CN214265582U - Industrial robot arm for clamping - Google Patents
Industrial robot arm for clamping Download PDFInfo
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- CN214265582U CN214265582U CN202023058790.9U CN202023058790U CN214265582U CN 214265582 U CN214265582 U CN 214265582U CN 202023058790 U CN202023058790 U CN 202023058790U CN 214265582 U CN214265582 U CN 214265582U
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Abstract
The utility model discloses an industrial robot arm that centre gripping was used relates to arm equipment technical field, including supporting the base, be provided with the rolling disc on supporting the base, be provided with the mounting bracket on the rolling disc, be provided with main support frame group, vice support frame group and clamping control frame group on the mounting bracket, main support frame group includes: the first retainer is connected with the mounting frame through a first revolute pair, the second retainer is connected with the first retainer through a second revolute pair, and the third retainer is connected with the second retainer through a third revolute pair; the auxiliary support frame group comprises a holding rod arranged on the mounting frame, and the top end of the holding rod is connected with the second holding frame through a fourth revolute pair; the clamping control frame group comprises: the connecting rod group is connected with the rotating rod group of the mounting frame through a fifth rotating pair, the triangular support group is connected with the rotating rod group through a sixth rotating pair, and the connecting rod group is connected with the triangular support group through a seventh rotating pair. The utility model has the advantages of reliable structure, space fast moving and high degree of automation.
Description
Technical Field
The utility model relates to an arm equipment technical field, concretely relates to industrial robot arm that centre gripping was used.
Background
A robot arm, also called a mechanical arm, a manipulator or a robotic arm, is an automatic operation device that can simulate some motion functions of a human hand and an arm and is used for grabbing, carrying an object or operating a tool according to a fixed program. The robot can replace the heavy labor of people to realize the mechanization and automation of production, can operate under the harmful environment to protect the personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. However, the existing robot arm for clamping is complex in structure, multi-angle and all-dimensional clamping can be realized by using more motors, the clamping cost is high, the structural strength is low, and the clamping reliability is poor.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model provides an industrial robot arm that centre gripping was used realizes that quick adjustment clamping structure carries out translation, lift and angle modulation to this industrial robot arm that realization structural strength is high, governing speed is fast reduces the centre gripping cost, improves centre gripping application scope.
The utility model provides an industrial robot arm that centre gripping was used, includes and supports the base, be provided with the rolling disc on supporting the base, be provided with the mounting bracket on the rolling disc, be provided with main carriage group, vice carriage group and clamping control frame group on the mounting bracket, main carriage group includes: the first retainer is connected with the mounting frame through a first revolute pair, the second retainer is connected with the first retainer through a second revolute pair, and the third retainer is connected with the second retainer through a third revolute pair; the auxiliary support frame group comprises a holding rod arranged on the mounting frame, and the top end of the holding rod is connected with the second holding frame through a fourth revolute pair; the clamping control frame set comprises: the rotating rod group of the mounting rack is connected through a fifth rotating pair, the triangular support group of the rotating rod group is connected through a sixth rotating pair, and the connecting rod group of the triangular support group is connected through a seventh rotating pair; the second rotating pair is positioned in the middle of the second retainer, the fourth rotating pair is positioned at the right end of the second retainer, the third rotating pair is positioned at the left end of the second retainer, and the retainer rod can pull the fourth rotating pair to enable the third rotating pair to rotate relative to the second rotating pair; the triangular support group is connected with the first holder through the second revolute pair, the second revolute pair is located at the bottom of the triangular support group, the sixth revolute pair is located at the right end of the triangular support group, the seventh revolute pair is located at the left end of the triangular support group, and the rotary rod group can pull the sixth revolute pair to enable the seventh revolute pair to rotate around the second revolute pair and drive the connecting rod group to move; the connecting rod group is connected with the third retainer through an eighth revolute pair, the clamping structure is fixed below the third retainer, and the moving connecting rod group can pull the third retainer to rotate relative to the third revolute pair, so that the clamping structure moves along with the third retainer.
Specifically, a first sliding assembly is connected to the bottom of the holding rod, and the bottom of the holding rod can move inside the mounting frame through the first sliding assembly. The first sliding component ensures that the bottom of the holding rod can move, so that the holding rod can pull the second holding frame.
Specifically, the fifth revolute pair is connected with a second sliding assembly, and the fifth revolute pair can move inside the mounting frame through the second sliding assembly. Similarly, the second sliding assembly ensures that the fifth rotating pair, namely the bottom of the rotating rod group, can move, so that the rotating rod group pulls the sixth rotating pair at the top of the rotating rod group.
Specifically, a first power source is connected to the first rotating pair and used for driving the first holder to rotate around the first rotating pair. The first power source can enable the first rotating pair to rotate, so that the first retainer connected with the first power source rotates around the first rotating pair, and the height of the second retainer is changed.
Specifically, the first sliding assembly and the second sliding assembly are connected with a second power source, and the second power source is used for driving the first sliding assembly and the second sliding assembly to move. Likewise, a second power source can move the first and second glide assemblies to move the retainer bar bottom and the set of turn bars bottom, respectively.
Specifically, a first reinforcing structure is arranged inside the first holder. The first reinforcing structure can improve the structural strength of the first holder.
Specifically, a second reinforcing structure is arranged in the center of the triangular support group. Also, the second reinforcing structure can improve the structural strength of the second cage.
The beneficial effects of the utility model are embodied in:
the utility model discloses in, compact structure, reasonable in design, construct the main tributary bearing structure through first holder, second holder and third holder, construct vice bearing structure through the holding rod, vice bearing structure can adjust the position of main bearing structure, wherein, can directly adjust the position of second holder, when the bottom motion of holding rod, the holding rod can pull the fourth revolute pair that is located its top, thereby drive the motion of second holder right-hand member, thereby drive the motion of second holder, thereby realize driving the third holder fast and carry out translation or lift; more importantly, a clamping control frame group is constructed by a rotating rod group, a triangular support frame group and a connecting rod group, and the angle of a third retainer can be directly controlled, wherein after the bottom of the rotating rod group moves, the rotating rod group can pull a sixth rotating pair positioned at the top of the rotating rod group, so that the triangular support frame group is driven to rotate around a fixed point of the rotating rod group, namely a second rotating pair, a seventh rotating pair on the rotated triangular support frame group can drive the connecting rod group to move, an eighth rotating pair on the moved connecting rod group can drive the third retainer to move, and one part of the third retainer is fixed on the second retainer through the third rotating pair, so that under the drive of the eighth rotating pair, the third retainer can rotate relative to the third rotating pair, so that the angle adjustment of the third retainer is completed; to sum up, because the clamping structure has been fixed under the third holder, that is to say, through the interact of main carriage group, vice carriage group and centre gripping control frame group three, realize that quick adjustment clamping structure carries out translation, lift and angle modulation to this realizes that structural strength is high, the fast industrial robot arm of governing speed reduces the centre gripping cost, improves centre gripping application scope.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a perspective view of the present invention;
fig. 2 is a side view of the structure of the present invention.
Reference numerals:
1-supporting base, 2-rotating disc, 3-mounting frame, 4-main support frame group, 41-first rotating pair, 42-first holding frame, 421-first reinforcing structure, 43-second rotating pair, 44-second holding frame, 45-third rotating pair, 46-third holding frame, 5-auxiliary support frame group, 51-holding rod, 52-fourth rotating pair, 6-clamping control frame group, 61-fifth rotating pair, 62-rotating rod group, 63-sixth rotating pair, 64-triangular support frame group, 641-second reinforcing structure, 65-seventh rotating pair, 66-connecting rod group, 67-eighth rotating pair, 7-clamping structure and 8-first power source.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "up", and the like indicate the directions or positional relationships based on the directions or positional relationships shown in the drawings, or the directions or positional relationships that the products of the present invention are conventionally placed when used, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to which the term refers must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention.
As shown in fig. 1 and 2, an industrial robot arm for clamping comprises a supporting base 1, a rotating disc 2 is arranged on the supporting base 1, a mounting frame 3 is arranged on the rotating disc 2, a main support frame group 4, an auxiliary support frame group 5 and a clamping control frame group 6 are arranged on the mounting frame 3, and the main support frame group 4 comprises: a first holder 42 connected to the mounting frame 3 via a first revolute pair 41, a second holder 44 connected to the first holder 42 via a second revolute pair 43, and a third holder 46 connected to the second holder 44 via a third revolute pair 45; the auxiliary support frame group 5 comprises a holding rod 51 arranged on the mounting frame 3, and the top end of the holding rod 51 is connected with the second holding frame 44 through a fourth revolute pair 52; the clamping control frame group 6 includes: a rotating rod group 62 connected with the mounting frame 3 through a fifth rotating pair 61, a triangular support group 64 connected with the rotating rod group 62 through a sixth rotating pair 63, and a connecting rod group 66 connected with the triangular support group 64 through a seventh rotating pair 65; wherein the second rotating pair 43 is located in the middle of the second holder 44, the fourth rotating pair 52 is located at the right end of the second holder 44, the third rotating pair 45 is located at the left end of the second holder 44, and the holding rod 51 can pull the fourth rotating pair 52 to rotate the third rotating pair 45 relative to the second rotating pair 43; the triangular support group 64 is connected with the first holder 42 through the second revolute pair 43, the second revolute pair 43 is positioned at the bottom of the triangular support group 64, the sixth revolute pair 63 is positioned at the right end of the triangular support group 64, the seventh revolute pair 65 is positioned at the left end of the triangular support group 64, and the rotary rod group 62 can pull the sixth revolute pair 63, so that the seventh revolute pair 65 rotates around the second revolute pair 43 and drives the connecting rod group 66 to move; the connecting rod group 66 is connected with the third holder 46 through an eighth rotating pair 67, the clamping structure 7 is fixed below the third holder 46, and the moved connecting rod group 66 can pull the third holder 46 to rotate relative to the third rotating pair 45, so that the clamping structure 7 moves along with the third holder 46.
In this embodiment, it should be noted that the structure is compact, the design is reasonable, the main support structure is constructed by the first holder 42, the second holder 44 and the third holder 46, the auxiliary support structure is constructed by the holder rod 51, and the position of the main support structure can be adjusted by the auxiliary support structure, wherein the position of the second holder 44 can be directly adjusted, when the bottom of the holder rod 51 moves, the holder rod 51 pulls the fourth revolute pair 52 located at the top of the holder rod 51, so as to drive the right end of the second holder 44 to move, so as to drive the second holder 44 to move, thereby realizing the purpose of rapidly driving the third holder 46 to translate or lift; more importantly, the clamping control frame group 6 is constructed by the rotating rod group 62, the triangular support frame group 64 and the connecting rod group 66, and the angle of the third holding frame 46 can be directly controlled, wherein after the bottom of the rotating rod group 62 moves, the rotating rod group 62 can pull the sixth rotating pair 63 positioned at the top of the rotating rod group, so as to drive the triangular support frame group 64 to rotate around the fixed point of the rotating rod group, namely the second rotating pair 43, the seventh rotating pair 65 on the rotated triangular support frame group 64 can drive the connecting rod group 66 to move, the eighth rotating pair 67 on the moved connecting rod group 66 can drive the third holding frame 46 to move, and a part of the third holding frame 46 is fixed on the second holding frame 44 through the third rotating pair 45, so that under the drive of the eighth rotating pair 67, the third holding frame 46 can rotate relative to the third rotating pair 45, and the angle adjustment of the third holding frame 46 is completed; in conclusion, because the clamping structure 7 is fixed below the third holder 46, that is, the main support frame group 4, the auxiliary support frame group 5 and the clamping control frame group 6 interact with each other to realize the rapid adjustment of the clamping structure 7 for translation, lifting and angle adjustment, so that the industrial robot arm with high structural strength and high adjustment speed is realized, the clamping cost is reduced, and the clamping application range is improved.
Specifically, a first sliding component is connected to the bottom of the holding rod 51, and the bottom of the holding rod 51 can move inside the mounting frame 3 through the first sliding component.
In the present embodiment, it should be noted that the first sliding assembly ensures that the bottom of the holding rod 51 can move, so that the second holding frame 44 is pulled by the first sliding assembly.
Specifically, the fifth revolute pair 61 is connected with a second sliding assembly, and the fifth revolute pair 61 can move inside the mounting frame 3 through the second sliding assembly.
In the present embodiment, it should be noted that, similarly, the second sliding assembly ensures that the fifth rotating pair 61, i.e. the bottom of the rotating rod set 62, can move, so that the rotating rod set 62 pulls the sixth rotating pair 63 at the top thereof.
Specifically, the first rotating pair 41 is connected to a first power source 8, and the first power source 8 is used for driving the first holder 42 to rotate around the first rotating pair 41.
In the present embodiment, the first power source 8 is capable of rotating the first revolute pair 41 so that the first holder 42 connected thereto rotates around the first revolute pair 41, thereby changing the height of the second holder 44.
Specifically, first subassembly and the second subassembly that slides are connected with the second power supply, and the second power supply is used for driving first subassembly and the motion of second subassembly that slides.
In the present embodiment, it should be noted that, similarly, the second power source can drive the first sliding component and the second sliding component to move, so as to respectively move the bottom of the holding rod 51 and the bottom of the rotating rod set 62.
Specifically, the first holder 42 is internally provided with a first reinforcing structure 421.
In the present embodiment, the first reinforcing structure 421 can improve the structural strength of the first holder 42.
Specifically, the triangular brace group 64 is centrally provided with a second reinforcing structure 641.
In the present embodiment, similarly, the second reinforcing structure 641 can improve the structural strength of the second retainer 44.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.
Claims (7)
1. The utility model provides an industrial robot arm that centre gripping was used, its characterized in that, including supporting the base, be provided with the rolling disc on the support base, be provided with the mounting bracket on the rolling disc, be provided with main carriage group, vice carriage group and centre gripping control frame group on the mounting bracket, main carriage group includes: the first retainer is connected with the mounting frame through a first revolute pair, the second retainer is connected with the first retainer through a second revolute pair, and the third retainer is connected with the second retainer through a third revolute pair; the auxiliary support frame group comprises a holding rod arranged on the mounting frame, and the top end of the holding rod is connected with the second holding frame through a fourth revolute pair; the clamping control frame set comprises: the rotating rod group of the mounting rack is connected through a fifth rotating pair, the triangular support group of the rotating rod group is connected through a sixth rotating pair, and the connecting rod group of the triangular support group is connected through a seventh rotating pair; wherein the content of the first and second substances,
the second rotating pair is positioned in the middle of the second retainer, the fourth rotating pair is positioned at the right end of the second retainer, the third rotating pair is positioned at the left end of the second retainer, and the retaining rod can pull the fourth rotating pair to enable the third rotating pair to rotate relative to the second rotating pair;
the triangular support group is connected with the first holder through the second revolute pair, the second revolute pair is located at the bottom of the triangular support group, the sixth revolute pair is located at the right end of the triangular support group, the seventh revolute pair is located at the left end of the triangular support group, and the rotary rod group can pull the sixth revolute pair to enable the seventh revolute pair to rotate around the second revolute pair and drive the connecting rod group to move;
the connecting rod group is connected with the third retainer through an eighth revolute pair, a clamping structure is fixed below the third retainer, and the moving connecting rod group can pull the third retainer to rotate relative to the third revolute pair, so that the clamping structure moves along with the third retainer.
2. An industrial robot arm for gripping according to claim 1, characterized in that a first glide assembly is connected to the holder bar bottom, by means of which the holder bar bottom is movable inside the mounting frame.
3. An industrial robot arm for gripping according to claim 2, characterized in that a second glide assembly is connected to the fifth revolute pair, by means of which the fifth revolute pair can move inside the mounting frame.
4. An industrial robot arm for gripping according to claim 3, characterized in that a first power source is connected to the first revolute pair for driving the first holder to revolve around the first revolute pair.
5. An industrial robot arm for clamping according to claim 4, characterized in that a second power source is connected to the first and second glide assemblies for driving the first and second glide assemblies in motion.
6. An industrial robot arm for gripping according to any of the claims 1-5, characterized in that the first holder is provided with a first reinforcement structure inside.
7. A holding industrial robot arm according to any of the claims 1-5, characterized in that the set of triangular supports is centrally provided with a second reinforcement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023058790.9U CN214265582U (en) | 2020-12-17 | 2020-12-17 | Industrial robot arm for clamping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023058790.9U CN214265582U (en) | 2020-12-17 | 2020-12-17 | Industrial robot arm for clamping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214265582U true CN214265582U (en) | 2021-09-24 |
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ID=77799312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023058790.9U Active CN214265582U (en) | 2020-12-17 | 2020-12-17 | Industrial robot arm for clamping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214265582U (en) |
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2020
- 2020-12-17 CN CN202023058790.9U patent/CN214265582U/en active Active
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