CN218659169U

CN218659169U - Mechanical arm for grabbing in feeding and discharging

Info

Publication number: CN218659169U
Application number: CN202223178802.0U
Authority: CN
Inventors: 刘胜; 陈飞
Original assignee: Nanjing Hongjie Electromechanical Technology Co ltd
Current assignee: Nanjing Hongjie Electromechanical Technology Co ltd
Priority date: 2022-11-29
Filing date: 2022-11-29
Publication date: 2023-03-21
Anticipated expiration: 2032-11-29

Abstract

The application provides a robotic arm for go up unloading snatchs belongs to robotic arm technical field to solve the problem that current robotic arm can not flexible centre gripping and rigidity centre gripping and switch, including the roof, third electric putter is installed at the top of roof, the left and right sides fixedly connected with curb plate of roof below, the first electric putter of middle fixedly connected with of roof below, the first steel cable that pulls of first electric putter's below fixedly connected with, the bottom fixedly connected with connecting cylinder of curb plate, the inside slidable mounting of connecting cylinder has the slide bar, the slide bar links to each other with the connecting cylinder through first spring, the end of first steel cable that pulls links to each other with the slide bar through the leading wheel direction, the side fixedly connected with connecting shell of slide bar, the side fixed mounting of connecting shell has thin steel sheet. This application not only can switch two kinds of centre gripping modes of rigidity centre gripping and flexible centre gripping through billet and sheet steel, the compliance that moreover can the automatically regulated clamping face when switching.

Description

Mechanical arm for grabbing in feeding and discharging

Technical Field

The utility model relates to a robotic arm field particularly, relates to a robotic arm for go up unloading and snatch.

Background

The mechanical arm plays an important role in the processes of industrial production and logistics sorting, the mechanical arm replaces manpower, so that the material grabbing is more efficient and does not threaten the personal safety, compared with manual operation, the efficiency is higher, the safety risk is lower, but the existing material grabbing mechanical arm has some defects when in use;

for example, publication No. CN217225547U discloses a material grabbing device, through set up the electro-magnet that a plurality of matrixes were arranged below the manipulator, when moving the steel sheet of different sizes and different shapes, selectively open the electro-magnet under PDLC control circuit's effect, and then can be accurate adsorb the steel sheet that needs to move, and can not receive the interference of adjacent steel sheet, even the size of steel sheet is little or adjacent steel sheet is located below the manipulator, the phenomenon of grabbing by mistake still can not appear, the manipulator is arranged and can rotate by many matrixes simultaneously, can adapt to different steel sheet shapes, further enlarged the application scope of product.

Although the device can realize the adsorption type grabbing function by utilizing the electromagnet and the sliding rail, the flexible grabbing bracket and the rigid grabbing bracket cannot be quickly switched in the grabbing process, and the grabbing mode cannot be adjusted to adapt to materials made of different materials; when using, the existing mechanical arm cannot automatically adjust the softness of the clamping panel surface when switching the clamping mode, is low in adjustable degree, and cannot adjust the softness of the clamping panel surface adaptively according to hard materials or soft materials.

Therefore, the mechanical arm for feeding and discharging grabbing is provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: the problem that the existing mechanical arm cannot rapidly switch between flexible clamping and rigid clamping when in use is solved.

In order to achieve the purpose of the invention, the utility model provides the following technical scheme:

a robotic arm for loading and unloading grabbing to improve the above problems.

The present application is specifically such that:

including the roof, third electric putter is installed at the top of roof, the left and right sides fixedly connected with curb plate of roof below, the first electric putter of middle fixedly connected with of roof below, the first steel cable that pulls of first electric putter's below fixedly connected with, the bottom fixedly connected with connecting cylinder of curb plate, the inside slidable mounting of connecting cylinder has the slide bar, the slide bar links to each other with the connecting cylinder through first spring, the end of first steel cable that pulls links to each other with the slide bar through the leading wheel direction, the side fixedly connected with of slide bar connects the shell, the side fixed mounting of connecting the shell has the thin steel sheet, the below fixedly connected with connecting block of thin steel sheet, and the fixed surface of connecting block installs second electric putter, second electric putter's front end fixedly connected with billet, the side slidable mounting of connecting block has the pressure pad.

As the preferred technical scheme of this application, roof, curb plate and connecting cylinder are a whole, curb plate and slide bar symmetric distribution are in the left and right sides of connecting cylinder.

As the preferable technical scheme of the application, the sliding rod forms a telescopic structure with the adjacent sliding rod through the first electric push rod, the first traction steel rope and the first spring, and a moving groove for the sliding rod to move is formed in the connecting cylinder.

As the preferred technical scheme of this application, the connecting block passes through the sheet steel and constitutes elastic structure between the connection shell, offer on the connection shell be used for with the butt joint groove of billet butt joint.

As the preferred technical scheme of this application, the pressure pad is at the equidistant distribution of side of connecting block, and the pressure pad passes through the second spring and links to each other with the connecting block, and the pressure pad is the rubber material.

As the preferred technical scheme of this application, the centre fixedly connected with stopper of pressure pad, the stopper passes through the third spring and links to each other with the connecting block, and the fixed surface of stopper is connected with the second and pulls the steel cable, and the second pulls the steel cable and links to each other with second electric putter through the leading wheel direction.

As the preferred technical scheme of this application, the butt joint groove is by preceding to the back size degressive, connect the shell and constitute the block structure through between butt joint groove and billet and the connecting block.

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

in the scheme of the application:

1. through the arranged thin steel sheet and the steel bar, the device can move the position of the steel bar, when the steel bar is used for butting the connecting shell and the connecting block, the thin steel sheet cannot play an elastic role when the device is clamped, so that the device can realize a flexible clamping function, the defect that the conventional mechanical arm cannot switch between flexible clamping and rigid clamping when in use is overcome, the device is higher in adjustable degree and higher in adaptability during clamping, and the device can switch the clamping mode according to a clamped object;

2. through the second electric putter and the second traction steel cable that set up, make the device can lead to when adjusting flexible centre gripping to rigidity centre gripping, make the pressure pad of rubber material pull the inside of the automatic indentation connecting block under the effect of steel cable for the second, thereby make the device can be when switching rigidity centre gripping, the inside of automatic rubber pressure pad withdrawal connecting block, automatic switching clamping face material's function when having realized switching centre gripping mode, can carry out the adaptability to hard material or soft materials to the compliance of grip panel and adjust.

Drawings

Fig. 1 is a schematic view of an overall structure of a robot arm for loading and unloading grabbing according to the present application;

FIG. 2 is a schematic view of the structure at A in FIG. 1;

FIG. 3 is a schematic view of the structure at B in FIG. 1;

fig. 4 is a schematic view of a connection structure of a sliding rod and a connecting cylinder of a mechanical arm for loading and unloading grabbing according to the present application;

fig. 5 is a schematic view of a sectional structure of a connecting block of a robot arm for loading and unloading grabbing, provided by the application.

The following are marked in the figure: 1. a top plate; 2. a side plate; 3. a first electric push rod; 4. a first traction cable; 5. a slide bar; 6. a connecting cylinder; 7. a first spring; 8. a moving groove; 9. a connecting shell; 10. a thin steel sheet; 11. connecting blocks; 12. a second electric push rod; 13. a steel bar; 14. a pressure pad; 15. a second spring; 16. a limiting block; 17. a third spring; 18. a second traction cable; 19. a butt joint groove; 20. and a third electric push rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them.

Thus, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention as claimed, but is merely representative of some 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, in the case of no conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

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.

In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, orientations or positional relationships that are usually placed when the product of the present invention is used, or orientations or positional relationships that are usually understood by those skilled in the art, and such terms are only used for convenience of description and simplification of the description, and do not indicate or imply that the device or element indicated must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. 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.

Example 1:

as shown in fig. 1 to 4, the present embodiment provides a robot arm for loading and unloading grabbing, which includes a top plate 1, a third electric push rod 20 is installed on the top of the top plate 1, side plates 2 are fixedly connected to the left and right sides below the top plate 1, a first electric push rod 3 is fixedly connected to the middle below the top plate 1, a first traction steel cable 4 is fixedly connected to the lower side of the first electric push rod 3, a connecting cylinder 6 is fixedly connected to the bottom of the side plate 2, a sliding rod 5 is slidably installed inside the connecting cylinder 6, the sliding rod 5 is connected to the connecting cylinder 6 through a first spring 7, the end of the first traction steel cable 4 is connected to the sliding rod 5 through a guide wheel, a connecting shell 9 is fixedly connected to the side of the sliding rod 5, a thin steel sheet 10 is fixedly installed on the side of the connecting shell 9, below fixedly connected with connecting block 11 of sheet steel 10, the fixed surface of connecting block 11 installs second electric putter 12, the front end fixedly connected with billet 13 of second electric putter 12, the device accessible sheet steel 10 makes the connecting block 11 that is used for the centre gripping on the device have elasticity, thereby carry out flexible centre gripping, billet 13 makes the device can keep rigidity clamping status when the centre gripping, the function of switching the centre gripping mode has been realized, the side slidable mounting of connecting block 11 has pressure pad 14, it is safer when 14 make the device can be to fragile object centre gripping through slidable mounting's pressure pad, the defect that current robotic arm can not conveniently switch the clamping face when using has been solved.

Example 2:

the scheme of example 1 is further described below in conjunction with specific working modes, which are described in detail below:

as shown in fig. 1 and 4, as a preferred embodiment, on the basis of the above manner, further, the top plate 1, the side plates 2 and the connecting cylinder 6 are an integral body, the side plates 2 and the sliding rods 5 are symmetrically distributed on the left and right sides of the connecting cylinder 6, the side plates 2 are used for butting the connecting cylinder 6 and the top plate 1, and the sliding rods 5 on the device move left and right, so as to further realize the functions of stably clamping and grabbing materials.

As shown in fig. 4, as a preferred embodiment, in addition to the above-mentioned mode, a telescopic structure is further formed between the slide bar 5 and the adjacent slide bar 5 through the first electric push rod 3, the first traction steel rope 4 and the first spring 7, a moving groove 8 for moving the slide bar 5 is formed in the connecting cylinder 6, through the telescopic structure on the device, the adjacent two sets of slide bars 5 can move in opposite directions or move in opposite directions, so as to realize a function of clamping objects of different sizes, the moving groove 8 enables the slide bar 5 to move in a straight and left-right direction, and the stability of the device when the whole device grabs materials is ensured.

As shown in fig. 1 and 2, in addition to the above-mentioned mode, in a preferred embodiment, the connection block 11 forms an elastic structure between the thin steel sheet 10 and the connection housing 9, the connection housing 9 is provided with an abutting groove 19 for abutting against the steel bar 13, the steel bar 13 can abut against the connection housing 9 and the connection block 11 through the abutting groove 19, so that the connection block 11 is not bent when clamping an object, and the device can be switched from flexible clamping to rigid clamping.

As shown in fig. 1 and fig. 3, as a preferred embodiment, on the basis of the above manner, further, the pressure pads 14 are distributed at equal intervals on the side surface of the connecting block 11, the pressure pads 14 are connected with the connecting block 11 through the second spring 15, the pressure pads 14 are made of rubber, and the pressure pads 14 made of rubber are arranged on the device, so that the device can stably grab fragile materials, the safety in use is improved, and the device can be adapted to different materials to switch the material of the clamping surface subsequently.

As shown in fig. 1, fig. 3 and fig. 5, as a preferred embodiment, on the basis of the above manner, further, a limiting block 16 is fixedly connected to the middle of the pressure pad 14, the limiting block 16 is connected to the connecting block 11 through a third spring 17, a second traction steel cable 18 is fixedly connected to the surface of the limiting block 16, the second traction steel cable 18 is connected to the second electric push rod 12 through a guide wheel, and the second electric push rod 12 can pull the limiting block 16 when shortening through the second traction steel cable 18, so that the pressure pad 14 is automatically retracted into the connecting block 11, and the connecting block 11 can be changed from soft clamping to hard clamping, thereby realizing a function of automatically adjusting the softness of the clamping surface while switching the clamping manner.

As shown in fig. 1 and fig. 2, as a preferred embodiment, in addition to the above-mentioned mode, further, the docking groove 19 is gradually decreased from front to back, the connection shell 9 forms a clamping structure with the connection block 11 through the docking groove 19 and the steel bar 13, the docking groove 19 with the gradually decreased from front to back dimension is more easily docked with the steel bar 13, the connection shell 9 and the connection block 11 are connected into a whole after the steel bar 13 is installed through the clamping structure on the device, a function of switching from flexible clamping to rigid clamping is realized, so that the device can adapt to different materials to adjust the material-grabbing mode.

Specifically, this a robotic arm for go up unloading and snatch when using: as shown in fig. 1-4, the device adjusts the height of the whole device through a third electric push rod 20, so that the device can grab materials on a conveyor belt up and down, in the process of grabbing materials, the clamping mode is adjusted according to the type of the materials, the device is initially combined with fig. 1, the connecting block 11 can be adjusted under the connecting shell 9 by using the elasticity of the thin steel sheet 10, so as to realize a flexible clamping function, when the material grabbing needs to be switched to a rigid clamping and grabbing process, the steel bar 13 moves into the butt joint groove 19 by shortening the second electric push rod 12, at this time, the connecting shell 9 and the connecting block 11 are butted with each other, so as to realize the rigid clamping function, the thin steel sheet 10 cannot play a role, at this time, the rigid clamping and grabbing can be performed through the connecting block 11, in the process of grabbing materials, as shown in fig. 1-4, by shortening the first electric push rod 3, the first electric push rod 3 pulls the first traction steel rope 4, the first traction steel rope 4 pulls the moving groove 5, the first spring 7 is compressed, so that the adjacent two connecting shells are close to each other, so as to realize the grabbing function;

as shown in fig. 1, 3 and 5, when the device is switched to rigid clamping, the second electric push rod 12 simultaneously pulls the second traction steel rope 18, so that the second traction steel rope 18 pulls the limiting block 16, and further the pressure pad 14 retracts into the connecting block 11, the second spring 15 and the third spring 17 are compressed, so that the connecting block 11 is switched from soft surface contact to hard surface contact, and the function of adjusting the softness of the clamping surface while switching the clamping manner is realized.

The above embodiments are only used to illustrate the present invention and not to limit the technical solutions described in the present invention, and although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and therefore, any modification or equivalent replacement may be made to the present invention; all such modifications and variations are intended to be included herein within the scope of this disclosure and the present invention and within the scope of the following claims.

Claims

1. The utility model provides a robotic arm for go up unloading and snatch, includes roof (1), a serial communication port, third electric putter (20) are installed at the top of roof (1), left and right sides fixedly connected with curb plate (2) of roof (1) below, the first electric putter (3) of centre fixedly connected with of roof (1) below, the first traction steel cable (4) of below fixedly connected with of first electric putter (3), the bottom fixedly connected with connecting cylinder (6) of curb plate (2), the inside slidable mounting of connecting cylinder (6) has slide bar (5), slide bar (5) link to each other with connecting cylinder (6) through first spring (7), the end of first traction steel cable (4) links to each other with slide bar (5) through the leading wheel direction, the side fixedly connected with connecting shell (9) of slide bar (5), the side fixedly mounted of connecting shell (9) has thin steel sheet (10), the below fixedly connected with connecting block (11) of thin steel sheet (10), the fixed surface of connecting block (11) installs second electric putter (12), the preceding end fixedly connected with billet (12) of second electric putter (13), sliding pad (14).

2. The mechanical arm for loading and unloading grabbing as claimed in claim 1, wherein the top plate (1), the side plate (2) and the connecting cylinder (6) are integrated, and the side plate (2) and the sliding rod (5) are symmetrically distributed on the left side and the right side of the connecting cylinder (6).

3. The mechanical arm for loading and unloading grabbing as claimed in claim 2, wherein the sliding rod (5) forms a telescopic structure with the adjacent sliding rod (5) through the first electric push rod (3), the first traction steel rope (4) and the first spring (7), and a moving groove (8) for moving the sliding rod (5) is formed in the connecting cylinder (6).

4. The mechanical arm for grabbing the materials in the loading and unloading process according to claim 1, wherein the connecting block (11) forms an elastic structure with the connecting shell (9) through the thin steel sheet (10), and the connecting shell (9) is provided with a butt joint groove (19) for butt joint with the steel bar (13).

5. The mechanical arm for loading and unloading grabbing as claimed in claim 1, wherein the pressure pads (14) are distributed on the side of the connecting block (11) at equal intervals, the pressure pads (14) are connected with the connecting block (11) through second springs (15), and the pressure pads (14) are made of rubber.

6. The mechanical arm for loading and unloading grabbing as claimed in claim 5, wherein a limiting block (16) is fixedly connected to the middle of the pressure pad (14), the limiting block (16) is connected to the connecting block (11) through a third spring (17), a second traction steel rope (18) is fixedly connected to the surface of the limiting block (16), and the second traction steel rope (18) is connected to the second electric push rod (12) through the guide of a guide wheel.

7. A robot arm for loading and unloading grabbing according to claim 4, wherein the size of the butt-joint groove (19) decreases from front to back, and the connecting shell (9) forms a clamping structure with the connecting block (11) through the butt-joint groove (19) and the steel bar (13).