CN219705194U - Multi-surface gripper mechanical arm suitable for narrow space - Google Patents
Multi-surface gripper mechanical arm suitable for narrow space Download PDFInfo
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- CN219705194U CN219705194U CN202321204878.8U CN202321204878U CN219705194U CN 219705194 U CN219705194 U CN 219705194U CN 202321204878 U CN202321204878 U CN 202321204878U CN 219705194 U CN219705194 U CN 219705194U
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- slide rail
- guide rail
- rail
- bearing seat
- driving rod
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- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims description 10
- 239000002184 metal Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The utility model relates to a multi-surface gripper mechanical arm suitable for a narrow space, which comprises a mounting base, a driving rod, a bearing seat, an increase Cheng Daogui, a connecting sliding rail and a gripping piece; the driving rod is arranged on the mounting base, the range extending guide rail comprises an upper gear guide rail, a lower gear guide rail and a transmission gear, and the free end of the driving rod is connected with the transmission gear; the upper gear guide rail is connected with the mounting base, the lower gear guide rail is connected with the bearing seat, the bearing seat is provided with the connecting slide rail, the connecting slide rail comprises a first slide rail, a second slide rail and a connecting block therebetween, the connecting block is movably connected with the first slide rail and the second slide rail in a clamping mode, the bearing seat is provided with the gripping piece thereon, the mounting base is provided with a fixed end thereon, the fixed end is connected with the mechanical arm, and the gripping piece is used for gripping a workpiece.
Description
Technical Field
The utility model relates to the field of mechanical arms, in particular to a multi-face gripper mechanical arm suitable for a narrow space.
Background
In some scenes using mechanical arms, a group of mechanical arms can grip a plurality of workpieces, the mechanical arms are arranged on the side surfaces of the mechanical arms, namely, independent grippers can be arranged on four side surfaces of the mechanical arms to form four-sided grippers, but in the practical use process, as the grippers on two sides are relatively close, the freedom degree of movement is easily affected mutually in use, in order to solve the problems, the mechanical arms of the multiple-sided grippers only adopt a mode of arranging the grippers on opposite sides to carry out gripping work, namely, two-sided grippers are arranged on the mechanical arms on opposite sides to avoid mutual interference of adjacent grippers; in the use of a four-sided gripper robot, the farther the gripper is extended when picking and placing a piece, the more advantageous the gripper is, while the smaller the retraction volume is when switching grippers on other sides of the tetrahedron to pick and place a piece.
In view of the foregoing, there is a need for a multi-sided gripper manipulator that can ensure space utilization, and facilitate effective utilization of four sets of mechanical grippers, and is suitable for a narrow space.
Disclosure of Invention
The utility model aims to provide the multi-face gripper mechanical arm which can ensure the space utilization rate and is suitable for a narrow space, and four groups of mechanical grippers can be effectively utilized conveniently.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:
a multi-surface gripper mechanical arm suitable for a narrow space comprises a mounting base, a driving rod, a bearing seat, a Cheng Daogui adding part, a connecting sliding rail and a gripping part; the driving rod is arranged on the mounting base, the range extending guide rail comprises an upper gear guide rail, a lower gear guide rail and a transmission gear, the transmission gear is movably arranged between the upper gear guide rail and the lower gear guide rail, and the free end of the driving rod is connected with the transmission gear; the upper gear guide rail is connected with the installation base, the lower gear guide rail is connected with the bearing seat, the bearing seat is provided with a connecting slide rail, the connecting slide rail comprises a first slide rail connected with the installation base, a second slide rail connected with the bearing seat, and a connecting block arranged between the first slide rail and the second slide rail, the connecting block is movably connected with the first slide rail and the second slide rail in a clamping mode, the bearing seat is provided with a grabbing piece, the installation base is provided with a fixed end, the fixed end is connected with the mechanical arm, and the grabbing piece is used for grabbing a workpiece.
As a preferable technical scheme, limit baffles are arranged at two ends of the first sliding rail and the second sliding rail.
As a preferred technical solution, the gripping member includes a positioning member and an absorbing member.
As a preferable technical scheme, the positioning piece is a needle bar, and the absorbing piece is a magnetic absorbing head.
As a preferred embodiment, the gripping element is detachably connected to the receptacle.
As a preferred solution, the gripping element is detachably connected to the receiving seat by means of a screw client
As a preferable technical scheme, the mounting base and the bearing seat are provided with hollow structures.
As a preferred technical solution, the lower gear guide rail is located below the plane in which the lower edge of the driving rod is located.
The utility model has the advantages that:
1. the utility model relates to a multi-surface gripper mechanical arm suitable for a narrow space, which comprises a mounting base, a driving rod, a bearing seat, an increase Cheng Daogui, a connecting sliding rail and a gripping piece; the driving rod drives the bearing seat to move through the increase Cheng Daogui, the actual stroke of the bearing seat is twice as long as the stroke of the driving rod under the cooperation of the gear of the increase Cheng Daogui, so that a shorter driving piece is adopted to obtain longer freedom degree, and the volume of the device is reduced on the premise of ensuring the expansion and contraction amount.
2. According to the multi-face gripper mechanical arm suitable for the narrow space, the bearing seat is connected with the mounting base through the connecting sliding rail, the limiting baffle is arranged on the connecting sliding rail, the travel of the bearing plate is controlled, and the transmission gear is prevented from being separated from the upper gear guide rail and the lower gear guide rail.
3. According to the multi-face gripper mechanical arm suitable for the narrow space, the position of the lower gear guide rail of the multi-face gripper mechanical arm Cheng Daogui is lower than the plane where the lower edge of the driving rod is located, so that the lower gear guide rail can be tied below the driving rod, and two moving parts can be stacked up and down, so that the left space and the right space are further saved.
4. The gripping part of the multi-surface gripper mechanical arm suitable for the narrow space comprises a positioning part and an absorbing part, wherein the positioning part is a needle rod, the absorbing part is a magnetic suction head, the positioning part can be used for positioning a workpiece, the operation precision of a process flow is improved, and the absorbing part can be used for flexibly realizing the grabbing and transferring of the workpiece; the grabbing piece is detachably connected with the bearing seat through a bolt customer, and can be adjusted according to different grabbed workpiece clamping positions.
5. According to the multi-face gripper mechanical arm suitable for the narrow space, the hollow structures are arranged on the mounting base and the bearing base, so that the weight and the cost of the device are reduced.
Drawings
Fig. 1 is a schematic perspective view of a multi-sided gripper mechanical arm suitable for a narrow space.
Fig. 2 is a schematic perspective view of a multi-sided gripper mechanical arm suitable for a narrow space.
FIG. 3 is a partial schematic view of a multi-sided manipulator arm suitable for use in a small space of the present utility model.
Fig. 4 is a schematic diagram of cooperation between a multi-surface gripper mechanical arm and a metal plate, which is suitable for a narrow space.
Detailed Description
The utility model is further described below in conjunction with the detailed description. It is to be understood that these examples are illustrative of the present utility model and are not intended to limit the scope of the present utility model. Further, it is understood that various changes and modifications of the present utility model may be made by those skilled in the art after reading the description of the present utility model, and such equivalents are intended to fall within the scope of the utility model as defined in the appended claims.
Reference numerals and components referred to in the drawings are as follows:
1. mounting base 2, driving rod 3, receiving seat
4. Cheng Daogui 5 is added, a slide rail 6 is connected, and a gripping member
11. Hollow structure 12, fixed end 41, upper gear guide rail
42. Lower gear guide 43, drive gear 51, first slide rail
52. Second slide rail 53, connecting block 54, limit baffle
61. Positioning part 62, adsorbing part
Example 1
Referring to fig. 1, fig. 2 and fig. 3, fig. 1 is a schematic perspective view of a multi-sided gripper mechanical arm suitable for a narrow space; FIG. 2 is a schematic perspective view of a multi-sided gripper mechanical arm suitable for a narrow space; FIG. 3 is a partial schematic view of a multi-sided manipulator arm suitable for use in a small space of the present utility model. A multi-surface gripper mechanical arm suitable for a narrow space comprises a mounting base 1, a driving rod 2, a bearing seat 3, a connecting Cheng Daogui, a connecting sliding rail 5 and a gripping piece 6; the mounting base 1 is a rectangular plate-shaped structure, on which a plurality of hollow structures 11 are arranged, i.e. hollow holes are dug at positions where other components are not connected, so as to reduce the weight of the mounting base 1, it is understood that the arrangement positions of the hollow structures 11 do not affect the structural strength, the upper part of the mounting base 1 is provided with a fixed end 12, the fixed end 12 is in butt joint with the corresponding positions of the mechanical arm, and in the embodiment, a reinforcing rib is arranged between the fixed end 12 and the mounting base 1; the driving rod 2 is installed under the installation base 1, specifically, the driving cylinder of the driving rod 2 is fixed at one end of one side of the installation base 1, the free end of the driving rod 2 moves linearly towards the other end of the driving rod, the increase Cheng Daogui 4 is installed in the moving direction of the driving rod, the increase range guide 4 comprises an upper gear guide 41, a lower gear guide 42 and a transmission gear 43, the upper gear guide 41 is installed on the installation base 1, the transmission gear 43 is connected to the free end of the driving rod 2 through a rotating shaft, the transmission gear 43 is connected with the upper gear guide 41 in an adapting way, the lower gear guide 42 which is also connected with the transmission gear 43 in an adapting way is installed on the adapting seat 3, the adapting seat 3 is driven by the driving rod 2 through the arrangement of the increase Cheng Daogui 4, one side of the adapting seat 3 parallel to the lower gear guide 42 is provided with a connecting slide rail 5, the connecting slide rail 5 comprises a first slide rail 51, a second slide rail 52 and a connecting block 53, the first slide rail 51 is arranged on the installation base 1, the second slide rail 52 is connected with the second slide rail 52, the second slide rail 52 is provided with the second slide rail 53, and the second slide rail 52 is preferably provided with the connecting block 53, and the second slide rail 52 is connected with the second slide rail 52 and the connecting block 53; the lower end surface of the receiving seat 3 is connected with the gripping piece 6, specifically, the gripping piece 6 comprises a positioning piece 61 and an absorbing piece 62, the positioning piece 61 is a needle bar, the absorbing piece 62 is a magnetic suction head, the magnetic suction head is an electromagnetic absorption structure, and the electromagnetic absorption technology is the prior art; in some preferred embodiments, the gripping member 6 is detachably connected to the receiving seat 3, specifically, the receiving seat 3 is provided with kidney-shaped holes, or a plurality of uniformly arranged through holes, etc., so that the position of the gripping member 6 can be conveniently adjusted by adjusting the position of the bolt.
Referring to fig. 4, fig. 4 is a schematic diagram of cooperation between a multi-sided gripper mechanical arm and a metal plate, which is suitable for a narrow space. The application mode of the utility model is as follows: the multi-face gripper mechanical arm suitable for the narrow space is connected to four sides of the mechanical arm through the fixed end 12; according to the utility model, the driving rod 2 moves forwards to drive the transmission gear 43 to roll forwards along the upper gear guide rail 41, meanwhile, under the cooperation of the transmission gear 43 and the lower gear guide rail 42, the transmission gear 43 pushes the carrying seat 3 to move forwards under the action of the driving rod 2, meanwhile, under the rolling of the transmission gear 43, the carrying seat 3 is driven to move forwards further, so that the actual travel is increased, when the carrying seat 3 moves, the connecting block 53 slides relative to the first sliding rail 51 and the second sliding rail 52, when the connecting block 53 contacts with the limit baffle 54 on the outer side of the first sliding rail 51, the connecting block 53 stops moving relative to the mounting base 1, meanwhile, the second sliding rail 52 continues to move forwards relative to the sliding block until the limit baffle 54 on the second sliding rail 52 is connected with the connecting block 53, and at the moment, the connecting block 53 is clamped between the limit baffles 54 on the first sliding rail 51 and the second sliding rail 52, and the maximum movement path of the mechanical arm gripper is reached; the grabbing piece 6 can be used for grabbing sheet metal parts, when the sheet metal parts are provided with through holes, the through holes can be used for positioning, namely, the relative positions between the positioning pieces 61 are adjusted, so that the grabbing piece is matched with the holes on the sheet metal parts, and the grabbing piece is adsorbed and grabbed through the magnetic suction head, so that grabbing precision can be ensured, and the process is convenient to carry out.
It should be noted that: the utility model discloses a multi-surface gripper mechanical arm suitable for a narrow space, which comprises a mounting base 1, a driving rod 2, a bearing seat 3, a connecting Cheng Daogui, a connecting sliding rail 5 and a gripping piece 6; the driving rod 2 drives the bearing seat 3 to move through the increment Cheng Daogui 4, and the actual stroke of the bearing seat 3 is twice as long as the stroke of the driving rod 2 under the cooperation of the gear of the increment Cheng Daogui 4, so that a longer degree of freedom can be obtained by adopting a shorter driving piece, and the device volume is reduced on the premise of ensuring the expansion and contraction amount; the bearing seat 3 is connected with the mounting base 1 through a connecting sliding rail 5, a limit baffle 54 is arranged on the connecting sliding rail 5, the travel of the bearing plate is controlled, and the transmission gear 43 is prevented from being separated from the upper gear guide rail 42 and the lower gear guide rail 42; the position of the lower gear guide rail 42 of the upper gear guide rail Cheng Daogui is lower than the plane where the lower edge of the driving rod 2 is positioned, so that the lower gear guide rail 42 can be tied below the driving rod 2, and the two moving parts are stacked up and down, thereby further saving left and right space; the gripping part 6 comprises a positioning part 61 and an adsorption part 62, wherein the positioning part 61 is a needle rod, the adsorption part 62 is a magnetic suction head, the positioning part 61 can be used for positioning a workpiece, the operation precision of a process flow is improved, and the adsorption part 62 can flexibly realize the gripping and transferring of the workpiece; the gripping piece 6 is detachably connected with the carrying seat 3 through a bolt customer and can be adjusted according to different gripping positions of the gripped workpieces; the hollow structures 11 are arranged on the mounting base 1 and the bearing base 3, so that the weight and the cost of the device are reduced; the multi-face gripper mechanical arm suitable for the narrow space can extend out for a long distance under the condition of a certain driving length, can retract for a small size when switching other three faces of tetrahedrons to pick and put the workpiece, solves the problem that the longer the extending stroke is, the longer the length of a cylinder or the length of a motor guide rod is, and particularly in the embodiment, the practical driving stroke is 2 times of the cylinder stroke under the premise of limiting the cylinder stroke.
The foregoing is merely a preferred embodiment of the present utility model and it should be noted that modifications and additions to the present utility model may be made by those skilled in the art without departing from the principles of the present utility model and such modifications and additions are to be considered as well as within the scope of the present utility model.
Claims (8)
1. The multi-surface manipulator arm suitable for the narrow space is characterized by comprising a mounting base, a driving rod, a bearing seat, a connecting Cheng Daogui, a connecting sliding rail and a gripping piece; the driving rod is arranged on the mounting base, the range extending guide rail comprises an upper gear guide rail, a lower gear guide rail and a transmission gear, the transmission gear is movably arranged between the upper gear guide rail and the lower gear guide rail, and the free end of the driving rod is connected with the transmission gear; the upper gear guide rail is connected with the installation base, the lower gear guide rail is connected with the bearing seat, the bearing seat is provided with a connecting slide rail, the connecting slide rail comprises a first slide rail connected with the installation base, a second slide rail connected with the bearing seat, and a connecting block arranged between the first slide rail and the second slide rail, the connecting block is movably connected with the first slide rail and the second slide rail in a clamping mode, the bearing seat is provided with a grabbing piece, the installation base is provided with a fixed end, the fixed end is connected with the mechanical arm, and the grabbing piece is used for grabbing a workpiece.
2. The multi-sided manipulator arm of claim 1, wherein limit baffles are disposed at two ends of the first slide rail and the second slide rail.
3. The multi-faceted hand grip robot for small spaces of claim 1, wherein the grip comprises a positioning member, an absorbing member.
4. The multi-faceted hand grip mechanical arm of claim 3, wherein the positioning member is a needle bar and the suction member is a magnetic tip.
5. The multi-faceted hand grip robot for small spaces of claim 1, wherein the grip is detachably coupled to the socket.
6. The multi-faceted hand grip robot arm for small spaces of claim 1, wherein the grip is detachably connected to the socket by a bolt.
7. The multi-face manipulator arm suitable for small spaces of claim 1, wherein the mounting base and the bearing base are provided with hollowed-out structures.
8. The multi-faceted hand grip robot for small spaces of claim 1, wherein said lower gear rail is positioned below a plane of said drive rod lower edge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321204878.8U CN219705194U (en) | 2023-05-18 | 2023-05-18 | Multi-surface gripper mechanical arm suitable for narrow space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321204878.8U CN219705194U (en) | 2023-05-18 | 2023-05-18 | Multi-surface gripper mechanical arm suitable for narrow space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219705194U true CN219705194U (en) | 2023-09-19 |
Family
ID=88014455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321204878.8U Active CN219705194U (en) | 2023-05-18 | 2023-05-18 | Multi-surface gripper mechanical arm suitable for narrow space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219705194U (en) |
-
2023
- 2023-05-18 CN CN202321204878.8U patent/CN219705194U/en active Active
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