An arm-type gripping device

Abstract

This utility model relates to the field of robotics and discloses an arm-type grasping device, including a base unit, a first motor, and a hollow wrist. A vertical arm is rotatably mounted on one side of the outer wall of the base unit. A first air pipe is fixedly mounted on the lower end face of the vertical arm near the other side of the outer wall. A third motor is rotatably mounted on the upper end face of the other side of the outer wall of the vertical arm. A third air pipe is fixedly mounted on one end of the outer wall of the third motor. A horizontal arm is fixedly connected to the front output end of the first motor. A second air pipe is fixedly mounted at the connection point between the front end of the horizontal arm and the horizontal arm. An end effector is rotatably mounted on the front end of the hollow wrist. A cylinder is fixedly mounted on the lower end face of the end effector. Sliding telescopic rods are fixedly mounted on the upper end faces of both sides of the outer wall of the end effector. In this utility model, the device can effectively prevent dust from entering the interior and can also make the gripping of a faucet more secure.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to an arm-type grasping device. Background Technology

[0002] Arm-type grippers, with their flexibility, precision, and programmability, are widely used in industrial manufacturing and automation, logistics and warehousing, medical and life sciences, and agriculture and food processing. Using arm-type grippers in faucet manufacturing can improve production efficiency, ensure processing accuracy, reduce labor costs, and adapt to the complex structure and diverse processes required for faucet production.

[0003] However, when common arm-type grippers are used to hold faucets for polishing, dust particles entering the gears or bearings will accelerate metal wear, leading to increased backlash and reduced positioning accuracy. Furthermore, the gripping parts of common arm-type grippers are universal components, which are not perfectly fitted and are prone to falling off when gripping faucets.

[0004] Therefore, this application provides an arm-type gripping device to solve the problems mentioned in the background art. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing an arm-type gripping device that effectively prevents dust from entering the interior and makes the gripping of the faucet more secure.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An arm-type gripping device includes a base unit, a first motor, and a hollow wrist. A vertical arm is rotatably mounted on one side of the outer wall of the base unit. A first air pipe is fixedly mounted on the lower end face of the vertical arm near the other side of the outer wall. A third motor is rotatably mounted on the upper end face of the other side of the outer wall of the vertical arm. A third air pipe is fixedly mounted on one end of the outer wall of the third motor. A horizontal arm is fixedly connected to the front output end of the first motor. A second air pipe is fixedly mounted at the connection point between the front end of the horizontal arm and the horizontal arm. An end effector is rotatably mounted on the front end of the hollow wrist. A cylinder is fixedly mounted on the lower end face of the end effector. Sliding telescopic rods are fixedly mounted on the upper end faces of both sides of the outer wall of the end effector. Cylinders are fixedly mounted on the lower end faces of both sides of the outer wall of the end effector. A clamping component is fixedly mounted on the output end of the cylinder and the sliding telescopic rod located on the same side of the two cylinders and the two sliding telescopic rods.

[0008] Furthermore, a foot unit is rotatably provided on the lower end face of the base unit.

[0009] Furthermore, a second motor is fixedly installed on the other side of the outer wall of the base unit, and the output end of the second motor is fixedly connected to the vertical arm.

[0010] Furthermore, the hollow wrist rotation is located at the front end of the horizontal arm.

[0011] Furthermore, a connector is fixedly provided on the upper end face of the third motor, and the upper end face of the connector is fixedly provided with the first motor.

[0012] Furthermore, the outer walls of the first, second, and third trachea are each provided with multiple holes.

[0013] Furthermore, the first, second, and third air pipes are all externally connected to the air compressor.

[0014] This utility model has the following beneficial effects:

[0015] 1. The present invention proposes an arm-type gripping device, wherein a first air pipe, a third air pipe, and a second air pipe are respectively provided at the connection between the base unit and the vertical arm, the connection between the vertical arm and the third motor, and the connection between the first motor and the horizontal arm. The first air pipe, the third air pipe, and the second air pipe are all externally connected to an air compressor. When the device is in operation, the first air pipe, the third air pipe, and the second air pipe continuously blow air to the outside to prevent dust from entering the device from the connection.

[0016] 2. The present invention proposes an arm-type gripping device. When using the device to clamp a faucet, a cylinder is first inserted into the faucet, and then two cylinders are activated simultaneously. The two cylinders simultaneously drive the two clamping parts to retract and clamp the faucet. Attached Figure Description

[0017] Figure 1 This is a front view schematic diagram of the entire utility model;

[0018] Figure 2 This is a schematic diagram of one side of the entire utility model;

[0019] Figure 3 This is a schematic diagram of the other side of the entire utility model;

[0020] Figure 4 This is a bottom view of the overall design of this utility model.

[0021] Legend:

[0022] 1. Foot unit; 2. Base unit; 3. Vertical arm; 4. Horizontal arm; 5. End effector; 6. Sliding telescopic rod; 7. Cylinder; 8. Clamping component; 9. Cylinder; 10. First air pipe; 11. First motor; 12. Second air pipe; 13. Second motor; 14. Third air pipe; 15. Third motor; 16. Hollow wrist. 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] Reference Figure 1 — Figure 4 This utility model provides an embodiment of an arm-type gripping device, comprising a base unit 2, a first motor 11, and a hollow wrist 16. A foot unit 1 is rotatably mounted on the lower end face of the base unit 2. A vertical arm 3 is rotatably mounted on one side of the outer wall of the base unit 2. A second motor 13 is fixedly mounted on the other side of the outer wall of the base unit 2. The output end of the second motor 13 is fixedly connected to the vertical arm 3. A first air pipe 10 is fixedly mounted on the other side of the lower end face of the vertical arm 3 near the outer wall. A third motor 15 is rotatably mounted on the upper end face of the other side of the outer wall of the vertical arm 3. A third air pipe 14 is fixedly mounted on one end of the outer wall of the third motor 15. A horizontal arm 4 is fixedly connected to the front output end of the first motor 11. A connector is fixedly mounted on the upper end face of the third motor 15, and the upper end face of the connector is fixedly mounted to the first motor 11. The hollow wrist 16 is rotatably mounted on the front end of the horizontal arm 4. A second air pipe 12 is fixedly mounted at the connection between the front end of the horizontal arm 4 and the horizontal arm 4.

[0025] Specifically, when using this device, the robotic arm is manipulated to move the end effector 5 to the target location so that the cylinder 9 is inserted into the faucet. Then, two cylinders 7 are simultaneously activated to drive two clamping parts 8 to hold the faucet. The robotic arm continues to be manipulated to polish the faucet. During polishing, an external air compressor is activated to continuously fill the first air pipe 10, the second air pipe 12, and the third air pipe 14 with gas, which can continuously blow the gas from the connection points of the device to other directions to prevent dust from entering the device. The rotation direction of the device can be controlled via the base unit 1. The rotation angle of the vertical arm 3 and the horizontal arm 4 can be controlled by controlling the second motor 13 and the third motor 15, thereby controlling the position and distance of the end effector 5. The rotation angle of the horizontal arm 4 can be controlled by the first motor 11. The hollow wrist 16 allows for greater flexibility of the device.

[0026] Reference Figure 2, Figure 3 The outer walls of the first air pipe 10, the second air pipe 12 and the third air pipe 14 are all provided with multiple holes, and the first air pipe 10, the second air pipe 12 and the third air pipe 14 are all externally connected to the air compressor.

[0027] Specifically, an air compressor continuously fills the first air pipe 10, the second air pipe 12, and the third air pipe 14 with gas, which is then discharged through multiple holes, blowing away the surrounding dust. The air compressor is a type of power machinery that can reduce the volume of gas, increase its pressure, and generate a certain amount of kinetic energy.

[0028] Reference Figure 1 , Figure 4 The hollow wrist 16 has an end effector 5 rotatably mounted at its front end. A cylinder 9 is fixedly mounted on the lower end face of the end effector 5. Sliding telescopic rods 6 are fixedly mounted on the upper end faces of both sides of the outer wall of the end effector 5. Cylinders 7 are fixedly mounted on the lower end faces of both sides of the outer wall of the end effector 5. Clamping parts 8 are fixedly mounted on the output ends of the cylinders 7 and sliding telescopic rods 6 located on the same side.

[0029] Specifically, the cylinder 9 inserted into the faucet and the two clamping parts 8 effectively fit the faucet, preventing it from loosening and falling off. Two cylinders 7 drive the two clamping parts 8 to perform their clamping function. Two sliding telescopic rods 6 restrict the movement of the two clamping parts 8 and provide support for each of them.

[0030] Working principle: The robotic arm is controlled to insert the cylinder 9 into the faucet. Then, two cylinders 7 are activated to drive two clamping parts 8 to clamp the faucet. When the device is used to hold the faucet for polishing, the air compressor is activated to continuously fill the first air pipe 10, the second air pipe 12, and the third air pipe 14 with air. The air is blown out through the holes to disperse the surrounding dust and prevent it from entering the device.

[0031] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present 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 the present utility model should be included within the protection scope of the present utility model.

Claims

1. An arm-type gripping device comprising a base unit (2), a first motor (11) and a hollow wrist (16), characterized in that: A vertical arm (3) is rotatably mounted on one side of the outer wall of the base unit (2). A first air pipe (10) is fixedly mounted on the lower end face of the vertical arm (3) near the other side of the outer wall. A third motor (15) is rotatably mounted on the upper end face of the other side of the outer wall of the vertical arm (3). A third air pipe (14) is fixedly mounted on one end of the outer wall of the third motor (15). A horizontal arm (4) is fixedly connected to the front output end of the first motor (11). A second air pipe is fixedly mounted at the connection between the front end of the horizontal arm (4) and the horizontal arm (4). 12) An end effector (5) is rotatably provided at the front end of the hollow wrist (16). A cylinder (9) is fixedly provided on the lower end face of the end effector (5). Sliding telescopic rods (6) are fixedly provided on the upper end face of both sides of the outer wall of the end effector (5). Cylinders (7) are fixedly provided on the lower end face of both sides of the outer wall of the end effector (5). Clamping members (8) are fixedly provided on the output ends of the cylinders (7) and sliding telescopic rods (6) located on the same side of the two cylinders (7) and the two sliding telescopic rods (6).

2. An arm-type gripping device according to claim 1, characterized in that The lower end face of the base unit (2) is rotatably provided with a foot unit (1).

3. An arm-type gripping device according to claim 1, characterized in that: A second motor (13) is fixedly installed on the other side of the outer wall of the base unit (2), and the output end of the second motor (13) is fixedly connected to the vertical arm (3).

4. An arm-type gripping device according to claim 1, characterized in that: The hollow wrist (16) is rotatably mounted at the front end of the horizontal arm (4).

5. An arm-type gripping device according to claim 1, characterized in that: The upper end face of the third motor (15) is fixedly provided with a connector and the upper end face of the connector is fixedly provided with the first motor (11).

6. An arm-type gripping device according to claim 1, characterized in that: The outer walls of the first trachea (10), the second trachea (12), and the third trachea (14) are all provided with multiple holes.

7. An arm type gripping device according to claim 1, characterized in that: The first air pipe (10), the second air pipe (12) and the third air pipe (14) are all externally connected to the air compressor.

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