel, and the center shaft of one side of the worm wheel is connected with the center shaft of one side of the connecting piece.

[0009] The beneficial effects of the above further scheme are that the worm wheel in the power box on one side of the mounting bracket is connected with the connecting piece, and a power transmission path is provided for the rotation of the clamping seat.

[0010] Further, the inside of the power box is rotatably connected with a worm at the bottom end of the worm wheel, and the worm is in mesh with the worm wheel.

[0011] The beneficial effect of the further scheme is that the worm in the power box is in mesh with the worm wheel to form a worm and worm wheel transmission mechanism, which can change the movement direction, has a large transmission ratio, and has a self-locking effect.

[0012] Further, the bottom side of the power box is fixedly installed with a first servo motor, and the output end of the first servo motor is in transmission connection with the worm.

[0013] The beneficial effect of the further scheme is that the first servo motor at the bottom side of the power box provides power for the worm, and by controlling the operation of the first servo motor, the rotation angle of the clamping seat can be adjusted.

[0014] Further, the upper end surface of the clamping seat is provided with a moving groove on both sides, and the inside of the moving groove is rotatably connected with a screw rod.

[0015] The beneficial effect of the further scheme is that the moving groove on the upper end surface of the clamping seat provides installation space for the screw rod, so that the screw rod can stably rotate and provide a driving basis for the movement of the moving block.

[0016] Further, the screw rod is threadedly connected with a sliding block, and the upper end of the sliding block is connected with the bottom end of the moving block.

[0017] The beneficial effect of the further scheme is that the screw rod is threadedly connected with the sliding block, when the screw rod rotates, the sliding block drives the moving block to move along the sliding rail, controls the moving distance of the second clamping block, and realizes stable clamping of objects of different sizes.

[0018] Further, one end of the clamping seat is provided with a transmission box, the inside of the transmission box is rotatably connected with a synchronous wheel on both sides, the center shaft of the synchronous wheel on one side is respectively connected with one end of a pair of screw rods, and a synchronous belt is wound between the pair of synchronous wheels.

[0019] The beneficial effect of the further scheme is that the synchronous wheels and the synchronous belt in the transmission box at one end of the clamping seat realize synchronous rotation of the pair of screw rods, ensure stable movement of the moving block, and ensure the symmetry and stability of the clamping of the first clamping block and the second clamping block on the object.

[0020] Further, the inside of the transmission box is threadedly connected with a pair of limiting bolts, the limiting bolts are rotatably sleeved with a tensioning wheel, and the outside of the tensioning wheel is in abutment with the outside of the synchronous belt.

[0021] The beneficial effect of the further scheme is that the limiting bolt and the tensioning wheel on the inner side of the transmission box are used by the user to replace the tensioning wheels with different diameters to adjust the tensioning degree of the synchronous belt, thereby ensuring the stable transmission between the synchronous wheel and the synchronous belt.

[0022] Further, the second servo motor is fixedly installed on the outer side of the transmission box, and the output end of the second servo motor is in transmission connection with one of the synchronous wheels.

[0023] The beneficial effect of the further scheme is that the second servo motor on the outer side of the transmission box provides power for the synchronous wheel, and the clamping actions of the first clamping block and the second clamping block can be controlled by controlling the operation of the second servo motor.

[0024] Further, the third servo motor is fixedly installed on the other end of the fixing seat, and the output end of the third servo motor is in transmission connection with the mounting frame.

[0025] The beneficial effect of the further scheme is that the third servo motor on the other end of the fixing seat provides rotating power for the mounting frame, and the position and the angle of the clamping mechanism can be adjusted by controlling the operation of the third servo motor, thereby meeting the requirements of different working scenes.

[0026] Compared with the prior art, the full-automatic robot clamping arm has the following beneficial effects: the fixing seat provides a stable mounting basis for the whole clamping arm, the mounting frame of the adjusting mechanism is in rotating connection with the fixing seat, the angle of the clamping mechanism can be adjusted, the clamping seat of the clamping mechanism is in rotating connection with the mounting frame through the connecting piece, the clamping direction can be further adjusted flexibly, the sliding rail enables the second clamping block to move stably under the driving of the moving block, the first clamping block and the second clamping block are cooperated to clamp the object, the anti-skid groove increases the stability of clamping, the first servo motor on the bottom side of the power box provides power for the worm, the rotating angle of the clamping seat can be adjusted by controlling the operation of the first servo motor, the synchronous wheel and the synchronous belt in the transmission box on one end of the clamping seat are used to realize the synchronous rotation of a pair of screw rods, thereby ensuring the stable movement of the moving block and the symmetry and stability of the clamping of the first clamping block and the second clamping block on the object, the third servo motor on the other end of the fixing seat provides rotating power for the mounting frame, the position and the angle of the clamping mechanism can be adjusted by controlling the operation of the third servo motor, thereby meeting the requirements of different working scenes. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 The full-automatic robot clamping arm is disclosed in the embodiment of the utility model Figure 1 ;

[0028] Figure 2 The full-automatic robot clamping arm is disclosed in the embodiment of the utility model Figure 2 ;

[0029] Figure 3 This is a three-dimensional structural diagram of the fully automated robotic gripper arm disclosed in an embodiment of the present invention. Figure 3 ;

[0030] Figure 4 This is a side cross-sectional view of the transmission box of the fully automatic robot gripper arm disclosed in an embodiment of the present utility model;

[0031] Figure 5 This is a side cross-sectional view of the power box of the fully automatic robot gripper arm disclosed in an embodiment of this utility model.

[0032] In the diagram: 100, fixed base; 101, adjusting mechanism; 10101, mounting bracket; 10102, power box; 10103, first servo motor; 10104, worm gear; 10105, worm; 102, clamping mechanism; 10201, clamping seat; 10202, connecting piece; 10203, moving block; 10204, slide rail; 10205, second clamping block; 10206, first clamping block; 10207, transmission box; 10208, second servo motor; 10209, moving groove; 10210, screw; 10211, slider; 10212, synchronous pulley; 10213, limit bolt; 10214, tensioning pulley; 103, third servo motor. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] Please see Figure 1 - Figure 5The utility model provides a technical scheme: a full -automatic robot clamping arm, including fixed base 100, adjusting mechanism 101 and clamping mechanism 102, adjusting mechanism 101 includes mounting bracket 10101, and one end of mounting bracket 10101 is rotatively connected with one end of fixed base 100, and clamping mechanism 102 includes clamping seat 10201, and the both sides of the bottom end of clamping seat 10201 are all installed with connecting piece 10202, and the outside of a pair of connecting piece 10202 is rotatively connected with the both sides inside of mounting bracket 10101 respectively, and one end of clamping seat 10201 is fixedly installed with first clamping block 10206, and the both sides of clamping seat 10201 are all installed with slide rail 10204, and the sliding installation of a pair of slide rail 10204 between mobile block 10203, and the upper end of mobile block 10203 is fixedly installed with second clamping block 10205, and the opposite faces of first clamping block 10206 and second clamping block 10205 are all set up with a plurality of antiskid groove, and fixed base 100 provides stable installation base for the whole clamping arm, and the mounting bracket 10101 of adjusting mechanism 101 is rotatively connected with fixed base 100, and the angle of clamping mechanism 102 can be adjusted, and the clamping seat 10201 of clamping mechanism 102 is rotatively connected with mounting bracket 10101 through connecting piece 10202, and further flexible clamping direction can be adjusted, and slide rail 10204 makes mobile block 10203 drive second clamping block 10205 move stably, and cooperation with first clamping block 10206 realizes the clamping of object, and antiskid groove increases the stability of clamping.

[0035] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0036] Please refer to Figure 1 - Figure 5A power box 10102 is fixedly mounted on one side of the mounting bracket 10101. A worm gear 10104 is rotatably connected inside the power box 10102. The central shaft on one side of the worm gear 10104 is connected to the central shaft on one side of the connecting piece 10202. A worm 10105 is rotatably connected inside the power box 10102 at the bottom end of the worm gear 10104. The worm 10105 meshes with the worm gear 10104. A first servo motor 10103 is fixedly mounted on the bottom side of the power box 10102. The output end of the first servo motor 10103 is connected to the worm 10105 via a transmission connection. The mounting bracket 10101... The worm gear 10104 inside the power box 10102 on one side is connected to the connector 10202, providing a power transmission path for the rotation of the clamping seat 10201. The worm 10105 inside the power box 10102 meshes with the worm gear 10104 to form a worm gear 10105-worm wheel 10104 transmission mechanism, which can realize the change of motion direction, has a large transmission ratio, and has a self-locking effect. The first servo motor 10103 on the bottom side of the power box 10102 provides power to the worm 10105. By controlling the operation of the first servo motor 10103, the rotation angle of the clamping seat 10201 can be adjusted.

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0038] Please see Figure 1 - Figure 5The upper end face of the clamping seat 10201 is provided with a moving groove 10209 on both sides, the inside of the moving groove 10209 is rotatably connected with a screw rod 10210, the screw rod 10210 is threadedly connected with a sliding block 10211, the upper end of the sliding block 10211 is connected with the bottom end of the moving block 10203, one end of the clamping seat 10201 is provided with a transmission box 10207, the inside of the transmission box 10207 is rotatably connected with a synchronous wheel 10212 on both sides, the center shaft of one side of the synchronous wheel 10212 is connected with one end of a pair of screw rods 10210 respectively, a synchronous belt is wound between a pair of synchronous wheels 10212, a pair of limiting bolts 10213 are threadedly connected to the inside of the transmission box 10207, a tension pulley 10214 is rotatably sleeved on the limiting bolt 10213, the outside of the tension pulley 10214 abuts against the outside of the synchronous belt, a second servo motor 10208 is fixedly installed on the outside of the transmission box 10207, the output end of the second servo motor 10208 is in transmission connection with one of the synchronous wheels 10212, a third servo motor 103 is fixedly installed on the other end of the fixed seat 100, the output end of the third servo motor 103 is in transmission connection with the mounting bracket 10101, the moving groove 10209 on the upper end face of the clamping seat 10201 provides mounting space for the screw rod 10210, so that the screw rod 10210 can stably rotate, and provides a driving basis for the movement of the moving block 10203, the screw rod 10210 is threadedly connected with the sliding block 10211, when the screw rod 10210 rotates, the sliding block 10211 drives the moving block 10203 to move along the sliding rail 10204, the moving distance of the second clamping block 10205 is controlled, the stable clamping of objects of different sizes is realized, the synchronous wheels 10212 and the synchronous belt in the transmission box 10207 at one end of the clamping seat 10201 realize the synchronous rotation of a pair of screw rods 10210, ensure the stable movement of the moving block 10203, and ensure the symmetry and stability of the clamping of the first clamping block 10206 and the second clamping block 10205 on the object, the limiting bolt 10213 and the tension pulley 10214 on the inside of the transmission box 10207 are used by the user to replace the tension pulleys 10214 of different diameters, so as to adjust the tensioning degree of the synchronous belt, ensure the stable transmission between the synchronous wheels 10212 and the synchronous belt, the second servo motor 10208 on the outside of the transmission box 10207 provides power for the synchronous wheel 10212, the clamping action of the first clamping block 10206 and the second clamping block 10205 can be controlled by controlling the operation of the second servo motor 10208, the third servo motor 103 at the other end of the fixed seat 100 provides rotating power for the mounting bracket 10101, the position and angle of the clamping mechanism 102 can be adjusted by controlling the operation of the third servo motor 103, the needs of different working scenes are met.

[0039] Specifically, the working principle of the full-automatic robot clamping arm: before the full-automatic robot clamping arm starts working, the fixed seat 100 is installed on the robot body to provide stable support for the entire clamping arm. When the overall angle of the clamping mechanism 102 needs to be adjusted, the third servo motor 103 is started. The third servo motor 103 outputs power to drive the mounting bracket 10101 to rotate around its connection point with the fixed seat 100, thereby adjusting the position and angle of the clamping mechanism 102 to adapt to different working scenarios. If the direction of the clamping seat 10201 needs to be further adjusted, the first servo motor 10103 is started. The first servo motor 10103 drives the worm 10105 to rotate. Since the worm 10105 is meshed with the worm gear 10104, and the center shaft of the worm gear 10104 is connected with the center shaft of the connecting piece 10202, the rotation of the worm 10105 drives the worm gear 10104 to rotate, thereby making the clamping seat 10201 rotate around the connection point with the mounting bracket 10101 through the connecting piece 10202 to adjust the clamping direction. The self-locking feature of the worm gear 10104 worm 10105 transmission mechanism can ensure that the clamping seat 10201 remains in a fixed position after adjustment. When performing object clamping operations, the second servo motor 10208 is started. The second servo motor 10208 drives one of the synchronous wheels 10212 to rotate, which makes the other synchronous wheel 10212 rotate synchronously through the transmission of the synchronous belt. Since the center shafts of the synchronous wheels 10212 are respectively connected with one end of a pair of screw rods 10210, the screw rods 10210 rotate synchronously. The screw rods 10210 are threadedly connected with the sliding blocks 10211, which drive the moving blocks 10203 to move along the sliding rails 10204, making the second clamping blocks 10205 approach or move away from the first clamping blocks 10206 to achieve stable clamping of objects of different sizes. The limiting bolt 10213 and the tensioning wheel 10214 in the transmission box 10207 can adjust the tensioning degree of the synchronous belt to ensure stable transmission between the synchronous wheels 10212 and the synchronous belt, and to guarantee the accuracy and stability of the clamping action. The anti-slip grooves on the opposite surfaces of the first clamping blocks 10206 and the second clamping blocks 10205 increase the friction between the objects and the clamping blocks to prevent the objects from slipping during clamping.

Claims

1. A fully automatic robot gripper arm, characterized in that, The utility model relates to a kind of adjustable clamp, including fixed seat (100), adjusting mechanism (101) and clamping mechanism (102), the adjusting mechanism (101) includes mounting frame (10101), one end of the mounting frame (10101) is rotatably connected with one end of fixed seat (100), the clamping mechanism (102) includes clamping seat (10201), the bottom end of the clamping seat (10201) is equipped with connecting piece (10202) on both sides, the outer side of a pair of the connecting piece (10202) is rotatably connected with the inside of mounting frame (10101) respectively, one end of the clamping seat (10201) is fixedly installed with first clamping block (10206), the both sides of the clamping seat (10201) are equipped with slide rail (10204), slidingly installed with moving block (10203) between a pair of the slide rail (10204), the upper end of the moving block (10203) is fixedly installed with second clamping block (10205), the opposite faces of the first clamping block (10206) and second clamping block (10205) are all equipped with a plurality of anti-skid grooves.

2. A fully automatic robot gripper arm according to claim 1, characterized in that, One side of the mounting frame (10101) is fixedly installed with power box (10102), the inside of the power box (10102) is rotatably connected with worm gear (10104), the side center shaft of the worm gear (10104) is connected with the side center shaft of connecting piece (10202).

3. A fully automatic robot gripper arm according to claim 2, characterized in that, The inside of the power box (10102) is rotatably connected with worm gear (10105) at the bottom end of worm gear (10104), and the worm gear (10105) and the worm gear (10104) are engaged with each other.

4. A fully automatic robot gripper arm according to claim 3, characterized in that, The bottom side of the power box (10102) is fixedly installed with first servo motor (10103), and the output end of the first servo motor (10103) is drivingly connected with the worm gear (10105).

5. The fully automatic robot gripper arm according to claim 1, characterized in that, The upper end surface of the clamping seat (10201) is equipped with moving groove (10209) on both sides, and the inside of the moving groove (10209) is rotatably connected with screw rod (10210).

6. A fully automatic robot gripper arm according to claim 5, characterized in that The screw rod (10210) is all screw-connected with sliding block (10211), and the upper end of the sliding block (10211) is connected with the bottom end of moving block (10203).

7. A fully automatic robot gripper arm according to claim 6, characterized in that One end of the clamping seat (10201) is installed with transmission box (10207), the inside of the transmission box (10207) is rotatably connected with synchronous wheel (10212) on both sides, the side center shaft of the synchronous wheel (10212) is respectively connected with one end of a pair of screw rods (10210), and synchronous belt is wound between a pair of the synchronous wheels (10212).

8. A fully automatic robot gripper arm according to claim 7, characterized in that, The inner side of the transmission box (10207) is screw-connected with a pair of limit bolts (10213), the outer side of the tension pulley (10214) is abutted with the outer side of synchronous belt.

9. A fully automatic robot gripper arm according to claim 8, characterized in that, The outer side of the transmission box (10207) is fixedly installed with second servo motor (10208), and the output end of the second servo motor (10208) is drivingly connected with one of the synchronous wheels (10212).

10. The fully automatic robot gripper arm according to claim 1, characterized in that, The other end of the fixed seat (100) is fixedly installed with a third servo motor (103), and the output end of the third servo motor (103) is in transmission connection with the mounting frame (10101).

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