Multi-axis linkage mechanical gripper device

Abstract

The utility model relates to the technical field of mechanical engineering equipment, in particular to a multi-axis linkage mechanical gripper device which comprises a base, a big arm assembly is movably mounted at the top of the base, and a big and small arm rotating joint body is movably mounted at the top of the big arm assembly; a center-of-gravity-adjustable small arm assembly is movably mounted at the top of the large and small arm rotating joint body; a first servo motor drives a worm and a worm gear to be in meshing transmission, a rotary disc is driven to move on the two sides of a rotary joint shell, a small arm can flexibly rotate within a certain angle range, and the flexibility of space operation of the mechanical gripper device is improved; the inner threaded block and the gripper fixing block move in the direction of the dovetail sliding groove, then the position of the gripper assembly is adjusted, the gravity center of the whole small arm assembly is adjusted, the requirements of different gripping tasks for the gravity center are met, and the gripping stability is improved. And diversified requirements on the gripper in different working scenes are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical engineering equipment, in particular to a multi-axis linkage mechanical gripper device. BACKGROUND

[0002] Under the trend of increasing automation in today's industry, production efficiency and product quality have become key factors of enterprise competitiveness. As an indispensable important equipment in automated production lines, mechanical grippers are widely used in many fields such as electronic manufacturing, automobile production, logistics and warehousing, and undertake key tasks such as material handling and component assembly.

[0003] Traditional mechanical grippers are difficult to achieve multi-dimensional movement due to the limited number of shafts, and cannot quickly and accurately position and grasp target objects when facing complex work scenes, resulting in low production efficiency and difficulty in ensuring product quality. Moreover, its center of gravity adjustment ability is insufficient, and when grasping irregular or unevenly distributed objects, problems such as unstable center of gravity and object falling are prone to occur.

[0004] For the related technology in the above, the inventor finds that there are the following defects: Most of the existing mechanical gripper devices on the market have relatively simple structure design and can only realize single-axis or double-axis rotation, which lacks precision in angle control and cannot meet the requirements of high-precision grasping of small electronic components and precision parts. In actual operation, positioning deviation is prone to occur, affecting product quality and production efficiency, and high-precision angle control cannot be achieved to ensure accurate grasping position. SUMMARY

[0005] In view of the deficiencies of the prior art, in order to solve the problems mentioned in the background art, the present application provides a multi-axis linkage mechanical gripper device.

[0006] To achieve the above purpose, the utility model provides the following technical scheme: a multi-axis linkage mechanical gripper device, comprising a base, a large arm assembly movably mounted on the top of the base, a large-small arm rotary joint body movably mounted on the top of the large arm assembly, and an adjustable center of gravity small arm assembly movably mounted on the top of the large-small arm rotary joint body.

[0007] The adjustable center of gravity small arm assembly comprises a small arm shell, a rotary joint shell, a turntable, a worm gear, a worm, a bearing seat and a first servo motor, the small arm shell is fixedly installed on the top of the large-small arm rotary joint body, the top of the small arm shell is fixedly installed with the rotary joint shell, the rotary joint shell is movably installed with the turntable on the left and right sides, the turntable is fixedly installed with the worm gear on one side, the worm gear is meshed and driven with the worm on one side, the top of the worm is movably installed with the bearing seat, the worm is fixedly installed on the output end of the first servo motor, and the first servo motor is fixedly installed in the small arm shell.

[0008] Optionally, the adjustable barycenter small arm assembly further comprises a small arm support, a dovetail sliding groove, a motor mounting plate, a second servo motor, a lead screw, a sliding plate, an internally threaded block, an internally threaded hole and a gripper fixing block, the small arm support is fixedly installed on one side of the turntable, the small arm support is provided with the dovetail sliding groove on the side close to the turntable, the small arm support is fixedly installed with the motor mounting plate on the side close to the turntable, the motor mounting plate is fixedly installed with the second servo motor on one side, the output end of the second servo motor is fixedly installed with the lead screw, the sliding plate is threadedly sleeved on one side of the lead screw, the sliding plate is fixedly installed with the internally threaded block on one side, the internally threaded hole is formed through one side of the internally threaded block, and the gripper fixing block is fixedly installed on the bottom of the internally threaded block. The lead screw drives the sliding plate to move along the dovetail sliding groove through rotary motion, so that the accurate position adjustment of the gripper assembly is realized.

[0009] Optionally, the inside of the base is longitudinally provided with a driving motor, and the output end of the driving motor is fixedly connected with the large arm assembly; and the inside of the large-small arm rotary joint body is transversely provided with a driving motor, and the output end of the driving motor is fixedly connected with the adjustable barycenter small arm assembly.

[0010] Optionally, the bearing seat is fixedly installed in the inside of the rotary joint shell, and the rotary joint shell is movably connected with the turntable through the annular sliding rail.

[0011] Optionally, the sliding plate is movably installed on one side of the dovetail sliding groove, and the lead screw is threadedly sleeved in the inside of the internally threaded hole.

[0012] Optionally, the length of the screw rod of the lead screw is equal to the length of the dovetail sliding groove, and the motor mounting plate is fixedly installed at the starting end of the dovetail sliding groove.

[0013] In summary, the present application has the following beneficial technical effects:

[0014] The first servo motor drives the meshing transmission of the worm and the worm gear, drives the turntable to move on both sides of the rotary joint shell, enables the small arm to flexibly rotate within a certain angle range, increases the flexibility of the mechanical gripper device in space operation, the second servo motor drives the lead screw, moves the internally threaded block and the gripper fixing block along the dovetail sliding groove, and then adjusts the position of the gripper assembly, realizes the adjustment of the barycenter of the whole small arm assembly, adapts to the requirement of the barycenter for different grabbing tasks, and improves the grabbing stability.

[0015] The utility model discloses in using, through the cooperation of dovetail sliding slot and sliding plate, the movement of internal thread block and the fixed block of gripper is provided with stable orientation, in the process of adjusting the position of gripper assembly, this kind of stable structure design can effectively avoid the failure of grabbing due to shaking or deviation, ensure the stability and reliability of mechanical gripper in the working process, adopt the design concept of modularization, the connecting mode between each component is simple and easy to understand. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the whole structure schematic diagram of equipment in the embodiment of the application;

[0017] Figure 2 It is the local structure schematic diagram of equipment in the embodiment of the application;

[0018] Figure 3 It is the local structure schematic diagram of adjustable gravity center small arm assembly in the embodiment of the application;

[0019] Figure 4 It is the local structure schematic diagram of adjustable gravity center small arm assembly in the embodiment of the application;

[0020] Fig. 1 is a base;2, big arm assembly;3, size arm rotating joint body;4, adjustable gravity center small arm assembly;401, small arm shell;402, rotating joint shell;403, turntable;404, worm wheel;405, worm;406, bearing seat;407, first servo motor;408, small arm support;409, dovetail sliding slot;410, motor mounting plate;411, second servo motor;412, screw rod;413, sliding plate;414, internal thread block;415, internal thread hole;416, gripper fixed block. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings Figures 1-4 The application is further described in detail.

[0022] The embodiment of the application discloses a multi-axis linkage mechanical gripper device.

[0023] Please refer to Figure 1 , multi-axis linkage mechanical gripper device, including base 1, the top of base 1 movable mounting has big arm assembly 2, the top of big arm assembly 2 movable mounting has size arm rotating joint body 3, and the top of size arm rotating joint body 3 movable mounting has adjustable gravity center small arm assembly 4;The inside of base 1 is longitudinally provided with driving motor, and the output end of driving motor is fixedly connected with big arm assembly 2, and the inside of size arm rotating joint body 3 is transversely provided with driving motor, and the output end of driving motor is fixedly connected with adjustable gravity center small arm assembly 4.

[0024] Please refer to Figures 2 to 4 The adjustable gravity center arm assembly 4 comprises an arm shell 401, a rotary joint shell 402, a rotating disc 403, a worm wheel 404, a worm 405, a bearing seat 406 and a first servo motor 407, the arm shell 401 is fixedly installed at the top of the size arm rotary joint body 3, the top of the arm shell 401 is fixedly installed with the rotary joint shell 402, the rotary joint shell 402 is movably installed with the rotating disc 403 on the left and right sides, the rotating disc 403 is fixedly installed with the worm wheel 404 on one side, the worm wheel 404 is meshed and driven by the worm 405 on one side, the worm 405 is movably installed with the bearing seat 406 at the top, the worm 405 is fixedly installed at the output end of the first servo motor 407, and the first servo motor 407 is fixedly installed in the arm shell 401.

[0025] The adjustable gravity center arm assembly 4 further comprises an arm support 408, a dovetail sliding groove 409, a motor mounting plate 410, a second servo motor 411, a lead screw 412, a sliding plate 413, an internally threaded block 414, an internally threaded hole 415 and a gripper fixing block 416, the arm support 408 is fixedly installed on one side of the rotating disc 403, the arm support 408 is provided with the dovetail sliding groove 409 near one side of the rotating disc 403, the arm support 408 is fixedly installed with the motor mounting plate 410 near one side of the rotating disc 403, the motor mounting plate 410 is fixedly installed with the second servo motor 411 on one side, the output end of the second servo motor 411 is fixedly installed with the lead screw 412, the lead screw 412 is threadedly sleeved with the sliding plate 413 on one side, the sliding plate 413 is fixedly installed with the internally threaded block 414 on one side, the internally threaded block 414 is provided with the internally threaded hole 415 on one side, and the internally threaded block 414 is fixedly installed with the gripper fixing block 416 at the bottom, and the gripper fixing block 416 is fixedly installed with the gripper assembly at the bottom through bolts.

[0026] The bearing seat 406 is fixedly installed in the rotary joint shell 402, and the rotary joint shell 402 is movably connected with the rotating disc 403 through the annular sliding rail.

[0027] The sliding plate 413 is movably installed on one side of the dovetail sliding groove 409, and the lead screw 412 is threadedly sleeved in the internally threaded hole 415.

[0028] The length of the screw rod of the lead screw 412 is equal to the length of the dovetail sliding groove 409, and the motor mounting plate 410 is fixedly installed at the starting end of the dovetail sliding groove 409.

[0029] Further explanation is needed:

[0030] The adjustable gravity center small arm assembly 4 is a key part of the multi-axis linkage mechanical gripper device, mainly undertakes the important role of flexible control and accurate positioning, and drives the worm 405 and the worm gear 404 through the first servo motor 407 to drive the rotating disc 403 to rotate, so that the small arm can be flexibly adjusted at different angles to meet the demand for grabbing the target object in a complex space. In the electronic component production line, the mechanical gripper needs to accurately grab and place the tiny chip. The accurate angle adjustment function of the adjustable gravity center small arm assembly 4 enables the mechanical gripper to complete the task with extremely high precision, ensures the accuracy of the production process, and improves the product quality.

[0031] Another important function of the adjustable gravity center small arm assembly 4 is to realize gravity center adjustment and ensure the stability of grabbing. The small arm support 408, the dovetail sliding groove 409, the lead screw 412 and other components work cooperatively. The second servo motor 411 drives the lead screw 412 to drive the internal threaded block 414 and the gripper fixing block 416 to move along the dovetail sliding groove 409, so as to adjust the position of the gripper assembly and change the gravity center of the whole small arm assembly. When transporting objects with irregular shapes or uneven weight distribution, the gravity center can be adjusted to keep the mechanical gripper balanced during the grabbing and transporting process, avoiding the objects from falling due to unstable gravity center, and improving the safety and reliability of the operation.

[0032] The adjustable gravity center small arm assembly 4 can be widely used in various industrial scenes due to its flexible operation performance and good compatibility. In the automobile manufacturing workshop, it assists in the precise assembly of parts. In the logistics warehouse, it can transport goods of different sizes and weights. In addition, it fully considers the compatibility with other components in design, and can be flexibly combined with different large arm assemblies 2, rotating joint bodies and gripper assemblies. According to different production tasks and working environments, it can quickly complete customized configuration, greatly expanding the application field of the multi-axis linkage mechanical gripper device and improving the universality and practicality of the equipment.

[0033] The working principle of the above embodiment is as follows:

[0034] Firstly, the driving motor longitudinally arranged inside the base is started, and its output end is fixedly connected with the large arm assembly 2. The power generated by the operation of the driving motor is transmitted to the large arm assembly 2, so as to drive the large arm to perform basic actions such as lifting or angle adjustment, so that the mechanical gripper device can move within a certain vertical space range and preliminarily position to the approximate area where the target object is located.

[0035] Secondly, when the large arm reaches the appropriate position, the driving motor transversely arranged inside the large and small arm rotating joint body 3 starts to work, and its output end is fixedly connected with the adjustable gravity center small arm assembly 4. The driving motor drives the adjustable gravity center small arm assembly 4 to rotate in the horizontal direction, further reduces the positional deviation from the target object, and enables the mechanical gripper to approach the target more accurately.

[0036] Next, after approaching the target object, the adjustable gravity center arm assembly 4 begins to play a key role, the first servo motor 407 starts, the worm 405 on the output end engages transmission with the worm gear 404, drives the rotating disc 403 to rotate on both sides of the rotating joint shell 402, realizes flexible rotation of the arm at multiple angles, so that the mechanical gripper can be finely adjusted according to the position and attitude of the target object, and ensure that the target object can be accurately aligned.

[0037] Next, when the mechanical gripper is aligned with the target object, the second servo motor 411 starts, and the lead screw 412 on the output end begins to rotate. Since the lead screw 412 is threadedly sleeved in the internal threaded hole 415, the internal threaded block 414 drives the gripper fixing block 416 to move along the dovetail sliding groove 409, thereby adjusting the position of the gripper assembly. At the same time, according to the shape and weight distribution of the object, the position of the gripper assembly is adjusted to change the center of gravity of the entire arm assembly, preparing for stable object grabbing.

[0038] Finally, after adjusting the position and center of gravity, the gripper assembly is connected to the gripper fixing block 416 and grasps the target object by a specific grasping method. After grasping, the motors work together in reverse order to transport the object to the designated position, completing a complete work flow.

[0039] The above are preferred embodiments of the present application, which do not limit the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application shall be covered within the protection scope of the present application.

Claims

1. Multi-axis mechanical gripper device comprising a base (1), characterized in that: The top of the base (1) is movably mounted with a large arm assembly (2), the top of the large arm assembly (2) is movably mounted with a large and small arm rotating joint body (3), the top of the large and small arm rotating joint body (3) is movably mounted with an adjustable gravity center small arm assembly (4); The adjustable gravity center small arm assembly (4) comprises a small arm shell (401), a rotating joint shell (402), a rotating disc (403), a worm wheel (404), a worm shaft (405), a bearing seat (406) and a first servo motor (407), the top of the small arm shell (401) is fixedly mounted on the top of the large and small arm rotating joint body (3), the top of the small arm shell (401) is fixedly mounted with the rotating joint shell (402), the left and right sides of the rotating joint shell (402) are movably mounted with the rotating disc (403), one side of the rotating disc (403) is fixedly mounted with the worm wheel (404), one side of the worm wheel (404) is meshed with the worm shaft (405), the top of the worm shaft (405) is movably mounted with the bearing seat (406), the worm shaft (405) is fixedly mounted on the output end of the first servo motor (407), and the first servo motor (407) is fixedly mounted in the small arm shell (401).

2. The multi-axis kinematic gripper device of claim 1, wherein: The adjustable gravity center small arm assembly (4) further comprises a small arm support (408), a dovetail sliding groove (409), a motor mounting plate (410), a second servo motor (411), a lead screw (412), a sliding plate (413), an internally threaded block (414), an internally threaded hole (415) and a gripper fixing block (416), the small arm support (408) is fixedly mounted on one side of the rotating disc (403), the small arm support (408) is provided with the dovetail sliding groove (409) near one side of the rotating disc (403), the small arm support (408) is fixedly mounted with the motor mounting plate (410) near one side of the rotating disc (403), one side of the motor mounting plate (410) is fixedly mounted with the second servo motor (411), the output end of the second servo motor (411) is fixedly mounted with the lead screw (412), one side of the lead screw (412) is threadedly sleeved with the sliding plate (413), one side of the sliding plate (413) is fixedly mounted with the internally threaded block (414), one side of the internally threaded block (414) is provided with the internally threaded hole (415), and the bottom of the internally threaded block (414) is fixedly mounted with the gripper fixing block (416), and the bottom of the gripper fixing block (416) is fixedly mounted with the gripper assembly through bolts.

3. The multi-axis linkage gripper device of claim 1, wherein: The inside of the base (1) is longitudinally provided with a driving motor, and the output end of the driving motor is fixedly connected with the large arm assembly (2), the inside of the large and small arm rotating joint body (3) is transversely provided with a driving motor, and the output end of the driving motor is fixedly connected with the adjustable gravity center small arm assembly (4).

4. The multi-axis linkage gripper device of claim 1, wherein: The bearing seat (406) is fixedly mounted in the inside of the rotating joint shell (402), and the rotating joint shell (402) is movably connected with the rotating disc (403) through an annular sliding rail.

5. The multi-axis linkage gripper device of claim 2, wherein: The sliding plate (413) is movably installed on one side of the dovetail slide (409), and the screw rod (412) is threadedly sleeved in the inner threaded hole (415).

6. The multi-axis linkage gripper device of claim 2, wherein: The screw rod length of the screw rod (412) is equal to the length of the dovetail slide (409), and the motor mounting plate (410) is fixedly installed at the starting end of the dovetail slide (409).

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