A grabbing robot equipped with a rotary joint reinforcing structure

Abstract

The utility model discloses a kind of grabbing robots with rotary joint reinforcing structure, it includes big arm: the surface of the big arm is rotatably installed with middle arm, the surface of the middle arm is fixedly connected with axle rod, the surface of the axle rod is rotatably connected with small arm, the surface of the small arm is provided with strip, the outside of the small arm is provided with bolt rod, the end of the bolt rod is penetrated to the outside of strip, the surface of the bolt rod is threadedly connected with nut block. The utility model fixes strip on the surface of small arm by bolt rod and nut block, and is rotatably connected between strip and axle rod by L-shaped rod and circular ring, and is fixedly connected between middle arm and axle rod by the cooperation of connecting plate and sleeve block, so that the connection of small arm and middle arm is reinforced, i.

Description

Technical Field

[0001] This utility model belongs to the field of grasping robot technology, and in particular relates to a grasping robot equipped with a rotating joint reinforcement structure. Background Technology

[0002] Grasping robots are automated systems that integrate visual perception, grasping planning, and mechanical execution. Their core technologies cover target localization, posture estimation, grasping point detection, and motion planning. Mainstream solutions include three types: model-based, semi-model-based, and model-free. They are maturely applied in industrial production and warehousing and transportation.

[0003] When a gripping robot clamps and moves goods, the gripping arm may break at the connection between the forearm and the middle arm due to the large weight. Therefore, a gripping robot with a swivel joint reinforcement structure is needed. A connector is added to the swivel joint between the forearm and the middle arm to improve the stability of the connection, thereby increasing the strength of the structure and extending the service life of the swivel joint. Utility Model Content

[0004] The purpose of this invention is to provide a gripping robot with a rotating joint reinforcement structure. By adding a connector to the rotating joint between the forearm and the middle arm, the stability of the connection between the two is improved, thereby increasing the strength of the structure and extending the service life of the rotating joint, so as to solve the technical problems mentioned in the background art.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A gripping robot equipped with a rotating joint reinforcement structure includes a large arm; a middle arm is rotatably mounted on the surface of the large arm; a shaft is fixedly connected to the surface of the middle arm; a small arm is rotatably connected to the surface of the shaft; a strip is provided on the surface of the small arm; a bolt rod is provided through the outer side of the small arm; the end of the bolt rod extends through to the outer side of the strip; a nut block is threadedly connected to the surface of the bolt rod; a ring is rotatably connected to the surface of the shaft; an L-shaped rod is welded together between the ring and the strip; a sleeve block is welded to the surface of the middle arm; a connecting plate is fixedly connected to the surface of the shaft; and a clamp is mounted on the surface of the small arm.

[0006] Preferably, a washer is fitted on the surface of the bolt rod, and the washer is an elastic washer.

[0007] Preferably, the connecting plate and the sleeve block are welded together.

[0008] Preferably, a sleeve is fitted onto the surface of the connecting plate, and the sleeve is welded to the sleeve block.

[0009] Preferably, the surface of the strip has a rectangular opening that matches the bolt rod.

[0010] The beneficial effects of this utility model are:

[0011] 1. This utility model uses bolts and nuts to fix the strip to the surface of the forearm, and uses an L-shaped rod and a ring to rotatably connect the strip to the shaft. At the same time, the connecting plate and the sleeve block are used to fix the middle arm to the shaft, so that the connection between the forearm and the middle arm is strengthened. This achieves the purpose of adding a connecting part to the rotating joint between the forearm and the middle arm, improving the stability of the connection between the two, thereby improving the strength of the structure and extending the service life of the rotating joint.

[0012] 2. By setting the washer, this utility model increases the friction on the surface of the nut block, preventing the nut block from loosening and coming off the bolt rod surface due to external vibration, thereby improving the stability of the connection between the bolt rod and the nut block;

[0013] 3. By using a sleeve, this utility model strengthens the connection between the connecting plate and the sleeve block, preventing breakage at the connection due to the small contact area, thereby improving the stability of the connection.

[0014] 4. By setting a rectangular opening, this utility model expands the area through which the bolt rod passes through the strip, improving the adaptability of the bolt rod to the strip for through-fixation, thus facilitating actual installation and connection. Attached Figure Description

[0015] in:

[0016] Figure 1 This is a schematic diagram of the structure of one embodiment of the present utility model;

[0017] Figure 2 This is one embodiment of the present utility model. Figure 1 A magnified view of point A in the middle;

[0018] Figure 3 This is one embodiment of the present utility model. Figure 1 A magnified view of point B in the middle;

[0019] Figure 4 This is a three-dimensional schematic diagram of a strip and bolt rod according to an embodiment of the present invention.

[0020] The attached diagram lists the components represented by each number as follows:

[0021] 1. Main arm, 2. Middle arm, 3. Shaft, 4. Forearm, 5. Strip, 6. Bolt rod, 7. Nut block, 8. Washer, 9. Ring, 10. L-shaped rod, 11. Sleeve block, 12. Connecting plate, 13. Sleeve, 14. Rectangular opening, 15. Clamp. Detailed Implementation

[0022] In the following description, embodiments of the gripping robot of the present invention, equipped with a rotating joint reinforcement structure, will be described with reference to the accompanying drawings.

[0023] Example 1:

[0024] Figure 1-4 This invention illustrates a gripping robot with a rotating joint reinforcement structure according to an embodiment of the present invention. It includes a large arm 1; a middle arm 2 is rotatably mounted on the surface of the large arm 1; a shaft 3 is fixedly connected to the surface of the middle arm 2; a small arm 4 is rotatably connected to the surface of the shaft 3; a strip 5 is provided on the surface of the small arm 4; a bolt 6 is inserted through the outer side of the small arm 4; the end of the bolt 6 extends to the outer side of the strip 5; a nut block 7 is threadedly connected to the surface of the bolt 6; and a washer 8, which is an elastic washer, is fitted onto the surface of the bolt 6. The setting of washer 8 increases the friction on the surface of nut block 7, preventing nut block 7 from loosening and coming off the surface of bolt rod 6 due to external vibration, thereby improving the stability of the connection between bolt rod 6 and nut block 7. A ring 9 is rotatably connected to the surface of shaft rod 3. An L-shaped rod 10 is welded together between ring 9 and strip plate 5. A sleeve block 11 is welded to the surface of middle arm 2. A connecting plate 12 is fixedly connected to the surface of shaft rod 3. The connecting plate 12 and sleeve block 11 are welded and fixed. A clamp 15 is installed on the surface of forearm 4.

[0025] Example 2:

[0026] Figure 1-4 This invention illustrates a gripping robot with a rotating joint reinforcement structure according to an embodiment of the present invention. It includes a large arm 1; a middle arm 2 is rotatably mounted on the surface of the large arm 1; a shaft 3 is fixedly connected to the surface of the middle arm 2; a small arm 4 is rotatably connected to the surface of the shaft 3; a strip 5 is provided on the surface of the small arm 4; a bolt 6 is inserted through the outer side of the small arm 4; the end of the bolt 6 extends to the outer side of the strip 5; a nut block 7 is threadedly connected to the surface of the bolt 6; a ring 9 is rotatably connected to the surface of the shaft 3; an L-shaped rod 10 is welded together between the ring 9 and the strip 5; a sleeve block 11 is welded to the surface of the middle arm 2; and a connecting rod 10 is fixedly connected to the surface of the shaft 3. The connecting plate 12 has a sleeve 13 fitted on its surface. The sleeve 13 is welded to the sleeve block 11. The sleeve 13 strengthens the connection between the connecting plate 12 and the sleeve block 11, preventing the connection from breaking due to the small contact area, thus improving the stability of the connection. The surface of the strip plate 5 has a rectangular opening 14 that matches the bolt rod 6. The rectangular opening 14 widens the area through which the bolt rod 6 passes through the strip plate 5, improving the adaptability of the bolt rod 6 to the strip plate 5 for through-fixing, thus facilitating actual installation and connection. The surface of the forearm 4 is fitted with a clamp 15.

[0027] Working principle: When using this utility model, the user rotates the ring 9 onto the surface of the shaft 3, and then fixes the strip 5 onto the surface of the forearm 4 through the cooperation of the bolt rod 6 and the nut block 7. The strip 5 and the shaft 3 are rotatably connected by the L-shaped rod 10 and the ring 9, which strengthens the rotation of the forearm 4 on the surface of the shaft 3. At the same time, the middle arm 2 and the shaft 3 are fixedly connected through the cooperation of the connecting plate 12 and the sleeve block 11, which strengthens the connection between the shaft 3 and the middle arm 2. This strengthens the connection between the forearm 4 and the middle arm 2. When the forearm 4 and the clamp 15 move heavy goods, the stability of the rotating joint between the forearm 4 and the middle arm 2 can be effectively improved. This realizes the addition of a connecting part to the rotating joint between the forearm and the middle arm, which improves the stability of the connection between the two, thereby improving the strength of the structure and extending the service life of the rotating joint.

[0028] In summary, this gripping robot equipped with a rotating joint reinforcement structure fixes the strip 5 to the surface of the forearm 4 using bolt rod 6 and nut block 7, and rotatably connects the strip 5 to the shaft 3 using L-shaped rod 10 and ring 9. At the same time, the middle arm 2 is fixedly connected to the shaft 3 through the cooperation of connecting plate 12 and sleeve block 11, thereby reinforcing the connection between the forearm 4 and the middle arm 2. This achieves the purpose of adding a connecting component to the rotating joint between the forearm and the middle arm, improving the stability of the connection between the two, thereby increasing the strength of the structure and extending the service life of the rotating joint.

Claims

1. A gripping robot equipped with a rotating joint reinforcement structure, characterized in that, The structure includes a large arm (1): a middle arm (2) is rotatably mounted on the surface of the large arm (1), a shaft (3) is fixedly connected to the surface of the middle arm (2), a small arm (4) is rotatably connected to the surface of the shaft (3), a strip plate (5) is provided on the surface of the small arm (4), a bolt rod (6) is provided through the outer side of the small arm (4), the end of the bolt rod (6) extends through to the outer side of the strip plate (5), a nut block (7) is threadedly connected to the surface of the bolt rod (6), a ring (9) is rotatably connected to the surface of the shaft (3), an L-shaped rod (10) is welded together between the ring (9) and the strip plate (5), a sleeve block (11) is welded to the surface of the middle arm (2), a connecting plate (12) is fixedly connected to the surface of the shaft (3), and a clamp (15) is mounted on the surface of the small arm (4).

2. A gripping robot equipped with a rotating joint reinforcement structure according to claim 1, characterized in that, A washer (8) is fitted on the surface of the bolt rod (6), and the washer (8) is an elastic washer.

3. A gripping robot equipped with a rotating joint reinforcement structure according to claim 2, characterized in that, The connecting plate (12) and the sleeve block (11) are welded and fixed together.

4. A gripping robot equipped with a rotating joint reinforcement structure according to claim 3, characterized in that, The surface of the connecting plate (12) is fitted with a sleeve (13), and the sleeve (13) is welded to the sleeve block (11).

5. A gripping robot equipped with a rotating joint reinforcement structure according to claim 4, characterized in that, The surface of the strip (5) is provided with a rectangular opening (14) that matches the bolt rod (6).

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