Manipulator for grabbing round bars of multiple specifications
By designing a multi-directional drive mechanism and an electric bidirectional slide, the problem of traditional robotic arms being unable to grasp round bars of various specifications has been solved, enabling stable grasping and transfer of round bars of different specifications, thus improving the flexibility and grasping accuracy of the production line.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANXI AITEJIA TECH CO LTD
- Filing Date
- 2025-04-17
- Publication Date
- 2026-04-21
AI Technical Summary
Traditional robotic arm designs struggle to meet the gripping needs of round bars of different sizes, especially when dealing with multiple sizes of round bars.
A robotic arm with a multi-directional drive mechanism was designed. Two grippers are driven to move closer or further apart by an electric bidirectional slide. Combined with a servo motor and a gear rack structure, it can grasp round bars of different specifications. Anti-slip pads are installed on the inner side of the grippers to increase friction.
It improves the flexibility of the production line, enabling it to handle various sizes of round bars, ensuring the stability and accuracy of the gripping, and reducing deformation or damage to the round bars.
Smart Images
Figure CN224144659U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic arm technology, and more specifically, to a robotic arm for gripping round bars of various sizes. Background Technology
[0002] In industrial automated production lines, the gripping and transfer of round bars is a crucial and frequently occurring step. The efficiency and accuracy of this step directly affect the smoothness of the entire production line and the quality of the final product. However, traditional robotic arm designs face significant limitations in this critical step, especially when dealing with the gripping and transfer of round bars of various sizes. Specifically, traditional robotic arm designs are often customized for round bars of specific sizes or diameters, making it difficult to grip round bars of different sizes. Therefore, we propose an improvement to address this issue by developing a robotic arm for gripping round bars of various sizes. Utility Model Content
[0003] The purpose of this invention is to address the problem that existing robotic arms are often customized for round bars of specific specifications or diameters, making it difficult to grasp round bars of different specifications.
[0004] In order to achieve the above-mentioned objectives, this utility model provides a robotic arm for gripping round bars of various specifications, thereby improving the aforementioned problems.
[0005] The application is as follows:
[0006] A robotic arm for gripping multi-specification round bars includes a multi-directional drive mechanism. The multi-directional drive mechanism includes a support structure and a drive structure disposed on the support structure. A lifting column is connected to the drive structure. The lifting column adjusts its position under the drive of the drive structure. A rotating structure is connected to the bottom end of the lifting column. The rotating structure is connected to an electric bidirectional slide. Two grippers are disposed on the electric bidirectional slide.
[0007] As a preferred technical solution of this application, anti-slip pads are installed on the inner sides of both grippers.
[0008] As a preferred technical solution of this application, the rotating structure includes a rotating shaft fixedly installed on an electric bidirectional slide. The top end of the rotating shaft is connected to the bottom end of the lifting column through a bearing. A fourth gear is fixedly sleeved on the outer surface of the rotating shaft. The fourth gear meshes with a fifth gear. The fifth gear is connected to a third servo motor. The third servo motor is installed on the side of the lifting column.
[0009] As a preferred technical solution of this application, the support structure includes two first crossbeams, two second crossbeams connecting the two first crossbeams, and columns installed at the bottom of each of the two first crossbeams.
[0010] As a preferred technical solution of this application, the driving structure includes two first slide blocks, which are slidably connected to two first crossbeams respectively. Two third crossbeams are connected between the tops of the two first slide blocks. A second slide block is provided above the two third crossbeams. The lifting column is inserted into the second slide block, and a third slide rail buffer block is installed on both sides of the lifting column.
[0011] As a preferred technical solution of this application, a first slide rail is installed on the top of the first crossbeam, a first slide table is provided on the first slide rail, and the first slide table is connected to the first slide block. First slide rail buffer blocks are installed on both sides of the top of the first crossbeam.
[0012] As a preferred technical solution of this application, a first rack is installed on the side of each of the two first crossbeams that are close to each other, and a reduction motor is installed on the side of one of the third crossbeams. The reduction motor is connected to a drive shaft, and the two ends of the drive shaft pass through the two first slides respectively and are connected to a first gear. The first gear meshes with the first rack.
[0013] As a preferred technical solution of this application, a second rack is installed on the top of each of the two third crossbeams, a second slide is provided on the second rack, and the second slide is connected to the bottom of the second slide block. A second slide rail buffer block is installed on both sides of the top of the third crossbeam.
[0014] As a preferred technical solution of this application, a second slide rail is installed on the top of one of the third crossbeams, a first servo motor is installed on the second slide, the output shaft of the first servo motor is connected to a second gear, and the second gear meshes with the second slide rail.
[0015] As a preferred technical solution of this application, a third slide rail is installed on the side of the lifting column, a third slide table is provided on the third slide rail, and the third slide table is connected to the second slide block; a third rack is installed on the side of the lifting column, a second servo motor is installed on the side of the second slide block, the output shaft of the second servo motor is connected to a third gear, and the third gear meshes with the third rack.
[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0017] In the scheme of this application:
[0018] To address the problem that existing technologies often require customization for round bars of specific specifications or diameters, making it difficult to grip round bars of different specifications, this application utilizes an electrically driven bidirectional slide to drive two grippers closer to or further apart. This allows for adjustment between the two electrically driven bidirectional slides, enabling the gripping of round bars of various specifications and greatly improving the flexibility of the production line. Attached Figure Description
[0019] Figure 1 A schematic diagram of the structure of the robotic arm for gripping multi-specification round bars provided in this application;
[0020] Figure 2 A partial structural schematic diagram of the robotic arm for gripping multi-specification round bars provided in this application;
[0021] Figure 3 A schematic diagram of the gripper structure of the robotic arm for grasping multi-specification round bars provided in this application;
[0022] Figure 4 This is a schematic diagram of the rotating structure provided in this application;
[0023] Figure 5 Provided for this application Figure 1 Enlarged structural diagram at point A in the middle;
[0024] Figure 6 Provided for this application Figure 2 Enlarged structural diagram at point B.
[0025] The image shows:
[0026] 1. Multi-directional drive mechanism; 101. First crossbeam; 102. Second crossbeam; 103. Column; 104. First slide block; 105. Third crossbeam; 106. Gear motor; 107. Drive shaft; 109. First slide rail; 110. First rack; 111. First slide rail buffer block; 2. Second slide block; 201. First servo motor; 202. Second slide rail; 203. Second rack; 204. Second slide rail buffer block; 3. Lifting column; 301. Second servo motor; 302. Third rack; 303. Third slide rail; 304. Third slide rail buffer block; 4. Fourth gear; 401. Fifth gear; 402. Third servo motor; 403. Electric bidirectional slide table; 404. Gripper. Detailed Implementation
[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention 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 invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.
[0028] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.
[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0030] Examples, such as Figures 1-6 As shown, a robotic arm for gripping multi-specification round bars includes a multi-directional drive mechanism 1. The multi-directional drive mechanism 1 includes a support structure and a drive structure mounted on the support structure. A lifting column 3 is connected to the drive structure. The lifting column 3 adjusts its position under the drive of the drive structure. A rotating structure is connected to the bottom end of the lifting column 3. An electric bidirectional slide 403 is connected to the rotating structure. Two grippers 404 are mounted on the electric bidirectional slide 403. The grippers 404 are connected to the electric bidirectional slide 403 by bolts. Different sizes of grippers 404 can be replaced, further improving the applicability of this application.
[0031] The electric bidirectional slide 403 is an existing structure, driven by a servo motor and a lead screw. The lead screw has two slides, which are respectively connected to the left and right threaded sections of the lead screw to achieve synchronous reverse movement. The electric bidirectional slide 403 can drive the two grippers 404 to move closer or further away from each other, thereby enabling the two grippers 404 to cooperate to clamp or release the round bar.
[0032] Furthermore, anti-slip pads are installed on the inner sides of both grippers 404. The anti-slip pads are made of rubber or polyurethane to increase friction and prevent the round bar from sliding. The anti-slip points can also ensure that the clamping force is evenly distributed, reducing deformation or damage to the round bar.
[0033] Furthermore, such as Figure 3 and Figure 4 As shown, the rotating structure includes a rotating shaft fixedly mounted on the electric bidirectional slide 403. The top end of the rotating shaft is connected to the bottom end of the lifting column 3 through a bearing. A fourth gear 4 is fixedly sleeved on the outer surface of the rotating shaft. The fourth gear 4 meshes with a fifth gear 401. The fifth gear 401 is connected to a third servo motor 402. The third servo motor 402 is mounted on the side of the lifting column 3. The third servo motor 402 can drive the rotating shaft and the electric bidirectional slide 403 to rotate through the fifth gear 401 and the fourth gear 4, so as to adjust the angle of the electric bidirectional slide 403.
[0034] Furthermore, such as Figure 1 As shown, the support structure includes two first crossbeams 101, and two second crossbeams 102 are connected between the two first crossbeams 101. A column 103 is installed at the bottom of each of the two first crossbeams 101. The first crossbeams 101, the second crossbeams 102 and the columns 103 cooperate with each other to support the drive structure.
[0035] Furthermore, such as Figures 1-4 As shown, the drive structure includes two first slide blocks 104, which are slidably connected to two first crossbeams 101 respectively. Two third crossbeams 105 are connected between the tops of the two first slide blocks 104. A second slide block 2 is provided above the two third crossbeams 105. A lifting column 3 is inserted into the second slide block 2, and a third slide rail buffer block 304 is installed on both sides of the lifting column 3. The first slide blocks 104 and the third crossbeams 105 cooperate with each other to support the second slide block 2.
[0036] Furthermore, such as Figure 1 , Figure 2 and Figure 6 As shown, a first slide rail 109 is installed on the top of the first crossbeam 101, and a first slide table is provided on the first slide rail 109. The first slide table is connected to the first slide block 104. First slide rail buffer blocks 111 are installed on both sides of the top of the first crossbeam 101. The cooperation between the first slide rail 109 and the first slide table can support and limit the first slide block 104 to improve the stability of the first slide block 104 when it moves. The first slide rail buffer block 111 can limit and buffer the first slide block 104.
[0037] Furthermore, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, a first rack 110 is installed on the side of each of the two first crossbeams 101 that are close to each other. A geared motor 106 is installed on the side of one of the third crossbeams 105. The geared motor 106 is connected to a drive shaft 107. The two ends of the drive shaft 107 are respectively inserted into the two first slides 104 and are connected to the first gears. The first gears mesh with the first rack 110. A servo motor is used in conjunction with the first gears and the first rack 110 to achieve precise positioning of the drive. The geared motor 106 can drive the first gear to rotate through the drive shaft 107. The first gears and the first rack 110 cooperate to drive the first slide 104 to move horizontally along the first crossbeam 101, thereby adjusting the horizontal position of the lifting column 3 and the gripper 404.
[0038] Furthermore, such as Figure 1 , Figure 2 , Figure 5 and Figure 6As shown, a second rack 203 is installed on the top of each of the two third crossbeams 105. A second slide is provided on the second rack 203, and the second slide is connected to the bottom of the second slide block 2. A second slide rail buffer block 204 is installed on both sides of the top of the third crossbeam 105. The second rack 203 and the second slide cooperate to support and limit the second slide block 2, so as to improve the stability of the second slide block 2 when it moves. The second slide rail buffer block 204 can limit and buffer the second slide block 2. The second slide rail buffer block 204 and the first slide rail buffer block 111 are made of rubber.
[0039] Furthermore, such as Figure 4 and Figure 6 As shown, a second slide rail 202 is installed on the top of one of the third crossbeams 105, and a first servo motor 201 is installed on the second slide block 2. The output shaft of the first servo motor 201 is connected to a second gear, which meshes with the second slide rail 202. The first servo motor 201 can drive the second slide block 2 to move horizontally along the second rack 203 and the third crossbeam 105 through the cooperation of the second gear and the second slide rail 202, thereby adjusting the horizontal position of the lifting column 3 and the gripper 404.
[0040] Furthermore, such as Figure 2 As shown, a third slide rail 303 is installed on the side of the lifting column 3, and a third slide table is provided on the third slide rail 303. The third slide table is connected to the second slide block 2. The third slide rail 303 and the third slide table cooperate to limit the lifting column 3, thereby improving the stability of the lifting column 3 during the lifting process. A third rack 302 is installed on the side of the lifting column 3, and a second servo motor 301 is installed on the side of the second slide block 2. The output shaft of the second servo motor 301 is connected to a third gear. The third gear meshes with the third rack 302. The second servo motor 301, the third gear, and the third rack 302 cooperate to drive the lifting column 3 to lift, thereby driving the gripper 404 to lift.
[0041] In use, the reduction motor 106 drives the first gear to rotate via the transmission shaft 107. The first gear and the first rack 110 cooperate to drive the first slide block 104 to move horizontally along the first crossbeam 101, thereby adjusting the horizontal position of the lifting column 3 and the gripper 404. The first servo motor 201, through the cooperation of the second gear and the second slide rail 202, drives the second slide block 2 to move horizontally along the second rack 203 and the third crossbeam 105, thereby adjusting the horizontal position of the lifting column 3 and the gripper 404, thus achieving adjustment of the lifting column 3 and the gripper 404 in two horizontal directions. The second servo motor 301 drives the third gear to rotate. The third gear and the third rack 302 cooperate to drive the lifting column 3 to rise and fall, thereby driving the gripper 404 to rise and fall. When the two grippers 404 move to both sides of the round bar, the electric bidirectional slide 403 drives the two grippers 404 to move closer to each other to clamp the round bar, thereby moving the round bar to the target area.
[0042] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0043] Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Although this 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 specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this utility model specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this utility model.
Claims
1. A manipulator for multi-specification round bar grabbing, characterized in that, The system includes a multi-directional drive mechanism (1), which includes a support structure and a drive structure mounted on the support structure. A lifting column (3) is connected to the drive structure. The lifting column (3) is adjusted in position under the drive of the drive structure. A rotating structure is connected to the bottom end of the lifting column (3). An electric bidirectional slide (403) is connected to the rotating structure. Two grippers (404) are provided on the electric bidirectional slide (403). Anti-slip pads are installed on the inner sides of the two grippers (404). The rotating structure includes a rotating shaft fixedly mounted on the electric bidirectional slide (403). The top end of the rotating shaft is connected to the bottom end of the lifting column (3) through a bearing. A fourth gear (4) is fixedly mounted on the outer surface of the rotating shaft. The fourth gear (4) meshes with a fifth gear (401). The fifth gear (401) is connected to a third servo motor (402). The third servo motor (402) is mounted on the side of the lifting column (3).
2. The manipulator for grabbing round bars of various specifications according to claim 1, characterized in that, The support structure includes two first crossbeams (101), two second crossbeams (102) connecting the two first crossbeams (101), and columns (103) installed at the bottom of each of the two first crossbeams (101).
3. The manipulator for grabbing round bars of different specifications according to claim 2, characterized in that, The drive structure includes two first slides (104), which are slidably connected to two first crossbeams (101) respectively. Two third crossbeams (105) are connected between the tops of the two first slides (104). A second slide (2) is provided above the two third crossbeams (105). The lifting column (3) is inserted into the second slide (2), and a third slide rail buffer block (304) is installed on both sides of the lifting column (3).
4. The manipulator for grabbing round bars of different specifications according to claim 3, characterized in that, The top of the first crossbeam (101) is equipped with a first slide rail (109), the first slide rail (109) is provided with a first slide table, and the first slide table is connected to the first slide block (104). The top two sides of the first crossbeam (101) are equipped with first slide rail buffer blocks (111).
5. The manipulator for grabbing round bars of different specifications according to claim 4, characterized in that, A first rack (110) is installed on the side of each of the two first crossbeams (101) that are close to each other. A geared motor (106) is installed on the side of one of the third crossbeams (105). The geared motor (106) is connected to a drive shaft (107). The two ends of the drive shaft (107) are respectively inserted into two first slides (104) and are each connected to a first gear. The first gear meshes with the first rack (110).
6. The manipulator for grabbing round bars of different specifications according to claim 5, characterized in that, The top of each of the two third crossbeams (105) is equipped with a second rack (203), the second rack (203) is provided with a second slide table, and the second slide table is connected to the bottom of the second slide block (2). The top of the third crossbeam (105) is equipped with a second slide rail buffer block (204) on both sides.
7. A robotic arm for gripping multi-specification round bars according to claim 6, characterized in that, A second slide rail (202) is mounted on the top of one of the third crossbeams (105), and a first servo motor (201) is mounted on the second slide block (2). The output shaft of the first servo motor (201) is connected to a second gear, which meshes with the second slide rail (202).
8. The manipulator for grabbing round bars of different specifications according to claim 7, characterized in that, The lifting column (3) is equipped with a third slide rail (303) on its side, and a third slide table is provided on the third slide rail (303), and the third slide table is connected to the second slide (2); the lifting column (3) is equipped with a third rack (302) on its side, and a second servo motor (301) is equipped with a second servo motor (301) on its side, and the output shaft of the second servo motor (301) is connected to a third gear, and the third gear meshes with the third rack (302).