Universal serial mechanical hand holding device

Abstract

The utility model discloses a universal serial mechanical hand holding device, and particularly relates to the technical field of universal mechanical hands, the universal serial mechanical hand holding device comprises a mechanical hand main body and a connecting seat, the top end of the connecting seat is fixed with the mechanical hand main body through a plurality of bolts, and one side of the connecting seat is fixedly connected with a mounting frame; and two L-shaped supporting plates are fixedly connected to the other side of the mounting frame, a holding assembly is arranged on the mounting frame, and the holding assembly comprises a first hydraulic cylinder, a transverse plate, two supports and two extrusion plates. The piston rod on the first hydraulic cylinder contracts to drive the transverse plate to move horizontally, so that the two supports are driven to deflect, the two supports can drive the two extrusion plates to move oppositely, articles can be held through the two extrusion plates, and when the vacuum adsorber body is started, the vacuum adsorber body works to generate negative pressure, so that the articles can be sucked by the vacuum adsorber body. The stability of the articles is further improved, the operation is simple, and the application range is wide.

Description

Technical Field

[0001] This utility model relates to the field of general-purpose robotic arm technology, and more specifically, to a general-purpose serial robotic arm gripping device. Background Technology

[0002] The general-purpose serial manipulator is a common industrial robot structure, consisting of multiple rigid links connected sequentially by rotational or translational joints. Each joint can be driven independently, and the motion of the end effector is the superposition of the motions of all joints. The advantages of this structure are a large workspace, flexible movement, and the ability to complete complex spatial trajectory movements, such as multi-directional adjustments in assembly and handling.

[0003] A search revealed that Chinese patent CN218082767U discloses a general-purpose robotic arm. A first rotary actuator, which drives a first swing arm, a second swing arm, a first oscillating plate, and a picking mechanism to rotate and move vertically to approach the material. Simultaneously, a second rotary actuator drives a second swing arm to rotate, and a third rotary actuator drives a first oscillating plate to rotate, adjusting the position of the picking mechanism to allow it to pick up the material. Therefore, the rotation of the first rotary actuator, the second swing arm, and the first oscillating plate all utilize a planar circular rotation method, simplifying debugging and facilitating precise control of the picking mechanism's displacement of the material, thus providing a more reliable operating method for material picking and loading.

[0004] When the above-mentioned general-purpose robotic arm is in use, the first moving plate is moved down by the second motor, which in turn moves the second picking mechanism down. The second picking mechanism picks up the item, and the picking mechanism uses vacuum negative pressure to absorb the item. However, it is not suitable for items with uneven surfaces and has a limited range of applications. Utility Model Content

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a universal serial mechanical hand gripping device, which aims to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a universal serial robotic hand gripping device, comprising a robotic hand body and a connecting seat, wherein the top of the connecting seat is fixed to the robotic hand body by multiple bolts, a mounting frame is fixedly connected to one side of the connecting seat, and two L-shaped support plates are fixedly connected to the other side of the mounting frame, a gripping assembly is provided on the mounting frame, the gripping assembly includes a first hydraulic cylinder, a horizontal plate, two brackets and two pressing plates, the first hydraulic cylinder is located inside the mounting frame, and both ends of the first hydraulic cylinder are fixedly connected to the connecting seat and the horizontal plate respectively, the two sides of the two brackets are movably connected to the horizontal plate and the two pressing plates by axle pins, and the two pressing plates are movably connected to the two L-shaped support plates by axle pins.

[0007] Furthermore, gaskets are fixedly connected to the opposing sides of both extrusion plates.

[0008] As can be seen, in the above technical solution, the gasket can improve the stability between the item and the extrusion plate.

[0009] Furthermore, a fixed base is fixedly connected to the bottom end of the main body of the robotic arm.

[0010] As can be seen, in the above technical solution, the main body of the robot is fixed by fixing the mounting base with multiple bolts.

[0011] Furthermore, an adsorption assembly is provided between the two L-shaped support plates. The adsorption assembly includes a mounting plate, a vacuum adsorber body, a second hydraulic cylinder, a U-shaped plate, two rotating shafts, a self-locking motor, and an indicator needle.

[0012] Furthermore, the vacuum adsorber body is fixedly installed on one side of the mounting plate, and the two ends of the second hydraulic cylinder are fixedly connected to the U-shaped plate and the mounting plate, respectively.

[0013] Furthermore, the two opposing ends of the two rotating shafts are fixedly connected to the U-shaped plate, and the opposite ends of the two rotating shafts are movably connected to the two L-shaped support plates through bearings. The self-locking motor is fixedly installed on the front side of one of the L-shaped support plates, and the output shaft end of the self-locking motor is fixedly connected to one of the rotating shafts.

[0014] Furthermore, an indicator needle is fixedly sleeved on another of the rotating shafts, and a scale is movably arranged on the rear side of the indicator needle, and the scale is fixedly installed on the front side of another L-shaped support plate.

[0015] As can be seen from the above technical solution, the rotation angle of the vacuum adsorber body is observed by using an indicator needle and a ruler.

[0016] The technical effects and advantages of this utility model are as follows:

[0017] 1. This utility model uses the retraction of the piston rod on the first hydraulic cylinder to drive the horizontal plate to move horizontally, thereby causing the two supports to deflect. The two supports can drive the two extrusion plates to move towards each other. The two extrusion plates can hold the items. When the vacuum adsorber body is started, the vacuum adsorber body works to generate negative pressure, thereby adsorbing the items and further improving the stability of the items. It is simple to operate and has a wide range of applications.

[0018] 2. This utility model uses the extension of the piston rod on the second hydraulic cylinder to drive the mounting plate to move horizontally, thereby driving the vacuum adsorber body to move horizontally. The position of the vacuum adsorber body can be adjusted according to the needs. The self-locking motor drives the second hydraulic cylinder and the vacuum adsorber body to rotate. The angle of the vacuum adsorber body can be adjusted according to the needs, so that the vacuum adsorber body comes into contact with the item. The structure is simple and easy to use. Attached Figure Description

[0019] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a bottom view of the overall structure of this utility model;

[0022] Figure 3 This is a schematic diagram of the assembly structure of the connector and the gripping component of this utility model;

[0023] Figure 4 This is a schematic diagram of the adsorption component structure of this utility model.

[0024] In the diagram: 1. Main body of the robotic arm; 2. Connecting seat; 3. Mounting frame; 4. Grip assembly; 5. Adsorption assembly; 6. Fixed seat; 7. L-shaped support plate; 8. Scale; 401. First hydraulic cylinder; 402. Horizontal plate; 403. Bracket; 404. Extrusion plate; 501. Mounting plate; 502. Main body of the vacuum adsorber; 503. Second hydraulic cylinder; 504. U-shaped plate; 505. Rotating shaft; 506. Self-locking motor; 507. Indicator needle. Detailed Implementation

[0025] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0026] Refer to the instruction manual appendix Figure 1-4 This embodiment of a general-purpose serial robotic hand gripping device includes a robotic hand body 1 and a connecting seat 2. The top of the connecting seat 2 is fixed to the robotic hand body 1 by multiple bolts. A mounting frame 3 is fixedly connected to one side of the connecting seat 2, and two L-shaped support plates 7 are fixedly connected to the other side of the mounting frame 3. A gripping assembly 4 is provided on the mounting frame 3. The gripping assembly 4 includes a first hydraulic cylinder 401, a horizontal plate 402, two brackets 403, and two pressing plates 404. The first hydraulic cylinder 401 is located inside the mounting frame 3, and its two ends are fixedly connected to the connecting seat 2 and the horizontal plate 402, respectively. The two sides of the two brackets 403 are movably connected to the horizontal plate 402 and the two pressing plates 404 by axle pins. The two pressing plates 404 are movably connected to the two L-shaped support plates 7 by axle pins.

[0027] Furthermore, gaskets are fixedly connected to the opposite sides of the two extrusion plates 404, and a fixed base 6 is fixedly connected to the bottom end of the robot body 1.

[0028] Furthermore, an adsorption assembly 5 is provided between the two L-shaped support plates 7. The adsorption assembly 5 includes a mounting plate 501, a vacuum adsorber body 502, a second hydraulic cylinder 503, a U-shaped plate 504, two rotating shafts 505, a self-locking motor 506, and an indicator needle 507. The vacuum adsorber body 502 is fixedly installed on one side of the mounting plate 501. The two ends of the second hydraulic cylinder 503 are fixedly connected to the U-shaped plate 504 and the mounting plate 501, respectively. The opposite ends of the two rotating shafts 505 are fixedly connected to the U-shaped plate 504, and the opposite ends of the two rotating shafts 505 are movably connected to the two L-shaped support plates 7 through bearings. The self-locking motor 506 is fixedly installed on the front side of one of the L-shaped support plates 7, and the output shaft end of the self-locking motor 506 is fixedly connected to one of the rotating shafts 505. An indicator needle 507 is fixedly sleeved on the other rotating shaft 505. A scale 8 is movably provided on the rear side of the indicator needle 507, and the scale 8 is fixedly installed on the front side of the other L-shaped support plate 7.

[0029] The system involves activating the second hydraulic cylinder 503, which extends the piston rod to move the mounting plate 501 horizontally, thereby moving the vacuum adsorber body 502 horizontally. The position of the vacuum adsorber body 502 can be adjusted as needed. Then, the self-locking motor 506 is activated, causing the two rotating shafts 505 and the U-shaped plate 504 to rotate, which in turn rotates the second hydraulic cylinder 503 and the vacuum adsorber body 502. The angle of the vacuum adsorber body 502 can be adjusted as needed, bringing it into contact with the object. The system is simple in structure and easy to use. Simultaneously, another rotating shaft 505 rotates the indicator needle 507, allowing the rotation angle of the vacuum adsorber body 502 to be observed through the indicator needle 507 and the scale 8.

[0030] The usage method of this embodiment is as follows:

[0031] In use, the main body 1 of the robotic arm is composed of multiple rotating or moving joints connected in sequence. Multiple bolts are used to fix the fixed seat 6, thus securing the main body 1. Multiple bolts are also used to install the connecting seat 2 at the bottom of the main body 1. Activating the first hydraulic cylinder 401 causes the piston rod on the first hydraulic cylinder 401 to retract, driving the horizontal plate 402 to move horizontally, thereby causing the two supports 403 to deflect. Since the two extrusion plates 404 are movably connected to the two L-shaped support plates 7 and the two supports 403 via pivot pins, the two supports 403 can drive the two extrusion plates 404 to move towards each other. The two extrusion plates 404 can hold the object, and the pads can improve the stability between the object and the extrusion plates 404. Similarly, the piston rod on the first hydraulic cylinder 401 extends, causing the two extrusion plates 404 to move away from each other. When the vacuum adsorber main body 502 is activated, the vacuum adsorber main body 502 generates negative pressure, thereby adsorbing the object and further improving its stability. The operation is simple and the application range is wide.

[0032] All contents not described in detail in the specification are existing technologies known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited; conventional equipment can be used. Electrical control components not mentioned in this technical solution are not shown in the figures because they are existing technologies, and will not be described here.

[0033] The above are merely preferred embodiments of the present utility model and are 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. A universal series type mechanical hand holding device, comprising a mechanical hand body (1) and a connecting seat (2), and the top end of the connecting seat (2) and the mechanical hand body (1) are fixed by a plurality of bolts, characterized in that: A mounting bracket (3) is fixedly connected to one side of the connecting seat (2), and two L-shaped support plates (7) are fixedly connected to the other side of the mounting bracket (3). A holding assembly (4) is provided on the mounting bracket (3). The holding assembly (4) includes a first hydraulic cylinder (401), a horizontal plate (402), two brackets (403) and two extrusion plates (404). The first hydraulic cylinder (401) is located inside the mounting bracket (3), and both ends of the first hydraulic cylinder (401) are fixedly connected to the connecting seat (2) and the horizontal plate (402) respectively. The two sides of the two brackets (403) are movably connected to the horizontal plate (402) and the two extrusion plates (404) through axle pins. The two extrusion plates (404) are movably connected to the two L-shaped support plates (7) through axle pins.

2. The universal series mechanical handgrip device according to claim 1, characterized in that: Gaskets are fixedly connected to the opposite sides of the two extrusion plates (404).

3. The universal series mechanical handgrip device according to claim 1, wherein: The bottom end of the main body (1) of the robotic arm is fixedly connected to a fixed base (6).

4. The universal series mechanical handgrip device according to claim 1, characterized in that: An adsorption assembly (5) is provided between the two L-shaped support plates (7). The adsorption assembly (5) includes a mounting plate (501), a vacuum adsorber body (502), a second hydraulic cylinder (503), a U-shaped plate (504), two rotating shafts (505), a self-locking motor (506), and an indicator needle (507).

5. The universal series mechanical handgrip device according to claim 4, wherein: The vacuum adsorber body (502) is fixedly installed on one side of the mounting plate (501), and the two ends of the second hydraulic cylinder (503) are fixedly connected to the U-shaped plate (504) and the mounting plate (501) respectively.

6. The universal series mechanical handgrip device according to claim 4, wherein: The two rotating shafts (505) are fixedly connected to the U-shaped plate (504) at their opposite ends, and are movably connected to the two L-shaped support plates (7) through bearings at their opposite ends. The self-locking motor (506) is fixedly installed on the front side of one of the L-shaped support plates (7), and the output shaft end of the self-locking motor (506) is fixedly connected to one of the rotating shafts (505).

7. The universal series mechanical handgrip device according to claim 4, wherein: An indicator needle (507) is fixedly sleeved on another rotating shaft (505). A scale (8) is movably arranged on the rear side of the indicator needle (507), and the scale (8) is fixedly installed on the front side of another L-shaped support plate (7).

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