Grabbing mechanical arm

Abstract

The utility model belongs to the technical field of mechanical arms, and particularly relates to a grabbing mechanical arm which comprises a base, a hydraulic cylinder is embedded in the base, a connecting seat is fixedly connected to the top of the output end of the hydraulic cylinder, a rotating box is fixedly installed on the top of the connecting seat, a servo motor is fixedly connected to one side of the rotating box, and a clamping groove is formed in the other side of the rotating box. And the output end of the servo motor penetrates through the rotating box and is connected with a worm in the rotating box. Various driving technologies are fused, the hydraulic cylinder is used for adjusting the height, the servo motor is combined with the worm gear and the worm to achieve accurate horizontal rotation, the electric push rod is used for adjusting the extension length, the bidirectional electric push rod drives the clamping jaw, all the components work cooperatively, the manipulator can adapt to grabbing of materials of complex shapes and different sizes, and the grabbing precision and stability are improved; and the device can flexibly move in horizontal, vertical and multi-angle rotating directions, so that the working efficiency is effectively improved, the labor cost is reduced, and the requirements of automatic operation such as industrial production and logistics storage are met.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a gripping robotic arm. Background Technology

[0002] In today's industrial production, logistics warehousing, and numerous automated operation scenarios, the gripping and handling of materials is a crucial link. Traditional gripping methods often rely on manual operation, which not only consumes a lot of labor costs but is also inefficient and cannot meet the needs of rapidly developing modern industries.

[0003] Early mechanical gripping devices had relatively simple functions, mostly only capable of simple opening and closing movements, making it difficult to accurately grasp materials of complex shapes and different sizes. With the advancement of automation technology, robotic arms gradually came into play, but early robotic arms had many limitations in terms of flexibility, gripping accuracy, and load capacity. For example, some robotic arms had limited joint range of motion, making it impossible to achieve omnidirectional spatial operations; some robotic arms had rudimentary gripper designs, which could easily damage fragile or smooth-surfaced objects, resulting in poor gripping stability.

[0004] At the level of drive technology, a single drive mode is insufficient to meet the dual requirements of power and precision. While hydraulic drives can provide greater power, their response speed and control precision are lacking; electric drives have advantages in precision control, but their power output is relatively limited. Moreover, traditional robotic arms often cannot simultaneously meet the needs of coordinated movement in horizontal, vertical, and multi-angle rotational directions, resulting in unsatisfactory performance in complex working environments, such as material picking in confined spaces and sorting items in irregularly stacked piles.

[0005] To overcome these challenges, this utility model was developed, aiming to create a gripping robotic arm with high precision, strong adaptability, and multi-degree-of-freedom motion through innovative structural combinations and the integration of multiple advanced driving technologies, injecting new vitality into the automation process of various industries. Utility Model Content

[0006] (a) Technical problems to be solved

[0007] To address the shortcomings of existing technologies, this utility model provides a gripping robotic arm that solves the problems mentioned in the background section.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, this utility model specifically adopts the following technical solution:

[0010] A gripping robotic arm includes a base in which a hydraulic cylinder is embedded. A connecting seat is fixedly connected to the top of the output end of the hydraulic cylinder. A rotating box is fixedly mounted on the top of the connecting seat. A servo motor is fixedly connected to one side of the rotating box. The output end of the servo motor passes through the rotating box and connects to a worm gear inside. The worm gear is meshed with a worm wheel. A turntable is connected to the middle of the worm wheel via a shaft. A top seat is fixedly connected to the top of the turntable. A connecting rod is fixedly connected to one side of the top seat. An electric push rod is mounted at the front end of the connecting rod. A connecting seat is fixedly connected to the output end of the electric push rod. A mounting block is fixedly connected to the bottom of the connecting seat. A bidirectional electric push rod is embedded inside the mounting block. A gripper is fixedly connected to one end of the bidirectional electric push rod.

[0011] Furthermore, the base is provided with a flange plate at the bottom, with flange holes, through which bolts are used to fasten it to the ground.

[0012] Furthermore, the shaft is rotatably connected inside the rotating box via a shaft seat.

[0013] Furthermore, there are four bidirectional electric actuators in both the horizontal and vertical directions.

[0014] Furthermore, the bidirectional electric actuator is offset in height.

[0015] (III) Beneficial Effects

[0016] Compared with the prior art, the present invention provides a gripping robotic arm with the following advantages:

[0017] This utility model integrates multiple drive technologies. The height is adjusted by a hydraulic cylinder, the servo motor combined with a worm gear achieves precise horizontal rotation, the extension length is adjusted by an electric push rod, and the gripper is driven by a bidirectional electric push rod. All components work together to not only adapt to the gripping of materials with complex shapes and different sizes, improving gripping accuracy and stability, but also move flexibly in horizontal, vertical and multi-angle rotation directions, effectively improving work efficiency, reducing labor costs, and meeting the needs of automated operations in industrial production, logistics and warehousing. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0019] Figure 2 This is a schematic diagram of the internal structure of the rotating box of this utility model;

[0020] Figure 3 This is a side view of the structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the connecting structure at the front end of the connecting rod of this utility model.

[0022] In the diagram: 1. Base; 2. Hydraulic cylinder; 3. Connecting seat; 4. Rotary box; 5. Servo motor; 6. Worm gear; 7. Worm wheel; 8. Turntable; 9. Top seat; 10. Connecting rod; 11. Electric push rod; 12. Connecting seat; 13. Mounting block; 14. Bidirectional electric push rod; 15. Gripper. Detailed Implementation

[0023] 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.

[0024] Example

[0025] like Figure 1 and 3 As shown, an embodiment of the present invention provides a gripping robotic arm, including a base 1 and a hydraulic cylinder 2 embedded in the base 1. This connection method enables the hydraulic cylinder 2 to be stably fixed on the base 1.

[0026] like Figure 1 As shown, the base 1 has a flange plate with flange holes at its bottom, which is fastened to the ground with bolts, providing a stable support foundation for the entire robotic arm. The hydraulic cylinder 2 serves as the power source, and its output end drives the connecting seat 3 to rise and fall vertically, thereby adjusting the overall height of the robotic arm to meet the height requirements of different working scenarios.

[0027] like Figure 1 and 3 As shown, the top of the output end of the hydraulic cylinder 2 is fixedly connected to the connecting seat 3. This connection ensures that the thrust of the hydraulic cylinder 2 can be effectively transmitted to the connecting seat 3. The connecting seat 3 serves to receive the power of the hydraulic cylinder 2 and transmit it to subsequent components, driving components such as the rotating box 4 to change their height.

[0028] like Figure 1 and 3 As shown, the rotating box 4 is fixedly mounted on the top of the connecting seat 3, so that the rotating box 4 can be stably mounted above the connecting seat 3. The connecting seat 3 provides support for the rotating box 4, ensuring the stability of the rotating box 4 when performing rotation and other actions, and also transmits the vertical movement of the hydraulic cylinder 2 to the rotating box 4.

[0029] like Figure 2 As shown, the servo motor 5 is fixedly connected to one side of the rotating box 4, and its output end passes through the rotating box 4 and connects to the worm gear 6 inside. This connection method allows the servo motor 5 to directly drive the worm gear 6 to rotate, providing power for the horizontal rotation of the robotic arm.

[0030] like Figure 2 As shown, the worm 6 meshes with the worm wheel 7, and the rotation of the worm 6 drives the rotation of the worm wheel 7. This transmission method has a large transmission ratio, which can achieve precise rotation control of the robotic arm in the horizontal direction, and at the same time provide a certain self-locking function to ensure the positional stability of the robotic arm when it stops rotating.

[0031] like Figure 2 As shown, the worm gear 7 is connected to the turntable 8 in the middle via a shaft, and the shaft is rotatably connected inside the rotating box 4 via a bearing seat. This connection allows the rotation of the worm gear 7 to drive the turntable 8 to rotate synchronously. The rotation of the turntable 8 enables the robot arm to adjust its angle in the horizontal direction, thus expanding the robot arm's working range.

[0032] like Figure 1 and 3 As shown, the top of the turntable 8 is fixedly connected to the top seat 9. The top seat 9 rotates with the turntable 8, transmitting the rotational motion of the turntable 8 to subsequent components, providing support and a motion basis for the connecting rod 10.

[0033] like Figure 1 and 3 As shown, a connecting rod 10 is fixedly connected to one side of the top seat 9, allowing the connecting rod 10 to move together with the top seat 9. The connecting rod 10 rotates horizontally under the drive of the top seat 9, and also provides an installation position for the electric push rod 11.

[0034] like Figure 1 and 3 As shown, the electric push rod 11 is installed at the front end of the connecting rod 10. The extension and retraction of the electric push rod 11 can change the extension length of the front end of the connecting rod 10, thereby adjusting the horizontal distance when the robotic arm grips the material, so that the robotic arm can adapt to the gripping needs of materials in different positions.

[0035] like Figure 4 As shown, the output end of the electric push rod 11 is fixedly connected to the connecting seat 12. The pushing or pulling force of the electric push rod 11 acts directly on the connecting seat 12, causing the connecting seat 12 to move, thereby realizing the position adjustment of the mounting block 13 and the gripper 15 installed at the bottom of the connecting seat 12.

[0036] like Figure 4 As shown, the bottom of the connecting seat 12 is fixedly connected to the mounting block 13, providing support and fixation for the mounting block 13. The mounting block 13 is used to mount the bidirectional electric actuator 14 and transmit the movement of the connecting seat 12 to the bidirectional electric actuator 14.

[0037] like Figure 4As shown, the bidirectional electric actuator 14 is embedded inside the mounting block 13, which provides a stable mounting position for the bidirectional electric actuator 14. Under the constraint of the mounting block 13, the bidirectional electric actuator 14 moves linearly, driving the gripper 15 to open and close, thereby grasping and holding materials.

[0038] like Figure 4 As shown, one end of the bidirectional electric push rod 14 is fixedly connected to the gripper 15, and the extension and retraction of the bidirectional electric push rod 14 directly controls the opening and closing of the gripper 15. Four bidirectional electric push rods 14, arranged horizontally and vertically with staggered heights, work together to enable the gripper 15 to adapt to materials of different shapes and sizes, achieving precise gripping and stable clamping.

[0039] When the gripping robotic arm is in operation, the base 1 is bolted to the ground via the flange holes of the bottom flange plate, providing stable support. The hydraulic cylinder 2 is activated, pushing the connecting seat 3 to rise or fall vertically, achieving overall height adjustment of the robotic arm. The servo motor 5 is powered on, driving the worm gear 6 to rotate. The worm gear 6 meshes with the worm wheel 7, causing the worm wheel 7 to rotate around its axis, which in turn drives the connected turntable 8 to rotate, achieving horizontal rotation of the robotic arm. The top seat 9 of the turntable 8 drives the connecting rod 10 to move. The electric push rod 11 at the front end of the connecting rod 10 extends and retracts, pushing the connecting seat 12 to adjust the extension length of the robotic arm's front end. Four bidirectional electric push rods 14, arranged horizontally and vertically with staggered heights, within the mounting block 13 drive the grippers 15 to move, achieving precise gripping and stable clamping of materials. All structures work together to complete tasks such as material gripping and handling.

[0040] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. Gripping robot arm comprising a base (1), characterized in that: The base (1) is provided with a hydraulic cylinder (2) embedded therein, the output end top of the hydraulic cylinder (2) is fixedly connected with a connecting seat (3), the top of the connecting seat (3) is fixedly provided with a rotating box (4), one side of the rotating box (4) is fixedly connected with a servo motor (5), the output end of the servo motor (5) penetrates through the rotating box (4) and is connected with a worm (6) in the rotating box (4), the worm (6) is in meshing transmission connection with a worm wheel disc (7), the middle of the worm wheel disc (7) is connected with a rotating disc (8) through a shaft, the top of the rotating disc (8) is fixedly connected with a top seat (9), one side of the top seat (9) is fixedly connected with a connecting rod (10), the front end of the connecting rod (10) is provided with an electric push rod (11), the output end of the electric push rod (11) is fixedly connected with a connecting seat (12), the bottom of the connecting seat (12) is fixedly connected with a mounting block (13), the inside of the mounting block (13) is embeddedly provided with a bidirectional electric push rod (14), one end of the bidirectional electric push rod (14) is fixedly connected with a clamping jaw (15).

2. The grabbing robot of claim 1, wherein: The bottom of the base (1) is provided with a flange plate, and the flange plate is provided with a flange hole.

3. The grabbing robot of claim 1, wherein: The shaft is rotatably connected in the rotating box (4) through a shaft seat.

4. The grabbing robot of claim 1, wherein: The bidirectional electric push rod (14) has four in the horizontal direction and four in the vertical direction.

5. The gripping robot of claim 4, wherein: The bidirectional electric push rods (14) are arranged in a staggered manner in height.

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