CN111113388A - Machine part grabbing arm - Google Patents
Machine part grabbing arm Download PDFInfo
- Publication number
- CN111113388A CN111113388A CN202010019091.9A CN202010019091A CN111113388A CN 111113388 A CN111113388 A CN 111113388A CN 202010019091 A CN202010019091 A CN 202010019091A CN 111113388 A CN111113388 A CN 111113388A
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- rod
- gripper
- movable
- fixed
- rack
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- 230000008093 supporting effect Effects 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 12
- 230000000694 effects Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a machine part gripper arm, which relates to the field of mechanical grippers and comprises a gripper mechanism and a rotating mechanism; a movable rod is arranged in a gripper movable frame of the gripper mechanism, a lifting rod is fixed at the top end of the movable rod, and the lifting rod is connected with a rotating mechanism; the movable rod is symmetrically hinged with grippers for gripping machine parts; a hydraulic support rod with a hydraulic cylinder is fixed at the top end of a gear of the rotating mechanism, a cross beam is fixed at the top end of the hydraulic support rod, the cross beam is fixed with the top end of the lifting rod, a base is fixed on the outer wall of the top end of the hydraulic cylinder, hinged seats are symmetrically arranged on the base, the hinged seats are hinged with supporting inclined rods, the supporting inclined rods are fixed with the top ends of the movable vertical rods, and the bottom ends of the movable vertical rods are fixedly connected with the top ends of the gripper movable frames; and a limiting structure for limiting the rack is arranged on the rotating shaft fixed by the gear. The gripper arm can grip large-size and heavy parts, is convenient to use, can save a large amount of manpower and material resources, and improves the production efficiency.
Description
Technical Field
The invention relates to the field of mechanical grippers, in particular to a mechanical part gripper arm.
Background
In current machine parts machining process, machine parts are produced after, generally all the manual work goes to carry, and machine parts is more great sometimes, needs a plurality of workman cooperation together just can carry to the mounting bracket on, has wasted a large amount of manpower and materials and financial resources like this, and manual handling is more troublesome moreover, needs coordinate unanimous completion that just can be fine, sometimes still can take place the accident, causes the loss, is unfavorable for the transport of heavy machine parts.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the mechanical part grabbing arm which can grab large-size and heavy parts, is convenient to use, can save a large amount of manpower and material resources and improves the production efficiency.
The purpose of the invention is realized by the following technical scheme:
a machine part grabbing arm comprises a grabbing mechanism and a rotating mechanism; the gripper mechanism comprises a gripper movable frame, a movable rod is arranged in the gripper movable frame, a lifting rod is fixed at the top end of the movable rod, and the other end of the lifting rod is connected with the rotating mechanism; the movable rod is symmetrically hinged with grippers, the other ends of the two grippers movably penetrate through the bottom end of the gripper movable frame, and both the two grippers are hinged with movable support rods for supporting; the rotating mechanism comprises a gear and a rack, the gear is meshed with the rack, and the other end of the rack is connected with a transmission structure; a hydraulic support rod with a hydraulic cylinder is fixed at the top end of the gear, a cross beam is fixed at the top end of the hydraulic support rod, the other end of the cross beam is fixed with the top end of the lifting rod, a support is fixed on the outer wall of the top end of the hydraulic cylinder, connecting seats are symmetrically arranged on the support along the axis, supporting inclined rods are fixed on the two connecting seats, the other ends of the two supporting inclined rods are fixed with the top end of a movable vertical rod, and the bottom end of the movable vertical rod is fixedly connected with the top end of the movable frame of the gripper; the bottom of gear is fixed with the pivot, be equipped with the limit structure spacing to the rack in the pivot.
By adopting the technical scheme, the movable rod is arranged in the gripper movable frame of the gripper arm, on one hand, the movable rod is used for providing a mounting platform for the gripper, so that the gripper can pass through the bottom end of the gripper movable frame to move, on the other hand, the lifting rod fixed at the top end of the movable rod moves up and down, and under the supporting action of the movable supporting rod, the functions of gripping and delivering machine parts of the gripper can be realized; the gear of the rotating mechanism is meshed with the rack, and the gear is driven to rotate through a transmission structure connected with the rack; the lifting rod and the hydraulic supporting rod are connected through the cross beam by the hydraulic supporting rod, meanwhile, the movable vertical rod and the hydraulic cylinder are fixedly connected by the support fixed by the hydraulic cylinder and the symmetrically arranged connecting seats through the two supporting inclined rods, and the movable vertical rod and the gripper movable frame are fixedly connected; the gear is rotationally connected through the rotating shaft under the driving of the rack, and the limiting structure can prevent the rack from being separated from the gear when the rack drives the gear to rotate, so that the gear can be well meshed with the rack; the up-and-down movement of the hydraulic support rod drives the gripper to grab and release machine parts, so that the gripper arm can grab large-size and heavy parts, the gripper arm is convenient to use, a large amount of manpower and material resources can be saved, and the production efficiency is improved.
Preferably, the movable rod is horizontally disposed.
Through adopting above-mentioned technical scheme, the movable rod sets up along the movable rod level, guarantees that the movable rod can be along the activity from top to bottom of tongs adjustable shelf to this realizes that the tongs moves about.
Preferably, the hand grip comprises a rod part and a gripping part, the rod part is connected with the gripping part in a broken line manner and used for realizing the opening and closing of the two hand grips, and the bottom end of the hand grip movable frame is provided with a through notch for the movement of the two hand grips in the notch.
By adopting the technical scheme, the rod part is connected with the grabbing part in a broken line manner, so that the two grippers can grab the machine parts when the movable rod descends, and release the machine parts when the movable rod ascends; meanwhile, the bottom end of the gripper movable frame is provided with a through notch, so that when the movable rod descends and ascends, the two grippers can move in the notch, and the movement of the grippers is not influenced.
Preferably, one end of the movable support rod is hinged to the connection position of the rod part and the grabbing part of the hand grip, and the other end of the movable support rod is hinged to the bottom end of the movable frame of the hand grip.
Through adopting above-mentioned technical scheme, activity bracing piece one end is articulated with the tongs, and the other end is articulated with the bottom of tongs adjustable shelf for give tongs a connection structure that activity was supported, realize the activity of tongs.
Preferably, the transmission structure comprises a rotating guide rod, the bottom surface of one end of the rotating guide rod is hinged to the top surface of one end of the rack through a pin shaft, a rotating shaft is fixed to the top surface of the other end of the rotating guide rod, the other end of the rotating shaft penetrates through a fixed seat in a rotating mode and is connected with a variable speed motor, and the fixed seat and the variable speed motor are fixedly connected with the rack.
Through adopting above-mentioned technical scheme, transmission structure's rotation guide arm one end bottom surface and rack top surface are articulated through the round pin axle, and other end top surface is fixed with the axis of rotation, and through the rotation of the variable speed motor who rotates the hub connection, the motion of drive gear to this comes the rotation of drive gear, rotates the guide arm simultaneously and can drive the gear and realize 180 positive and negative rotations, lets this tongs arm move the machine part who snatchs and put another position in this, realizes the removal of machine part.
Preferably, the movable vertical rod is provided with a sliding groove, the lifting rod can slide in the sliding groove, and the lifting rod movably penetrates through the top end of the hand grip movable frame.
Through adopting above-mentioned technical scheme, the lifting rod slides in the spout that movable montant was seted up, can drive reciprocating rod's reciprocating, guarantees that the tongs adjustable shelf is fixed to this activity that drives the tongs.
Preferably, the limiting structure comprises a positioning seat and a positioning groove, the positioning seat is rotatably connected to the outer wall of the rotating shaft through a bearing, one end of the rotating shaft is rotatably connected with the rack, the positioning seat is connected with a positioning rod, the other end of the positioning rod is fixedly provided with the positioning groove, and the rack is movably sleeved on the positioning groove.
Through adopting above-mentioned technical scheme, the constant head tank passes through the locating lever and fixes the positioning seat and be connected in the pivot, guarantees the rack and in the constant head tank internalization and with gear engagement, prevents that the rack from taking place to break away from with the gear when removing.
The invention has the beneficial effects that:
1. the movable rod is arranged in the gripper movable frame of the gripper arm, on one hand, the movable rod is used for providing a mounting platform for the gripper, the gripper can penetrate through the bottom end of the gripper movable frame to move, on the other hand, the lifting rod fixed at the top end of the movable rod moves up and down, and under the supporting action of the movable supporting rod, the functions of grabbing and delivering machine parts of the gripper can be realized; the gear of the rotating mechanism is meshed with the rack, and the gear is driven to rotate through a transmission structure connected with the rack; the lifting rod and the hydraulic supporting rod are connected through the cross beam by the hydraulic supporting rod, meanwhile, the movable vertical rod and the hydraulic cylinder are fixedly connected by the support fixed by the hydraulic cylinder and the symmetrically arranged connecting seats through the two supporting inclined rods, and the movable vertical rod and the gripper movable frame are fixedly connected; the gear is rotationally connected through the rotating shaft under the driving of the rack, and the limiting structure can prevent the rack from being separated from the gear when the rack drives the gear to rotate, so that the gear can be well meshed with the rack; the up-and-down movement of the hydraulic support rod drives the gripper to grab and release machine parts, so that the gripper arm can grab large-size and heavy parts, the gripper arm is convenient to use, a large amount of manpower and material resources can be saved, and the production efficiency is improved.
2. The movable rod is horizontally arranged along the movable rod, so that the movable rod can move up and down along the gripper movable frame, and the gripper can move; the rod part is connected with the grabbing part in a broken line manner, so that the two grippers can grab the machine part when the movable rod descends, and release the machine part when the movable rod ascends; meanwhile, the bottom end of the gripper movable frame is provided with a through notch, so that when the movable rod descends and ascends, the two grippers can move in the notch, and the movement of the grippers is not influenced; one end of the movable support rod is hinged with the hand grip, and the other end of the movable support rod is hinged with the bottom end of the hand grip movable frame and used for providing the hand grip with a movable support connecting structure to realize the movement of the hand grip.
3. The bottom surface of one end of a rotating guide rod of the transmission structure is hinged with the top surface of a rack through a pin shaft, the top surface of the other end of the rotating guide rod is fixedly provided with a rotating shaft, a gear is driven to move through the rotation of a variable speed motor connected with the rotating shaft, so that the gear is driven to rotate, meanwhile, the rotating guide rod can drive the gear to realize 180-degree forward and reverse rotation, so that the gripper arm can move a gripped machine part to another position, and the movement of the machine part is realized; the lifting rod slides in a sliding groove formed in the movable vertical rod and can drive the movable rod to move up and down, so that the movable frame of the gripper is ensured to be fixed, and the movement of the gripper is driven; the locating slot is connected with the locating seat fixed on the rotating shaft through the locating rod, so that the rack is guaranteed to move in the locating slot and to be meshed with the gear, and the rack is prevented from being separated from the gear when moving.
Drawings
FIG. 1 is a schematic structural diagram of a robot part gripper arm according to the present invention;
FIG. 2 is a schematic view of a gripper mechanism of a robotic arm of the present invention;
FIG. 3 is a schematic view of a rotating mechanism of a robot part gripper arm according to the present invention;
FIG. 4 is a schematic view of a transmission structure of a gripper arm for a machine part according to the present invention;
FIG. 5 is a schematic diagram of a limiting structure of a gripper arm for a machine part according to the present invention;
FIG. 6 is a schematic view of the overall structure of the operation of a robot part gripper arm according to the present invention;
FIG. 7 is a schematic sectional view of the connection between the rack and the positioning groove of the gripper arm for machine parts according to the present invention.
In the figure, 1-a gripper movable frame, 2-a movable rod, 3-a lifting rod, 4-a gripper, 5-a movable supporting rod, 6-a gear, 7-a rack, 8-a hydraulic supporting rod, 9-a cross beam, 10-a support, 11-a connecting seat, 12-a supporting inclined rod, 13-a movable vertical rod, 14-a rotating shaft, 15-a rotating guide rod, 16-a rotating shaft, 17-a fixed seat, 18-a positioning seat, 19-a positioning groove and 20-a positioning rod.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in fig. 1 to 7, a machine part gripper arm comprises a gripper mechanism and a rotating mechanism; the gripper mechanism comprises a gripper movable frame 1, a movable rod 2 is arranged in the gripper movable frame 1, a lifting rod 3 is fixed at the top end of the movable rod 2, and the other end of the lifting rod 3 is connected with the rotating mechanism; the movable rod 2 is symmetrically hinged with the grippers 4, the other ends of the two grippers 4 movably penetrate through the bottom end of the gripper movable frame 1, and the two grippers 4 are hinged with movable support rods 5 for supporting; the rotating mechanism comprises a gear 6 and a rack 7, the gear 6 is meshed with the rack 7, and the other end of the rack 7 is connected with a transmission structure; a hydraulic support rod 8 with a hydraulic cylinder is fixed at the top end of the gear 6, a cross beam 9 is fixed at the top end of the hydraulic support rod 8, the other end of the cross beam 9 is fixed with the top end of the lifting rod 3, a support 10 is fixed on the outer wall of the top end of the hydraulic cylinder, the support 10 is symmetrically provided with connecting seats 11 along the axis, two connecting seats 11 are both fixed with supporting inclined rods 12, the other ends of the two supporting inclined rods 12 are fixed with the top end of a movable vertical rod 13, and the bottom end of the movable vertical rod 13 is fixedly connected with the top end of the movable frame; the bottom end of the gear 6 is fixed with a rotating shaft 14, and the rotating shaft 14 is provided with a limiting structure for limiting the rack 7. The movable rod 2 is arranged in the gripper movable frame of the gripper arm, on one hand, the movable rod is used for providing a mounting platform for the gripper 4, so that the gripper 4 can move through the bottom end of the gripper movable frame 1, on the other hand, the lifting rod 3 fixed at the top end of the movable rod 2 moves up and down, and under the supporting action of the movable supporting rod 5, the functions of grabbing and delivering machine parts of the gripper 4 can be realized; a gear 6 of the rotating mechanism is meshed with a rack 7, and the rotation of the gear 6 is driven by a transmission structure connected with the rack 7; the lifting rod 3 and the hydraulic supporting rod 8 are connected through the cross beam 9 by the hydraulic supporting rod 8, meanwhile, the support 10 fixed by the hydraulic cylinder and the connecting seats 11 symmetrically arranged on the support 10 are connected with the hydraulic cylinder by the movable vertical rods 13 through the two supporting inclined rods 12, meanwhile, the movable vertical rods 13 are fixedly connected with the gripper movable frame 1, when the hydraulic supporting rod 8 moves up and down, the lifting rod 3 moves up and down, and the gripper movable frame 1 does not move, so that the effect of grabbing and releasing machine parts when the gripper 4 moves up and down on the hydraulic supporting rod 8 can be realized; the gear 6 is rotationally connected through the rotating shaft 14 under the driving of the rack 7, and the limiting structure can prevent the rack 7 from being separated from the gear 6 when the rack 6 is driven to rotate, so that the gear 6 can be well meshed with the rack 7; the up-and-down movement of the hydraulic support rod 8 drives the gripper 4 to grab and release machine parts, so that the gripper arm can grab large-size and heavy parts, and meanwhile, the gripper arm is convenient to use, can save a large amount of manpower and material resources, and improves the production efficiency.
When the gripper arm is used and heavy machine parts need to be moved, the gripper arm is well installed, the positions of the moving parts and the gripper arm are well adjusted, and then the gripper arm is used for moving the parts; when the part is conveyed to the front of the gripper arm from the production line, due to the production line, after the distance between the frame of the gripper arm and the machine part is adjusted, the distance does not need to be adjusted frequently, and only the machine part needs to be grabbed and moved. After the machine part reaches the position, controlling a gripper mechanism of the gripper arm to the upper end of the machine part to be gripped, wherein the gripper mechanism of the gripper arm comprises a gripper movable frame 1, a movable rod 2 is arranged in the gripper movable frame 1, a lifting rod 3 is fixed at the top end of the movable rod 2, and the other end of the lifting rod 3 is movably connected with a rotating mechanism; the movable rod 2 is symmetrically hinged with grippers 4, the other ends of the two grippers 4 movably penetrate through the bottom end of the gripper movable frame 1, the two grippers 4 are hinged with movable supporting rods 5 for supporting, the lifting rod 3 needs to descend when the grippers 4 grasp machine parts, the lifting rod 3 needs to descend, a rotating mechanism needs to be controlled to rotate when the lifting rod 3 descends, the rotating mechanism of the gripper arm comprises a gear 6 and a rack 7, the gear 6 is meshed with the rack 7, and the other end of the rack 7 is connected with a transmission structure; a hydraulic support rod 8 with a hydraulic cylinder is fixed at the top end of the gear 6, a cross beam 9 is fixed at the top end of the hydraulic support rod 8, the other end of the cross beam 9 is fixed with the top end of the lifting rod 3, and the hydraulic support rod 8 rotatably penetrates through the top end of the rack; the hydraulic support rod 8 is controlled to move downwards, the cross beam 9 fixed to the top end of the hydraulic support rod 8 moves downwards together with the hydraulic support rod, the lifting rod 3 fixed to the cross beam 9 moves downwards, and the movable rod 2 fixedly connected to the bottom end of the lifting rod 3 moves downwards along with the hydraulic support rod.
Further, in order to ensure that the lifting rod 3 can drive the movable rod 2 to move relatively in the gripper movable frame 1 to realize the gripping of machine parts by the gripper 4, a support 10 is fixed on the outer wall of the top end of the hydraulic cylinder, the support 10 is symmetrically provided with connecting seats 11 along the axis, the two connecting seats 11 are both fixed with supporting diagonal rods 12, the other ends of the two supporting diagonal rods 12 are fixed with the top end of a movable vertical rod 13, the bottom end of the movable vertical rod 13 is fixedly connected with the top end of the gripper movable frame 1, the hydraulic support rod 8 moves downwards relative to the hydraulic cylinder, the support 10 fixed at the top end of the hydraulic cylinder is not moved, meanwhile, the supporting diagonal rods 12 fixed on the connecting seats 11 which are symmetrically arranged are not changed, the movable vertical rod 13 fixedly connected with the supporting diagonal rods 12 is not changed, so that the gripper movable frame 1 fixedly connected with the bottom end of the movable vertical rod 13 is, the lifting rod 3 can slide in the sliding groove, and the lifting rod 3 movably penetrates through the top end of the gripper movable frame. Meanwhile, the movable rod 2 is horizontally arranged, so that only the movable rod 2 moves downwards along the movable vertical rod 13 with a sliding groove, the movable vertical rod 13 and the gripper movable frame 1 are kept still, and the movable rod 2 relatively moves downwards in the gripper movable frame 1; the movable rod 2 is symmetrically hinged with the grippers 4, the other ends of the two grippers 4 movably penetrate through the bottom end of the gripper movable frame 1, the two grippers 4 are hinged with movable supporting rods 5 used for supporting, the two grippers 4 can move downwards along with the descending of the movable rod 2, in order to enable the two grippers 4 to move downwards, the grippers can be relatively close to each other so as to enable the gripping of machine parts, each gripper 4 comprises a rod part and a gripping part, the rod part is connected with the gripping part in a broken line mode and used for enabling the two grippers 4 to be opened and closed, in order to enable the gripper 4 to grip the machine parts, the bottom end of the gripper movable frame 1 is provided with a through notch for the two grippers 4 to move in the notch; can let two tongs 4 can freely move about in the notch, and meanwhile the one end of activity bracing piece 5 is articulated with the pole portion and the portion of grabbing junction of tongs 4, and the other end of activity bracing piece 5 is articulated with the bottom of tongs adjustable shelf 1, and 4 bearing structure of tongs are given to activity bracing piece 5, guarantee tongs 4 can draw close relatively under the support of activity bracing piece 5 when descending, get the machine part.
Furthermore, after the machine part is grabbed and clamped by the grabber 4, the transmission structure of the grabbing arm is driven to operate, the transmission structure comprises a rotating guide rod 15, the bottom surface of one end of the rotating guide rod 15 is hinged to the top surface of the far away rack 7 through a pin shaft, a rotating shaft 16 is fixed to the top surface of the other end of the rotating guide rod 15, the other end of the rotating shaft 16 penetrates through a fixed seat 17 in a rotating mode and is connected with a variable speed motor, and the fixed seat 17 and the variable speed motor are fixedly connected with the rack. The variable speed motor fixed on the frame starts, and the rotation of variable speed motor drives the axis of rotation 16 of being connected with it and rotates, and the one end pivoted of axis of rotation 16 passes fixing base 17, and fixing base 17 frame fixed connection gives 16 fixed platforms of axis of rotation to 16 a spacing structure of axis of rotation, guarantees that axis of rotation 16 can the steady operation. The rotation of the rotating shaft 16 drives the rotating guide rod 15 fixed at one end to rotate, the rack 7 connected with the other end of the rotating guide rod 15 through a pin shaft is driven to move, the gear 6 is meshed with the rack 7, the gear 6 rotates along with the rack, and therefore the gripper 4 of the gripper mechanism is driven to drive the gripped machine parts to rotate together. In order to prevent the rack 7 from driving the gear 6 to rotate and separating from the gear 6, the rack 7 is provided with a limiting structure; the limiting structure comprises a positioning seat 18 and a positioning groove 19, the positioning seat 18 is fixed on the outer wall of the rotating shaft 14, one end of the rotating shaft 14 is rotatably connected with the rack, the positioning seat 18 is connected with a positioning rod 20, the other end of the positioning rod 20 is fixedly provided with the positioning groove 19, the rack 7 is movably sleeved on the positioning groove 19, the positioning groove 19 is connected with the positioning seat 18 fixed on the rotating shaft 14 through the positioning rod 20, the rack 7 is guaranteed to move in the positioning groove 19 and be meshed with the gear 6, and the rack 7 is prevented from being separated from the gear 6 when. The gear 6 is driven to move through the rotation of a variable speed motor connected with a rotating shaft 16, so that the gear 6 is driven to rotate, meanwhile, the rotating guide rod 15 can drive the gear to rotate forward and backward for 180 degrees, so that the gripper arm can move the gripped machine part to another position to realize the movement of the machine part, and in the embodiment, the transmission structure can be used as a crank connecting structure to move the machine part from one position to another position for 180 degrees, so that the movement of the machine part is realized.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A machine part grabbing arm is characterized by comprising a grabbing mechanism and a rotating mechanism;
the gripper mechanism comprises a gripper movable frame (1), a movable rod (2) is arranged in the gripper movable frame (1), a lifting rod (3) is fixed at the top end of the movable rod (2), and the other end of the lifting rod (3) is connected with a rotating mechanism;
the movable rod (2) is symmetrically hinged with two grippers (4), the other ends of the two grippers (4) movably penetrate through the bottom end of the gripper movable frame (1), and the two grippers (4) are hinged with movable support rods (5) for supporting;
the rotating mechanism comprises a gear (6) and a rack (7), the gear (6) is meshed with the rack (7), and the other end of the rack (7) is connected with a transmission structure;
a hydraulic support rod (8) with a hydraulic cylinder is fixed at the top end of the gear (6), a cross beam (9) is fixed at the top end of the hydraulic support rod (8), the other end of the cross beam (9) is fixed with the top end of the lifting rod (3), a support (10) is fixed on the outer wall of the top end of the hydraulic cylinder, connecting seats (11) are symmetrically arranged on the support (10) along the axis, supporting inclined rods (12) are fixed on the two connecting seats (11), the other ends of the two supporting inclined rods (12) are fixed with the top end of a movable vertical rod (13), and the bottom end of the movable vertical rod (13) is fixedly connected with the top end of the gripper movable frame (1); the bottom end of the gear (6) is fixed with a rotating shaft (14), and a limiting structure for limiting the rack (7) is arranged on the rotating shaft (14).
2. A machine part gripper arm according to claim 1, characterized in that the movable bar (2) is arranged horizontally.
3. The machine part gripper arm according to claim 1, wherein the gripper (4) comprises a rod part and a gripper part, the rod part and the gripper part are connected in a zigzag manner and used for realizing the opening and closing of the two grippers (4), and a through notch is formed in the bottom end of the gripper moving frame (1) and used for enabling the two grippers (4) to move in the notch.
4. The machine part gripper arm according to claim 3, wherein one end of the movable support rod (5) is hinged to the joint of the rod part and the gripping part of the gripper (4), and the other end of the movable support rod (5) is hinged to the bottom end of the gripper movable frame (1).
5. The machine part grabbing arm according to claim 1, wherein the transmission structure comprises a rotating guide rod (15), the bottom surface of one end of the rotating guide rod (15) is hinged to the top surface of one end of the rack (7) through a pin shaft, a rotating shaft (16) is fixed to the top surface of the other end of the rotating guide rod (15), the other end of the rotating shaft (16) rotatably penetrates through a fixed seat (17) and is connected with a variable speed motor, and the fixed seat (17) and the variable speed motor are both fixedly connected with a machine frame.
6. A machine part gripper arm according to claim 1, characterized in that the movable vertical bar (13) is provided with a sliding groove, the lifting bar (3) can slide in the sliding groove, and the lifting bar (3) is movably passed through the top end of the gripper movable frame (1).
7. The machine part gripper arm according to claim 1, wherein the limiting structure comprises a positioning seat (18) and a positioning groove (19), the positioning seat (18) is rotatably connected to the outer wall of the rotating shaft (14) through a bearing, one end of the rotating shaft (14) is rotatably connected to the frame, the positioning seat (18) is connected to a positioning rod (20), the other end of the positioning rod (20) is fixed with the positioning groove (19), and the rack (7) is movably sleeved on the positioning groove (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010019091.9A CN111113388A (en) | 2020-01-08 | 2020-01-08 | Machine part grabbing arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010019091.9A CN111113388A (en) | 2020-01-08 | 2020-01-08 | Machine part grabbing arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111113388A true CN111113388A (en) | 2020-05-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010019091.9A Pending CN111113388A (en) | 2020-01-08 | 2020-01-08 | Machine part grabbing arm |
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| CN (1) | CN111113388A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673774A (en) * | 2020-07-07 | 2020-09-18 | 广东科凯达智能机器人有限公司 | Robot arm and inspection robot |
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