A gripping robot structure

Abstract

The utility model belongs to the technical field of machining, especially a kind of grabbing mechanical arm structure. Including pedestal, Z-axis linear module is installed on pedestal, and the sliding table of Z-axis linear module is installed with first swing arm, and the end of first swing arm is hinged with second swing arm, and synchronous pulley is installed at the hinge point of second swing arm, servo motor is installed on first swing arm, and the output shaft end of servo motor is connected with synchronous pulley transmission by synchronous toothed belt. The utility model discloses when suction nozzle reaches the predetermined position of grabbing workpiece, the radial movement of pneumatically chuck dog is controlled, drives the inward movement of the fixed plate around, to position workpiece, to automatically compensate the position deviation of workpiece, so that workpiece reverts to the central region of grabbing point, the telescopic spring design between vacuum suction nozzle and seat cylinder can automatically compensate the height position of suction nozzle, the adjustability of fixed plate cooperation clamping plate can adapt to the positioning of workpiece of different specifications size.

Description

Technical Field

[0001] This utility model relates to the field of mechanical processing technology, specifically to a gripping robotic arm structure. Background Technology

[0002] A gripping robotic arm is a device that clamps and grasps workpieces. It uses gripping teeth fixedly installed on the outer wall of the gripping arm to engage with and hold the workpiece, thereby achieving the gripping effect. Robotic arm structures are often installed on punching production lines, and the gripping structure on the robotic arm is used to transfer workpieces to different processing stations.

[0003] In existing robotic arms, when gripping workpieces, the workpiece may sometimes be placed off-center from the intended position of the suction cup, causing the suction cup to adhere to the edge of the workpiece. During transfer, heavier workpieces may experience a shift in center of gravity and fall off.

[0004] Therefore, we propose a gripping robotic arm structure to solve the above problems. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this utility model provides a gripping robotic arm structure that solves the problems mentioned in the background section.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, this utility model specifically adopts the following technical solution:

[0009] A gripping robotic arm structure includes a base, on which a Z-axis linear module is mounted. A first swing arm is mounted on the slide of the Z-axis linear module. A second swing arm is hinged to the end of the first swing arm, and a synchronous pulley is mounted at the hinge point of the second swing arm. A servo motor is mounted on the first swing arm, and the output shaft of the servo motor is connected to the synchronous pulley via a synchronous toothed belt. A seat is mounted at the end of the second swing arm, and a vacuum nozzle is sleeved inside the seat. A telescopic spring is provided between the vacuum nozzle and the seat. A pneumatic chuck is mounted at the bottom of the seat, and a fixing plate is mounted on the jaws of the pneumatic chuck. A clamping plate is fastened to the fixing plate.

[0010] Furthermore, the synchronous pulley is fixed to the second swing arm, and the shaft end of the synchronous pulley is fixedly connected to the first swing arm through a bearing.

[0011] Furthermore, the end of the second swing arm is provided with a through hole, and the through hole corresponds to the position of the vacuum nozzle.

[0012] Furthermore, the pneumatic chuck is a four-jaw chuck structure, and its middle part is a hollow structure.

[0013] Furthermore, the fixing plate is located around the pneumatic chuck, and the fixing plate is provided with sleeve holes.

[0014] Furthermore, the outer side of the clamp is provided with a guide rod, and the guide rod is movably fitted into the sleeve hole.

[0015] Furthermore, a hand-tightening bolt is threaded onto the sleeve hole, and the guide rod is fastened to the sleeve hole by the hand-tightening bolt.

[0016] Furthermore, the sleeve hole is provided with a keyway, and the guide rod is provided with a flat key, which slides in the keyway.

[0017] (III) Beneficial Effects

[0018] Compared with the prior art, the present invention provides a gripping robotic arm structure with the following advantages:

[0019] In this invention, when the suction nozzle reaches the predetermined position for gripping the workpiece, the radial movement of the pneumatic chuck jaws is controlled, which drives the surrounding fixed plates to move inward, thereby positioning the workpiece. This automatically compensates for the workpiece's positional deviation, allowing the workpiece to return to the center area of ​​the gripping point. The telescopic spring design between the vacuum suction nozzle and the base can automatically compensate for the height position of the suction nozzle. The adjustability of the fixed plates and clamps can adapt to the positioning of workpieces of different specifications and sizes. Attached Figure Description

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

[0021] Figure 2 This is a front view of the present invention;

[0022] Figure 3 This is a top view of the present invention;

[0023] Figure 4 This is a partial schematic diagram of the present invention.

[0024] In the diagram: 1. Base; 2. Z-axis linear module; 3. First swing arm; 4. Second swing arm; 5. Synchronous pulley; 6. Servo motor; 7. Seat cylinder; 8. Vacuum nozzle; 9. Telescopic spring; 10. Pneumatic chuck; 11. Fixing plate; 12. Clamping plate; 13. Through hole; 14. Sleeve hole; 15. Guide rod; 16. Hand-tightening bolt; 17. Keyway; 18. Flat key. Detailed Implementation

[0025] 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.

[0026] Example

[0027] like Figures 1-4 As shown, an embodiment of this utility model discloses a gripping robotic arm structure, including a base 1. A Z-axis linear module 2 is mounted on the base 1, and a first swing arm 3 is mounted on the slide of the Z-axis linear module 2. A second swing arm 4 is hinged to the end of the first swing arm 3, and a synchronous pulley 5 is mounted at the hinge point of the second swing arm 4. A servo motor 6 is mounted on the first swing arm 3, and the output shaft of the servo motor 6 is connected to the synchronous pulley 5 via a synchronous toothed belt. A seat 7 is mounted at the end of the second swing arm 4, and a vacuum nozzle 8 is sleeved inside the seat 7. A telescopic spring 9 is provided between the vacuum nozzle 8 and the seat 7. A pneumatic chuck 10 is installed at the bottom of the seat cylinder 7, and a fixing plate 11 is installed on the jaws of the pneumatic chuck 10. A clamping plate 12 is fastened to the fixing plate 11. When the suction nozzle reaches the predetermined position for gripping the workpiece, the radial movement of the jaws of the pneumatic chuck 10 is controlled to drive the surrounding fixing plates 11 to move inward, thereby positioning the workpiece. This automatically compensates for the positional offset of the workpiece, allowing the workpiece to return to the center area of ​​the gripping point. The telescopic spring 9 between the vacuum suction nozzle 8 and the seat cylinder 7 is designed to automatically compensate for the height position of the suction nozzle. The adjustability of the fixing plate 11 and the clamping plate 12 can adapt to the positioning of workpieces of different specifications and sizes.

[0028] like Figure 1 As shown, in some embodiments, the synchronous pulley 5 is fixed to the second swing arm 4, and the shaft end of the synchronous pulley 5 is fixedly connected to the first swing arm 3 through a bearing. The second swing arm 4 swings back and forth under the drive of the servo motor 6.

[0029] like Figure 3 As shown, in some embodiments, the end of the second swing arm 4 is provided with a through hole 13, and the through hole 13 corresponds to the position of the vacuum nozzle 8. The through hole 13 is a clearance structure to facilitate the access of the air pipe connected to the vacuum nozzle 8.

[0030] like Figure 4As shown, in some embodiments, the pneumatic chuck 10 is a four-jaw chuck structure with a hollowed-out middle section. The pneumatic chuck 10, also known as a pneumatic collet, is a type of power chuck in the field of mechanical engineering. It belongs to the pneumatically driven machine tool fixtures. The device consists of components such as a cylinder, piston, drawbar, and jaws. The piston is driven to move axially by compressed air, which is then converted into radial movement of the jaws by a wedge mechanism.

[0031] like Figure 4 As shown, in some embodiments, the fixing plate 11 is located around the pneumatic chuck 10, and the fixing plate 11 is provided with a sleeve hole 14, which is a connecting structure for installing the clamping plate 12.

[0032] like Figure 4 As shown, in some embodiments, the outer side of the clamping plate 12 is provided with a guide rod 15, and the guide rod 15 is movably fitted into the sleeve hole 14. The guide rod 15 is a connecting structure, and by cooperating with the sleeve hole 14, the clamping plate 12 is assembled onto the fixing plate 11.

[0033] like Figure 4 As shown, in some embodiments, a hand-tightening bolt 16 is threaded onto the sleeve hole 14, and the guide rod 15 is fastened to the sleeve hole 14 by the hand-tightening bolt 16. By loosening the hand-tightening bolt 16, the relative clamping distance of the clamping plate 12 can be adjusted.

[0034] like Figure 4 As shown, in some embodiments, the sleeve hole 14 is provided with a keyway 17, the guide rod 15 is provided with a flat key 18, and the flat key 18 slides in the keyway 17. The radial position of the guide rod 15 is limited by the cooperation between the flat key 18 and the keyway 17.

[0035] When in use, when the suction nozzle reaches the predetermined position for gripping the workpiece, the radial movement of the pneumatic chuck 10 jaws is controlled, which drives the surrounding fixing plates 11 to move inward, thereby positioning the workpiece. This automatically compensates for the positional offset of the workpiece, allowing the workpiece to return to the center area of ​​the gripping point. The telescopic spring 9 between the vacuum suction nozzle 8 and the base cylinder 7 is designed to automatically compensate for the height position of the suction nozzle. The adjustable fixed plate 11, together with the clamping plate 12, can adapt to the positioning of workpieces of different specifications and sizes.

[0036] In summary, when the suction nozzle reaches the predetermined position for gripping the workpiece, the radial movement of the pneumatic chuck 10 jaws is controlled, which drives the surrounding fixing plates 11 to move inward, thereby positioning the workpiece. This automatically compensates for the workpiece's positional offset, allowing the workpiece to return to the center area of ​​the gripping point. The telescopic spring 9 between the vacuum suction nozzle 8 and the base cylinder 7 is designed to automatically compensate for the height position of the suction nozzle. The adjustable nature of the fixing plate 11 and the clamping plate 12 can adapt to the positioning of workpieces of different specifications and sizes.

[0037] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the 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 this utility model should be included within the protection scope of this utility model.

Claims

1. A gripping robotic arm structure, comprising a base (1), characterized in that: A Z-axis linear module (2) is installed on the base (1), and a first swing arm (3) is installed on the slide of the Z-axis linear module (2). A second swing arm (4) is hinged to the end of the first swing arm (3), and a synchronous pulley (5) is installed at the hinge point of the second swing arm (4). A servo motor (6) is installed on the first swing arm (3), and the output shaft end of the servo motor (6) is connected to the synchronous pulley (5) through a synchronous toothed belt. A seat (7) is installed at the end of the second swing arm (4), and a vacuum nozzle (8) is sleeved inside the seat (7). A telescopic spring (9) is provided between the vacuum nozzle (8) and the seat (7). A pneumatic chuck (10) is installed at the bottom of the seat (7), and a fixing plate (11) is installed on the jaws of the pneumatic chuck (10). A clamping plate (12) is fastened to the fixing plate (11).

2. The gripping robotic arm structure according to claim 1, characterized in that: The synchronous pulley (5) is fixed on the second swing arm (4), and the shaft end of the synchronous pulley (5) is fixedly connected to the first swing arm (3) through a bearing.

3. The gripping robotic arm structure according to claim 1, characterized in that: The end of the second swing arm (4) is provided with a through hole (13), and the through hole (13) corresponds to the position of the vacuum nozzle (8).

4. The gripping robotic arm structure according to claim 1, characterized in that: The pneumatic chuck (10) is a four-jaw chuck structure, and its middle part is a hollow structure.

5. The gripping robotic arm structure according to claim 1, characterized in that: The fixing plate (11) is located around the pneumatic chuck (10), and the fixing plate (11) is provided with sleeve holes (14).

6. The gripping robotic arm structure according to claim 5, characterized in that: The outer side of the clamp (12) is provided with a guide rod (15), and the guide rod (15) is movably fitted into the sleeve hole (14).

7. The gripping robotic arm structure according to claim 6, characterized in that: A hand-tightening bolt (16) is threaded onto the sleeve hole (14), and the guide rod (15) is fastened to the sleeve hole (14) by the hand-tightening bolt (16).

8. The grasping robotic arm structure of claim 7, wherein: The sleeve hole (14) is provided with a keyway (17), and the guide rod (15) is provided with a flat key (18), and the flat key (18) slides in the keyway (17).

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