CN113858247A

CN113858247A - Increase mechanical flexibility ratio and arm tong that antiskid falls

Info

Publication number: CN113858247A
Application number: CN202111232543.2A
Authority: CN
Inventors: 吴传同; 张伟; 李卫东
Original assignee: Xuzhou Dading Machinery Technology Co ltd
Current assignee: Xuzhou Dading Machinery Technology Co ltd
Priority date: 2021-10-22
Filing date: 2021-10-22
Publication date: 2021-12-31

Abstract

The invention relates to the technical field of robots and discloses an anti-slip arm gripper capable of increasing mechanical flexibility, which comprises a connecting arm, wherein the right side of the connecting arm is fixedly connected with a motor base A, the top of the motor base A is fixedly connected with a stepping motor A, the bottom of the stepping motor A is rotatably connected with a coupler, the bottom of the coupler is fixedly connected with a motor base B, the bottom of the motor base B is fixedly connected with a stepping motor B, the right side of the stepping motor B is rotatably connected with a connecting column, and the right side of the connecting column is fixedly connected with a cylinder. This increase mechanical flexibility ratio and arm tong that antiskid falls drives the shaft coupling through step motor A and rotates, and the shaft coupling drives motor cabinet second and rotates, and motor cabinet second drives whole tong and rotates, and rethread step motor second drives the spliced pole and rotates to but reach the whole rotatory nimble effect that also can the local rotation of arm.

Description

Increase mechanical flexibility ratio and arm tong that antiskid falls

Technical Field

The invention relates to the technical field of robots, in particular to an anti-slip arm gripper capable of increasing mechanical flexibility

Background

With the development of the society, some high-risk works occur, the manual work needs to be replaced by mechanical labor, the danger is avoided, and the arm clamp is a key component in a mechanical manufacturing system, namely a large industrial robot hand, a small medical operation manipulator and the like.

Though convenient but have self limitation, the robotic arm anchor clamps can not really replace the people to come nimble work of carrying on, and robotic arm can only be in certain regional internalization, and there is very big blind area during operation, and robotic arm is not nimble enough, causes the phenomenon that the object drops the damage when grabbing not equidimension object easily, so an increase mechanical flexibility ratio and anti-skidding's arm tong.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides the anti-slip arm gripper which increases the mechanical flexibility, has the advantages of flexible rotation and anti-slip, and solves the problems of limitation of a mechanical rotation area and falling off when grabbing and engaging objects.

(II) technical scheme

In order to achieve the purposes of flexible rotation and anti-slip, the invention provides the following technical scheme: an arm tong capable of increasing mechanical flexibility and preventing slipping comprises a connection arm, a right side fixed connection motor base A of the connection arm, a top fixed connection stepping motor A of the motor base A, a bottom of the stepping motor A is rotatably connected with a shaft coupling, a bottom fixed connection motor base B of the shaft coupling, a bottom fixed connection stepping motor B of the motor base B, a right side of the stepping motor B is rotatably connected with a connection column, a right side fixed connection cylinder of the connection column, a piston is arranged on the inner side of the cylinder, a right side fixed connection piston rod of the piston, a right side fixed connection cylinder base of the cylinder, a stretching spring outside the cylinder base, a movable bolt arranged between the stretching spring and the cylinder base, a stretching plate fixedly connected with one end of the stretching spring far away from the cylinder base, and a movable bolt arranged between the stretching spring and the stretching plate, the right side fixed connection of cylinder base connects the base, connect the inside spring of the right-hand member outside fixed connection of base, the long claw of one end fixed connection of connecting the base is kept away from to inside spring, the short claw of right-hand member fixed connection of long claw, stretch the arm-tie right-hand member outside and rotate and connect the high-pressure spring, the high-pressure spring with stretch and be equipped with the activity bolt between the arm-tie, the high-pressure spring is kept away from the long claw of one end sliding connection who stretches the arm-tie, the inside sliding connection shrink spring of short claw.

Preferably, a sliding connection device is arranged between the strong pressure spring and the long claw.

Preferably, the contraction spring is fixedly connected with a strong pressure spring close to one end of the long claw.

Preferably, the strong pressure spring and the contraction spring are connected by virtue of movable equipment.

Preferably, sliding grooves are formed in the long claws and the short claws.

Preferably, the bottom of motor cabinet A is equipped with the through-hole and is preferred, the right side of motor cabinet B is equipped with the through-hole.

Preferably, the number of the long claws is four.

Preferably, the inner side of the stretching plate is provided with a round through hole.

Preferably, a circular through hole is formed in the connecting base.

(III) advantageous effects

Compared with the prior art, the invention provides the anti-slip arm gripper with the mechanical flexibility increased, and the anti-slip arm gripper has the following beneficial effects:

1. this increase mechanical flexibility ratio and arm tong that antiskid falls drives the shaft coupling through step motor A and rotates, and the shaft coupling drives motor cabinet second and rotates, and motor cabinet second drives whole tong and rotates, and rethread step motor second drives the spliced pole and rotates to but reach the whole rotatory nimble effect that also can the local rotation of arm.

2. This increase mechanical flexibility ratio and arm tong that antiskid falls drives the removal of stretching the arm-tie through the piston, and inside spring is to the drawing of long claw, and the rethread is forced the spring and is slided on long claw, stretches the extruded cooperation of arm-tie to long claw to reach the effect that the antiskid falls.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a drawing showing the grip of the present invention;

fig. 4 is an extension view of the gripper of the present invention.

In the figure: 1. a joining arm; 2. a motor base A; 3. a stepping motor A; 4. a coupling; 5. a motor base B; 6. a stepping motor B; 7. connecting columns; 8. a cylinder; 9. a piston; 10. a piston rod; 11. connecting a base; 12. a cylinder base; 13. an inner spring; 14. a movable bolt; 15. a long claw; 16. a short claw; 17. a compression spring; 18. a retraction spring; 19. stretching the plate; 20. the spring is stretched.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, an anti-slip arm gripper with increased mechanical flexibility comprises a connecting arm 1, a motor base a 2 fixedly connected to the right side of the connecting arm 1, a through hole formed in the bottom of the motor base a 2 for connecting a progressive motor a 3 with a coupler 4, a stepping motor a 3 fixedly connected to the top of the motor base a 2, a coupler 4 rotatably connected to the bottom of the stepping motor a 3, a motor base b 5 fixedly connected to the bottom of the coupler 4, a through hole formed in the right side of the motor base b 5 for connecting the stepping motor 5 with a connecting post 7, a stepping motor b 6 fixedly connected to the bottom of the motor base b 5, a connecting post 7 rotatably connected to the right side of the stepping motor b 6, a cylinder 8 fixedly connected to the right side of the connecting post 7, a piston 9 arranged inside the cylinder 8, a piston rod 10 fixedly connected to the right side of the piston 9, a cylinder base 12 fixedly connected to the right side of the cylinder 8, a stretching spring 20 is fixedly connected with the outer side of the cylinder base 12, a movable bolt 14 is arranged between the stretching spring 20 and the cylinder base 12, one end of the stretching spring 20, which is far away from the cylinder base 12, is fixedly connected with a stretching plate 19, the inner side of the stretching plate 19 is provided with a circular through hole, a piston rod 10 passes through the circular through hole, the movable bolt 14 is arranged between the stretching spring 20 and the stretching plate 19, the right side of the cylinder base 12 is fixedly connected with a base 11, the inside of the base 11 is provided with a circular through hole, the piston rod 10 passes through the through hole, the outer side of the right end of the base 11 is fixedly connected with an inner spring 13, one end of the inner spring 13, which is far away from the base 11, is fixedly connected with a long claw 15, four long claws 15 are fixedly connected with a short claw 16, sliding grooves are arranged in the long claw 15 and the short claw 16, the spring slides in the grooves, the outer side of the right end of the stretching plate 19 is rotatably connected with a strong pressure spring 17, a sliding connection device is arranged between the strong pressure spring 17 and the long claw 15, the two ends of the sliding device are connected through sliding equipment, the two ends of the sliding device slide on the long claws 15, the movable bolts 14 are arranged between the strong pressure springs 17 and the stretching plates 19, one ends, far away from the stretching plates 19, of the strong pressure springs 17 are connected with the long claws 15 in a sliding mode, the inner portions of the short claws 16 are connected with the contraction springs 18 in a sliding mode, the contraction springs 18 are close to the fixed connection strong pressure springs 17 at one ends of the long claws 15, and the strong pressure springs 17 are connected with the contraction springs 18 through the movable equipment.

The working principle is as follows: the connecting arm 1 is connected with a mechanical arm, a motor base B5 is driven to rotate by controlling a stepping motor A3, the motor base B5 drives the whole clamping hand to rotate by taking a coupler 4 as a center, then a stepping motor B6 drives the whole clamping hand to rotate independently, the right side of the motor base B5 is fixedly connected with a cylinder 8 through a connecting column 7, a piston 9 in the cylinder 8 drives a piston rod 10 to move rightwards, when the air pressure in the cylinder 8 is low, the piston rod 10 drives a stretching plate 19 to shrink in a shrinking state, the outer side of the stretching plate 19 is connected with a strong pressure spring 17 through a movable bolt 14, the strong pressure spring 17 stretches a long claw 15, the long claw 15 stretches a short claw 16 through a contraction spring 18 to form an open form, an object can be grabbed, when the piston 9 is squeezed to move rightwards in a high-air-pressure state in the cylinder 8, the piston 9 drives the piston rod 10, the piston rod 10 pushes the stretching plate 19 to move rightwards, the left end of the long claw 15 is fixedly connected with the inner spring 13, the inner spring 13 stretches the long claw 15, the stretching plate 19 moves rightwards, the strong pressure spring 17 slides on the sliding groove of the long claw 15, the long claw 15 contracts, when the long claw 15 contracts to the maximum state of the extrusion of the clamped object, the long claw 15 stops contracting, the stretching plate 19 is stopped from moving rightwards, and the clamping of the object is completed.

To sum up, this increase mechanical flexibility ratio and arm tong that antiskid falls drives shaft coupling 4 through step motor A3 and rotates, and shaft coupling 4 drives motor cabinet second 5 and rotates, and motor cabinet second 5 drives whole tong and rotates, and rethread step motor second 6 drives spliced pole 7 and rotates to but reach the whole rotatory nimble effect that also can the local rotation of arm.

And this increase mechanical flexibility ratio and arm tong that antiskid falls drives through piston 9 and stretches the removal of arm 19, and inside spring 13 is to the drawing of long claw 15, and rethread forced compression spring 17 slides on long claw 15, stretches the extruded cooperation of arm 19 to long claw 15 to reach the effect that the antiskid falls, application scope is more extensive.

Having shown and described embodiments of the present invention, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an increase mechanical flexibility degree and antiskid arm tong that falls, includes linkage arm (1), its characterized in that: the right side fixed connection motor cabinet A (2) of linking arm (1), the top fixed connection step motor first (3) of motor cabinet A (2), the bottom of step motor first (3) is rotated and is connected shaft coupling (4), the bottom fixed connection motor cabinet second (5) of shaft coupling (4), the bottom fixed connection step motor second (6) of motor cabinet second (5), the right side of step motor second (6) is rotated and is connected spliced pole (7), the right side fixed connection cylinder (8) of spliced pole (7), the inboard of cylinder (8) is equipped with piston (9), the right side fixed connection piston rod (10) of piston (9), the right side fixed connection cylinder base (12) of cylinder (8), cylinder base (12) outside fixed connection stretches and draws spring (20), stretch draw and be equipped with movable bolt (14) between spring (20) and cylinder base (12), one end of the extension spring (20) far away from the cylinder base (12) is fixedly connected with an extension plate (19), a movable bolt (14) is arranged between the extension spring (20) and the extension plate (19), the right side of the cylinder base (12) is fixedly connected with a connecting base (11), the outer side of the right end of the connecting base (11) is fixedly connected with an internal spring (13), one end of the internal spring (13) far away from the connecting base (11) is fixedly connected with a long claw (15), the right end of the long claw (15) is fixedly connected with a short claw (16), the outer side of the right end of the stretching plate (19) is rotatably connected with a strong pressure spring (17), a movable bolt (14) is arranged between the strong pressure spring (17) and the stretching plate (19), one end, far away from the stretching plate (19), of the strong pressure spring (17) is connected with the long claw (15) in a sliding mode, and the inner portion of the short claw (16) is connected with the contraction spring (18) in a sliding mode.

2. The arm gripper of claim 1, wherein the arm gripper is capable of increasing mechanical flexibility and preventing slipping, and comprises: and a sliding connection device is arranged between the forced spring (17) and the long claw (15).

3. The arm gripper of claim 1, wherein the arm gripper is capable of increasing mechanical flexibility and preventing slipping, and comprises: and one end of the contraction spring (18) close to the long claw (15) is fixedly connected with a strong pressure spring (17).

4. The arm gripper of claim 1, wherein the arm gripper is capable of increasing mechanical flexibility and preventing slipping, and comprises: the strong pressure spring (17) and the contraction spring (18) are connected by movable equipment.

5. The arm gripper of claim 1, wherein the arm gripper is capable of increasing mechanical flexibility and preventing slipping, and comprises: sliding grooves are arranged in the long claw (15) and the short claw (16).

6. The arm gripper of claim 1, wherein the arm gripper is capable of increasing mechanical flexibility and preventing slipping, and comprises: the bottom of the motor base A (2) is provided with a through hole.

7. The arm gripper of claim 1, wherein the arm gripper is capable of increasing mechanical flexibility and preventing slipping, and comprises: and a through hole is formed in the right side of the motor base B (5).

8. The arm gripper of claim 1, wherein the arm gripper is capable of increasing mechanical flexibility and preventing slipping, and comprises: the number of the long claws (15) is four.

9. The arm gripper of claim 1, wherein the arm gripper is capable of increasing mechanical flexibility and preventing slipping, and comprises: the inner side of the stretching plate (19) is provided with a round through hole.

10. The arm gripper of claim 1, wherein the arm gripper is capable of increasing mechanical flexibility and preventing slipping, and comprises: the inside of connecting base (11) is equipped with the round through-hole.