一种具有随手抓结构的旋转式机械臂及机械设备

Abstract

本实用新型涉及机械臂抓手技术领域，尤其是一种具有随手抓结构的旋转式机械臂及机械设备，包括固定安装的回转单元，在所述回转单元的顶部安装有第一回转臂，在所述第一回转臂的上方安装有第二长臂，在所述第二长臂的顶部安装有第三摆动臂，在所述第三摆动臂的前端安装有前臂组合件，在所述前臂组合件的端部安装有随手抓单元，所述随手抓单元用于跟随所述前臂组合件实现按需摆动，在所述随手抓单元的内部安装有夹持加固件，所述夹持加固件与所述随手抓单元配合使用。本实用新型通过多节臂体的配合作用，实现了机械臂在三维空间内的高自由度运动，能够灵活调整姿态以适应复杂工作环境中不同位置和角度的物体抓取需求，显著扩大了工作范围。

Claims

1. A rotary robot arm having a random access structure, characterized by: The application relates to a rotary unit fixedly installed, a first rotary arm installed on the top of the rotary unit, a second long arm installed above the first rotary arm, a third swing arm installed on the top of the second long arm, a front arm assembly installed on the front end of the third swing arm, a hand-following grabbing unit installed on the end of the front arm assembly, the hand-following grabbing unit being used for following the front arm assembly to swing on demand, and a clamping reinforcing part installed inside the hand-following grabbing unit and used in cooperation with the hand-following grabbing unit.

2. The rotary robot arm with a hand-grasping structure according to claim 1, characterized in that: The rotary unit comprises a rotary support, the bottom of the rotary support is fixedly arranged, and the top of the rotary part of the rotary support is fixedly connected with the bottom of the first rotary arm.

3. A rotary robot arm having a self-gripping structure according to claim 2, characterized in that: The first rotary arm comprises a rotary arm body, the bottom of the rotary arm body is fixedly installed on the top of the rotary part of the rotary support, a first motor is fixedly installed on the top of the rotary arm body, the motor shaft of the first motor is fixedly connected with the bottom of the second long arm and is used for driving the second long arm to rotate.

4. The rotary robot arm with a hand-grasp structure according to claim 3, characterized in that: The second long arm comprises a long arm body, the lower end of the long arm body is fixed on the motor shaft of the first motor, a second motor is fixedly installed on the top of the long arm body, the motor shaft of the second motor is fixedly connected with the bottom of the third swing arm and is used for driving the third swing arm to rotate.

5. A rotary robot arm having a self-gripping structure according to claim 4, characterized in that: The third swing arm comprises a swing arm body, the left end of the swing arm body is fixedly connected with the motor shaft of the second motor, and a double-side position adjusting mechanism is fixedly connected with the right end of the swing arm body, the output ends on the two sides of the double-side position adjusting mechanism are respectively connected with the hand-following grabbing unit and are used for driving the hand-following grabbing unit to swing.

6. A rotary robot arm having a hand graspable structure according to claim 5, characterized in that: The double-side position adjusting mechanism comprises a double-output-shaft motor fixedly installed on the right end of the swing arm body, side baffles are respectively fixed on the two sides of the double-output-shaft motor, a swing seat is installed in the space between the right ends of the two side baffles, the center shaft of the swing seat is movably arranged to the outside of the side baffles, toothed belt pulleys are installed on the two motor shafts of the double-output-shaft motor and the two ends of the center shaft, toothed belts are installed between the two toothed belt pulleys on the same side, and the hand-following grabbing unit is fixedly installed on the swing seat.

7. A rotary robot arm having a self-gripping structure according to claim 6, characterized in that: The hand-following grabbing unit comprises a rotary motor fixedly installed on the swing seat, a hand grab fixed frame is fixedly connected with the end of the motor shaft of the rotary motor, N hand grab assemblies are uniformly and interval installed around the hand grab fixed frame along the circumferential direction of the hand grab fixed frame, and the hand grab assemblies jointly grab objects in operation.

8. The rotary robot arm with a hand graspable structure according to claim 7, characterized in that: The hand grab assembly comprises an arc-shaped clamping jaw, the top of the arc-shaped clamping jaw is hingedly connected in an ear seat hole at the corresponding position of the hand grab fixed frame, a pneumatic control cylinder is arranged on the outside of the arc-shaped clamping jaw, one end of the pneumatic control cylinder is movably hingedly connected with the hand grab fixed frame, and the other end of the pneumatic control cylinder is movably hingedly connected in a rotating hole on the outside wall of the arc-shaped clamping jaw. A preventing-off pressure applying member is installed at the free end of each of the arc-shaped clamping claws, and comprises a clamping cylinder fixedly installed at the free end of the arc-shaped clamping claw, a telescopic rod of the clamping cylinder extending to the inner side of the arc-shaped clamping claw and being fixedly connected with a preventing-off chuck, and the preventing-off chuck is used for abutting against the object to be gripped. The clamping reinforcing member comprises a pressure applying cylinder fixedly installed at the center of the bottom of the gripper fixing frame, and a reinforcing disc is fixedly installed at the end of the piston rod of the pressure applying cylinder, and the working surface of the reinforcing disc is used for abutting against the surface of the object to be clamped.

9. The rotary robot arm having a hand graspable structure according to claim 8, characterized by: A non-slip inner lining is fixedly installed at the inner side wall of each of the arc-shaped clamping claws.

10. A mechanical device having a grab-to-hand structure, characterized by: The mechanical equipment comprises the rotary mechanical arm according to any one of claims 1-9.

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