Flexible grabbing device based on multi-degree-of-freedom mechanical arm

Abstract

The utility model relates to the technical field of mechanical equipment, in particular to a flexible grabbing device based on a multi-degree-of-freedom mechanical arm, which not only increases the contact area with an article by arranging three clamping jaws to prevent the article from leaking out of the side edges of the clamping jaws, but also can protect the article, so that the service life of the article is prolonged. The articles are prevented from colliding with other equipment and falling off in the moving process of the mechanical arm; comprising a connecting mechanism; the grabbing device further comprises a lifting mechanism, three sets of grabbing mechanisms and three sets of guiding mechanisms, the lifting mechanism is installed on the connecting mechanism and drives the grabbing mechanisms to ascend and descend, the three sets of grabbing mechanisms are all installed on the lifting mechanism and clamp objects, and the three sets of guiding mechanisms are all installed in the connecting mechanism and conduct guiding extrusion on the grabbing mechanisms.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a flexible grabbing device based on multi-degree-of-freedom mechanical arm. BACKGROUND

[0002] Mechanical arm is used more and more frequently on automatic production line, and the workpiece is grabbed, moved and processed through the grabbing device at one end of the mechanical arm, and the current grabbing device is mostly metal structure.

[0003] The existing flexible grabbing device, for example, the flexible grabbing device based on mechanical arm disclosed in the utility model patent with the application number 202122226804.1, mainly comprises a support and a clamping jaw piece, the vertical end of the support is fixedly connected with a connecting plate, the support and the connecting plate are horizontally provided with a threaded rod one with a group of symmetrical thread grooves formed in the outer wall, and the two ends of the threaded rod one are threadedly connected with two groups of symmetrically arranged slide rod sleeves; in use, the forward and reverse rotation of the bidirectional threaded rod one can realize the clamping of the workpiece, the elastic pad in the clamping jaw piece can buffer the clamping force of the workpiece, and the barb at the bottom of the arc-shaped shell facilitates the clamping of the workpiece, wherein the position of the two groups of moving rods can be changed by driving the bidirectional threaded rod two, further driving the position of the two arc-shaped shells to change synchronously, the size of the space in the clamping jaw piece can be adjusted, and the clamping of the workpiece of different models can be facilitated.

[0004] However, the existing grabbing device only has two clamping jaws, the clamping area is small, the goods are easy to fall from the side of the clamping jaw, and there is lack of corresponding protective device in the moving process of the clamping jaw, and the goods are easy to fall once being collided or shaken. UTILITY MODEL CONTENTS

[0005] To solve the above technical problems, the utility model provides a flexible grabbing device based on multi-degree-of-freedom mechanical arm, which not only increases the contact area with the goods by setting three clamping jaws to avoid the goods from leaking from the side of the clamping jaw, but also protects the goods from being collided and falling with other equipment in the moving process of the mechanical arm.

[0006] The utility model discloses a flexible grabbing device based on multi-degree-of-freedom mechanical arm, which comprises a connecting mechanism, a lifting mechanism, three groups of grabbing mechanisms and three groups of guide mechanisms, the lifting mechanism is installed on the connecting mechanism and drives the grabbing mechanism to lift, the three groups of grabbing mechanisms are all installed on the lifting mechanism and clamp the goods, and the three groups of guide mechanisms are all installed in the connecting mechanism and guide and extrude the grabbing mechanism; the connecting mechanism is installed on the multi-degree-of-freedom mechanical arm, the lifting mechanism pulls the grabbing mechanism to lift after the three groups of grabbing mechanisms grab the goods, the three groups of guide mechanisms are set to guide and extrude the three groups of grabbing mechanisms, and the protection of the goods is enhanced.

[0007] Preferably, the connecting mechanism comprises a connecting seat, a first cylinder and a protective sleeve, the connecting seat is connected with the multi-degree-of-freedom robot arm, the top end of the first cylinder is connected with the bottom end of the connecting seat, the top end of the protective sleeve is connected with the bottom end of the first cylinder, and the inside of the protective sleeve is provided with a cavity; the first cylinder is started, the first cylinder drives the protective sleeve to descend, the length of the robot arm is extended, the grabbing mechanism is facilitated to grab the article, then the lifting mechanism drives the grabbing mechanism and the article to contract into the cavity of the protective sleeve, the article is facilitated to be protected, and the article is prevented from being collided and dropped.

[0008] Preferably, the lifting mechanism comprises a second cylinder, a fixed plate, a stand and three groups of micro cylinders, the top end of the second cylinder is connected with the top end of the inner wall of the cavity of the protective sleeve, the top end of the fixed plate is connected with the bottom end of the second cylinder, the stand is installed on the fixed plate, and the three groups of micro cylinders are all installed on the stand; the three groups of micro cylinders drive the three groups of grabbing mechanisms to approach, the article is facilitated to be clamped, then the second cylinder is started, and the second cylinder drives the fixed plate and the grabbing mechanism to contract into the cavity of the protective sleeve.

[0009] Preferably, the grabbing mechanism comprises a hinge, a connecting plate, an arc-shaped clamping plate and a soft pad, the hinge is installed on the fixed plate, the connecting plate is installed on the hinge and is rotationally connected with the micro cylinder, the arc-shaped clamping plate is installed on the connecting plate, and the soft pad is attached to the arc-shaped clamping plate; the micro cylinder drives the connecting plate to approach, the three groups of arc-shaped clamping plates drive the three groups of soft pads to approach and clamp the article.

[0010] Preferably, the soft pad is made of rubber material, and the surface of the soft pad is engraved with anti-skid lines; the rubber material has a certain elasticity, can generate a certain deformation to protect the article, and the rubber surface has a relatively large friction coefficient, so that the grabbing force of the soft pad can be further enhanced by engraving the anti-skid lines, and the article is prevented from sliding off.

[0011] Preferably, the guide mechanism comprises a support, a rotating shaft and a guide roller, the support is installed in the cavity of the protective sleeve, the rotating shaft is rotationally installed on the support, and the guide roller is installed on the rotating shaft; in the lifting process of the arc-shaped clamping plate, the arc-shaped clamping plate is guided by the guide roller, the stability of the arc-shaped clamping plate in the lifting process is guaranteed, and the guide roller can extrude the outer side of the arc-shaped clamping plate, so that the article is prevented from falling off due to loosening of the three groups of arc-shaped clamping plates in the lifting process.

[0012] Compared with the prior art, the connecting mechanism is installed on the multi-degree-of-freedom robot arm, the lifting mechanism drives the grabbing mechanism to lift after the three groups of grabbing mechanisms grab the article, the three groups of grabbing mechanisms are guided and extruded by the three groups of guide mechanisms, and the protection of the article is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a front view of the sectional structure of the utility model;

[0014] Figure 2is the shaft measurement structure schematic diagram of the connecting mechanism of the utility model;

[0015] Figure 3 is the partial enlarged sectional view shaft measurement structure schematic diagram of the lifting mechanism of the utility model;

[0016] Figure 4 is the partial enlarged shaft measurement structure schematic diagram of the grabbing mechanism of the utility model;

[0017] Figure 5 is the partial enlarged front view sectional structure schematic diagram of the guiding mechanism of the utility model.

[0018] Mark in the drawing: 01, connecting mechanism;11, connecting seat;12, first air cylinder;13, protective sleeve;02, lifting mechanism;21, second air cylinder;22, fixed plate;23, stand;24, micro air cylinder;03, grabbing mechanism;31, hinge;32, connecting plate;33, arc clamping plate;34, soft pad;04, guiding mechanism;41, support;42, rotating shaft;43, guiding roller. DETAILED DESCRIPTION

[0019] In order to facilitate understanding the utility model, the utility model will be described more fully below with reference to the relevant drawings. The utility model can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive. Example 1

[0020] The utility model discloses a flexible grabbing device based on multi -freedom degree mechanical arm, including connecting mechanism 01, still include lifting mechanism 02, three groups of grabbing mechanism 03 and three groups of guiding mechanism 04, and lifting mechanism 02 is installed on connecting mechanism 01 and drives grabbing mechanism 03 to go up and down, three groups of grabbing mechanism 03 are all installed on lifting mechanism 02 and carry out the clamping of article, and three groups of guiding mechanism 04 are all installed in connecting mechanism 01 and carry out the guiding extrusion of grabbing mechanism 03, connecting mechanism 01 includes connecting seat 11, first cylinder 12 and protective sleeve 13, and connecting seat 11 is connected with multi -freedom degree mechanical arm, and the top of first cylinder 12 is connected with the bottom of connecting seat 11, and the top of protective sleeve 13 is connected with the bottom of first cylinder 12, and the inside of protective sleeve 13 is provided with cavity, lifting mechanism 02 includes second cylinder 21, fixed plate 22, stand 23 and three groups of micro -cylinder 24, and the top of second cylinder 21 is connected with the top inside wall of the cavity of protective sleeve 13, and the top of fixed plate 22 is connected with the bottom of second cylinder 21, and stand 23 is installed on fixed plate 22, and three groups of micro -cylinder 24 are all installed on stand 23, grabbing mechanism 03 includes hinge 31, connecting plate 32, arc clamping plate 33 and soft pad 34, and hinge 31 is installed on fixed plate 22, and connecting plate 32 is installed on hinge 31 and is connected with micro -cylinder 24 rotation, and arc clamping plate 33 is installed on connecting plate 32, and soft pad 34 is pasted on arc clamping plate 33, still include that soft pad 34 is rubber material, and the surface of soft pad 34 is engraved with antiskid line, when its work, first, start first cylinder 12, and first cylinder 12 promotes protective sleeve 13 to descend, and the length of mechanical arm is extended, and micro -cylinder 24 drives connecting plate 32 to approach, and three groups of arc clamping plate 33 drive three groups of soft pad 34 to approach and hold the article, then start second cylinder 21, and second cylinder 21 drives fixed plate 22 and grabbing mechanism 03 to contract into the cavity of protective sleeve 13, and it is convenient to protect the article, and avoid that the article is impacted and falls. Example 2

[0021] As Figures 1 to 5As shown, the flexible grabbing device based on the multi-degree-of-freedom mechanical arm, on the basis of embodiment 1;The guide mechanism 04 includes the support 41, the shaft 42 and the guide roller 43, the support 41 is installed in the cavity of the protective sleeve 13, the shaft 42 is rotatably installed on the support 41, the guide roller 43 is installed on the shaft 42;When it works, first, start the first cylinder 12, the first cylinder 12 pushes the protective sleeve 13 to descend, the length of the mechanical arm is extended, the micro air cylinder 24 drives the connecting plate 32 to approach, three groups of arc clamping plates 33 drive three groups of soft pads 34 to approach and hold the article, then start the second cylinder 21, the second cylinder 21 drives the fixed plate 22 and the grabbing mechanism 03 to contract into the cavity of the protective sleeve 13, it is convenient to protect the article, avoid the article to be impacted and fall, in the lifting process of the arc clamping plate 33, the arc clamping plate 33 is guided to the arc clamping plate 33 through the guide roller 43, the stability of the arc clamping plate 33 is guaranteed, and the guide roller 43 can extrude the outside of the arc clamping plate 33, avoid three groups of arc clamping plates 33 to drop in the loosening process of three groups of arc clamping plates 33.

[0022] The above only is the preferred embodiment of the utility model, should point out, for the ordinary skill in the art of the present technology, on the premise of not departing from the technical principle of the utility model, can also make several improvements and variations, these improvements and variations also should be regarded as the protection range of the utility model.

Claims

1. A flexible grasping device based on a multi-degree-of-freedom robot arm, comprising a connecting mechanism (01); characterized in that, It also includes lifting mechanism (02), three groups of grabbing mechanism (03) and three groups of guiding mechanism (04), lifting mechanism (02) is installed on connecting mechanism (01) and drives grabbing mechanism (03) to lift, three groups of grabbing mechanism (03) are all installed on lifting mechanism (02) and clamp the goods, three groups of guiding mechanism (04) are all installed in connecting mechanism (01) and guide grabbing mechanism (03) to extrude; Connecting mechanism (01) includes connecting seat (11), first air cylinder (12) and protective sleeve (13), connecting seat (11) is connected with multi-degree-of-freedom robot arm, the top of first air cylinder (12) is connected with the bottom of connecting seat (11), the top of protective sleeve (13) is connected with the bottom of first air cylinder (12), the inside of protective sleeve (13) is provided with cavity.

2. The flexible grasping device based on multi-degree-of-freedom robot arm according to claim 1, characterized in that, Lifting mechanism (02) includes second air cylinder (21), fixed plate (22), stand column (23) and three groups of micro air cylinder (24), the top of second air cylinder (21) is connected with the top inside wall of the cavity of protective sleeve (13), the top of fixed plate (22) is connected with the bottom of second air cylinder (21), stand column (23) is installed on fixed plate (22), three groups of micro air cylinder (24) are all installed on stand column (23).

3. The flexible grasping device based on multi-degree-of-freedom robot arm according to claim 2, characterized in that, Grabbing mechanism (03) includes hinge (31), connecting plate (32), arc-shaped clamping plate (33) and soft pad (34), hinge (31) is installed on fixed plate (22), connecting plate (32) is installed on hinge (31) and is rotatably connected with micro air cylinder (24), arc-shaped clamping plate (33) is installed on connecting plate (32), soft pad (34) is attached to arc-shaped clamping plate (33).

4. The flexible grasping device based on multi-degree-of-freedom robot arm according to claim 3, characterized in that, It also includes that soft pad (34) is rubber material, anti-skid lines are engraved on the surface of soft pad (34).

5. The flexible grasping device based on multi-degree-of-freedom robot arm of claim 1, wherein, Guiding mechanism (04) includes support (41), rotating shaft (42) and guiding roller (43), support (41) is installed in the cavity of protective sleeve (13), rotating shaft (42) is rotatably installed on support (41), guiding roller (43) is installed on rotating shaft (42).

Images