CN211220695U - Clamping device of mechanical arm - Google Patents

Abstract

A clamping device of a mechanical arm belongs to the technical field of advanced manufacturing and automation and comprises a supporting base, a horizontal moving assembly, a mechanical arm and a clamping device, wherein the horizontal moving assembly is arranged on the supporting base; the clamping device comprises a first fixed mounting plate, a first mounting seat, a second mounting seat, a first connecting plate, a first swing rod, a second swing rod, a first push rod, a second push rod, a third fixed seat, a first connecting arm and a first driving motor. Robotic arm's clamping device, structural design is reasonable, convenient to use drives mechanical component's rotation through a driving motor to realize that the stable clamp between clamp plate one and the clamp plate two is tight, can press from both sides the part tightly, stability is strong, the horizontal migration subassembly of setting can carry out the transportation of part, has improved work efficiency and robotic arm's adaptability, has very high spreading value.

Description

Clamping device of mechanical arm

Technical Field

The utility model belongs to the technical field of advance manufacturing and automation, specifically, relate to a robotic arm's clamping device.

Background

The manipulator is an automatic operation device for grasping, carrying objects or operating tools according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The clamping device of current manipulator is mostly simple and easy splint, and it is poor to press from both sides tight effect, presss from both sides tight in-process simultaneously, drops very easily, not only damages the work piece easily, has the potential safety hazard moreover, and the result of use is not good, can not satisfy people's user demand, in view of the defect that exists among the above prior art, is necessary to improve it further, makes it more possess the practicality, just can accord with the in-service use condition.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: the utility model aims at providing a robotic arm's clamping device has solved among the present manipulator clamping structure, and the clamp force is poor, causes the work piece to drop easily, has the problem of potential safety hazard.

The technical scheme is as follows: the utility model provides a clamping device of a mechanical arm, which comprises a supporting base, a horizontal moving component, an mechanical arm and a clamping device, wherein the horizontal moving component is arranged on the supporting base, the mechanical arm is arranged on the horizontal moving component, and the clamping device is arranged at the tail end of the mechanical arm; wherein, the clamping device comprises a first fixed mounting plate, a first mounting seat, a second mounting seat, a first connecting plate, a first swing rod, a second swing rod, a first push rod, a second push rod, a third fixing seat, a first connecting arm and a first driving motor, the first fixed mounting plate is connected with the mechanical arm, the first mounting seat, the second mounting seat and the third fixing seat are all arranged on the first fixed mounting plate, the first mounting seat and the second mounting seat are arranged on one side of the first fixed mounting plate, the three fixing seats are arranged on the other side of the first fixed mounting plate, the first connecting plate is arranged between the first mounting seat and the second mounting seat, the first swing rod is hinged with the first mounting seat, the second swing rod is hinged with the second mounting seat, one end of the first push rod is hinged with the end of the first swing rod far away from the first mounting seat, one end of the second push rod is hinged with the end of the second swing, and two end parts of the first connecting arm are positioned at two sides of the third fixing seat with the same diameter, one end of the first push rod far away from the first swing rod is hinged with one end of the first connecting arm, one end of the push rod II, which is far away from the swing rod II, is hinged with the other end of the connecting arm I, the hinged points of the push rod I and the push rod II with the connecting arm I are positioned at two sides of the fixed seat III, the driving motor I is arranged on the fixed mounting plate I, the rotating shaft of the first driving motor is connected with the first connecting arm through a key, a first shaft sleeve is sleeved outside the first mounting seat, a second shaft sleeve is sleeved outside the second mounting seat, the first oscillating bar is fixedly arranged on the outer wall of the first shaft sleeve, the swing rod II is fixedly arranged on the outer wall of the shaft sleeve II, a clamping plate I is fixedly arranged on the outer wall of the shaft sleeve I, and a second clamping plate is fixedly arranged on the outer wall of the second shaft sleeve, and the first clamping plate and the second clamping plate are arranged oppositely.

Furthermore, according to the clamping device of the mechanical arm, the end part, far away from the first shaft sleeve, of the first clamping plate is provided with the first pressing block, the end part, far away from the second shaft sleeve, of the second clamping plate is provided with the second pressing block, and the first pressing block and the second pressing block are arranged oppositely.

Further, according to the clamping device of the mechanical arm, rubber gaskets are arranged on the first pressing block and the second pressing block. Through setting up the rubber gasket, can effectually prevent that this device from causing the damage to it when pressing from both sides tight to the part.

Furthermore, in the clamping device for the mechanical arm, the end parts of the first clamping plate and the second clamping plate extend out of the edge of the first fixed mounting plate, the first clamping plate and the swing rod are arranged on two sides of the first connecting plate in a divided manner, and the second clamping plate and the swing rod are arranged on two sides of the first connecting plate in a divided manner.

Furthermore, foretell robotic arm's clamping device, the horizontal migration subassembly includes driving motor two, lead screw supporting seat, slider one, slide one and backup pad one, driving motor two's pivot and lead screw are connected, the lead screw sets up on the lead screw supporting seat, slider one and slide one set are established on the lead screw, backup pad one is fixed to be set up on the up end of slider one and slide one, the arm is fixed to be set up in backup pad one. Through the structure of the motor-driven screw rod, the moving position of the mechanical arm can be flexibly controlled, the control is accurate, and the work is stable and reliable.

Furthermore, in the clamping device for the mechanical arm, the supporting base comprises a rectangular supporting frame and a horizontal beam, the horizontal beam is arranged in the middle of the rectangular supporting frame along the length direction, and the second driving motor and the lead screw supporting seat are fixedly arranged on the horizontal beam.

Furthermore, according to the clamping device of the mechanical arm, the screw rod supporting seat is provided with two first guide posts which are symmetrically arranged, the first guide posts are arranged on two sides of the screw rod, and two end portions of the first sliding block are sleeved on the first guide posts.

Furthermore, according to the clamping device of the mechanical arm, the rectangular supporting frame is provided with two guide posts II which are symmetrically arranged, the guide posts II are arranged on two sides of the screw rod, and two end portions of the sliding plate I are sleeved on the guide posts II. The structure of the first guide post and the second guide post which are arranged in a double mode can improve the moving stability of the first sliding block and the first sliding plate.

Furthermore, in the clamping device for the mechanical arm, two opposite edges of the rectangular supporting frame are also provided with a second sliding groove, the lower end part of the first sliding plate is provided with a second sliding block, and the second sliding block is in sliding connection with the second sliding groove. The sliding plate can be limited on the rectangular supporting frame by the arranged sliding grooves, and the sliding plate is prevented from being separated.

Above-mentioned technical scheme can find out, the utility model discloses following beneficial effect has: robotic arm's clamping device, structural design is reasonable, convenient to use drives mechanical component's rotation through a driving motor to realize that the stable clamp between clamp plate one and the clamp plate two is tight, can press from both sides the part tightly, stability is strong, the horizontal migration subassembly of setting can carry out the transportation of part, has improved work efficiency and robotic arm's adaptability, has very high spreading value.

Drawings

Fig. 1 is a schematic structural view of a clamping device of a robot arm according to the present invention;

fig. 2 is a schematic structural view of the clamping device of the present invention;

fig. 3 is a first schematic structural view of the supporting base and the horizontal moving assembly according to the present invention;

fig. 4 is a schematic structural diagram of the supporting base and the horizontal moving component according to the present invention.

In the figure: the device comprises a supporting base 1, a rectangular supporting frame 11, a second sliding groove 111, a horizontal beam 12, a second guide column 13, a horizontal moving assembly 2, a second driving motor 21, a screw rod 22, a screw rod supporting seat 23, a first sliding block 24, a first sliding plate 25, a second sliding block 251, a first supporting plate 26, a first guide column 27, a mechanical arm 3, a clamping device 4, a first fixed mounting plate 41, a first mounting seat 42, a first shaft sleeve 421, a first clamping plate 422, a first pressing block 423, a rubber gasket 424, a second mounting seat 43, a second shaft sleeve 431, a second clamping plate 432, a second pressing block 433, a first connecting plate 44, a first swing rod 45, a second swing rod 46, a first push rod 47, a second push rod 48, a third fixed seat 49, a first connecting arm 410 and a.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

The clamping device of the mechanical arm shown in fig. 1 comprises a supporting base 1, a horizontal moving assembly 2, a mechanical arm 3 and a clamping device 4, wherein the horizontal moving assembly 2 is arranged on the supporting base 1, the mechanical arm 3 is arranged on the horizontal moving assembly 2, and the clamping device 4 is arranged at the tail end of the mechanical arm 3; the clamping device 4 shown in fig. 2 includes a first fixed mounting plate 41, a first mounting seat 42, a second mounting seat 43, a first connecting plate 44, a first swing rod 45, a second swing rod 46, a first push rod 47, a second push rod 48, a third fixed seat 49, a first connecting arm 410 and a first driving motor 411, the first fixed mounting plate 41 is connected with the robot arm 3, the first mounting seat 42, the second mounting seat 43 and the third fixed seat 49 are all arranged on the first fixed mounting plate 41, the first mounting seat 42 and the second mounting seat 43 are arranged on one side of the first fixed mounting plate 41, the third fixed seat 49 is arranged on the other side of the first fixed mounting plate 41, the first connecting plate 44 is arranged between the first mounting seat 42 and the second mounting seat 43, the first swing rod 45 is hinged with the first mounting seat 42, the second swing rod 46 is hinged with the second mounting seat 43, one end of the first push rod 47 is hinged with the end of the first swing rod 45 far away from, one end of the second push rod 48 is hinged with the end of the second swing rod 46 far away from the second mounting seat 43, the first connecting arm 410 is hinged with the third mounting seat 49, two ends of the first connecting arm 410 are positioned on two sides of the same diameter of the third mounting seat 49, one end of the first push rod 47 far away from the first swing rod 45 is hinged with one end of the first connecting arm 410, one end of the second push rod 48 far away from the second swing rod 46 is hinged with the other end of the first connecting arm 410, the hinged point of the first push rod 47 and the second push rod 48 with the first connecting arm 410 is positioned on two sides of the third mounting seat 49, the first driving motor 411 is arranged on the first mounting plate 41, the rotating shaft of the first driving motor 411 is connected with the first connecting arm 410 through a key, the first shaft sleeve 421 is sleeved on the outer part of the first mounting seat 42, the second shaft sleeve 431 is sleeved on the outer part of the second mounting seat 43, the first swing rod, the outer wall of the first shaft sleeve 421 is fixedly provided with a first clamping plate 422, the outer wall of the second shaft sleeve 431 is fixedly provided with a second clamping plate 432, and the first clamping plate 422 and the second clamping plate 432 are oppositely arranged. In addition, a first compression block 423 is arranged at the end part, far away from the first shaft sleeve 421, of the first clamping plate 422, a second compression block 433 is arranged at the end part, far away from the second shaft sleeve 431, of the second clamping plate 432, and the first compression block 423 and the second compression block 433 are arranged oppositely. In addition, rubber gaskets 424 are arranged on the first compression block 423 and the second compression block 433. In the structure, the first clamping plate 422 and the second clamping plate 432 are specifically arranged in such a way that the end parts of the first clamping plate 422 and the second clamping plate 432 extend out of the edge of the first fixed mounting plate 41, the first clamping plate 422 and the first swing link 45 are respectively arranged on two sides of the first connecting plate 44, and the second clamping plate 432 and the second swing link 46 are respectively arranged on two sides of the first connecting plate 44. The working principle of the clamping device 4 is as follows: the first driving motor 411 is started to drive the first connecting arm 410 to rotate, the first connecting arm 410 rotates to drive the first push rod 47 and the second push rod 48 to move, the first push rod 47 and the second push rod 48 move towards two directions respectively, the first push rod 47 drives the first swing rod 45 to rotate around the first mounting seat 42, the second push rod 48 drives the second swing rod 46 to rotate around the second mounting seat 43, the first swing rod 45 drives the first shaft sleeve 421 to rotate, and the second swing rod 46 drives the second shaft sleeve 431 to rotate, so that the first clamping plate 422 and the second clamping plate 432 are close to or far away from each other.

The horizontal moving assembly 2 shown in fig. 3 and 4 comprises a second driving motor 21, a screw rod 22, a screw rod supporting seat 23, a first sliding block 24, a first sliding plate 25 and a first supporting plate 26, wherein a rotating shaft of the second driving motor 21 is connected with the screw rod 22, the screw rod 22 is arranged on the screw rod supporting seat 23, the first sliding block 24 and the first sliding plate 25 are sleeved on the screw rod 22, the first supporting plate 26 is fixedly arranged on the upper end surfaces of the first sliding block 24 and the first sliding plate 25, and the mechanical arm 3 is fixedly arranged on the first supporting plate 26. The supporting base 1 comprises a rectangular supporting frame 11 and a horizontal beam 12, the horizontal beam 12 is arranged in the middle of the rectangular supporting frame 11 along the length direction, and the second driving motor 21 and the lead screw supporting seat 23 are fixedly arranged on the horizontal beam 12. In addition, in order to keep good guiding, two symmetrically arranged guide posts I27 are arranged on the screw rod supporting seat 23, the guide posts I27 are arranged on two sides of the screw rod 22, and two end parts of the sliding block I24 are sleeved on the guide posts I27. Two guide posts II 13 which are symmetrically arranged are arranged on the rectangular supporting frame 11, the guide posts II 13 are arranged on two sides of the screw rod 22, and two end parts of the sliding plate I25 are sleeved on the guide posts II 13. In addition, two opposite edges of the rectangular supporting frame 11 are also provided with a second sliding groove 111, the lower end part of the first sliding plate 25 is provided with a second sliding block 251, and the second sliding block 251 is in sliding connection with the second sliding groove 111. The second driving motor 21 drives the screw rod 22 to rotate, so that the first sliding block 24 and the first sliding plate 25 move along the axis of the screw rod 22, and the horizontal linear motion of the mechanical arm 3 is realized.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications can be made without departing from the principles of the present invention, and these modifications should also be regarded as the protection scope of the present invention.

Claims (9)

1. A clamping device of a mechanical arm is characterized in that: the device comprises a supporting base (1), a horizontal moving assembly (2), a mechanical arm (3) and a clamping device (4), wherein the horizontal moving assembly (2) is arranged on the supporting base (1), the mechanical arm (3) is arranged on the horizontal moving assembly (2), and the clamping device (4) is arranged at the tail end of the mechanical arm (3);

wherein the clamping device (4) comprises a first fixed mounting plate (41), a first mounting seat (42), a second mounting seat (43), a first connecting plate (44), a first swing rod (45), a second swing rod (46), a first push rod (47), a second push rod (48), a third fixing seat (49), a first connecting arm (410) and a first driving motor (411), the first fixed mounting plate (41) is connected with the mechanical arm (3), the first mounting seat (42), the second mounting seat (43) and the third fixing seat (49) are all arranged on the first fixed mounting plate (41), the first mounting seat (42) and the second mounting seat (43) are positioned on one side of the first fixed mounting plate (41), the third fixing seat (49) is positioned on the other side of the first fixed mounting plate (41), the first connecting plate (44) is arranged between the first mounting seat (42) and the second mounting seat (43), the first swing rod (45) is hinged with the first mounting seat (42), the second swing rod (46) is hinged to the second mounting seat (43), one end of the first push rod (47) is hinged to the end portion, far away from the first mounting seat (42), of the first swing rod (45), one end of the second push rod (48) is hinged to the end portion, far away from the second mounting seat (43), of the second swing rod (46), the connecting arm I (410) is hinged to the third fixing seat (49), two end portions of the connecting arm I (410) are located on two sides of the same diameter of the third fixing seat (49), one end, far away from the first swing rod (45), of the first push rod (47) is hinged to one end of the connecting arm I (410), one end, far away from the second swing rod (46), of the second push rod (48) is hinged to the other end of the connecting arm I (410), hinged points of the first push rod (47) and the second push rod (48) and the connecting arm I (410) are located on two sides of the third fixing seat (49), and the first, and the pivot and the linking arm of driving motor one (411) (410) pass through the key-type connection, the outside cover of mount pad one (42) is equipped with axle sleeve one (421), the outside cover of mount pad two (43) is equipped with axle sleeve two (431), pendulum rod one (45) are fixed to be set up on the outer wall of axle sleeve one (421), pendulum rod two (46) are fixed to be set up on the outer wall of axle sleeve two (431), the fixed clamp plate one (422) that is equipped with on the outer wall of axle sleeve one (421), the fixed clamp plate two (432) that is equipped with on the outer wall of axle sleeve two (431), clamp plate one (422) and clamp plate two (432) set up relatively.

2. The clamping device for a robot arm according to claim 1, wherein: the end part, far away from the first shaft sleeve (421), of the first clamping plate (422) is provided with a first pressing block (423), the end part, far away from the second shaft sleeve (431), of the second clamping plate (432) is provided with a second pressing block (433), and the first pressing block (423) and the second pressing block (433) are arranged oppositely.

3. The clamping device for a robot arm according to claim 2, wherein: and rubber gaskets (424) are arranged on the first compression block (423) and the second compression block (433).

4. The clamping device for a robot arm according to claim 1, wherein: the end parts of the first clamping plate (422) and the second clamping plate (432) extend out of the edge of the first fixed mounting plate (41), the first clamping plate (422) and the first swing rod (45) are respectively arranged on two sides of the first connecting plate (44), and the second clamping plate (432) and the second swing rod (46) are respectively arranged on two sides of the first connecting plate (44).

5. The clamping device for a robot arm according to claim 1, wherein: horizontal migration subassembly (2) include driving motor two (21), lead screw (22), lead screw supporting seat (23), slider one (24), slide one (25) and backup pad one (26), the pivot and lead screw (22) of driving motor two (21) are connected, lead screw (22) set up on lead screw supporting seat (23), slider one (24) and slide one (25) cover are established on lead screw (22), backup pad one (26) is fixed to be set up on the up end of slider one (24) and slide one (25), arm (3) are fixed to be set up on backup pad one (26).

6. The clamping device for a robot arm according to claim 5, wherein: the support base (1) comprises a rectangular support frame (11) and a horizontal beam (12), the horizontal beam (12) is arranged in the middle of the rectangular support frame (11) along the length direction, and a second driving motor (21) and a screw rod support seat (23) are fixedly arranged on the horizontal beam (12).

7. The clamping device for a robot arm according to claim 6, wherein: the guide screw support seat is characterized in that two guide posts I (27) which are symmetrically arranged are arranged on the screw support seat (23), the guide posts I (27) are arranged on two sides of the screw (22), and two end parts of the sliding block I (24) are sleeved on the guide posts I (27).

8. The clamping device for a robot arm according to claim 6, wherein: the rectangular supporting frame (11) is provided with two guide posts II (13) which are symmetrically arranged, the guide posts II (13) are arranged on two sides of the screw rod (22), and two end parts of the sliding plate I (25) are sleeved on the guide posts II (13).

9. The clamping device for a robot arm according to claim 8, wherein: two opposite edges of the rectangular supporting frame (11) are also provided with a second sliding groove (111), the lower end part of the first sliding plate (25) is provided with a second sliding block (251), and the second sliding block (251) is in sliding connection with the second sliding groove (111).

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