CN213796562U

CN213796562U - Grabbing device for production mechanical arm

Info

Publication number: CN213796562U
Application number: CN202022677724.3U
Authority: CN
Inventors: 吴强
Original assignee: Suzhou Bohua Technology R & D Co ltd
Current assignee: Suzhou Bohua Technology R & D Co ltd
Priority date: 2020-11-19
Filing date: 2020-11-19
Publication date: 2021-07-27
Anticipated expiration: 2030-11-19

Abstract

The utility model discloses a grabbing device for production arm relates to arm technical field, and is complicated for solving current grabbing device structure, and the flexibility is lower, the relatively poor problem of positioning accuracy. The utility model discloses a pneumatic manipulator, including arm fixed plate, cylinder, actuating arm, locating plate, actuating arm, locating plate, lug and spout sliding connection, the upper end of arm fixed plate is provided with the transmission case, the inside of transmission case is provided with the mount, the lower extreme of mount is provided with the base, the cylinder is installed to the inboard of mount, the gas pole is installed to the lower extreme of cylinder, the lower extreme of gas pole is provided with the actuating lever, and the actuating lever runs through the base, the locating plate is installed to the lower extreme of arm fixed plate, the both sides of actuating lever lower extreme all are provided with the stand, the front end of stand is provided with the actuating arm, the one end and the locating plate of actuating arm are connected through the pivot, the inboard of actuating arm is provided with the portion of snatching, the front end of stand is provided with the lug, and lug and spout sliding connection, the upper end of transmission case is provided with the motor.

Description

Grabbing device for production mechanical arm

Technical Field

The utility model relates to an arm technical field specifically is a production grabbing device for arm.

Background

A robotic arm generally refers to a programmable robotic arm having similar functionality as a human arm, which may be a complete mechanical device or part of a more complex robot. Such a robot arm is articulated in such a way that it can perform a rotational movement or a translational movement. The mechanical arm is a high-precision and high-speed point robot hand, and is a complex system with multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique flexibility of operation, have obtained wide application in fields such as industry assembly, safe explosion-proof, some trades need the arm can be high-speed, steady, accurately carry out snatch the operation such as letter sorting to the object.

However, the existing gripping device is complex in structure, low in flexibility and poor in positioning accuracy, so that the existing requirements are not met, and the gripping device for producing the mechanical arm is provided.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a production grabbing device for arm to current grabbing device structure that proposes in solving above-mentioned background art is complicated, and the flexibility is lower, the relatively poor problem of positioning accuracy.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a production grabbing device for arm, includes the arm fixed plate, the upper end of arm fixed plate is provided with the transmission case, the inside of transmission case is provided with the mount, the lower extreme of mount is provided with the base, the cylinder is installed to the inboard of mount, the gas pole is installed to the lower extreme of cylinder, the lower extreme of gas pole is provided with the actuating lever, and the actuating lever runs through the base, the locating plate is installed to the lower extreme of base, the both sides of actuating lever lower extreme all are provided with the stand, the front end of stand is provided with the actuating arm, the one end and the locating plate of actuating arm are connected through the pivot, the inboard of actuating arm is provided with the portion of snatching, the front end of stand is provided with the lug, and lug and spout sliding connection.

Preferably, the upper end of transmission case is provided with the motor, the upper end of mount is provided with the connecting axle, and the connecting axle passes through the coupling joint with the motor, and the base passes through the bearing with the arm fixed plate and is connected.

Preferably, the lower end of the mechanical arm fixing plate is provided with a CCD vision camera.

Preferably, a sliding sleeve is arranged between the base and the driving rod, the sliding sleeve is fixedly connected with the base, and the sliding sleeve is connected with the driving rod in a sliding mode.

Preferably, the upright column is connected with the bump in a welded mode, the driving arm is connected with the grabbing portion in a welded mode, and the mechanical arm fixing plate is connected with the transmission case in a welded mode.

Preferably, the inner side of the grabbing part is provided with a non-slip mat, the inner side of the non-slip mat is provided with a non-slip groove, and the grabbing part is connected with the non-slip mat in a gluing mode.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a cylinder work makes gas pole endwise slip, gas pole drive actuating lever, actuating lever drive stand, and the lug of stand front end slides along the spout, makes the actuating arm rotate along the pivot, realizes two and snatchs being close to each other between the portion and keeping away from each other to the realization is to snatching and releasing the action of product, simple structure, convenient operation.

2. The utility model discloses a motor work drives the mount and rotates for the transmission case, rotates with the fixed base synchronization of mount, rotates with the fixed locating plate synchronization of base, realizes snatching the quick change and the regulation of angle to the portion of snatching, has improved the flexibility in the grabbing device use.

3. The utility model discloses a CCD vision camera turns into digital signal to optical image, gathers image data through image processing machine and carries out image processing to carry out the actual position that the position operation judged the product, thereby control the arm motion, realize the high accuracy location to the product.

Drawings

Fig. 1 is a schematic structural view of a gripping device for manufacturing a mechanical arm according to the present invention;

fig. 2 is a front view of the gripping device for manufacturing a mechanical arm of the present invention;

fig. 3 is a partial enlarged view of the region a of the present invention.

In the figure: 1. a mechanical arm fixing plate; 2. a transmission case; 3. a fixed mount; 4. a cylinder; 5. a gas lever; 6. a base; 7. a drive rod; 8. positioning a plate; 9. a column; 10. a drive arm; 11. a chute; 12. a bump; 13. a grasping section; 14. a non-slip mat; 15. an anti-slip groove; 16. a motor; 17. a connecting shaft; 18. a rotating shaft; 19. a CCD vision camera; 20. and (4) a sliding sleeve.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Referring to fig. 1-3, the present invention provides an embodiment: a gripping device for producing mechanical arms comprises a mechanical arm fixing plate 1, a transmission case 2 is arranged at the upper end of the mechanical arm fixing plate 1, a fixing frame 3 is arranged inside the transmission case 2, a base 6 is arranged at the lower end of the fixing frame 3, a cylinder 4 is arranged on the inner side of the fixing frame 3, a gas rod 5 is arranged at the lower end of the cylinder 4, a driving rod 7 is arranged at the lower end of the gas rod 5, the driving rod 7 penetrates through the base 6, a positioning plate 8 is arranged at the lower end of the base 6, vertical columns 9 are arranged on two sides of the lower end of the driving rod 7, a driving arm 10 is arranged at the front end of each vertical column 9, one end of each driving arm 10 is connected with the corresponding positioning plate 8 through a rotating shaft 18, a gripping part 13 is arranged on the inner side of each driving arm 10, a lug 12 is arranged at the front end of each vertical column 9, the lug 12 is connected with a sliding groove 11 in a sliding manner, the gas rod 5 slides axially when the cylinder 4 works, the driving rod 7 drives the driving rod 7 to drive the vertical columns 9, the lug 12 at the front end of the upright post 9 slides along the sliding groove 11, so that the driving arm 10 rotates along the rotating shaft 18, and the two grabbing parts 13 are close to each other and far away from each other, thereby realizing the grabbing and releasing actions of the product.

Further, the upper end of transmission case 2 is provided with motor 16, the upper end of mount 3 is provided with connecting axle 17, and connecting axle 17 passes through the coupling joint with motor 16, and base 6 passes through the bearing with arm fixed plate 1 and is connected, motor 16 work drives mount 3 and rotates for transmission case 2, rotate with the base 6 synchronization that mount 3 is fixed, rotate with 8 synchronization of locating plate that base 6 is fixed, the realization is to the quick change and the regulation that part 13 snatched the angle of snatching, the flexibility in the grabbing device use has been improved.

Further, a CCD vision camera 19 is installed at the lower end of the mechanical arm fixing plate 1, optical images are converted into digital signals through the CCD vision camera 19, image data are collected through an image processor to be subjected to image processing, and position calculation is carried out to judge the actual position of a product, so that the movement of the mechanical arm is controlled, and high-precision positioning of the product is realized.

Further, a sliding sleeve 20 is arranged between the base 6 and the driving rod 7, the sliding sleeve 20 is fixedly connected with the base 6, and the sliding sleeve 20 is slidably connected with the driving rod 7 to play a role in guiding.

Further, the upright post 9 is connected with the projection 12 in a welding mode, the driving arm 10 is connected with the grabbing portion 13 in a welding mode, the mechanical arm fixing plate 1 is connected with the transmission case 2 in a welding mode, the welding connection is good in air tightness and water tightness, the structural rigidity is high, and the structural integrity is good.

Further, the inside of the grabbing part 13 is provided with a non-slip mat 14, the inside of the non-slip mat 14 is provided with a non-slip groove 15, the grabbing part 13 is connected with the non-slip mat 14 in a gluing mode, contact friction force between the grabbing part 13 and a product is increased, and stability in grabbing and moving is improved.

The working principle is as follows: when the device is used, an optical image is converted into a digital signal through the CCD vision camera 19, image data is collected through the image processor for image processing, and position calculation is carried out to judge the actual position of a product, so that the movement of the mechanical arm is controlled, the mechanical arm fixing plate 1 is moved to a corresponding grabbing position, the high-precision positioning of the product is realized, after the positioning is finished, the air cylinder 4 works to enable the air rod 5 to axially slide, the air rod 5 drives the driving rod 7, the driving rod 7 drives the upright post 9, the lug 12 at the front end of the upright post 9 slides along the sliding groove 11, the driving arm 10 rotates along the rotating shaft 18, the mutual approaching and mutual separating of the two grabbing parts 13 are realized, the grabbing and releasing actions of the product are realized, the anti-skid pads 14 and the anti-skid grooves 15 on the inner side of the grabbing parts 13 increase the contact friction force between the grabbing parts 13 and the product, and the stability during grabbing and moving is improved, the motor 16 works to drive the fixing frame 3 to rotate relative to the transmission case 2, rotates synchronously with the base 6 fixed by the fixing frame 3 and rotates synchronously with the positioning plate 8 fixed by the base 6, so that the rapid change and adjustment of the grabbing angle of the grabbing part 13 are realized, and the flexibility of the grabbing device in the use process is improved.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a production grabbing device for arm, includes arm fixed plate (1), its characterized in that: the upper end of the mechanical arm fixing plate (1) is provided with a transmission case (2), a fixing frame (3) is arranged inside the transmission case (2), a base (6) is arranged at the lower end of the fixing frame (3), an air cylinder (4) is installed on the inner side of the fixing frame (3), an air rod (5) is installed at the lower end of the air cylinder (4), a driving rod (7) is arranged at the lower end of the air rod (5), the driving rod (7) penetrates through the base (6), a positioning plate (8) is installed at the lower end of the base (6), stand columns (9) are arranged on two sides of the lower end of the driving rod (7), a driving arm (10) is arranged at the front end of each stand column (9), one end of each driving arm (10) is connected with the corresponding positioning plate (8) through a rotating shaft (18), a grabbing portion (13) is arranged on the inner side of each driving arm (10), and a convex block (12) is arranged at the front end of each stand column (9), and the convex block (12) is connected with the sliding chute (11) in a sliding way.

2. The gripping device for the production of mechanical arms as claimed in claim 1, wherein: the upper end of transmission case (2) is provided with motor (16), the upper end of mount (3) is provided with connecting axle (17), and connecting axle (17) pass through the coupling joint with motor (16), and base (6) pass through the bearing with arm fixed plate (1) and be connected.

3. The gripping device for the production of mechanical arms as claimed in claim 1, wherein: and a CCD (charge coupled device) vision camera (19) is installed at the lower end of the mechanical arm fixing plate (1).

4. The gripping device for the production of mechanical arms as claimed in claim 1, wherein: a sliding sleeve (20) is arranged between the base (6) and the driving rod (7), the sliding sleeve (20) is fixedly connected with the base (6), and the sliding sleeve (20) is in sliding connection with the driving rod (7).

5. The gripping device for the production of mechanical arms as claimed in claim 1, wherein: the vertical column (9) is connected with the bump (12) in a welding mode, the driving arm (10) is connected with the grabbing portion (13) in a welding mode, and the mechanical arm fixing plate (1) is connected with the transmission case (2) in a welding mode.

6. The gripping device for the production of mechanical arms as claimed in claim 1, wherein: the inside of the grabbing part (13) is provided with an anti-slip pad (14), the inside of the anti-slip pad (14) is provided with an anti-slip groove (15), and the grabbing part (13) is connected with the anti-slip pad (14) in a gluing mode.